+ python -m lidar_slam --no-model /working/3d498e3e-a917-4c97-92ef-108ec2957da9 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/3d498e3e-a917-4c97-92ef-108ec2957da9 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 0.018001145 Adjusted end_distance from 9.223372036854776e+18 to 245.228001145 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.018001145 meters Centerline goodness [0,1] 0.7183764991462838 Centerline is valid? [0, False] SLAMing on 0.048001144999999995 meters Centerline goodness [0,1] 0.6987059477030058 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999946e-01 -2.44746723e-04 -2.20747183e-04 1.19541706e-03] [ 2.44763737e-04 9.99999967e-01 7.70505878e-05 -7.86225834e-05] [ 2.20728318e-04 -7.71046145e-05 9.99999973e-01 -8.27757768e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.078001145 meters Centerline goodness [0,1] 0.6763018852408462 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99995912e-01 -2.58450695e-03 -1.22323053e-03 6.49479237e-03] [ 2.58281252e-03 9.99995706e-01 -1.38476761e-03 1.57507644e-04] [ 1.22680422e-03 1.38160257e-03 9.99998293e-01 -4.34730626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.10800114499999998 meters Centerline goodness [0,1] 0.6625662299256582 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99995926e-01 -2.26075685e-03 -1.74277529e-03 9.29868575e-03] [ 2.25993211e-03 9.99997334e-01 -4.75058426e-04 -1.29811365e-03] [ 1.74384464e-03 4.71117936e-04 9.99998369e-01 -6.41962819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.138001145 meters Centerline goodness [0,1] 0.6717107424441524 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99995676e-01 -1.87839585e-03 -2.26269480e-03 1.21545443e-02] [ 1.87940840e-03 9.99998135e-01 4.45456507e-04 -3.00092451e-03] [ 2.26185384e-03 -4.49707108e-04 9.99997341e-01 -8.50485276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.16800114499999996 meters Centerline goodness [0,1] 0.6338172993871591 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99994973e-01 -1.96312622e-03 -2.49011884e-03 1.35470092e-02] [ 1.96508436e-03 9.99997762e-01 7.84161809e-04 -4.38649705e-03] [ 2.48857386e-03 -7.89051160e-04 9.99996592e-01 -9.50205117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.19800114499999996 meters Centerline goodness [0,1] 0.5660171376781742 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 0.99999476 -0.00179315 -0.0026966 0.01541026] [ 0.00179711 0.99999731 0.00146661 -0.00644035] [ 0.00269396 -0.00147145 0.99999529 -0.01110013] [ 0. 0. 0. 1. ]] SLAMing on 0.22800114499999996 meters Centerline goodness [0,1] 0.5948935994550971 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 9.99985192e-01 -4.36401980e-03 -3.25118703e-03 1.94381633e-02] [ 4.36113338e-03 9.99990090e-01 -8.94365643e-04 -9.63654136e-03] [ 3.25505784e-03 8.80173539e-04 9.99994315e-01 -1.34086649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.258001145 meters Centerline goodness [0,1] 0.5813570826220202 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.02 [[ 9.99986098e-01 -3.92394509e-03 -3.52234531e-03 2.19526449e-02] [ 3.92447339e-03 9.99992289e-01 1.43085060e-04 -1.32236617e-02] [ 3.52175669e-03 -1.56906421e-04 9.99993786e-01 -1.54386942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.28800114499999996 meters Centerline goodness [0,1] 0.6691667353498723 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.02 [[ 0.9999867 -0.00347845 -0.00380883 0.02425849] [ 0.0034831 0.9999932 0.00121408 -0.01635364] [ 0.00380458 -0.00122733 0.99999201 -0.01716906] [ 0. 0. 0. 1. ]] SLAMing on 0.31800114499999993 meters Centerline goodness [0,1] 0.5757994635857231 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 0.99998523 -0.00336408 -0.004268 0.02698452] [ 0.00337317 0.99999205 0.00212457 -0.01864919] [ 0.00426082 -0.00213894 0.99998864 -0.0190462 ] [ 0. 0. 0. 1. ]] SLAMing on 0.34800114499999996 meters Centerline goodness [0,1] 0.5926613452137863 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.02 [[ 9.99950597e-01 -7.14322809e-03 -6.91214096e-03 3.64077928e-02] [ 7.14797102e-03 9.99974234e-01 6.61713074e-04 -2.08932120e-02] [ 6.90723609e-03 -7.11088166e-04 9.99975892e-01 -2.26064628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3780011449999999 meters Centerline goodness [0,1] 0.5633963123150467 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.02 [[ 0.999916 -0.01028866 -0.00788319 0.04111926] [ 0.01027487 0.99994561 -0.00178877 -0.02214284] [ 0.00790117 0.00170762 0.99996733 -0.02498082] [ 0. 0. 0. 1. ]] SLAMing on 0.40800114499999995 meters Centerline goodness [0,1] 0.5368562564632885 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.03 [[ 0.99986966 -0.01342303 -0.00897128 0.04607361] [ 0.01338628 0.99990181 -0.00414407 -0.0236643 ] [ 0.00902603 0.00402344 0.99995117 -0.02723579] [ 0. 0. 0. 1. ]] SLAMing on 0.4380011449999999 meters Centerline goodness [0,1] 0.5381152956722828 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.03 [[ 0.99981308 -0.01650444 -0.0100705 0.05124241] [ 0.01643956 0.99984379 -0.00649174 -0.02468557] [ 0.01017607 0.00632498 0.99992822 -0.0295517 ] [ 0. 0. 0. 1. ]] SLAMing on 0.46800114499999995 meters Centerline goodness [0,1] 0.4856487982159081 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:-0.03 [[ 0.99969343 -0.01983746 -0.01481644 0.06780049] [ 0.01968764 0.99975425 -0.01019027 -0.02914525] [ 0.01501494 0.00989545 0.9998383 -0.03050706] [ 0. 0. 0. 1. ]] SLAMing on 0.4980011449999999 meters Centerline goodness [0,1] 0.493806004046744 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:-0.03 [[ 0.99962147 -0.02257114 -0.01573097 0.07306664] [ 0.02237462 0.99967077 -0.01255897 -0.03031561] [ 0.01600926 0.01220224 0.99979738 -0.03316883] [ 0. 0. 0. 1. ]] SLAMing on 0.528001145 meters Centerline goodness [0,1] 0.48922828583845535 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:-0.04 [[ 0.99957565 -0.02372558 -0.01690036 0.07879871] [ 0.02351442 0.99964427 -0.01258586 -0.03208707] [ 0.01719296 0.01218312 0.99977796 -0.03609754] [ 0. 0. 0. 1. ]] SLAMing on 0.558001145 meters Centerline goodness [0,1] 0.4656594258313871 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.04, Z:-0.04 [[ 0.99953079 -0.02695144 -0.01455437 0.10705239] [ 0.02679875 0.9995848 -0.01058554 -0.03710941] [ 0.01483362 0.01019053 0.99983805 -0.0416294 ] [ 0. 0. 0. 1. ]] SLAMing on 0.588001145 meters Centerline goodness [0,1] 0.46755192940099066 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.04, Z:-0.05 [[ 0.99944921 -0.02943104 -0.01533251 0.11265308] [ 0.02923234 0.99948776 -0.01302622 -0.03831263] [ 0.01570803 0.01257084 0.9997976 -0.04509473] [ 0. 0. 0. 1. ]] SLAMing on 0.6180011449999999 meters Centerline goodness [0,1] 0.4518256527618849 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.05 [[ 0.99937379 -0.03155812 -0.01600361 0.118445 ] [ 0.03131274 0.99939163 -0.01535843 -0.03938108] [ 0.01647855 0.01484769 0.99975397 -0.04917637] [ 0. 0. 0. 1. ]] SLAMing on 0.648001145 meters Centerline goodness [0,1] 0.4698982446687252 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.05 [[ 0.99934278 -0.03205065 -0.01693388 0.12517419] [ 0.03179007 0.99937531 -0.01543942 -0.04090572] [ 0.01741814 0.01489094 0.9997374 -0.05409035] [ 0. 0. 0. 1. ]] SLAMing on 0.678001145 meters Centerline goodness [0,1] 0.46647870973091754 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.04, Z:-0.06 [[ 0.99933242 -0.03036935 -0.02030786 0.14567568] [ 0.03002866 0.99940657 -0.01687587 -0.0449958 ] [ 0.02080832 0.01625478 0.99965134 -0.0601106 ] [ 0. 0. 0. 1. ]] SLAMing on 0.708001145 meters Centerline goodness [0,1] 0.47047855811062766 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.05, Z:-0.07 [[ 0.99940857 -0.03061432 -0.01566125 0.16206063] [ 0.03050657 0.99950954 -0.00707328 -0.05069033] [ 0.01587011 0.00659132 0.99985234 -0.06682336] [ 0. 0. 0. 1. ]] SLAMing on 0.7380011449999999 meters Centerline goodness [0,1] 0.4582334424315704 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:-0.07 [[ 0.9993805 -0.03090486 -0.01683765 0.16795098] [ 0.03079914 0.99950444 -0.00650228 -0.05160036] [ 0.01703026 0.00597967 0.99983709 -0.07040034] [ 0. 0. 0. 1. ]] SLAMing on 0.7680011449999999 meters Centerline goodness [0,1] 0.4735695614289863 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:-0.08 [[ 0.99921898 -0.03511913 -0.01811269 0.19947761] [ 0.03504558 0.9993762 -0.00436207 -0.05460148] [ 0.01825458 0.00372389 0.99982644 -0.07757319] [ 0. 0. 0. 1. ]] SLAMing on 0.798001145 meters Centerline goodness [0,1] 0.5073380513976744 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.06, Z:-0.08 [[ 0.99908075 -0.03838144 -0.0190922 0.20554991] [ 0.03825596 0.99924419 -0.00689458 -0.05503502] [ 0.01934239 0.00615786 0.99979396 -0.08064427] [ 0. 0. 0. 1. ]] SLAMing on 0.8280011449999999 meters Centerline goodness [0,1] 0.4808933105773634 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.06, Z:-0.09 [[ 9.99082534e-01 -4.06929613e-02 -1.33481587e-02 2.22519326e-01] [ 4.06968843e-02 9.99171538e-01 2.22951384e-05 -5.99846682e-02] [ 1.33361930e-02 -5.65503154e-04 9.99910909e-01 -8.72603245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8580011449999999 meters Centerline goodness [0,1] 0.5023958485907388 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.06, Z:-0.09 [[ 9.99017709e-01 -4.18994399e-02 -1.44240830e-02 2.28299204e-01] [ 4.19078193e-02 9.99121442e-01 2.79031483e-04 -6.06240834e-02] [ 1.43997194e-02 -8.83239258e-04 9.99895929e-01 -8.99848162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8880011449999999 meters Centerline goodness [0,1] 0.548485985985986 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.06, Z:-0.10 [[ 0.99897018 -0.04399726 -0.01108245 0.2536526 ] [ 0.04405506 0.99901646 0.0050264 -0.06445093] [ 0.0108504 -0.00550946 0.99992595 -0.09543476] [ 0. 0. 0. 1. ]] SLAMing on 0.918001145 meters Centerline goodness [0,1] 0.548485985985986 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.06, Z:-0.10 [[ 0.99897018 -0.04399726 -0.01108245 0.2536526 ] [ 0.04405506 0.99901646 0.0050264 -0.06445093] [ 0.0108504 -0.00550946 0.99992595 -0.09543476] [ 0. 0. 0. 1. ]] SLAMing on 0.9480011449999999 meters Centerline goodness [0,1] 0.5486955248237337 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.06, Z:-0.10 [[ 0.99889765 -0.04536984 -0.01204445 0.25904775] [ 0.04542735 0.99895731 0.00454476 -0.06499693] [ 0.01182569 -0.0050869 0.99991713 -0.09827465] [ 0. 0. 0. 1. ]] SLAMing on 0.9780011449999999 meters Centerline goodness [0,1] 0.5735520033215694 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.06, Z:-0.10 [[ 0.99882138 -0.04675427 -0.0130344 0.26456768] [ 0.04680878 0.99889622 0.00390843 -0.06479919] [ 0.01283728 -0.00451395 0.99990741 -0.10113671] [ 0. 0. 0. 1. ]] SLAMing on 1.008001145 meters Centerline goodness [0,1] 0.5810072182584387 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.07, Z:-0.10 [[ 0.99881534 -0.04669972 -0.01367647 0.2689441 ] [ 0.04676778 0.99889474 0.00469926 -0.06508853] [ 0.0134419 -0.00533331 0.99989543 -0.10364054] [ 0. 0. 0. 1. ]] SLAMing on 1.0380011449999997 meters Centerline goodness [0,1] 0.6134018465137653 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:-0.11 [[ 0.99889832 -0.04401001 -0.01628677 0.28759732] [ 0.04408953 0.9990172 0.00455583 -0.06511822] [ 0.01607026 -0.00526889 0.99985698 -0.10738297] [ 0. 0. 0. 1. ]] SLAMing on 1.0680011449999998 meters Centerline goodness [0,1] 0.6425929004904813 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.06, Z:-0.11 [[ 0.99886037 -0.04453344 -0.01716791 0.29346518] [ 0.04461302 0.99899517 0.00428062 -0.06438389] [ 0.01696003 -0.00504166 0.99984346 -0.11129117] [ 0. 0. 0. 1. ]] SLAMing on 1.0980011449999998 meters Centerline goodness [0,1] 0.6667290847429416 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.06, Z:-0.12 [[ 0.99882844 -0.04495623 -0.01790786 0.2991207 ] [ 0.04503382 0.99897764 0.00395276 -0.06379921] [ 0.01771185 -0.00475459 0.99983183 -0.1153348 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1280011449999998 meters Centerline goodness [0,1] 0.6729464174195429 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.06, Z:-0.12 [[ 0.99879425 -0.04542595 -0.01861514 0.30455495] [ 0.04549826 0.99895836 0.00347975 -0.06290901] [ 0.01843768 -0.00432251 0.99982067 -0.1192615 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1580011449999998 meters Centerline goodness [0,1] 0.6723555184644273 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.06, Z:-0.12 [[ 0.99877917 -0.04546252 -0.01932172 0.31004847] [ 0.04553699 0.99895676 0.00343168 -0.06212924] [ 0.01914555 -0.00430734 0.99980743 -0.12341892] [ 0. 0. 0. 1. ]] SLAMing on 1.1880011449999999 meters Centerline goodness [0,1] 0.6564930056080223 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:-0.13 [[ 0.99880051 -0.04583015 -0.01723775 0.3345384 ] [ 0.04594158 0.99892535 0.00612446 -0.05855398] [ 0.01693854 -0.00690904 0.99983266 -0.12746617] [ 0. 0. 0. 1. ]] SLAMing on 1.2180011449999997 meters Centerline goodness [0,1] 0.6597661451398136 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.06, Z:-0.13 [[ 0.99877966 -0.04592791 -0.0181607 0.33897586] [ 0.0460467 0.99892019 0.00617778 -0.05533415] [ 0.01785736 -0.00700648 0.99981599 -0.12969397] [ 0. 0. 0. 1. ]] SLAMing on 1.2480011449999997 meters Centerline goodness [0,1] 0.6626516049845015 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:-0.13 [[ 0.99872766 -0.04670061 -0.01902939 0.34356988] [ 0.04681819 0.9988867 0.00578091 -0.05300631] [ 0.01873824 -0.00666448 0.99980221 -0.13202158] [ 0. 0. 0. 1. ]] SLAMing on 1.2780011449999997 meters Centerline goodness [0,1] 0.6907816756430785 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.05, Z:-0.14 [[ 0.99861309 -0.05053569 -0.0147662 0.36655157] [ 0.05062838 0.99869971 0.00597206 -0.0503428 ] [ 0.0144452 -0.00671136 0.99987314 -0.13548698] [ 0. 0. 0. 1. ]] SLAMing on 1.3080011449999998 meters Centerline goodness [0,1] 0.6901599349417187 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.05, Z:-0.14 [[ 0.99854525 -0.05175102 -0.01513983 0.37062366] [ 0.05183771 0.99864097 0.00539078 -0.04759553] [ 0.01484028 -0.00616776 0.99987085 -0.1376121 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3380011449999998 meters Centerline goodness [0,1] 0.6867550499769981 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.04, Z:-0.14 [[ 0.99846145 -0.05320282 -0.01562651 0.37468832] [ 0.05327907 0.9985695 0.00450424 -0.04445909] [ 0.01536452 -0.00532988 0.99986775 -0.13938764] [ 0. 0. 0. 1. ]] SLAMing on 1.3680011449999998 meters Centerline goodness [0,1] 0.6841151097126426 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.04, Z:-0.14 [[ 0.99840775 -0.05555491 -0.00977797 0.39210256] [ 0.05560943 0.99843802 0.00539523 -0.04278679] [ 0.00946296 -0.00593038 0.99993764 -0.13998534] [ 0. 0. 0. 1. ]] SLAMing on 1.3980011449999998 meters Centerline goodness [0,1] 0.662757826405612 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.04, Z:-0.14 [[ 0.99817223 -0.0598177 -0.00860522 0.4176921 ] [ 0.0598544 0.99819881 0.00407262 -0.03746709] [ 0.00834611 -0.00458024 0.99995468 -0.14468227] [ 0. 0. 0. 1. ]] SLAMing on 1.4280011449999996 meters Centerline goodness [0,1] 0.6689098812907541 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.03, Z:-0.15 [[ 0.99809498 -0.06098584 -0.0093344 0.42288326] [ 0.06101799 0.99813154 0.00319892 -0.03461843] [ 0.00912187 -0.0037624 0.99995132 -0.14817545] [ 0. 0. 0. 1. ]] SLAMing on 1.4580011449999997 meters Centerline goodness [0,1] 0.6560897502982607 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.03, Z:-0.15 [[ 0.99799883 -0.06242879 -0.01004921 0.42772091] [ 0.06245302 0.99804566 0.00211506 -0.03183971] [ 0.00989753 -0.00273844 0.99994727 -0.15111845] [ 0. 0. 0. 1. ]] SLAMing on 1.4880011449999997 meters Centerline goodness [0,1] 0.6474422113712095 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.03, Z:-0.15 [[ 9.97894441e-01 -6.39400530e-02 -1.08790999e-02 4.33174048e-01] [ 6.39533699e-02 9.97952500e-01 8.80276600e-04 -2.93767367e-02] [ 1.08005400e-02 -1.57417823e-03 9.99940433e-01 -1.54529975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5180011449999997 meters Centerline goodness [0,1] 0.648577836466914 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:-0.16 [[ 0.99757152 -0.06915005 -0.00832637 0.4588436 ] [ 0.06913195 0.99760453 -0.00244346 -0.02579191] [ 0.00847539 0.0018619 0.99996235 -0.15972071] [ 0. 0. 0. 1. ]] SLAMing on 1.5480011449999997 meters Centerline goodness [0,1] 0.6454017707985299 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.02, Z:-0.16 [[ 0.9975261 -0.06971034 -0.00906303 0.46422419] [ 0.06968587 0.99756451 -0.00298879 -0.02330469] [ 0.00924931 0.00234983 0.99995446 -0.16355308] [ 0. 0. 0. 1. ]] SLAMing on 1.5780011449999998 meters Centerline goodness [0,1] 0.6414137196776752 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.02, Z:-0.17 [[ 0.99755119 -0.06920368 -0.01012284 0.46927274] [ 0.06918112 0.99760083 -0.00256208 -0.02014116] [ 0.01027586 0.0018555 0.99994548 -0.16670884] [ 0. 0. 0. 1. ]] SLAMing on 1.6080011449999998 meters Centerline goodness [0,1] 0.650668616798997 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:-0.17 [[ 9.97674384e-01 -6.71711188e-02 -1.15700010e-02 4.75843800e-01] [ 6.71746089e-02 9.97741231e-01 -8.71410760e-05 -1.75178126e-02] [ 1.15497204e-02 -6.90271876e-04 9.99933062e-01 -1.71208160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6380011449999996 meters Centerline goodness [0,1] 0.6763741116110854 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:-0.18 [[ 9.97509608e-01 -6.97247648e-02 -1.06319439e-02 5.01540554e-01] [ 6.97199393e-02 9.97566264e-01 -8.24288462e-04 -1.17694233e-02] [ 1.06635419e-02 8.09771744e-05 9.99943140e-01 -1.75849585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6680011449999996 meters Centerline goodness [0,1] 0.6137018929422089 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:-0.18 [[ 0.99742768 -0.07072507 -0.01166137 0.50783968] [ 0.07070814 0.99749532 -0.00185855 -0.01012377] [ 0.01176361 0.00102922 0.99993028 -0.18012727] [ 0. 0. 0. 1. ]] SLAMing on 1.6980011449999997 meters Centerline goodness [0,1] 0.6114099837357688 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:-0.18 [[ 0.9973313 -0.07190957 -0.01262125 0.51381715] [ 0.07187639 0.99740884 -0.00306374 -0.00799234] [ 0.01280886 0.0021484 0.99991566 -0.18417224] [ 0. 0. 0. 1. ]] SLAMing on 1.7280011449999997 meters Centerline goodness [0,1] 0.6030635400907716 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.01, Z:-0.19 [[ 0.99729036 -0.07234344 -0.01335527 0.51776975] [ 0.07230493 0.99737697 -0.0033442 -0.00557755] [ 0.01356217 0.00236949 0.99990522 -0.18658295] [ 0. 0. 0. 1. ]] SLAMing on 1.7580011449999997 meters Centerline goodness [0,1] 0.6821477356309762 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.00, Z:-0.19 [[ 0.99745564 -0.07115937 -0.0043113 0.52949259] [ 0.07113397 0.99745 -0.00578367 -0.00151215] [ 0.00471187 0.00546228 0.99997398 -0.19166024] [ 0. 0. 0. 1. ]] SLAMing on 1.7880011449999997 meters Centerline goodness [0,1] 0.6939736346516008 Centerline is valid? [False, False] Translation: X:0.55, Y:0.01, Z:-0.19 [[ 9.97549525e-01 -6.99276665e-02 2.25086346e-03 5.47044308e-01] [ 6.99274618e-02 9.97552064e-01 1.69595968e-04 7.11714131e-03] [-2.25721294e-03 -1.17832087e-05 9.99997452e-01 -1.93883158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8180011449999998 meters Centerline goodness [0,1] 0.6073036413510061 Centerline is valid? [False, False] Translation: X:0.55, Y:0.01, Z:-0.20 [[ 9.97568375e-01 -6.96792604e-02 1.46199707e-03 5.50492573e-01] [ 6.96793481e-02 9.97569440e-01 -9.06446052e-06 1.20655259e-02] [-1.45781199e-03 1.10913422e-04 9.99998931e-01 -1.95453358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8480011449999996 meters Centerline goodness [0,1] 0.6930864972283234 Centerline is valid? [False, False] Translation: X:0.56, Y:0.02, Z:-0.20 [[ 9.97503347e-01 -7.06173343e-02 5.15255071e-04 5.55326528e-01] [ 7.06179622e-02 9.97502557e-01 -1.32383148e-03 1.56270246e-02] [-4.20482801e-04 1.35691260e-03 9.99998991e-01 -1.98398302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8780011449999996 meters Centerline goodness [0,1] 0.6766042081021668 Centerline is valid? [False, False] Translation: X:0.56, Y:0.02, Z:-0.20 [[ 9.97418504e-01 -7.18060673e-02 -4.64443587e-04 5.60892687e-01] [ 7.18044999e-02 9.97414810e-01 -2.79483936e-03 1.84534582e-02] [ 6.63929336e-04 2.75427536e-03 9.99995987e-01 -2.02178516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9080011449999996 meters Centerline goodness [0,1] 0.6952404893581364 Centerline is valid? [False, False] Translation: X:0.59, Y:0.03, Z:-0.21 [[ 9.97108441e-01 -7.59885094e-02 7.10094281e-04 5.85842157e-01] [ 7.59911493e-02 9.97095480e-01 -5.09393711e-03 2.58939712e-02] [-3.20951110e-04 5.13316857e-03 9.99986774e-01 -2.06994864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9380011449999996 meters Centerline goodness [0,1] 0.6879862074765569 Centerline is valid? [False, False] Translation: X:0.59, Y:0.03, Z:-0.21 [[ 9.97073601e-01 -7.64466951e-02 -3.70356106e-04 5.90800963e-01] [ 7.64431172e-02 9.97055953e-01 -5.98965259e-03 3.02431479e-02] [ 8.27154906e-04 5.94381330e-03 9.99981993e-01 -2.10217089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9680011449999997 meters Centerline goodness [0,1] 0.6737636211232187 Centerline is valid? [False, False] Translation: X:0.60, Y:0.03, Z:-0.21 [[ 0.99709739 -0.07612105 -0.00154228 0.59539641] [ 0.07611031 0.99708066 -0.00611353 0.03485348] [ 0.00200314 0.00597841 0.99998012 -0.21292256] [ 0. 0. 0. 1. ]] SLAMing on 1.9980011449999997 meters Centerline goodness [0,1] 0.7031997984378937 Centerline is valid? [False, False] Translation: X:0.60, Y:0.04, Z:-0.22 [[ 0.99723802 -0.07421083 -0.00301286 0.60082462] [ 0.07419746 0.99723417 -0.00433029 0.03936296] [ 0.00332588 0.00409478 0.99998609 -0.21622318] [ 0. 0. 0. 1. ]] SLAMing on 2.0280011449999997 meters Centerline goodness [0,1] 0.6957162093923581 Centerline is valid? [False, False] Translation: X:0.62, Y:0.05, Z:-0.22 [[ 0.99717902 -0.07504934 -0.0012664 0.62312852] [ 0.07504434 0.99717363 -0.00361898 0.05038014] [ 0.00153442 0.00351373 0.99999265 -0.21858696] [ 0. 0. 0. 1. ]] SLAMing on 2.0580011449999995 meters Centerline goodness [0,1] 0.6925422730714226 Centerline is valid? [False, False] Translation: X:0.63, Y:0.05, Z:-0.22 [[ 0.99715966 -0.07527382 -0.00254114 0.62815447] [ 0.0752625 0.99715452 -0.00429204 0.05381694] [ 0.00285699 0.0040886 0.99998756 -0.22149312] [ 0. 0. 0. 1. ]] SLAMing on 2.088001145 meters Centerline goodness [0,1] 0.7009481363129901 Centerline is valid? [False, False] Translation: X:0.63, Y:0.06, Z:-0.22 [[ 0.99711732 -0.07578772 -0.00364301 0.63278063] [ 0.07576858 0.99711223 -0.00513148 0.05714261] [ 0.0040214 0.00484066 0.9999802 -0.22438932] [ 0. 0. 0. 1. ]] SLAMing on 2.1180011449999996 meters Centerline goodness [0,1] 0.6864564784749136 Centerline is valid? [False, False] Translation: X:0.65, Y:0.06, Z:-0.23 [[ 9.96901346e-01 -7.86599555e-02 -5.64035663e-04 6.53902569e-01] [ 7.86573051e-02 9.96894656e-01 -3.75137161e-03 6.45954670e-02] [ 8.57366862e-04 3.69538188e-03 9.99992805e-01 -2.27868374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.148001145 meters Centerline goodness [0,1] 0.6755876730458165 Centerline is valid? [False, False] Translation: X:0.66, Y:0.07, Z:-0.23 [[ 0.99690464 -0.07860508 -0.0015405 0.65704349] [ 0.07859808 0.99689767 -0.00416851 0.06963545] [ 0.00186339 0.00403452 0.99999013 -0.22926486] [ 0. 0. 0. 1. ]] SLAMing on 2.1780011449999996 meters Centerline goodness [0,1] 0.6907714946394787 Centerline is valid? [False, False] Translation: X:0.66, Y:0.08, Z:-0.23 [[ 0.99691222 -0.07848523 -0.00246869 0.65990356] [ 0.07847358 0.99690601 -0.00450706 0.07507861] [ 0.00281479 0.00429942 0.9999868 -0.2303034 ] [ 0. 0. 0. 1. ]] SLAMing on 2.2080011449999994 meters Centerline goodness [0,1] 0.6968551080859646 Centerline is valid? [False, False] Translation: X:0.68, Y:0.09, Z:-0.23 [[ 0.99674331 -0.08059984 0.00253783 0.67729768] [ 0.08060849 0.99673965 -0.00351386 0.08538841] [-0.00224634 0.00370699 0.99999061 -0.23060039] [ 0. 0. 0. 1. ]] SLAMing on 2.2380011449999997 meters Centerline goodness [0,1] 0.6794618457010722 Centerline is valid? [False, False] Translation: X:0.68, Y:0.09, Z:-0.23 [[ 9.96767518e-01 -8.03309267e-02 1.20693968e-03 6.81722948e-01] [ 8.03350928e-02 9.96760166e-01 -3.92999878e-03 8.88170140e-02] [-8.87328947e-04 4.01425474e-03 9.99991549e-01 -2.32733889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2680011449999995 meters Centerline goodness [0,1] 0.7049621530698066 Centerline is valid? [False, False] Translation: X:0.69, Y:0.09, Z:-0.24 [[ 9.96795743e-01 -7.99888606e-02 -1.67884251e-04 6.86725882e-01] [ 7.99873427e-02 9.96786097e-01 -4.41618523e-03 9.26006282e-02] [ 5.20590312e-04 4.38860603e-03 9.99990235e-01 -2.35560788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2980011449999997 meters Centerline goodness [0,1] 0.7125239388008502 Centerline is valid? [False, False] Translation: X:0.69, Y:0.10, Z:-0.24 [[ 0.99694467 -0.07809359 -0.00164936 0.69223153] [ 0.07808798 0.99694126 -0.00322446 0.09666414] [ 0.00189613 0.00308581 0.99999344 -0.23906588] [ 0. 0. 0. 1. ]] SLAMing on 2.3280011449999995 meters Centerline goodness [0,1] 0.7262050094716901 Centerline is valid? [False, False] Translation: X:0.71, Y:0.11, Z:-0.24 [[ 9.97056723e-01 -7.66597156e-02 1.08593044e-03 7.12656552e-01] [ 7.66615830e-02 9.97055551e-01 -1.79733571e-03 1.11396823e-01] [-9.44949728e-04 1.87529480e-03 9.99997795e-01 -2.40934898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.358001145 meters Centerline goodness [0,1] 0.7176695199731453 Centerline is valid? [False, False] Translation: X:0.72, Y:0.12, Z:-0.24 [[ 9.97288425e-01 -7.35894262e-02 -6.27904622e-04 7.17620095e-01] [ 7.35895488e-02 9.97288598e-01 1.74415459e-04 1.18129544e-01] [ 6.13366986e-04 -2.20149736e-04 9.99999788e-01 -2.43409750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3880011449999996 meters Centerline goodness [0,1] 0.7910655237052171 Centerline is valid? [False, False] Translation: X:0.72, Y:0.12, Z:-0.25 [[ 0.99748544 -0.07083591 -0.00225183 0.72272799] [ 0.07084028 0.99748582 0.00192016 0.12425662] [ 0.00211016 -0.00207485 0.99999562 -0.24627933] [ 0. 0. 0. 1. ]] SLAMing on 2.4180011449999994 meters Centerline goodness [0,1] 0.7865225149574893 Centerline is valid? [False, False] Translation: X:0.73, Y:0.13, Z:-0.25 [[ 0.99764445 -0.06849091 -0.0038141 0.72849292] [ 0.0685039 0.9976451 0.00338667 0.12926028] [ 0.00357317 -0.00363997 0.99998699 -0.24996284] [ 0. 0. 0. 1. ]] SLAMing on 2.4480011449999997 meters Centerline goodness [0,1] 0.7947679785180835 Centerline is valid? [False, False] Translation: X:0.75, Y:0.14, Z:-0.25 [[ 9.97919770e-01 -6.40863271e-02 -7.00532985e-03 7.45436813e-01] [ 6.40881660e-02 9.97944240e-01 3.81027486e-05 1.38532478e-01] [ 6.98848671e-03 -4.86982229e-04 9.99975462e-01 -2.53172215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4780011449999995 meters Centerline goodness [0,1] 0.7703929396932129 Centerline is valid? [False, False] Translation: X:0.75, Y:0.14, Z:-0.26 [[ 9.97948405e-01 -6.34861694e-02 -8.27571782e-03 7.49660337e-01] [ 6.34882197e-02 9.97982588e-01 -1.49959082e-05 1.41925133e-01] [ 8.25997432e-03 -5.10445448e-04 9.99965756e-01 -2.55427135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5080011449999997 meters Centerline goodness [0,1] 0.807348122006554 Centerline is valid? [False, False] Translation: X:0.75, Y:0.15, Z:-0.26 [[ 9.97993140e-01 -6.26107321e-02 -9.46511711e-03 7.53678644e-01] [ 6.26136118e-02 9.98037843e-01 7.93033480e-06 1.46461556e-01] [ 9.44604853e-03 -6.00559588e-04 9.99955205e-01 -2.57447509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5380011449999995 meters Centerline goodness [0,1] 0.80165428409067 Centerline is valid? [False, False] Translation: X:0.77, Y:0.16, Z:-0.26 [[ 0.9980017 -0.06299544 -0.00491728 0.76991161] [ 0.06300705 0.99801056 0.00224322 0.16027227] [ 0.00476618 -0.00254856 0.99998539 -0.25717593] [ 0. 0. 0. 1. ]] SLAMing on 2.5680011449999998 meters Centerline goodness [0,1] 0.8048754748839173 Centerline is valid? [False, False] Translation: X:0.77, Y:0.17, Z:-0.26 [[ 0.99809749 -0.06132221 -0.00640242 0.77371789] [ 0.06134433 0.99811115 0.00331733 0.16606834] [ 0.0061869 -0.00370377 0.999974 -0.2585638 ] [ 0. 0. 0. 1. ]] SLAMing on 2.5980011449999996 meters Centerline goodness [0,1] 0.7942252776308831 Centerline is valid? [False, False] Translation: X:0.78, Y:0.17, Z:-0.26 [[ 0.99811432 -0.06092838 -0.00745237 0.77692685] [ 0.0609511 0.99813665 0.00286047 0.17116953] [ 0.0072642 -0.0033093 0.99996814 -0.25985142] [ 0. 0. 0. 1. ]] SLAMing on 2.6280011449999994 meters Centerline goodness [0,1] 0.7904042008088251 Centerline is valid? [False, False] Translation: X:0.78, Y:0.17, Z:-0.26 [[ 0.99811203 -0.0608304 -0.00848801 0.77994647] [ 0.06085245 0.99814397 0.0023645 0.17471193] [ 0.00832842 -0.00287655 0.99996118 -0.26098197] [ 0. 0. 0. 1. ]] SLAMing on 2.6580011449999996 meters Centerline goodness [0,1] 0.7784072756703797 Centerline is valid? [False, False] Translation: X:0.79, Y:0.18, Z:-0.26 [[ 9.97992327e-01 -6.25170872e-02 -1.01453947e-02 7.85923903e-01] [ 6.25126723e-02 9.98043887e-01 -7.52001891e-04 1.82516308e-01] [ 1.01725621e-02 1.16276384e-04 9.99948251e-01 -2.63731559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6880011449999994 meters Centerline goodness [0,1] 0.7920789967582323 Centerline is valid? [False, False] Translation: X:0.79, Y:0.19, Z:-0.26 [[ 9.97980731e-01 -6.25413909e-02 -1.10921546e-02 7.88778887e-01] [ 6.25299651e-02 9.98042141e-01 -1.37425699e-03 1.86292881e-01] [ 1.11563857e-02 6.77889958e-04 9.99937536e-01 -2.64931450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7180011449999997 meters Centerline goodness [0,1] 0.779855530859976 Centerline is valid? [False, False] Translation: X:0.79, Y:0.19, Z:-0.27 [[ 0.99796684 -0.06259582 -0.01199812 0.79152336] [ 0.0625744 0.99803798 -0.00215229 0.19107375] [ 0.0121093 0.00139713 0.9999257 -0.2661148 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7480011449999995 meters Centerline goodness [0,1] 0.776443388350138 Centerline is valid? [False, False] Translation: X:0.79, Y:0.20, Z:-0.27 [[ 0.9979778 -0.06221443 -0.01302584 0.79482244] [ 0.06218707 0.99806139 -0.00249557 0.19580543] [ 0.01315585 0.00168048 0.99991205 -0.26763506] [ 0. 0. 0. 1. ]] SLAMing on 2.7780011449999997 meters Centerline goodness [0,1] 0.7949321188836848 Centerline is valid? [False, False] Translation: X:0.80, Y:0.21, Z:-0.27 [[ 0.99806869 -0.06028209 -0.01499855 0.8004757 ] [ 0.06025255 0.99818025 -0.00241376 0.20521453] [ 0.01511676 0.0015054 0.9998846 -0.26930831] [ 0. 0. 0. 1. ]] SLAMing on 2.8080011449999995 meters Centerline goodness [0,1] 0.7949321188836848 Centerline is valid? [False, False] Translation: X:0.80, Y:0.21, Z:-0.27 [[ 0.99806869 -0.06028209 -0.01499855 0.8004757 ] [ 0.06025255 0.99818025 -0.00241376 0.20521453] [ 0.01511676 0.0015054 0.9998846 -0.26930831] [ 0. 0. 0. 1. ]] SLAMing on 2.8380011449999993 meters Centerline goodness [0,1] 0.7822479581694828 Centerline is valid? [False, False] Translation: X:0.80, Y:0.21, Z:-0.27 [[ 0.9981109 -0.05929941 -0.01606896 0.80394188] [ 0.05926718 0.99823909 -0.00247496 0.20992658] [ 0.01618743 0.00151793 0.99986782 -0.27065148] [ 0. 0. 0. 1. ]] SLAMing on 2.8680011449999996 meters Centerline goodness [0,1] 0.7717240482178476 Centerline is valid? [False, False] Translation: X:0.81, Y:0.21, Z:-0.27 [[ 0.99833659 -0.05500844 -0.01726633 0.80687874] [ 0.05504152 0.99848302 0.0014458 0.21233067] [ 0.01716061 -0.00239376 0.99984988 -0.27195611] [ 0. 0. 0. 1. ]] SLAMing on 2.8980011449999994 meters Centerline goodness [0,1] 0.7831312138096799 Centerline is valid? [False, False] Translation: X:0.81, Y:0.22, Z:-0.27 [[ 0.99851003 -0.05115124 -0.01900737 0.81110597] [ 0.05122204 0.99868198 0.00325698 0.2204115 ] [ 0.01881572 -0.00422572 0.99981404 -0.27232328] [ 0. 0. 0. 1. ]] SLAMing on 2.9280011449999996 meters Centerline goodness [0,1] 0.8165696019617288 Centerline is valid? [False, False] Translation: X:0.81, Y:0.23, Z:-0.27 [[ 0.99853538 -0.05026043 -0.02002434 0.81429242] [ 0.05033076 0.99872803 0.00302361 0.22515485] [ 0.0198469 -0.00402702 0.99979492 -0.2731599 ] [ 0. 0. 0. 1. ]] SLAMing on 2.9580011449999994 meters Centerline goodness [0,1] 0.8213585819663107 Centerline is valid? [False, False] Translation: X:0.82, Y:0.23, Z:-0.27 [[ 0.99870264 -0.04644222 -0.02088424 0.81589917] [ 0.04658595 0.99889347 0.0064489 0.22777715] [ 0.02056163 -0.00741345 0.9997611 -0.27355078] [ 0. 0. 0. 1. ]] SLAMing on 2.9880011449999997 meters Centerline goodness [0,1] 0.8252601284038078 Centerline is valid? [False, False] Translation: X:0.82, Y:0.23, Z:-0.28 [[ 0.99873638 -0.04505697 -0.02226011 0.82078343] [ 0.04519852 0.99896062 0.00589678 0.23449082] [ 0.02197128 -0.00689546 0.99973482 -0.27514386] [ 0. 0. 0. 1. ]] SLAMing on 3.0180011449999995 meters Centerline goodness [0,1] 0.8274625279518233 Centerline is valid? [False, False] Translation: X:0.82, Y:0.24, Z:-0.28 [[ 0.99873818 -0.04456957 -0.0231431 0.82372842] [ 0.04471591 0.99898265 0.00584459 0.23629644] [ 0.02285906 -0.00687208 0.99971508 -0.2763701 ] [ 0. 0. 0. 1. ]] SLAMing on 3.0480011449999993 meters Centerline goodness [0,1] 0.8249054925505893 Centerline is valid? [False, False] Translation: X:0.82, Y:0.24, Z:-0.28 [[ 0.99872915 -0.04456368 -0.0235405 0.82487646] [ 0.04470206 0.99898585 0.00538463 0.23828594] [ 0.02327667 -0.0064301 0.99970838 -0.27660529] [ 0. 0. 0. 1. ]] SLAMing on 3.0780011449999995 meters Centerline goodness [0,1] 0.8242658320570021 Centerline is valid? [False, False] Translation: X:0.83, Y:0.24, Z:-0.28 [[ 0.99871905 -0.04441236 -0.02424476 0.82676924] [ 0.04454624 0.99899476 0.00500978 0.24013749] [ 0.02399789 -0.00608337 0.9996935 -0.27685181] [ 0. 0. 0. 1. ]] SLAMing on 3.1080011449999994 meters Centerline goodness [0,1] 0.7795684543711827 Centerline is valid? [False, False] Translation: X:0.83, Y:0.25, Z:-0.28 [[ 0.99869839 -0.04437619 -0.02514509 0.8292892 ] [ 0.04448609 0.99900267 0.00382826 0.24540393] [ 0.02495013 -0.00494189 0.99967648 -0.27684043] [ 0. 0. 0. 1. ]] SLAMing on 3.1380011449999996 meters Centerline goodness [0,1] 0.8129870709867584 Centerline is valid? [False, False] Translation: X:0.83, Y:0.25, Z:-0.28 [[ 0.99869921 -0.0439282 -0.02588828 0.83185981] [ 0.04404259 0.99902218 0.00386499 0.24745362] [ 0.02569319 -0.00500015 0.99965737 -0.27793661] [ 0. 0. 0. 1. ]] SLAMing on 3.1680011449999994 meters Centerline goodness [0,1] 0.8069127516778524 Centerline is valid? [False, False] Translation: X:0.83, Y:0.25, Z:-0.28 [[ 0.99870335 -0.04335526 -0.02668211 0.83481413] [ 0.04348307 0.99904522 0.00422843 0.24892492] [ 0.02647331 -0.00538316 0.99963503 -0.27946791] [ 0. 0. 0. 1. ]] SLAMing on 3.1980011449999997 meters Centerline goodness [0,1] 0.8083990677662245 Centerline is valid? [False, False] Translation: X:0.84, Y:0.25, Z:-0.28 [[ 0.99870274 -0.04291638 -0.02740489 0.83750711] [ 0.04305139 0.99906337 0.0043552 0.25100264] [ 0.02719231 -0.00552937 0.99961493 -0.28079489] [ 0. 0. 0. 1. ]] SLAMing on 3.2280011449999995 meters Centerline goodness [0,1] 0.8009412506473913 Centerline is valid? [False, False] Translation: X:0.84, Y:0.25, Z:-0.28 [[ 0.9986942 -0.04268063 -0.02807597 0.8397333 ] [ 0.04281455 0.99907427 0.004186 0.2538724 ] [ 0.02787132 -0.00538259 0.99959703 -0.28162867] [ 0. 0. 0. 1. ]] SLAMing on 3.2580011449999993 meters Centerline goodness [0,1] 0.7851389265996923 Centerline is valid? [False, False] Translation: X:0.84, Y:0.26, Z:-0.28 [[ 0.99867814 -0.04255824 -0.02882298 0.84228798] [ 0.04269254 0.99908001 0.00406006 0.2560307 ] [ 0.02862368 -0.00528522 0.99957629 -0.28266793] [ 0. 0. 0. 1. ]] SLAMing on 3.2880011449999995 meters Centerline goodness [0,1] 0.7752732704189015 Centerline is valid? [False, False] Translation: X:0.84, Y:0.26, Z:-0.28 [[ 0.99866633 -0.04273934 -0.0289639 0.84293316] [ 0.04287011 0.99907301 0.00390864 0.25589342] [ 0.02877 -0.00514512 0.99957282 -0.28300254] [ 0. 0. 0. 1. ]] SLAMing on 3.3180011449999993 meters Centerline goodness [0,1] 0.7709942686269624 Centerline is valid? [False, False] Translation: X:0.84, Y:0.26, Z:-0.28 [[ 0.99865809 -0.04275767 -0.02922002 0.84378576] [ 0.04288364 0.99907323 0.00369768 0.25673587] [ 0.02903484 -0.00494578 0.99956616 -0.28313834] [ 0. 0. 0. 1. ]] SLAMing on 3.3480011449999996 meters Centerline goodness [0,1] 0.7624075548981681 Centerline is valid? [False, False] Translation: X:0.84, Y:0.26, Z:-0.28 [[ 0.99863982 -0.04309088 -0.02935434 0.84383232] [ 0.0431903 0.99906305 0.0027608 0.26001991] [ 0.02920787 -0.00402487 0.99956526 -0.28238204] [ 0. 0. 0. 1. ]] SLAMing on 3.3780011449999994 meters Centerline goodness [0,1] 0.7567419199890209 Centerline is valid? [False, False] Translation: X:0.85, Y:0.27, Z:-0.28 [[ 9.98612346e-01 -4.31156739e-02 -3.02394067e-02 8.45940401e-01] [ 4.31565057e-02 9.99068080e-01 6.98621439e-04 2.68055779e-01] [ 3.01811044e-02 -2.00267912e-03 9.99542440e-01 -2.81028035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4080011449999996 meters Centerline goodness [0,1] 0.7534686389175553 Centerline is valid? [False, False] Translation: X:0.85, Y:0.27, Z:-0.28 [[ 9.98610951e-01 -4.27227530e-02 -3.08372406e-02 8.48119432e-01] [ 4.27598466e-02 9.99085231e-01 5.44132735e-04 2.70532895e-01] [ 3.07857848e-02 -1.86197259e-03 9.99524271e-01 -2.81845315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4380011449999994 meters Centerline goodness [0,1] 0.749582140812822 Centerline is valid? [False, False] Translation: X:0.85, Y:0.27, Z:-0.28 [[ 9.98600977e-01 -4.25786133e-02 -3.13552159e-02 8.49638530e-01] [ 4.25989066e-02 9.99092254e-01 -2.08242038e-05 2.72808193e-01] [ 3.13276400e-02 -1.31490284e-03 9.99508304e-01 -2.81803552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4680011449999992 meters Centerline goodness [0,1] 0.7511067047864982 Centerline is valid? [False, False] Translation: X:0.85, Y:0.28, Z:-0.28 [[ 9.98596648e-01 -4.25833315e-02 -3.14864280e-02 8.50092577e-01] [ 4.25840321e-02 9.99092678e-01 -6.48629809e-04 2.75084739e-01] [ 3.14854805e-02 -6.93099505e-04 9.99503969e-01 -2.81513868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4980011449999995 meters Centerline goodness [0,1] 0.744691666089046 Centerline is valid? [False, False] Translation: X:0.85, Y:0.28, Z:-0.28 [[ 0.99857624 -0.04273557 -0.03192426 0.85108912] [ 0.04266517 0.99908527 -0.00288343 0.28088982] [ 0.03201829 0.00151727 0.99948613 -0.27946164] [ 0. 0. 0. 1. ]] SLAMing on 3.5280011449999993 meters Centerline goodness [0,1] 0.7440198603280666 Centerline is valid? [False, False] Translation: X:0.85, Y:0.28, Z:-0.28 [[ 9.98707339e-01 -3.94534314e-02 -3.20480399e-02 8.50940540e-01] [ 3.95009024e-02 9.99219174e-01 8.49225943e-04 2.81292300e-01] [ 3.19895111e-02 -2.11405468e-03 9.99485969e-01 -2.79984381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5580011449999995 meters Centerline goodness [0,1] 0.7362285183464933 Centerline is valid? [False, False] Translation: X:0.85, Y:0.28, Z:-0.28 [[ 9.98697036e-01 -3.92891370e-02 -3.25667561e-02 8.52643982e-01] [ 3.93278881e-02 9.99226208e-01 5.49945204e-04 2.84219042e-01] [ 3.25199494e-02 -1.83001039e-03 9.99469411e-01 -2.80389719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5880011449999993 meters Centerline goodness [0,1] 0.7297341456013817 Centerline is valid? [False, False] Translation: X:0.85, Y:0.29, Z:-0.28 [[ 9.98683910e-01 -3.93477932e-02 -3.28968068e-02 8.53599493e-01] [ 3.93707758e-02 9.99224669e-01 5.09041067e-05 2.86868140e-01] [ 3.28692980e-02 -1.34600992e-03 9.99458752e-01 -2.80351851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6180011449999996 meters Centerline goodness [0,1] 0.7115456674473069 Centerline is valid? [False, False] Translation: X:0.85, Y:0.29, Z:-0.28 [[ 9.98666159e-01 -3.98627210e-02 -3.28156554e-02 8.53828063e-01] [ 3.98705443e-02 9.99204767e-01 -4.16189044e-04 2.88846976e-01] [ 3.28061498e-02 -8.92744130e-04 9.99461335e-01 -2.80849088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6480011449999994 meters Centerline goodness [0,1] 0.6935219063702036 Centerline is valid? [False, False] Translation: X:0.85, Y:0.29, Z:-0.28 [[ 9.98656141e-01 -4.02771672e-02 -3.26138419e-02 8.53624451e-01] [ 4.02854453e-02 9.99188130e-01 -4.03511936e-04 2.88204627e-01] [ 3.26036161e-02 -9.10893472e-04 9.99467946e-01 -2.81380415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.678001144999999 meters Centerline goodness [0,1] 0.6690633958362705 Centerline is valid? [False, False] Translation: X:0.86, Y:0.29, Z:-0.28 [[ 0.9984807 -0.04429248 -0.03277907 0.85555851] [ 0.04415761 0.99901291 -0.00482738 0.29086679] [ 0.03296053 0.0033726 0.99945096 -0.2823401 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7080011449999994 meters Centerline goodness [0,1] 0.6605237860777005 Centerline is valid? [False, False] Translation: X:0.86, Y:0.29, Z:-0.28 [[ 0.9984745 -0.04422663 -0.03305576 0.85687955] [ 0.04409415 0.9990162 -0.00472632 0.29165504] [ 0.03323227 0.00326154 0.99944233 -0.2832626 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7380011449999992 meters Centerline goodness [0,1] 0.647534433319231 Centerline is valid? [False, False] Translation: X:0.86, Y:0.29, Z:-0.28 [[ 0.99847654 -0.04397 -0.03333531 0.85839232] [ 0.04384443 0.99902829 -0.00448894 0.29247306] [ 0.0335003 0.00302053 0.99943414 -0.2843802 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7680011449999995 meters Centerline goodness [0,1] 0.652211723781319 Centerline is valid? [False, False] Translation: X:0.86, Y:0.29, Z:-0.29 [[ 0.9984806 -0.04355412 -0.03375693 0.86045554] [ 0.0434377 0.99904741 -0.00417482 0.29327529] [ 0.0339066 0.00270216 0.99942135 -0.28572628] [ 0. 0. 0. 1. ]] SLAMing on 3.7980011449999993 meters Centerline goodness [0,1] 0.6432243762086693 Centerline is valid? [False, False] Translation: X:0.86, Y:0.30, Z:-0.29 [[ 0.99848257 -0.04306496 -0.0343214 0.86317383] [ 0.04295206 0.99906904 -0.00402055 0.29562849] [ 0.03446259 0.00254027 0.99940276 -0.28734232] [ 0. 0. 0. 1. ]] SLAMing on 3.8280011449999995 meters Centerline goodness [0,1] 0.6404528908429065 Centerline is valid? [False, False] Translation: X:0.86, Y:0.30, Z:-0.29 [[ 0.99848752 -0.042714 -0.03461487 0.86442213] [ 0.04260354 0.99908436 -0.00392291 0.29680439] [ 0.03475073 0.00244226 0.99939303 -0.28784334] [ 0. 0. 0. 1. ]] SLAMing on 3.8580011449999994 meters Centerline goodness [0,1] 0.6391830738976947 Centerline is valid? [False, False] Translation: X:0.87, Y:0.30, Z:-0.29 [[ 0.99848542 -0.04257101 -0.03485072 0.86514341] [ 0.04245439 0.99909008 -0.00407973 0.29798008] [ 0.03499269 0.00259399 0.9993842 -0.28780124] [ 0. 0. 0. 1. ]] SLAMing on 3.888001144999999 meters Centerline goodness [0,1] 0.6352611718916866 Centerline is valid? [False, False] Translation: X:0.87, Y:0.30, Z:-0.29 [[ 0.99848736 -0.04222021 -0.03521986 0.86659758] [ 0.04210406 0.99910509 -0.00403354 0.29902286] [ 0.03535864 0.00254454 0.99937145 -0.28828631] [ 0. 0. 0. 1. ]] SLAMing on 3.9180011449999994 meters Centerline goodness [0,1] 0.632981505253649 Centerline is valid? [False, False] Translation: X:0.87, Y:0.30, Z:-0.29 [[ 0.99850255 -0.04150549 -0.03563642 0.86915425] [ 0.04139418 0.99913545 -0.00385589 0.30156768] [ 0.03576565 0.00237498 0.99935738 -0.28979602] [ 0. 0. 0. 1. ]] SLAMing on 3.948001144999999 meters Centerline goodness [0,1] 0.6292951436877472 Centerline is valid? [False, False] Translation: X:0.87, Y:0.30, Z:-0.29 [[ 0.99850727 -0.04114584 -0.0359202 0.87074706] [ 0.04104322 0.99915092 -0.00358992 0.30227308] [ 0.03603741 0.00211029 0.99934821 -0.29097009] [ 0. 0. 0. 1. ]] SLAMing on 3.9780011449999995 meters Centerline goodness [0,1] 0.6273198461795686 Centerline is valid? [False, False] Translation: X:0.87, Y:0.30, Z:-0.29 [[ 0.99851791 -0.04061327 -0.0362291 0.87256475] [ 0.04052556 0.99917353 -0.00315228 0.30257713] [ 0.03632718 0.0016794 0.99933854 -0.29227877] [ 0. 0. 0. 1. ]] SLAMing on 4.008001145 meters Centerline goodness [0,1] 0.6316611032395956 Centerline is valid? [False, False] Translation: X:0.88, Y:0.31, Z:-0.29 [[ 0.99853551 -0.03962161 -0.036837 0.87596648] [ 0.03954508 0.99921385 -0.00280421 0.30534826] [ 0.03691914 0.00134339 0.99931735 -0.29433364] [ 0. 0. 0. 1. ]] SLAMing on 4.038001145 meters Centerline goodness [0,1] 0.6264423076923077 Centerline is valid? [False, False] Translation: X:0.88, Y:0.31, Z:-0.30 [[ 0.99853998 -0.03903863 -0.03733478 0.87817042] [ 0.03896857 0.99923705 -0.00260275 0.30689134] [ 0.03740791 0.00114407 0.99929942 -0.29538913] [ 0. 0. 0. 1. ]] SLAMing on 4.068001145 meters Centerline goodness [0,1] 0.6230498844375962 Centerline is valid? [False, False] Translation: X:0.88, Y:0.31, Z:-0.30 [[ 9.98544172e-01 -3.84827040e-02 -3.77970686e-02 8.80286781e-01] [ 3.84238921e-02 9.99258925e-01 -2.28144474e-03 3.07863884e-01] [ 3.78568543e-02 8.25812868e-04 9.99282831e-01 -2.96557791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.098001145 meters Centerline goodness [0,1] 0.6255885264504913 Centerline is valid? [False, False] Translation: X:0.88, Y:0.31, Z:-0.30 [[ 9.98547892e-01 -3.79335687e-02 -3.82511790e-02 8.82228984e-01] [ 3.78809041e-02 9.99280053e-01 -2.10089409e-03 3.08779726e-01] [ 3.83033346e-02 6.48854121e-04 9.99265947e-01 -2.97410626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.128001145 meters Centerline goodness [0,1] 0.7078537330070032 Centerline is valid? [False, False] Translation: X:0.88, Y:0.31, Z:-0.30 [[ 9.98552288e-01 -3.73660501e-02 -3.86924711e-02 8.84193435e-01] [ 3.73190758e-02 9.99301526e-01 -1.93583885e-03 3.09992018e-01] [ 3.87377801e-02 4.89069051e-04 9.99249291e-01 -2.98327957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.158001145 meters Centerline goodness [0,1] 0.6280333915744516 Centerline is valid? [False, False] Translation: X:0.89, Y:0.31, Z:-0.30 [[ 9.98554687e-01 -3.69135807e-02 -3.90630889e-02 8.85765795e-01] [ 3.68643762e-02 9.99318318e-01 -1.97940579e-03 3.11720340e-01] [ 3.91095272e-02 5.36508520e-04 9.99234786e-01 -2.98789330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.188001144999999 meters Centerline goodness [0,1] 0.6286894206243168 Centerline is valid? [False, False] Translation: X:0.89, Y:0.31, Z:-0.31 [[ 0.99910668 -0.03356086 -0.02568108 0.89087059] [ 0.03364304 0.99943006 0.00277459 0.31176375] [ 0.02557333 -0.0036361 0.99966634 -0.30634796] [ 0. 0. 0. 1. ]] SLAMing on 4.218001145 meters Centerline goodness [0,1] 0.6772382138235797 Centerline is valid? [False, False] Translation: X:0.89, Y:0.31, Z:-0.31 [[ 0.99910663 -0.03346917 -0.02580223 0.89132304] [ 0.03353697 0.99943506 0.00219938 0.31407774] [ 0.02571404 -0.00306274 0.99966465 -0.30595484] [ 0. 0. 0. 1. ]] SLAMing on 4.248001145 meters Centerline goodness [0,1] 0.7064518494975919 Centerline is valid? [False, False] Translation: X:0.89, Y:0.32, Z:-0.31 [[ 0.99910728 -0.03306616 -0.02629188 0.89288106] [ 0.03312423 0.99944966 0.00177605 0.31640946] [ 0.02621868 -0.00264536 0.99965273 -0.30580762] [ 0. 0. 0. 1. ]] SLAMing on 4.278001145 meters Centerline goodness [0,1] 0.7058491584474214 Centerline is valid? [False, False] Translation: X:0.89, Y:0.32, Z:-0.31 [[ 0.99911035 -0.03276705 -0.02654862 0.89406865] [ 0.03281792 0.99946025 0.00148269 0.31859486] [ 0.02648571 -0.00235264 0.99964642 -0.30610243] [ 0. 0. 0. 1. ]] SLAMing on 4.3080011449999995 meters Centerline goodness [0,1] 0.7003258132991065 Centerline is valid? [False, False] Translation: X:0.90, Y:0.32, Z:-0.31 [[ 0.9991169 -0.03256041 -0.02655632 0.89517071] [ 0.03260224 0.99946775 0.00114355 0.32156673] [ 0.02650495 -0.00200834 0.99964666 -0.30701932] [ 0. 0. 0. 1. ]] SLAMing on 4.338001145 meters Centerline goodness [0,1] 0.6931770512029611 Centerline is valid? [False, False] Translation: X:0.90, Y:0.32, Z:-0.31 [[ 9.99112250e-01 -3.25955441e-02 -2.66878881e-02 8.95764704e-01] [ 3.26280524e-02 9.99467256e-01 7.83418597e-04 3.22978869e-01] [ 2.66481343e-02 -1.65349693e-03 9.99643508e-01 -3.06970516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.368001145 meters Centerline goodness [0,1] 0.6858229974798636 Centerline is valid? [False, False] Translation: X:0.90, Y:0.32, Z:-0.31 [[ 9.99106941e-01 -3.27519414e-02 -2.66951586e-02 8.96097761e-01] [ 3.27765976e-02 9.99462585e-01 4.86460222e-04 3.24595369e-01] [ 2.66648797e-02 -1.36100225e-03 9.99643502e-01 -3.07173214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.398001144999999 meters Centerline goodness [0,1] 0.6706282254863041 Centerline is valid? [False, False] Translation: X:0.90, Y:0.33, Z:-0.31 [[ 9.99091425e-01 -3.34055725e-02 -2.64649366e-02 8.95628622e-01] [ 3.34114872e-02 9.99441656e-01 -2.18793919e-04 3.27004071e-01] [ 2.64574691e-02 -6.65637765e-04 9.99649718e-01 -3.07221984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.428001145 meters Centerline goodness [0,1] 0.660769746813427 Centerline is valid? [False, False] Translation: X:0.90, Y:0.33, Z:-0.31 [[ 9.99087736e-01 -3.35154708e-02 -2.64652243e-02 8.96084149e-01] [ 3.35179003e-02 9.99438055e-01 -3.51925609e-04 3.27636900e-01] [ 2.64621473e-02 -5.35454192e-04 9.99649673e-01 -3.07769335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.458001145 meters Centerline goodness [0,1] 0.6540888314785374 Centerline is valid? [False, False] Translation: X:0.90, Y:0.33, Z:-0.31 [[ 9.99087230e-01 -3.33749833e-02 -2.66611665e-02 8.97168729e-01] [ 3.33805287e-02 9.99442687e-01 -2.37162015e-04 3.28130570e-01] [ 2.66542231e-02 -6.53018293e-04 9.99644500e-01 -3.08538255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.488001145 meters Centerline goodness [0,1] 0.6478560928818795 Centerline is valid? [False, False] Translation: X:0.90, Y:0.33, Z:-0.31 [[ 9.99088106e-01 -3.33806193e-02 -2.66212468e-02 8.97545277e-01] [ 3.33888142e-02 9.99442429e-01 -1.36735266e-04 3.28438554e-01] [ 2.66109679e-02 -7.52241285e-04 9.99645582e-01 -3.09143749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5180011449999995 meters Centerline goodness [0,1] 0.641033966033966 Centerline is valid? [False, False] Translation: X:0.90, Y:0.33, Z:-0.31 [[ 9.99092204e-01 -3.34733329e-02 -2.63496560e-02 8.97923983e-01] [ 3.34815172e-02 9.99439328e-01 -1.30649879e-04 3.29451790e-01] [ 2.63392558e-02 -7.51695187e-04 9.99652779e-01 -3.10328310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.548001145 meters Centerline goodness [0,1] 0.6389013845154197 Centerline is valid? [False, False] Translation: X:0.90, Y:0.33, Z:-0.31 [[ 9.99092534e-01 -3.31153653e-02 -2.67858549e-02 8.99573840e-01] [ 3.31265818e-02 9.99451164e-01 -2.50078705e-05 3.30091577e-01] [ 2.67719820e-02 -8.62338636e-04 9.99641194e-01 -3.10885070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.578001145 meters Centerline goodness [0,1] 0.637717494860352 Centerline is valid? [False, False] Translation: X:0.90, Y:0.33, Z:-0.31 [[ 9.99096833e-01 -3.28103578e-02 -2.69999847e-02 9.00678317e-01] [ 3.28258275e-02 9.99461079e-01 1.29801191e-04 3.30605031e-01] [ 2.69811750e-02 -1.01598080e-03 9.99635426e-01 -3.11551632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.608001144999999 meters Centerline goodness [0,1] 0.6400241442619652 Centerline is valid? [False, False] Translation: X:0.90, Y:0.33, Z:-0.31 [[ 9.99113725e-01 -3.19852476e-02 -2.73625342e-02 9.03304483e-01] [ 3.20181434e-02 9.99486995e-01 7.64822780e-04 3.31110259e-01] [ 2.73240341e-02 -1.64024248e-03 9.99625283e-01 -3.13613165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.638001145 meters Centerline goodness [0,1] 0.6398782573699567 Centerline is valid? [False, False] Translation: X:0.91, Y:0.33, Z:-0.31 [[ 0.99911716 -0.03133343 -0.02798438 0.90580618] [ 0.03137723 0.99950698 0.00112741 0.33216671] [ 0.02793525 -0.00200449 0.99960772 -0.31475844] [ 0. 0. 0. 1. ]] SLAMing on 4.668001145 meters Centerline goodness [0,1] 0.6404136431442947 Centerline is valid? [False, False] Translation: X:0.90, Y:0.33, Z:-0.31 [[ 0.99922118 -0.02803672 -0.02776651 0.90465585] [ 0.02818452 0.9995905 0.0049458 0.33185194] [ 0.02761648 -0.00572453 0.9996022 -0.31491561] [ 0. 0. 0. 1. ]] SLAMing on 4.698001145 meters Centerline goodness [0,1] 0.6442002689877433 Centerline is valid? [False, False] Translation: X:0.91, Y:0.34, Z:-0.31 [[ 0.99921888 -0.02784725 -0.02803858 0.90551405] [ 0.02796771 0.99960117 0.0039132 0.33622586] [ 0.02791843 -0.00469432 0.99959918 -0.31396967] [ 0. 0. 0. 1. ]] SLAMing on 4.7280011449999995 meters Centerline goodness [0,1] 0.6442002689877433 Centerline is valid? [False, False] Translation: X:0.91, Y:0.34, Z:-0.31 [[ 0.99921888 -0.02784725 -0.02803858 0.90551405] [ 0.02796771 0.99960117 0.0039132 0.33622586] [ 0.02791843 -0.00469432 0.99959918 -0.31396967] [ 0. 0. 0. 1. ]] SLAMing on 4.758001145 meters Centerline goodness [0,1] 0.6456816740646798 Centerline is valid? [False, False] Translation: X:0.91, Y:0.34, Z:-0.31 [[ 0.99922235 -0.02755381 -0.02820442 0.90667194] [ 0.02766548 0.99961084 0.0035765 0.33780854] [ 0.02809489 -0.00435401 0.99959578 -0.31431506] [ 0. 0. 0. 1. ]] SLAMing on 4.788001145 meters Centerline goodness [0,1] 0.6469361279983721 Centerline is valid? [False, False] Translation: X:0.91, Y:0.34, Z:-0.31 [[ 0.99922361 -0.02733321 -0.02837371 0.90760765] [ 0.02743171 0.99961891 0.00308805 0.33992632] [ 0.02827849 -0.00386399 0.99959262 -0.31434109] [ 0. 0. 0. 1. ]] SLAMing on 4.818001144999999 meters Centerline goodness [0,1] 0.6470843545751634 Centerline is valid? [False, False] Translation: X:0.91, Y:0.34, Z:-0.31 [[ 0.99922423 -0.02717144 -0.02850705 0.90858163] [ 0.02725854 0.99962485 0.00267124 0.34215018] [ 0.02842377 -0.00344623 0.99959002 -0.31467017] [ 0. 0. 0. 1. ]] SLAMing on 4.848001145 meters Centerline goodness [0,1] 0.6473287530762921 Centerline is valid? [False, False] Translation: X:0.91, Y:0.35, Z:-0.31 [[ 0.99921625 -0.02716056 -0.02879551 0.90965383] [ 0.02721163 0.99962874 0.00138307 0.34652767] [ 0.02874726 -0.00216556 0.99958437 -0.31388869] [ 0. 0. 0. 1. ]] SLAMing on 4.878001145 meters Centerline goodness [0,1] 0.7320518758684575 Centerline is valid? [False, False] Translation: X:0.91, Y:0.35, Z:-0.31 [[ 9.99210901e-01 -2.71473791e-02 -2.89930193e-02 9.10435204e-01] [ 2.71876513e-02 9.99629852e-01 9.95653395e-04 3.48361385e-01] [ 2.89552582e-02 -1.78311983e-03 9.99579118e-01 -3.13923977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.908001145 meters Centerline goodness [0,1] 0.6379416915627898 Centerline is valid? [False, False] Translation: X:0.93, Y:0.35, Z:-0.32 [[ 0.99930301 -0.0287563 -0.02380255 0.92564982] [ 0.02897973 0.99953862 0.00909565 0.34724179] [ 0.02353001 -0.00977911 0.9996753 -0.31837709] [ 0. 0. 0. 1. ]] SLAMing on 4.938001144999999 meters Centerline goodness [0,1] 0.6277553554796647 Centerline is valid? [False, False] Translation: X:0.93, Y:0.35, Z:-0.32 [[ 0.99928693 -0.02949364 -0.02357451 0.9257471 ] [ 0.02969374 0.99952554 0.0081837 0.3509921 ] [ 0.02332195 -0.00887788 0.99968859 -0.31920614] [ 0. 0. 0. 1. ]] SLAMing on 4.968001145 meters Centerline goodness [0,1] 0.6226366024290655 Centerline is valid? [False, False] Translation: X:0.93, Y:0.35, Z:-0.32 [[ 0.99927667 -0.02996765 -0.02341125 0.92531933] [ 0.03015402 0.999516 0.00764896 0.35270374] [ 0.0231707 -0.00834937 0.99969666 -0.31917816] [ 0. 0. 0. 1. ]] SLAMing on 4.998001145 meters Centerline goodness [0,1] 0.6745377473799183 Centerline is valid? [False, False] Translation: X:0.92, Y:0.35, Z:-0.32 [[ 0.99926154 -0.03048668 -0.02338689 0.92478324] [ 0.03064843 0.99950851 0.0065892 0.35459259] [ 0.02317451 -0.00730111 0.99970477 -0.3179668 ] [ 0. 0. 0. 1. ]] SLAMing on 5.028001144999999 meters Centerline goodness [0,1] 0.6134736074581391 Centerline is valid? [False, False] Translation: X:0.92, Y:0.36, Z:-0.32 [[ 0.99925107 -0.03085619 -0.02334921 0.92442384] [ 0.03099616 0.9995035 0.00565663 0.35631166] [ 0.02316307 -0.00637613 0.99971137 -0.31693661] [ 0. 0. 0. 1. ]] SLAMing on 5.0580011449999995 meters Centerline goodness [0,1] 0.6115958638293439 Centerline is valid? [False, False] Translation: X:0.92, Y:0.36, Z:-0.32 [[ 0.99923921 -0.03109627 -0.02353763 0.92470374] [ 0.03121671 0.99950127 0.00476677 0.35832737] [ 0.02337766 -0.00549791 0.99971159 -0.31609298] [ 0. 0. 0. 1. ]] SLAMing on 5.088001145 meters Centerline goodness [0,1] 0.6873430305567183 Centerline is valid? [False, False] Translation: X:0.94, Y:0.36, Z:-0.32 [[ 0.99946284 -0.02798353 -0.01705708 0.9356617 ] [ 0.02824973 0.99947962 0.0155705 0.36021849] [ 0.01661249 -0.01604399 0.99973327 -0.31506343] [ 0. 0. 0. 1. ]] SLAMing on 5.118001145 meters Centerline goodness [0,1] 0.720701330743589 Centerline is valid? [False, False] Translation: X:0.94, Y:0.37, Z:-0.30 [[ 0.9995437 -0.02547535 -0.01622934 0.9366306 ] [ 0.02563299 0.99962551 0.00958092 0.36766051] [ 0.01597919 -0.00999256 0.99982239 -0.30342678] [ 0. 0. 0. 1. ]] SLAMing on 5.148001144999999 meters Centerline goodness [0,1] 0.7303727200634418 Centerline is valid? [False, False] Translation: X:0.94, Y:0.37, Z:-0.30 [[ 0.99964535 -0.02117239 -0.01615251 0.93639793] [ 0.02140152 0.99967086 0.01414707 0.3657883 ] [ 0.01584766 -0.01448774 0.99976945 -0.30370971] [ 0. 0. 0. 1. ]] SLAMing on 5.178001145 meters Centerline goodness [0,1] 0.7389252188587702 Centerline is valid? [False, False] Translation: X:0.95, Y:0.37, Z:-0.31 [[ 0.99962694 -0.02037631 -0.01818766 0.94659274] [ 0.02058573 0.99972307 0.01140224 0.36527415] [ 0.01795029 -0.0117724 0.99976957 -0.3051555 ] [ 0. 0. 0. 1. ]] SLAMing on 5.208001145 meters Centerline goodness [0,1] 0.7516877637130801 Centerline is valid? [False, False] Translation: X:0.96, Y:0.36, Z:-0.31 [[ 0.99957095 -0.02115986 -0.02025264 0.96214374] [ 0.02132967 0.99973882 0.0082056 0.36141498] [ 0.02007372 -0.00863406 0.99976122 -0.31374389] [ 0. 0. 0. 1. ]] SLAMing on 5.238001144999999 meters Centerline goodness [0,1] 0.7468331143232589 Centerline is valid? [False, False] Translation: X:0.97, Y:0.36, Z:-0.32 [[ 0.99949643 -0.02357974 -0.02123386 0.96784916] [ 0.02370012 0.99970434 0.00543523 0.36034981] [ 0.02109942 -0.00593574 0.99975976 -0.31745041] [ 0. 0. 0. 1. ]] SLAMing on 5.2680011449999995 meters Centerline goodness [0,1] 0.7620789473684211 Centerline is valid? [False, False] Translation: X:0.97, Y:0.36, Z:-0.32 [[ 0.9995009 -0.02306492 -0.02158609 0.97343874] [ 0.0231836 0.99971737 0.00526402 0.36135126] [ 0.02145858 -0.00576184 0.99975313 -0.32225917] [ 0. 0. 0. 1. ]] SLAMing on 5.298001145 meters Centerline goodness [0,1] 0.7639142758748576 Centerline is valid? [False, False] Translation: X:0.97, Y:0.36, Z:-0.32 [[ 0.99958028 -0.0193177 -0.02158897 0.97319453] [ 0.01951889 0.99976764 0.00914785 0.36218622] [ 0.02140723 -0.0095654 0.99972508 -0.32255494] [ 0. 0. 0. 1. ]] SLAMing on 5.328001145 meters Centerline goodness [0,1] 0.7673397717295873 Centerline is valid? [False, False] Translation: X:0.98, Y:0.37, Z:-0.32 [[ 0.99956403 -0.01901772 -0.02258472 0.97547088] [ 0.01920862 0.99978133 0.00826603 0.36586906] [ 0.02242258 -0.00869625 0.99971076 -0.32163045] [ 0. 0. 0. 1. ]] SLAMing on 5.358001144999999 meters Centerline goodness [0,1] 0.7661053977726862 Centerline is valid? [False, False] Translation: X:0.98, Y:0.37, Z:-0.32 [[ 0.99955181 -0.01865106 -0.02341622 0.97786308] [ 0.01883937 0.99979173 0.00784736 0.36839175] [ 0.02326498 -0.00828499 0.999695 -0.3215597 ] [ 0. 0. 0. 1. ]] SLAMing on 5.388001145 meters Centerline goodness [0,1] 0.7688905567319806 Centerline is valid? [False, False] Translation: X:0.98, Y:0.37, Z:-0.32 [[ 0.99953964 -0.01797486 -0.02444214 0.98119962] [ 0.01815827 0.99980846 0.00730273 0.37151723] [ 0.02430619 -0.0077432 0.99967457 -0.32151001] [ 0. 0. 0. 1. ]] SLAMing on 5.418001145 meters Centerline goodness [0,1] 0.7720420283234354 Centerline is valid? [False, False] Translation: X:0.98, Y:0.37, Z:-0.32 [[ 0.99953571 -0.01769953 -0.02480085 0.98241523] [ 0.01787919 0.99981536 0.0070414 0.3727167 ] [ 0.02467164 -0.00748155 0.99966761 -0.32150589] [ 0. 0. 0. 1. ]] SLAMing on 5.448001144999999 meters Centerline goodness [0,1] 0.7819937074784199 Centerline is valid? [False, False] Translation: X:0.98, Y:0.37, Z:-0.32 [[ 0.9995327 -0.01709705 -0.02533915 0.98454624] [ 0.01727895 0.99982636 0.00697719 0.37320338] [ 0.02521546 -0.00741176 0.99965456 -0.32190597] [ 0. 0. 0. 1. ]] SLAMing on 5.4780011449999995 meters Centerline goodness [0,1] 0.7809032535396685 Centerline is valid? [False, False] Translation: X:0.99, Y:0.37, Z:-0.32 [[ 0.99952783 -0.01650362 -0.02591794 0.98676977] [ 0.0166867 0.99983721 0.00686369 0.37405671] [ 0.02580045 -0.00729293 0.99964051 -0.32233159] [ 0. 0. 0. 1. ]] SLAMing on 5.508001145 meters Centerline goodness [0,1] 0.795469220835127 Centerline is valid? [False, False] Translation: X:0.99, Y:0.38, Z:-0.32 [[ 0.99951902 -0.01510815 -0.02708255 0.99133157] [ 0.01529358 0.99986091 0.00665264 0.37672931] [ 0.02697827 -0.00706363 0.99961106 -0.32292681] [ 0. 0. 0. 1. ]] SLAMing on 5.538001145 meters Centerline goodness [0,1] 0.7988583486635645 Centerline is valid? [False, False] Translation: X:0.99, Y:0.38, Z:-0.32 [[ 0.99950817 -0.01486998 -0.02760997 0.99264127] [ 0.01504352 0.9998683 0.00608835 0.37898669] [ 0.0275158 -0.00650071 0.99960023 -0.32225401] [ 0. 0. 0. 1. ]] SLAMing on 5.568001144999999 meters Centerline goodness [0,1] 0.7871416159860991 Centerline is valid? [False, False] Translation: X:0.99, Y:0.38, Z:-0.32 [[ 0.99949306 -0.01458477 -0.0283002 0.99414866] [ 0.01473626 0.99987814 0.00515156 0.38157066] [ 0.02822162 -0.00556598 0.99958619 -0.32079436] [ 0. 0. 0. 1. ]] SLAMing on 5.598001145 meters Centerline goodness [0,1] 0.7973555070883316 Centerline is valid? [False, False] Translation: X:1.00, Y:0.39, Z:-0.32 [[ 0.99946546 -0.01376258 -0.02965449 0.9975586 ] [ 0.01385802 0.99989943 0.00301525 0.38676008] [ 0.02961001 -0.0034246 0.99955566 -0.31732506] [ 0. 0. 0. 1. ]] SLAMing on 5.628001145 meters Centerline goodness [0,1] 0.7988264648624934 Centerline is valid? [False, False] Translation: X:1.00, Y:0.39, Z:-0.32 [[ 0.9994581 -0.01350609 -0.03001829 0.99865301] [ 0.01360176 0.99990304 0.00298527 0.3872548 ] [ 0.02997506 -0.00339196 0.99954489 -0.31732065] [ 0. 0. 0. 1. ]] SLAMing on 5.658001144999999 meters Centerline goodness [0,1] 0.7937594087860955 Centerline is valid? [False, False] Translation: X:1.00, Y:0.39, Z:-0.32 [[ 9.99382422e-01 -1.61269753e-02 -3.12201071e-02 1.00294093e+00] [ 1.61021800e-02 9.99869805e-01 -1.04548130e-03 3.89001264e-01] [ 3.12329028e-02 5.42123851e-04 9.99511987e-01 -3.17189679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.688001144999999 meters Centerline goodness [0,1] 0.7854910347096562 Centerline is valid? [False, False] Translation: X:1.00, Y:0.39, Z:-0.32 [[ 9.99381623e-01 -1.57977186e-02 -3.14134193e-02 1.00391324e+00] [ 1.57946797e-02 9.99875197e-01 -3.44896089e-04 3.87056789e-01] [ 3.14149474e-02 -1.51482081e-04 9.99506417e-01 -3.18059132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.718001145 meters Centerline goodness [0,1] 0.7753819245169578 Centerline is valid? [False, False] Translation: X:1.01, Y:0.38, Z:-0.32 [[ 0.99929633 -0.01862617 -0.03255614 1.00823521] [ 0.01853243 0.99982321 -0.00317895 0.38454533] [ 0.0326096 0.00257337 0.99946485 -0.31952342] [ 0. 0. 0. 1. ]] SLAMing on 5.748001145 meters Centerline goodness [0,1] 0.7592380328584685 Centerline is valid? [False, False] Translation: X:1.01, Y:0.38, Z:-0.32 [[ 0.99930339 -0.01829507 -0.03252723 1.00933919] [ 0.01825151 0.99983209 -0.00163545 0.38037862] [ 0.03255169 0.00104064 0.99946951 -0.32198456] [ 0. 0. 0. 1. ]] SLAMing on 5.778001144999999 meters Centerline goodness [0,1] 0.7496189439303211 Centerline is valid? [False, False] Translation: X:1.01, Y:0.38, Z:-0.32 [[ 9.99307487e-01 -1.80357476e-02 -3.25462593e-02 1.01019522e+00] [ 1.80282025e-02 9.99837341e-01 -5.25289566e-04 3.76917830e-01] [ 3.25504394e-02 -6.18247585e-05 9.99470092e-01 -3.23612699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8080011449999995 meters Centerline goodness [0,1] 0.7461402794736128 Centerline is valid? [False, False] Translation: X:1.01, Y:0.38, Z:-0.32 [[ 0.99921187 -0.02108529 -0.03363095 1.01386947] [ 0.02095197 0.99977118 -0.004312 0.37738222] [ 0.03371417 0.00360396 0.99942502 -0.32379452] [ 0. 0. 0. 1. ]] SLAMing on 5.838001145 meters Centerline goodness [0,1] 0.7317568116020455 Centerline is valid? [False, False] Translation: X:1.02, Y:0.38, Z:-0.32 [[ 0.99910275 -0.02429343 -0.03469199 1.01736575] [ 0.0240167 0.99967651 -0.00837116 0.37835865] [ 0.03488413 0.00753046 0.99936299 -0.32346811] [ 0. 0. 0. 1. ]] SLAMing on 5.868001144999999 meters Centerline goodness [0,1] 0.7507575757575757 Centerline is valid? [False, False] Translation: X:1.02, Y:0.38, Z:-0.32 [[ 0.99909884 -0.02392005 -0.03506204 1.01878875] [ 0.02366535 0.99969058 -0.00766154 0.37716103] [ 0.03523446 0.00682488 0.99935577 -0.32444888] [ 0. 0. 0. 1. ]] SLAMing on 5.898001144999999 meters Centerline goodness [0,1] 0.7416585418697865 Centerline is valid? [False, False] Translation: X:1.03, Y:0.37, Z:-0.33 [[ 0.99922188 -0.02557511 -0.0300258 1.03319213] [ 0.02565766 0.99966799 0.0023671 0.37358655] [ 0.02995529 -0.00313565 0.99954632 -0.33071555] [ 0. 0. 0. 1. ]] SLAMing on 5.928001145 meters Centerline goodness [0,1] 0.7358131957643226 Centerline is valid? [False, False] Translation: X:1.04, Y:0.38, Z:-0.33 [[ 0.99908554 -0.02938455 -0.03105856 1.0355486 ] [ 0.02930557 0.99956601 -0.00299517 0.37719886] [ 0.0311331 0.00208224 0.99951308 -0.32826219] [ 0. 0. 0. 1. ]] SLAMing on 5.958001145 meters Centerline goodness [0,1] 0.6954809624680898 Centerline is valid? [False, False] Translation: X:1.05, Y:0.37, Z:-0.33 [[ 0.99916575 -0.03181075 -0.02560999 1.05000594] [ 0.03196017 0.9994743 0.00544638 0.37442814] [ 0.02542328 -0.00626034 0.99965717 -0.33372575] [ 0. 0. 0. 1. ]] SLAMing on 5.988001144999999 meters Centerline goodness [0,1] 0.6926830590723019 Centerline is valid? [False, False] Translation: X:1.05, Y:0.37, Z:-0.33 [[ 0.9991573 -0.03197065 -0.02574047 1.05034222] [ 0.03212388 0.99946842 0.00556146 0.37368627] [ 0.02554898 -0.00638366 0.99965319 -0.33394044] [ 0. 0. 0. 1. ]] SLAMing on 6.0180011449999995 meters Centerline goodness [0,1] 0.7031738692920667 Centerline is valid? [False, False] Translation: X:1.05, Y:0.37, Z:-0.33 [[ 0.99914778 -0.03221953 -0.02579969 1.05075608] [ 0.03238221 0.99945807 0.0059126 0.37236026] [ 0.02559521 -0.00674302 0.99964965 -0.33477725] [ 0. 0. 0. 1. ]] SLAMing on 6.048001145 meters Centerline goodness [0,1] 0.7236927926948582 Centerline is valid? [False, False] Translation: X:1.05, Y:0.37, Z:-0.33 [[ 0.99915086 -0.03172558 -0.02628774 1.05245299] [ 0.03189033 0.99947413 0.00587192 0.37297475] [ 0.02608762 -0.00670526 0.99963717 -0.33491568] [ 0. 0. 0. 1. ]] SLAMing on 6.078001144999999 meters Centerline goodness [0,1] 0.7290375203915171 Centerline is valid? [False, False] Translation: X:1.06, Y:0.37, Z:-0.34 [[ 0.99915957 -0.03068788 -0.02717365 1.05560715] [ 0.03085661 0.99950692 0.00581181 0.3747326 ] [ 0.0269819 -0.00664541 0.99961383 -0.33524177] [ 0. 0. 0. 1. ]] SLAMing on 6.108001144999999 meters Centerline goodness [0,1] 0.7430924910672885 Centerline is valid? [False, False] Translation: X:1.06, Y:0.38, Z:-0.33 [[ 0.99918744 -0.02809973 -0.02889408 1.06221543] [ 0.02823655 0.99959186 0.00433812 0.37880284] [ 0.02876039 -0.00515046 0.99957307 -0.33295611] [ 0. 0. 0. 1. ]] SLAMing on 6.138001145 meters Centerline goodness [0,1] 0.7363666228646517 Centerline is valid? [False, False] Translation: X:1.06, Y:0.38, Z:-0.33 [[ 0.99918351 -0.02779238 -0.02932392 1.06349018] [ 0.02792611 0.99960133 0.00416093 0.37987061] [ 0.02919659 -0.00497643 0.9995613 -0.33278522] [ 0. 0. 0. 1. ]] SLAMing on 6.168001145 meters Centerline goodness [0,1] 0.7531622993551927 Centerline is valid? [False, False] Translation: X:1.06, Y:0.38, Z:-0.33 [[ 0.99918012 -0.02748331 -0.0297281 1.06469692] [ 0.02761308 0.99961083 0.00396351 0.38059936] [ 0.0296076 -0.00478114 0.99955016 -0.33247592] [ 0. 0. 0. 1. ]] SLAMing on 6.198001144999999 meters Centerline goodness [0,1] 0.7456434500577209 Centerline is valid? [False, False] Translation: X:1.07, Y:0.38, Z:-0.33 [[ 0.99917681 -0.02724177 -0.03005974 1.06555177] [ 0.02736474 0.99961872 0.00368698 0.38084241] [ 0.02994784 -0.00450652 0.9995413 -0.3318126 ] [ 0. 0. 0. 1. ]] SLAMing on 6.2280011449999995 meters Centerline goodness [0,1] 0.7520063984114289 Centerline is valid? [False, False] Translation: X:1.07, Y:0.38, Z:-0.33 [[ 0.999173 -0.02709358 -0.03031936 1.06608094] [ 0.02720581 0.99962442 0.00329494 0.3816181 ] [ 0.0302187 -0.00411708 0.99953483 -0.33099663] [ 0. 0. 0. 1. ]] SLAMing on 6.258001145 meters Centerline goodness [0,1] 0.7611464092196826 Centerline is valid? [False, False] Translation: X:1.07, Y:0.38, Z:-0.33 [[ 0.99917251 -0.02627955 -0.03104318 1.06804867] [ 0.02637713 0.99964831 0.00273779 0.3816631 ] [ 0.03096032 -0.00355435 0.99951429 -0.32931798] [ 0. 0. 0. 1. ]] SLAMing on 6.288001144999999 meters Centerline goodness [0,1] 0.7705707523804282 Centerline is valid? [False, False] Translation: X:1.07, Y:0.38, Z:-0.33 [[ 0.99917836 -0.02533746 -0.03163265 1.07027884] [ 0.02543909 0.99967241 0.00281438 0.38198093] [ 0.03155097 -0.00361677 0.9994956 -0.32924948] [ 0. 0. 0. 1. ]] SLAMing on 6.318001144999999 meters Centerline goodness [0,1] 0.7764997931319818 Centerline is valid? [False, False] Translation: X:1.07, Y:0.38, Z:-0.33 [[ 0.99917603 -0.02466721 -0.03223013 1.07221156] [ 0.02477072 0.99968919 0.00281614 0.3826195 ] [ 0.03215064 -0.00361218 0.99947651 -0.32912827] [ 0. 0. 0. 1. ]] SLAMing on 6.348001145 meters Centerline goodness [0,1] 0.7933989034906466 Centerline is valid? [False, False] Translation: X:1.08, Y:0.38, Z:-0.33 [[ 0.99918322 -0.02288554 -0.03330385 1.07679106] [ 0.02301691 0.99972871 0.00356673 0.38279992] [ 0.03321319 -0.00433036 0.99943891 -0.33033069] [ 0. 0. 0. 1. ]] SLAMing on 6.378001145 meters Centerline goodness [0,1] 0.794641380450962 Centerline is valid? [False, False] Translation: X:1.08, Y:0.38, Z:-0.33 [[ 0.99917974 -0.0223261 -0.03378449 1.07867589] [ 0.02247194 0.9997397 0.00394303 0.38269196] [ 0.03368766 -0.004699 0.99942136 -0.33106948] [ 0. 0. 0. 1. ]] SLAMing on 6.408001144999999 meters Centerline goodness [0,1] 0.7967575899369684 Centerline is valid? [False, False] Translation: X:1.08, Y:0.38, Z:-0.33 [[ 0.99917874 -0.021806 -0.03415192 1.08047101] [ 0.02196316 0.99974982 0.00423343 0.38267497] [ 0.03405106 -0.00498004 0.99940769 -0.33181901] [ 0. 0. 0. 1. ]] SLAMing on 6.438001144999999 meters Centerline goodness [0,1] 0.7993758113072058 Centerline is valid? [False, False] Translation: X:1.08, Y:0.38, Z:-0.33 [[ 0.9991694 -0.02104083 -0.03489686 1.08328087] [ 0.02121677 0.99976395 0.0046789 0.3829642 ] [ 0.03479017 -0.00541542 0.99937997 -0.33270557] [ 0. 0. 0. 1. ]] SLAMing on 6.468001145 meters Centerline goodness [0,1] 0.8074537601063241 Centerline is valid? [False, False] Translation: X:1.08, Y:0.38, Z:-0.33 [[ 0.99916477 -0.02076375 -0.03519404 1.08437558] [ 0.02093513 0.99977067 0.00450801 0.38380897] [ 0.03509236 -0.00524103 0.99937033 -0.33263582] [ 0. 0. 0. 1. ]] SLAMing on 6.498001144999999 meters Centerline goodness [0,1] 0.8266037893796914 Centerline is valid? [False, False] Translation: X:1.08, Y:0.38, Z:-0.33 [[ 0.99924228 -0.01651609 -0.03524318 1.08480868] [ 0.0168209 0.99982349 0.00836978 0.3845433 ] [ 0.03509873 -0.00895626 0.99934372 -0.33296558] [ 0. 0. 0. 1. ]] SLAMing on 6.528001144999999 meters Centerline goodness [0,1] 0.8266037893796914 Centerline is valid? [False, False] Translation: X:1.08, Y:0.38, Z:-0.33 [[ 0.99924228 -0.01651609 -0.03524318 1.08480868] [ 0.0168209 0.99982349 0.00836978 0.3845433 ] [ 0.03509873 -0.00895626 0.99934372 -0.33296558] [ 0. 0. 0. 1. ]] SLAMing on 6.5580011449999995 meters Centerline goodness [0,1] 0.8358912825092086 Centerline is valid? [False, False] Translation: X:1.09, Y:0.39, Z:-0.33 [[ 0.99922392 -0.01592 -0.03602937 1.08711875] [ 0.01620947 0.99983853 0.00775651 0.3868731 ] [ 0.03590007 -0.00833451 0.99932063 -0.33225369] [ 0. 0. 0. 1. ]] SLAMing on 6.588001145 meters Centerline goodness [0,1] 0.8580585567933718 Centerline is valid? [False, False] Translation: X:1.09, Y:0.39, Z:-0.33 [[ 0.99921568 -0.01387704 -0.03708706 1.09163241] [ 0.0140607 0.99989012 0.00469589 0.39246823] [ 0.03701782 -0.00521368 0.999301 -0.32717202] [ 0. 0. 0. 1. ]] SLAMing on 6.618001144999999 meters Centerline goodness [0,1] 0.8580585567933718 Centerline is valid? [False, False] Translation: X:1.09, Y:0.39, Z:-0.33 [[ 0.99921568 -0.01387704 -0.03708706 1.09163241] [ 0.0140607 0.99989012 0.00469589 0.39246823] [ 0.03701782 -0.00521368 0.999301 -0.32717202] [ 0. 0. 0. 1. ]] SLAMing on 6.648001144999999 meters Centerline goodness [0,1] 0.8647780292235911 Centerline is valid? [False, False] Translation: X:1.09, Y:0.39, Z:-0.33 [[ 0.99919795 -0.01325088 -0.03778713 1.09365608] [ 0.01341341 0.99990183 0.00405094 0.39415856] [ 0.03772974 -0.00455454 0.9992776 -0.32600351] [ 0. 0. 0. 1. ]] SLAMing on 6.678001145 meters Centerline goodness [0,1] 0.8645967246101391 Centerline is valid? [False, False] Translation: X:1.10, Y:0.39, Z:-0.33 [[ 0.99918701 -0.01269567 -0.03826403 1.09557103] [ 0.01285587 0.99990958 0.00394372 0.39495602] [ 0.0382105 -0.00443243 0.99925988 -0.32612944] [ 0. 0. 0. 1. ]] SLAMing on 6.708001144999999 meters Centerline goodness [0,1] 0.8788808511836068 Centerline is valid? [False, False] Translation: X:1.10, Y:0.40, Z:-0.33 [[ 0.99918389 -0.01122284 -0.03880207 1.09934662] [ 0.01141065 0.99992421 0.00462208 0.39582431] [ 0.03874726 -0.00506106 0.99923623 -0.32820725] [ 0. 0. 0. 1. ]] SLAMing on 6.738001144999999 meters Centerline goodness [0,1] 0.8821935593124665 Centerline is valid? [False, False] Translation: X:1.10, Y:0.40, Z:-0.33 [[ 0.99915843 -0.01017001 -0.03973671 1.10263203] [ 0.01034785 0.99993733 0.00427257 0.39807763] [ 0.03969077 -0.00468016 0.99920105 -0.32794167] [ 0. 0. 0. 1. ]] SLAMing on 6.7680011449999995 meters Centerline goodness [0,1] 0.8803703494608479 Centerline is valid? [False, False] Translation: X:1.10, Y:0.40, Z:-0.33 [[ 0.99914197 -0.0097827 -0.04024463 1.10413798] [ 0.00992958 0.99994474 0.0034512 0.40034708] [ 0.04020864 -0.00384785 0.9991839 -0.32680094] [ 0. 0. 0. 1. ]] SLAMing on 6.798001145 meters Centerline goodness [0,1] 0.8791537376586742 Centerline is valid? [False, False] Translation: X:1.11, Y:0.40, Z:-0.33 [[ 0.99912474 -0.00926529 -0.04079095 1.10587334] [ 0.00939395 0.99995148 0.00296363 0.40204291] [ 0.04076152 -0.00334422 0.99916331 -0.3261196 ] [ 0. 0. 0. 1. ]] SLAMing on 6.828001144999999 meters Centerline goodness [0,1] 0.8802056845793073 Centerline is valid? [False, False] Translation: X:1.11, Y:0.40, Z:-0.32 [[ 0.99911686 -0.00879424 -0.04108718 1.10688581] [ 0.00887665 0.99995894 0.00182372 0.40426688] [ 0.04106945 -0.00218683 0.9991539 -0.3241038 ] [ 0. 0. 0. 1. ]] SLAMing on 6.858001144999999 meters Centerline goodness [0,1] 0.878478795241997 Centerline is valid? [False, False] Translation: X:1.11, Y:0.40, Z:-0.32 [[ 0.99910409 -0.00834858 -0.04148884 1.10810337] [ 0.00842743 0.999963 0.0017259 0.40434693] [ 0.0414729 -0.00207399 0.99913748 -0.32362377] [ 0. 0. 0. 1. ]] SLAMing on 6.888001145 meters Centerline goodness [0,1] 0.8743954521028368 Centerline is valid? [False, False] Translation: X:1.11, Y:0.40, Z:-0.32 [[ 0.99909698 -0.00777084 -0.04177137 1.10958321] [ 0.00786489 0.99996689 0.00208746 0.40367774] [ 0.04175377 -0.0024141 0.99912501 -0.32417012] [ 0. 0. 0. 1. ]] SLAMing on 6.918001144999999 meters Centerline goodness [0,1] 0.8745960655365951 Centerline is valid? [False, False] Translation: X:1.11, Y:0.40, Z:-0.32 [[ 0.99908928 -0.00737457 -0.0420266 1.11070343] [ 0.00746689 0.99997004 0.00204026 0.40390334] [ 0.0420103 -0.00235221 0.99911441 -0.32401446] [ 0. 0. 0. 1. ]] SLAMing on 6.948001144999999 meters Centerline goodness [0,1] 0.8736128061760282 Centerline is valid? [False, False] Translation: X:1.11, Y:0.40, Z:-0.32 [[ 0.99908147 -0.00697 -0.04228036 1.11199769] [ 0.00707069 0.99997251 0.00223246 0.40398247] [ 0.04226364 -0.00252936 0.99910329 -0.32450119] [ 0. 0. 0. 1. ]] SLAMing on 6.9780011449999995 meters Centerline goodness [0,1] 0.8751558073654391 Centerline is valid? [False, False] Translation: X:1.11, Y:0.40, Z:-0.32 [[ 0.99906867 -0.00617921 -0.04270371 1.11405063] [ 0.00628713 0.99997737 0.00239323 0.40386768] [ 0.04268795 -0.00265949 0.99908491 -0.32470218] [ 0. 0. 0. 1. ]] SLAMing on 7.008001145 meters Centerline goodness [0,1] 0.8714928795900456 Centerline is valid? [False, False] Translation: X:1.11, Y:0.40, Z:-0.32 [[ 0.99906454 -0.00586567 -0.04284436 1.1149555 ] [ 0.00597954 0.99997892 0.00253011 0.40321814] [ 0.04282862 -0.00278393 0.99907855 -0.32498665] [ 0. 0. 0. 1. ]] SLAMing on 7.038001144999999 meters Centerline goodness [0,1] 0.8744729618834715 Centerline is valid? [False, False] Translation: X:1.12, Y:0.40, Z:-0.33 [[ 0.9990599 -0.00557562 -0.04299108 1.11584392] [ 0.00569976 0.99997993 0.00276572 0.40222098] [ 0.0429748 -0.00300816 0.99907163 -0.32540416] [ 0. 0. 0. 1. ]] SLAMing on 7.068001144999999 meters Centerline goodness [0,1] 0.8692768023485575 Centerline is valid? [False, False] Translation: X:1.12, Y:0.40, Z:-0.33 [[ 0.99905678 -0.00497779 -0.04313674 1.11743444] [ 0.00513532 0.99998054 0.00354182 0.39990168] [ 0.04311827 -0.00376 0.9990629 -0.32678701] [ 0. 0. 0. 1. ]] SLAMing on 7.098001145 meters Centerline goodness [0,1] 0.8674134477018143 Centerline is valid? [False, False] Translation: X:1.12, Y:0.40, Z:-0.33 [[ 0.99904325 -0.00455443 -0.04349542 1.11894714] [ 0.0047231 0.99998172 0.00377591 0.39954701] [ 0.04347743 -0.00397773 0.99904649 -0.32725787] [ 0. 0. 0. 1. ]] SLAMing on 7.128001144999999 meters Centerline goodness [0,1] 0.8695456210034085 Centerline is valid? [False, False] Translation: X:1.12, Y:0.40, Z:-0.33 [[ 0.9990284 -0.00421647 -0.04386886 1.12037353] [ 0.00439218 0.99998271 0.00390969 0.3995856 ] [ 0.04385162 -0.00409857 0.99902965 -0.32758395] [ 0. 0. 0. 1. ]] SLAMing on 7.158001144999999 meters Centerline goodness [0,1] 0.867764176164345 Centerline is valid? [False, False] Translation: X:1.12, Y:0.40, Z:-0.33 [[ 9.98976719e-01 -6.77321634e-03 -4.47173243e-02 1.12446381e+00] [ 6.81042307e-03 9.99976578e-01 6.79745463e-04 3.99760067e-01] [ 4.47116729e-02 -9.83593790e-04 9.98999449e-01 -3.28777986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.188001144999999 meters Centerline goodness [0,1] 0.868811950692163 Centerline is valid? [False, False] Translation: X:1.13, Y:0.40, Z:-0.33 [[ 0.99897329 -0.00621634 -0.04487462 1.12619146] [ 0.00630301 0.99997853 0.00179014 0.39739577] [ 0.04486253 -0.00207115 0.99899102 -0.33091332] [ 0. 0. 0. 1. ]] SLAMing on 7.218001145 meters Centerline goodness [0,1] 0.8765057703647544 Centerline is valid? [False, False] Translation: X:1.13, Y:0.40, Z:-0.33 [[ 0.99897262 -0.00586402 -0.0449369 1.12724381] [ 0.00597987 0.99997913 0.00244399 0.39582842] [ 0.04492163 -0.00271019 0.99898684 -0.33218788] [ 0. 0. 0. 1. ]] SLAMing on 7.248001144999999 meters Centerline goodness [0,1] 0.8792494109727365 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:-0.33 [[ 0.99896868 -0.00569739 -0.04504579 1.12801088] [ 0.00582824 0.99997917 0.00277411 0.39491432] [ 0.04502905 -0.00303379 0.99898107 -0.33282994] [ 0. 0. 0. 1. ]] SLAMing on 7.278001144999999 meters Centerline goodness [0,1] 0.874295330248212 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:-0.33 [[ 0.99898008 -0.00623355 -0.04472064 1.12643421] [ 0.00634086 0.99997735 0.00225823 0.39422063] [ 0.04470555 -0.00253949 0.99899698 -0.33149322] [ 0. 0. 0. 1. ]] SLAMing on 7.3080011449999995 meters Centerline goodness [0,1] 0.872436274098324 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:-0.34 [[ 0.99921024 -0.00746004 -0.03902888 1.14116523] [ 0.00788737 0.9999105 0.01080664 0.39158162] [ 0.03894477 -0.01110594 0.99917964 -0.3356513 ] [ 0. 0. 0. 1. ]] SLAMing on 7.338001144999999 meters Centerline goodness [0,1] 0.8703963226638265 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:-0.33 [[ 0.99920597 -0.00799575 -0.03903199 1.14001869] [ 0.00838274 0.99991722 0.0097612 0.39249232] [ 0.03895071 -0.01008065 0.99919028 -0.33342353] [ 0. 0. 0. 1. ]] SLAMing on 7.368001144999999 meters Centerline goodness [0,1] 0.8719213202947687 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:-0.33 [[ 0.99920769 -0.00859533 -0.03886019 1.13847782] [ 0.00895093 0.99991956 0.00898608 0.39239936] [ 0.03877983 -0.00932679 0.99920425 -0.33155307] [ 0. 0. 0. 1. ]] SLAMing on 7.398001144999999 meters Centerline goodness [0,1] 0.8719827706765866 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:-0.33 [[ 0.99913497 -0.01225713 -0.03973753 1.14033657] [ 0.01241317 0.99991617 0.00368221 0.3944002 ] [ 0.03968907 -0.00417229 0.99920337 -0.32885457] [ 0. 0. 0. 1. ]] SLAMing on 7.428001145 meters Centerline goodness [0,1] 0.8715501604576531 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:-0.33 [[ 0.9991392 -0.01239155 -0.03958934 1.13996807] [ 0.01255266 0.9999139 0.00382355 0.39233173] [ 0.03953855 -0.00431721 0.99920872 -0.32880625] [ 0. 0. 0. 1. ]] SLAMing on 7.458001144999999 meters Centerline goodness [0,1] 0.8732750242954325 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:-0.33 [[ 9.99071494e-01 -1.58355057e-02 -4.00672819e-02 1.14208918e+00] [ 1.58649454e-02 9.99874057e-01 4.16883963e-04 3.90428053e-01] [ 4.00556342e-02 -1.05216212e-03 9.99196897e-01 -3.29342820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.488001144999999 meters Centerline goodness [0,1] 0.8746221470368007 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:-0.33 [[ 9.99079559e-01 -1.58929593e-02 -3.98427940e-02 1.14190701e+00] [ 1.59495637e-02 9.99872189e-01 1.10321153e-03 3.87872698e-01] [ 3.98201684e-02 -1.73767127e-03 9.99205352e-01 -3.30345549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5180011449999995 meters Centerline goodness [0,1] 0.871652867388475 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:-0.33 [[ 0.99908515 -0.01582936 -0.03972768 1.14208153] [ 0.01590439 0.99987228 0.0015732 0.38565621] [ 0.03969771 -0.0022036 0.99920931 -0.33103966] [ 0. 0. 0. 1. ]] SLAMing on 7.548001144999999 meters Centerline goodness [0,1] 0.8773294935341843 Centerline is valid? [False, False] Translation: X:1.14, Y:0.38, Z:-0.33 [[ 0.99907873 -0.01597856 -0.03982922 1.14219719] [ 0.0160599 0.99986955 0.00172314 0.38449679] [ 0.03979649 -0.00236121 0.99920502 -0.33100489] [ 0. 0. 0. 1. ]] SLAMing on 7.578001144999999 meters Centerline goodness [0,1] 0.8780244449987528 Centerline is valid? [False, False] Translation: X:1.14, Y:0.38, Z:-0.33 [[ 0.99906878 -0.01585168 -0.04012848 1.14293458] [ 0.01593155 0.99987169 0.00167124 0.38497904] [ 0.04009684 -0.00230899 0.99919313 -0.33079941] [ 0. 0. 0. 1. ]] SLAMing on 7.608001144999999 meters Centerline goodness [0,1] 0.8737675322871823 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:-0.33 [[ 0.99905836 -0.01572349 -0.04043714 1.14362729] [ 0.0157998 0.99987395 0.00156824 0.38523625] [ 0.04040739 -0.00220566 0.99918085 -0.33040361] [ 0. 0. 0. 1. ]] SLAMing on 7.638001145 meters Centerline goodness [0,1] 0.8714119149408694 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:-0.33 [[ 0.99905551 -0.01566153 -0.04053157 1.14407712] [ 0.01573886 0.99987487 0.00158966 0.3851811 ] [ 0.04050161 -0.00222608 0.99917699 -0.33053865] [ 0. 0. 0. 1. ]] SLAMing on 7.668001144999999 meters Centerline goodness [0,1] 0.8733438880093325 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:-0.33 [[ 0.9990511 -0.01509611 -0.04085349 1.14618821] [ 0.01521405 0.99988094 0.00257738 0.38311654] [ 0.04080971 -0.00319648 0.99916182 -0.33261231] [ 0. 0. 0. 1. ]] SLAMing on 7.698001144999999 meters Centerline goodness [0,1] 0.8733394347838145 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:-0.33 [[ 0.99904675 -0.01481968 -0.04106047 1.14742545] [ 0.01495332 0.99988384 0.00294942 0.38224879] [ 0.04101199 -0.0035606 0.99915231 -0.33359335] [ 0. 0. 0. 1. ]] SLAMing on 7.7280011449999995 meters Centerline goodness [0,1] 0.8743029933142841 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:-0.33 [[ 0.99904435 -0.01461582 -0.04119192 1.14827084] [ 0.0147589 0.99988605 0.00317159 0.38185278] [ 0.04114087 -0.00377651 0.99914622 -0.33424696] [ 0. 0. 0. 1. ]] SLAMing on 7.758001144999999 meters Centerline goodness [0,1] 0.8780542043085476 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:-0.33 [[ 0.99904042 -0.01456011 -0.04130674 1.14894378] [ 0.01469435 0.99988769 0.00294802 0.38275794] [ 0.04125918 -0.00355217 0.99914216 -0.3344296 ] [ 0. 0. 0. 1. ]] SLAMing on 7.788001144999999 meters Centerline goodness [0,1] 0.8770464509684223 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:-0.34 [[ 0.99902952 -0.01408538 -0.04173264 1.15060776] [ 0.01423356 0.9998934 0.00325564 0.38306405] [ 0.04168234 -0.00384648 0.99912351 -0.33506207] [ 0. 0. 0. 1. ]] SLAMing on 7.818001144999999 meters Centerline goodness [0,1] 0.8809848000666908 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:-0.33 [[ 0.99902629 -0.01420857 -0.04176829 1.15065725] [ 0.01434241 0.99989292 0.00290648 0.38380701] [ 0.04172252 -0.00350271 0.9991231 -0.33474377] [ 0. 0. 0. 1. ]] SLAMing on 7.848001145 meters Centerline goodness [0,1] 0.8810258977996607 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:-0.34 [[ 0.99902227 -0.01405268 -0.04191694 1.15152019] [ 0.01420193 0.99989382 0.00326491 0.38267928] [ 0.04186661 -0.00385702 0.99911576 -0.33548299] [ 0. 0. 0. 1. ]] SLAMing on 7.878001144999999 meters Centerline goodness [0,1] 0.8795715633497975 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:-0.34 [[ 0.99902286 -0.01396731 -0.04193145 1.15189734] [ 0.0141276 0.99989397 0.00352893 0.3812887 ] [ 0.04187771 -0.00411788 0.99911426 -0.33588265] [ 0. 0. 0. 1. ]] SLAMing on 7.908001144999999 meters Centerline goodness [0,1] 0.8758687525958743 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:-0.34 [[ 0.99901973 -0.01392787 -0.04201893 1.15239094] [ 0.01410181 0.99989317 0.00384612 0.38003595] [ 0.04196087 -0.00443489 0.99910941 -0.33643466] [ 0. 0. 0. 1. ]] SLAMing on 7.938001144999999 meters Centerline goodness [0,1] 0.8674758895909545 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:-0.34 [[ 0.99902319 -0.01488762 -0.04160562 1.15083175] [ 0.0150514 0.99988015 0.00362599 0.37872587] [ 0.04154665 -0.00424868 0.99912753 -0.33640059] [ 0. 0. 0. 1. ]] SLAMing on 7.968001144999999 meters Centerline goodness [0,1] 0.8655169554763287 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:-0.34 [[ 9.98932682e-01 -1.82855911e-02 -4.24161955e-02 1.15337578e+00] [ 1.82679102e-02 9.99832804e-01 -8.04439625e-04 3.81192814e-01] [ 4.24238134e-02 2.87257791e-05 9.99099704e-01 -3.35597402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.998001144999999 meters Centerline goodness [0,1] 0.8549948678114684 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:-0.34 [[ 9.98925732e-01 -1.85023385e-02 -4.24858224e-02 1.15325628e+00] [ 1.84795823e-02 9.99828807e-01 -9.28325890e-04 3.81406300e-01] [ 4.24957254e-02 1.42208365e-04 9.99096639e-01 -3.35307509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.028001144999998 meters Centerline goodness [0,1] 0.8570913528204559 Centerline is valid? [False, False] Translation: X:1.17, Y:0.38, Z:-0.34 [[ 0.99909682 -0.02035426 -0.03729939 1.16859609] [ 0.0206465 0.99975896 0.00746655 0.37877743] [ 0.03713842 -0.00822991 0.99927624 -0.34033916] [ 0. 0. 0. 1. ]] SLAMing on 8.058001144999999 meters Centerline goodness [0,1] 0.850954600954601 Centerline is valid? [False, False] Translation: X:1.17, Y:0.38, Z:-0.34 [[ 0.99909614 -0.02074077 -0.03710422 1.16792606] [ 0.02102121 0.99975322 0.00718416 0.37849696] [ 0.03694606 -0.00795764 0.99928558 -0.34005072] [ 0. 0. 0. 1. ]] SLAMing on 8.088001144999998 meters Centerline goodness [0,1] 0.833430160179268 Centerline is valid? [False, False] Translation: X:1.17, Y:0.38, Z:-0.34 [[ 0.99899415 -0.0238311 -0.03798375 1.17112277] [ 0.02395053 0.99970952 0.00269212 0.38054039] [ 0.03790856 -0.00359914 0.99927473 -0.33935908] [ 0. 0. 0. 1. ]] SLAMing on 8.118001145 meters Centerline goodness [0,1] 0.8386873058144696 Centerline is valid? [False, False] Translation: X:1.17, Y:0.38, Z:-0.34 [[ 0.99899249 -0.02411888 -0.03784548 1.17074629] [ 0.02423714 0.99970267 0.00266914 0.37982604] [ 0.03776985 -0.00358372 0.99928004 -0.33949337] [ 0. 0. 0. 1. ]] SLAMing on 8.148001144999999 meters Centerline goodness [0,1] 0.8271454318591432 Centerline is valid? [False, False] Translation: X:1.17, Y:0.38, Z:-0.34 [[ 0.99899252 -0.02414554 -0.03782773 1.17101214] [ 0.02428039 0.99970035 0.00310968 0.37821598] [ 0.03774131 -0.00402502 0.99927944 -0.3402488 ] [ 0. 0. 0. 1. ]] SLAMing on 8.178001144999998 meters Centerline goodness [0,1] 0.8069375345494748 Centerline is valid? [False, False] Translation: X:1.17, Y:0.38, Z:-0.34 [[ 9.98874572e-01 -2.80856573e-02 -3.82202160e-02 1.17258905e+00] [ 2.80754275e-02 9.99605484e-01 -8.04453324e-04 3.78442587e-01] [ 3.82277311e-02 -2.69500934e-04 9.99269017e-01 -3.40514733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.208001144999999 meters Centerline goodness [0,1] 0.8012822284245724 Centerline is valid? [False, False] Translation: X:1.17, Y:0.38, Z:-0.34 [[ 9.98865013e-01 -2.82261859e-02 -3.83662293e-02 1.17303774e+00] [ 2.82360016e-02 9.99601244e-01 -2.86095049e-04 3.77085616e-01] [ 3.83590059e-02 -7.97538579e-04 9.99263704e-01 -3.41341672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.238001144999998 meters Centerline goodness [0,1] 0.7844458560026513 Centerline is valid? [False, False] Translation: X:1.17, Y:0.38, Z:-0.34 [[ 9.98850367e-01 -2.85254396e-02 -3.85258806e-02 1.17325869e+00] [ 2.85474113e-02 9.99592439e-01 2.02080238e-05 3.76153596e-01] [ 3.85096025e-02 -1.11999895e-03 9.99257602e-01 -3.41832393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.268001144999998 meters Centerline goodness [0,1] 0.785649434616337 Centerline is valid? [False, False] Translation: X:1.19, Y:0.37, Z:-0.35 [[ 0.99895825 -0.03139513 -0.03311731 1.18824205] [ 0.03166166 0.9994701 0.00755436 0.3731988 ] [ 0.03286259 -0.00859504 0.99942292 -0.34703796] [ 0. 0. 0. 1. ]] SLAMing on 8.298001144999999 meters Centerline goodness [0,1] 0.7234875641096343 Centerline is valid? [False, False] Translation: X:1.19, Y:0.37, Z:-0.35 [[ 0.99888668 -0.03374814 -0.03296141 1.18526665] [ 0.03396803 0.9994041 0.00613396 0.3737864 ] [ 0.03273476 -0.00724677 0.9994378 -0.34504391] [ 0. 0. 0. 1. ]] SLAMing on 8.328001144999998 meters Centerline goodness [0,1] 0.7460579997794685 Centerline is valid? [False, False] Translation: X:1.18, Y:0.37, Z:-0.35 [[ 0.99886592 -0.03437232 -0.03294561 1.18482189] [ 0.03458884 0.99938347 0.00602482 0.3731747 ] [ 0.03271821 -0.00715754 0.99943899 -0.34510326] [ 0. 0. 0. 1. ]] SLAMing on 8.358001144999998 meters Centerline goodness [0,1] 0.7229254571026723 Centerline is valid? [False, False] Translation: X:1.18, Y:0.37, Z:-0.35 [[ 0.99884695 -0.03506335 -0.03279234 1.18405627] [ 0.03527326 0.99936061 0.0058447 0.3723562 ] [ 0.03256644 -0.00699465 0.9994451 -0.34505261] [ 0. 0. 0. 1. ]] SLAMing on 8.388001144999999 meters Centerline goodness [0,1] 0.6831890610354524 Centerline is valid? [False, False] Translation: X:1.18, Y:0.38, Z:-0.34 [[ 9.98670721e-01 -3.94486694e-02 -3.31751929e-02 1.18492643e+00] [ 3.95048131e-02 9.99218841e-01 1.03831853e-03 3.75188980e-01] [ 3.31083175e-02 -2.34751810e-03 9.99449012e-01 -3.44071739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.418001144999998 meters Centerline goodness [0,1] 0.7098947021142056 Centerline is valid? [False, False] Translation: X:1.19, Y:0.37, Z:-0.34 [[ 0.99865848 -0.03955361 -0.0334177 1.18556897] [ 0.03961619 0.99921423 0.00121256 0.37492471] [ 0.03334348 -0.00253482 0.99944074 -0.34447656] [ 0. 0. 0. 1. ]] SLAMing on 8.448001144999997 meters Centerline goodness [0,1] 0.7112452788575525 Centerline is valid? [False, False] Translation: X:1.19, Y:0.38, Z:-0.34 [[ 9.98645106e-01 -3.99397036e-02 -3.33582427e-02 1.18540468e+00] [ 4.00006280e-02 9.99198980e-01 1.16074141e-03 3.75075980e-01] [ 3.32851624e-02 -2.49351938e-03 9.99442785e-01 -3.44819414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.478001144999999 meters Centerline goodness [0,1] 0.6851480249594546 Centerline is valid? [False, False] Translation: X:1.19, Y:0.37, Z:-0.35 [[ 0.99862817 -0.04015211 -0.03360937 1.18641444] [ 0.04022631 0.99918942 0.00153417 0.37482901] [ 0.03352053 -0.00288404 0.99943387 -0.34623096] [ 0. 0. 0. 1. ]] SLAMing on 8.508001144999998 meters Centerline goodness [0,1] 0.6832563002090899 Centerline is valid? [False, False] Translation: X:1.19, Y:0.38, Z:-0.35 [[ 0.99862362 -0.04013365 -0.03376626 1.18702883] [ 0.04020696 0.99919026 0.00149449 0.37522308] [ 0.03367894 -0.00285008 0.99942864 -0.34649899] [ 0. 0. 0. 1. ]] SLAMing on 8.538001144999999 meters Centerline goodness [0,1] 0.6832563002090899 Centerline is valid? [False, False] Translation: X:1.19, Y:0.38, Z:-0.35 [[ 0.99862362 -0.04013365 -0.03376626 1.18702883] [ 0.04020696 0.99919026 0.00149449 0.37522308] [ 0.03367894 -0.00285008 0.99942864 -0.34649899] [ 0. 0. 0. 1. ]] SLAMing on 8.568001144999998 meters Centerline goodness [0,1] 0.69372988142075 Centerline is valid? [False, False] Translation: X:1.19, Y:0.38, Z:-0.35 [[ 0.99861301 -0.04002878 -0.03420156 1.18818327] [ 0.04010126 0.99919459 0.00143579 0.37632663] [ 0.03411654 -0.00280533 0.99941392 -0.34657834] [ 0. 0. 0. 1. ]] SLAMing on 8.598001144999998 meters Centerline goodness [0,1] 0.6787808705707442 Centerline is valid? [False, False] Translation: X:1.19, Y:0.38, Z:-0.35 [[ 0.99861592 -0.03975578 -0.03443427 1.18926705] [ 0.03983348 0.99920509 0.00157322 0.37648429] [ 0.03434435 -0.00294268 0.99940573 -0.34712765] [ 0. 0. 0. 1. ]] SLAMing on 8.628001144999999 meters Centerline goodness [0,1] 0.7059442398737507 Centerline is valid? [False, False] Translation: X:1.19, Y:0.38, Z:-0.35 [[ 0.99862358 -0.0390085 -0.03506113 1.19166774] [ 0.03908221 0.99923499 0.00141937 0.37839875] [ 0.03497894 -0.00278769 0.99938416 -0.34750512] [ 0. 0. 0. 1. ]] SLAMing on 8.658001144999998 meters Centerline goodness [0,1] 0.7093440901806929 Centerline is valid? [False, False] Translation: X:1.19, Y:0.38, Z:-0.35 [[ 0.99862232 -0.0385002 -0.03565387 1.19358825] [ 0.03856925 0.99925515 0.00125081 0.37952721] [ 0.03557916 -0.00262423 0.99936342 -0.3474445 ] [ 0. 0. 0. 1. ]] SLAMing on 8.688001144999998 meters Centerline goodness [0,1] 0.7224724724724725 Centerline is valid? [False, False] Translation: X:1.20, Y:0.38, Z:-0.35 [[ 0.99877744 -0.03384036 -0.03603417 1.19514301] [ 0.0340459 0.99940723 0.00510553 0.38181819] [ 0.03584003 -0.0063261 0.99933752 -0.3482188 ] [ 0. 0. 0. 1. ]] SLAMing on 8.718001144999999 meters Centerline goodness [0,1] 0.7251705625768929 Centerline is valid? [False, False] Translation: X:1.20, Y:0.38, Z:-0.35 [[ 0.99877777 -0.03309598 -0.03671001 1.1974708 ] [ 0.03328905 0.9994349 0.00466047 0.38460878] [ 0.03653503 -0.00587681 0.99931509 -0.34806816] [ 0. 0. 0. 1. ]] SLAMing on 8.748001144999998 meters Centerline goodness [0,1] 0.7259963641448748 Centerline is valid? [False, False] Translation: X:1.20, Y:0.39, Z:-0.35 [[ 0.99876509 -0.03333302 -0.03684034 1.19727998] [ 0.03350002 0.99943101 0.00392482 0.38600525] [ 0.03668855 -0.00515413 0.99931346 -0.34681614] [ 0. 0. 0. 1. ]] SLAMing on 8.778001144999998 meters Centerline goodness [0,1] 0.7294971691238299 Centerline is valid? [False, False] Translation: X:1.20, Y:0.39, Z:-0.35 [[ 0.99875276 -0.03321395 -0.03727945 1.19832011] [ 0.0333408 0.99944016 0.002786 0.38904012] [ 0.03716604 -0.00402546 0.999301 -0.34535796] [ 0. 0. 0. 1. ]] SLAMing on 8.808001144999999 meters Centerline goodness [0,1] 0.7325232228552185 Centerline is valid? [False, False] Translation: X:1.20, Y:0.39, Z:-0.35 [[ 0.99874881 -0.03322515 -0.03737531 1.1986187 ] [ 0.03335356 0.99943964 0.00281719 0.38870189] [ 0.03726076 -0.00406027 0.99929733 -0.34539789] [ 0. 0. 0. 1. ]] SLAMing on 8.838001144999998 meters Centerline goodness [0,1] 0.7266563944530047 Centerline is valid? [False, False] Translation: X:1.20, Y:0.39, Z:-0.35 [[ 0.99874566 -0.03333733 -0.03735956 1.19879251] [ 0.03347022 0.9994354 0.0029371 0.38795845] [ 0.03724055 -0.00418385 0.99929757 -0.34582312] [ 0. 0. 0. 1. ]] SLAMing on 8.868001144999997 meters Centerline goodness [0,1] 0.7229875101288106 Centerline is valid? [False, False] Translation: X:1.20, Y:0.39, Z:-0.35 [[ 0.99874779 -0.03297935 -0.03761939 1.20031086] [ 0.03313427 0.99944477 0.00350201 0.38675001] [ 0.03748301 -0.00474411 0.999286 -0.34712885] [ 0. 0. 0. 1. ]] SLAMing on 8.898001144999999 meters Centerline goodness [0,1] 0.7234161629729124 Centerline is valid? [False, False] Translation: X:1.20, Y:0.39, Z:-0.35 [[ 0.99874864 -0.03300363 -0.03757534 1.20066424] [ 0.03317392 0.99944192 0.00391741 0.38553955] [ 0.03742508 -0.00515902 0.99928612 -0.3481685 ] [ 0. 0. 0. 1. ]] SLAMing on 8.928001144999998 meters Centerline goodness [0,1] 0.704176106962043 Centerline is valid? [False, False] Translation: X:1.20, Y:0.38, Z:-0.35 [[ 0.99875237 -0.03273595 -0.03771024 1.20229736] [ 0.03294821 0.99944445 0.0050208 0.38322351] [ 0.03752493 -0.00625703 0.9992761 -0.35080947] [ 0. 0. 0. 1. ]] SLAMing on 8.958001144999999 meters Centerline goodness [0,1] 0.7227842071342505 Centerline is valid? [False, False] Translation: X:1.20, Y:0.38, Z:-0.35 [[ 0.99875048 -0.03258505 -0.03789044 1.20325807] [ 0.03279686 0.99944962 0.00498186 0.38400882] [ 0.03770725 -0.00621832 0.99926948 -0.35134752] [ 0. 0. 0. 1. ]] SLAMing on 8.988001144999998 meters Centerline goodness [0,1] 0.722782003424177 Centerline is valid? [False, False] Translation: X:1.20, Y:0.39, Z:-0.35 [[ 0.99873376 -0.03246647 -0.03842925 1.20435318] [ 0.03264823 0.99945845 0.00411149 0.38632282] [ 0.03827495 -0.00536093 0.99925287 -0.35006829] [ 0. 0. 0. 1. ]] SLAMing on 9.018001144999998 meters Centerline goodness [0,1] 0.7316915100453661 Centerline is valid? [False, False] Translation: X:1.22, Y:0.39, Z:-0.35 [[ 0.9989853 -0.03107662 -0.0325977 1.21698193] [ 0.0315641 0.99939585 0.01454787 0.38718914] [ 0.03212591 -0.01556203 0.99936267 -0.35160115] [ 0. 0. 0. 1. ]] SLAMing on 9.048001144999999 meters Centerline goodness [0,1] 0.7334787411834689 Centerline is valid? [False, False] Translation: X:1.22, Y:0.39, Z:-0.35 [[ 0.9989708 -0.03135068 -0.03277934 1.21658904] [ 0.03180228 0.99940506 0.01334719 0.38938378] [ 0.0323414 -0.01437591 0.99937349 -0.34946347] [ 0. 0. 0. 1. ]] SLAMing on 9.078001144999998 meters Centerline goodness [0,1] 0.7291578262468528 Centerline is valid? [False, False] Translation: X:1.22, Y:0.39, Z:-0.35 [[ 0.99895619 -0.03133552 -0.03323572 1.21716011] [ 0.03175696 0.99942081 0.01222899 0.3912226 ] [ 0.03283326 -0.01327169 0.99937272 -0.34741954] [ 0. 0. 0. 1. ]] SLAMing on 9.108001144999998 meters Centerline goodness [0,1] 0.7335289636296944 Centerline is valid? [False, False] Translation: X:1.22, Y:0.39, Z:-0.35 [[ 0.99894834 -0.03111661 -0.03367454 1.2180937 ] [ 0.03151697 0.99943792 0.01142438 0.39253744] [ 0.03330012 -0.01247369 0.99936755 -0.34598309] [ 0. 0. 0. 1. ]] SLAMing on 9.138001144999999 meters Centerline goodness [0,1] 0.7358522630714326 Centerline is valid? [False, False] Translation: X:1.22, Y:0.39, Z:-0.35 [[ 0.99895099 -0.03092939 -0.03376829 1.21855378] [ 0.03132941 0.99944431 0.01138179 0.39225859] [ 0.03339749 -0.01242779 0.99936488 -0.34591827] [ 0. 0. 0. 1. ]] SLAMing on 9.168001144999998 meters Centerline goodness [0,1] 0.7388689003822801 Centerline is valid? [False, False] Translation: X:1.23, Y:0.39, Z:-0.35 [[ 0.99890068 -0.03076131 -0.03537197 1.22796382] [ 0.03107592 0.9994819 0.00837924 0.39089254] [ 0.03509589 -0.00946924 0.99933909 -0.34735619] [ 0. 0. 0. 1. ]] SLAMing on 9.198001144999997 meters Centerline goodness [0,1] 0.740572684741559 Centerline is valid? [False, False] Translation: X:1.23, Y:0.39, Z:-0.35 [[ 0.99891007 -0.02991308 -0.03583116 1.23032467] [ 0.03025769 0.99950058 0.0091143 0.38952869] [ 0.03554062 -0.01018854 0.9993163 -0.34875642] [ 0. 0. 0. 1. ]] SLAMing on 9.228001144999999 meters Centerline goodness [0,1] 0.747527960109305 Centerline is valid? [False, False] Translation: X:1.23, Y:0.39, Z:-0.35 [[ 0.99890727 -0.02942064 -0.03631382 1.2318467 ] [ 0.02976022 0.99951792 0.00884653 0.39011948] [ 0.03603604 -0.00991757 0.99930128 -0.34830588] [ 0. 0. 0. 1. ]] SLAMing on 9.258001144999998 meters Centerline goodness [0,1] 0.7632618510158014 Centerline is valid? [False, False] Translation: X:1.23, Y:0.39, Z:-0.34 [[ 0.99889952 -0.02834443 -0.03736771 1.23440411] [ 0.02861794 0.99956726 0.00680465 0.39448782] [ 0.03715866 -0.00786654 0.99927842 -0.34428786] [ 0. 0. 0. 1. ]] SLAMing on 9.288001144999997 meters Centerline goodness [0,1] 0.7616218204453499 Centerline is valid? [False, False] Translation: X:1.24, Y:0.40, Z:-0.34 [[ 0.99889056 -0.02768335 -0.0380957 1.23645026] [ 0.02794741 0.9995888 0.0064163 0.39614323] [ 0.03790241 -0.00747385 0.9992535 -0.34354153] [ 0. 0. 0. 1. ]] SLAMing on 9.318001144999998 meters Centerline goodness [0,1] 0.7729342875731946 Centerline is valid? [False, False] Translation: X:1.24, Y:0.40, Z:-0.34 [[ 0.99888166 -0.02688554 -0.03889212 1.23901561] [ 0.02714789 0.99961199 0.00623315 0.39695916] [ 0.03870945 -0.00728202 0.99922397 -0.34318705] [ 0. 0. 0. 1. ]] SLAMing on 9.348001144999998 meters Centerline goodness [0,1] 0.7806845618520096 Centerline is valid? [False, False] Translation: X:1.24, Y:0.40, Z:-0.34 [[ 0.99888632 -0.02534218 -0.03979828 1.24285581] [ 0.0256281 0.99964916 0.00669039 0.39753547] [ 0.03961477 -0.00770289 0.99918534 -0.34399014] [ 0. 0. 0. 1. ]] SLAMing on 9.378001144999999 meters Centerline goodness [0,1] 0.7916903651461722 Centerline is valid? [False, False] Translation: X:1.24, Y:0.40, Z:-0.34 [[ 0.99888441 -0.02472309 -0.04023319 1.2447865 ] [ 0.02502425 0.99966234 0.00699896 0.39722592] [ 0.04004657 -0.00799796 0.9991658 -0.34470132] [ 0. 0. 0. 1. ]] SLAMing on 9.408001144999998 meters Centerline goodness [0,1] 0.7975631280781166 Centerline is valid? [False, False] Translation: X:1.25, Y:0.40, Z:-0.34 [[ 0.998881 -0.02456895 -0.04041175 1.2451887 ] [ 0.02485235 0.99966984 0.00652529 0.39777891] [ 0.04023808 -0.00752231 0.9991618 -0.34376336] [ 0. 0. 0. 1. ]] SLAMing on 9.438001144999998 meters Centerline goodness [0,1] 0.7829811374273152 Centerline is valid? [False, False] Translation: X:1.26, Y:0.39, Z:-0.35 [[ 0.99906327 -0.02615422 -0.03447506 1.25858397] [ 0.02668162 0.99953252 0.01492773 0.39496328] [ 0.03406852 -0.01583359 0.99929407 -0.34721771] [ 0. 0. 0. 1. ]] SLAMing on 9.468001144999999 meters Centerline goodness [0,1] 0.786570470942453 Centerline is valid? [False, False] Translation: X:1.26, Y:0.40, Z:-0.34 [[ 0.99904954 -0.02659975 -0.03453214 1.25755275] [ 0.02708088 0.99954153 0.0135406 0.39655184] [ 0.03415613 -0.01446289 0.99931185 -0.34436326] [ 0. 0. 0. 1. ]] SLAMing on 9.498001144999998 meters Centerline goodness [0,1] 0.7822176684881603 Centerline is valid? [False, False] Translation: X:1.26, Y:0.40, Z:-0.34 [[ 0.99903996 -0.02674748 -0.03469482 1.25732078] [ 0.02720287 0.99954899 0.01272076 0.3974327 ] [ 0.03433892 -0.01365235 0.99931699 -0.34261189] [ 0. 0. 0. 1. ]] SLAMing on 9.528001144999998 meters Centerline goodness [0,1] 0.783549414306835 Centerline is valid? [False, False] Translation: X:1.26, Y:0.40, Z:-0.34 [[ 0.99903955 -0.02664095 -0.03478838 1.25747029] [ 0.02709003 0.99955482 0.01250181 0.39673226] [ 0.03443983 -0.01343222 0.9993165 -0.34190214] [ 0. 0. 0. 1. ]] SLAMing on 9.558001144999999 meters Centerline goodness [0,1] 0.779879401558678 Centerline is valid? [False, False] Translation: X:1.26, Y:0.40, Z:-0.34 [[ 0.99904611 -0.02616435 -0.03496148 1.25849573] [ 0.02662735 0.99956291 0.01284399 0.39512843] [ 0.03461015 -0.01376267 0.99930612 -0.34221273] [ 0. 0. 0. 1. ]] SLAMing on 9.588001144999998 meters Centerline goodness [0,1] 0.8065496478073165 Centerline is valid? [False, False] Translation: X:1.26, Y:0.39, Z:-0.34 [[ 0.99905431 -0.0244411 -0.03595988 1.26294946] [ 0.02495072 0.99959354 0.01379204 0.39321659] [ 0.03560817 -0.01467623 0.99925806 -0.34364577] [ 0. 0. 0. 1. ]] SLAMing on 9.618001144999997 meters Centerline goodness [0,1] 0.80823201908874 Centerline is valid? [False, False] Translation: X:1.27, Y:0.39, Z:-0.34 [[ 0.99904631 -0.02363806 -0.03671112 1.26560291] [ 0.02415821 0.99961303 0.01379034 0.39360407] [ 0.03637094 -0.01466406 0.99923076 -0.34380682] [ 0. 0. 0. 1. ]] SLAMing on 9.648001144999999 meters Centerline goodness [0,1] 0.8173180861352904 Centerline is valid? [False, False] Translation: X:1.27, Y:0.39, Z:-0.34 [[ 0.99903953 -0.02271092 -0.03747316 1.26839247] [ 0.02325319 0.99963019 0.01409892 0.39387863] [ 0.0371391 -0.01495675 0.99919817 -0.34434503] [ 0. 0. 0. 1. ]] SLAMing on 9.678001144999998 meters Centerline goodness [0,1] 0.8213524345527415 Centerline is valid? [False, False] Translation: X:1.27, Y:0.39, Z:-0.34 [[ 0.99902498 -0.02154802 -0.03853267 1.27214077] [ 0.02211747 0.99965147 0.01441358 0.39409809] [ 0.03820866 -0.01525178 0.99915338 -0.34492142] [ 0. 0. 0. 1. ]] SLAMing on 9.708001144999997 meters Centerline goodness [0,1] 0.8386141714350784 Centerline is valid? [False, False] Translation: X:1.28, Y:0.39, Z:-0.35 [[ 0.99902173 -0.01907739 -0.03989521 1.27814883] [ 0.01969993 0.99968933 0.01526975 0.3943522 ] [ 0.0395915 -0.01604074 0.99908719 -0.3462197 ] [ 0. 0. 0. 1. ]] SLAMing on 9.738001144999998 meters Centerline goodness [0,1] 0.8437731547449416 Centerline is valid? [False, False] Translation: X:1.28, Y:0.39, Z:-0.35 [[ 0.99900688 -0.01815777 -0.04068834 1.28100982] [ 0.01880126 0.99970327 0.01548851 0.3944622 ] [ 0.04039503 -0.01623812 0.99905183 -0.34660686] [ 0. 0. 0. 1. ]] SLAMing on 9.768001144999998 meters Centerline goodness [0,1] 0.8453537936913896 Centerline is valid? [False, False] Translation: X:1.28, Y:0.39, Z:-0.35 [[ 0.99898988 -0.01683733 -0.04166211 1.28477921] [ 0.01752077 0.99971696 0.01609408 0.39337728] [ 0.04137934 -0.01680777 0.99900213 -0.34735045] [ 0. 0. 0. 1. ]] SLAMing on 9.798001144999999 meters Centerline goodness [0,1] 0.8506221703351462 Centerline is valid? [False, False] Translation: X:1.29, Y:0.39, Z:-0.35 [[ 0.9989733 -0.01599109 -0.0423868 1.2871045 ] [ 0.01668322 0.99973238 0.0160259 0.39345488] [ 0.04211918 -0.01671659 0.99897274 -0.3469168 ] [ 0. 0. 0. 1. ]] SLAMing on 9.828001144999998 meters Centerline goodness [0,1] 0.8522749935895609 Centerline is valid? [False, False] Translation: X:1.29, Y:0.40, Z:-0.34 [[ 0.99894385 -0.01442787 -0.04362364 1.29098116] [ 0.01509608 0.99977312 0.01502714 0.39510884] [ 0.04339693 -0.01566982 0.99893501 -0.34448734] [ 0. 0. 0. 1. ]] SLAMing on 9.858001144999998 meters Centerline goodness [0,1] 0.8549178457325423 Centerline is valid? [False, False] Translation: X:1.29, Y:0.40, Z:-0.34 [[ 0.9989248 -0.01394318 -0.04421346 1.29234458] [ 0.0145908 0.99979044 0.01435885 0.39583413] [ 0.04400399 -0.01498852 0.99891891 -0.34289329] [ 0. 0. 0. 1. ]] SLAMing on 9.888001144999999 meters Centerline goodness [0,1] 0.8522536851373228 Centerline is valid? [False, False] Translation: X:1.29, Y:0.40, Z:-0.34 [[ 0.99890069 -0.01329753 -0.0449509 1.29358218] [ 0.01388361 0.99982231 0.01275118 0.39717916] [ 0.04477336 -0.01336125 0.99890782 -0.33893938] [ 0. 0. 0. 1. ]] SLAMing on 9.918001144999998 meters Centerline goodness [0,1] 0.8497625884962042 Centerline is valid? [False, False] Translation: X:1.29, Y:0.40, Z:-0.34 [[ 0.99888009 -0.01289528 -0.04552231 1.29479204] [ 0.01345073 0.99983852 0.01191651 0.39828337] [ 0.0453613 -0.01251548 0.99889224 -0.33703704] [ 0. 0. 0. 1. ]] SLAMing on 9.948001144999997 meters Centerline goodness [0,1] 0.8495313831297927 Centerline is valid? [False, False] Translation: X:1.30, Y:0.40, Z:-0.34 [[ 0.99885521 -0.01213235 -0.04627165 1.29718272] [ 0.01267775 0.99985337 0.01151173 0.39904048] [ 0.0461252 -0.01208517 0.99886256 -0.33615145] [ 0. 0. 0. 1. ]] SLAMing on 9.978001144999999 meters Centerline goodness [0,1] 0.8510632241168266 Centerline is valid? [False, False] Translation: X:1.30, Y:0.40, Z:-0.34 [[ 0.99883756 -0.01151376 -0.04680767 1.29917709] [ 0.01207071 0.99985947 0.01163345 0.39865727] [ 0.04666715 -0.01218493 0.99883618 -0.33628152] [ 0. 0. 0. 1. ]] SLAMing on 10.008001144999998 meters Centerline goodness [0,1] 0.8559874697422754 Centerline is valid? [False, False] Translation: X:1.30, Y:0.40, Z:-0.34 [[ 0.99881318 -0.00996988 -0.04767416 1.30362548] [ 0.01058381 0.99986406 0.01264266 0.39738281] [ 0.04754163 -0.01313223 0.99878293 -0.33844159] [ 0. 0. 0. 1. ]] SLAMing on 10.038001144999997 meters Centerline goodness [0,1] 0.8555609325628398 Centerline is valid? [False, False] Translation: X:1.31, Y:0.40, Z:-0.34 [[ 0.99878843 -0.00903652 -0.04837379 1.30657734] [ 0.00967017 0.99987027 0.01288108 0.39713486] [ 0.04825111 -0.01333326 0.99874624 -0.33900926] [ 0. 0. 0. 1. ]] SLAMing on 10.068001144999998 meters Centerline goodness [0,1] 0.8534180605818824 Centerline is valid? [False, False] Translation: X:1.31, Y:0.40, Z:-0.34 [[ 0.99876543 -0.00829312 -0.04897796 1.30905822] [ 0.00893082 0.99987799 0.01281582 0.39771441] [ 0.0488657 -0.01323742 0.99871763 -0.3392601 ] [ 0. 0. 0. 1. ]] SLAMing on 10.098001144999998 meters Centerline goodness [0,1] 0.8580959712599435 Centerline is valid? [False, False] Translation: X:1.31, Y:0.40, Z:-0.34 [[ 0.99873639 -0.00745934 -0.04969895 1.311743 ] [ 0.00810189 0.99988602 0.01273999 0.3981944 ] [ 0.04959825 -0.01312655 0.99868299 -0.33922531] [ 0. 0. 0. 1. ]] SLAMing on 10.128001144999997 meters Centerline goodness [0,1] 0.8601677986416301 Centerline is valid? [False, False] Translation: X:1.31, Y:0.40, Z:-0.34 [[ 0.99870716 -0.0065718 -0.05040658 1.31428545] [ 0.00720932 0.99989618 0.01247635 0.39941354] [ 0.05031935 -0.01282362 0.99865085 -0.33875868] [ 0. 0. 0. 1. ]] SLAMing on 10.158001144999998 meters Centerline goodness [0,1] 0.8629032258064516 Centerline is valid? [False, False] Translation: X:1.32, Y:0.40, Z:-0.34 [[ 0.99867052 -0.00583211 -0.05121695 1.31662324] [ 0.00647161 0.99990305 0.01232904 0.39983915] [ 0.05114008 -0.0126441 0.99861145 -0.33802688] [ 0. 0. 0. 1. ]] SLAMing on 10.188001144999998 meters Centerline goodness [0,1] 0.8642891813950833 Centerline is valid? [False, False] Translation: X:1.32, Y:0.40, Z:-0.34 [[ 0.99864706 -0.00558727 -0.05169946 1.31769854] [ 0.00620975 0.99991006 0.01188753 0.40049912] [ 0.05162839 -0.01219248 0.99859193 -0.33695239] [ 0. 0. 0. 1. ]] SLAMing on 10.218001144999999 meters Centerline goodness [0,1] 0.8604465025869708 Centerline is valid? [False, False] Translation: X:1.32, Y:0.40, Z:-0.34 [[ 0.99862045 -0.00513949 -0.05225683 1.31923243] [ 0.00574194 0.9999187 0.01138516 0.40139377] [ 0.05219407 -0.01166951 0.99856878 -0.33588048] [ 0. 0. 0. 1. ]] SLAMing on 10.248001144999998 meters Centerline goodness [0,1] 0.8638977453882942 Centerline is valid? [False, False] Translation: X:1.33, Y:0.40, Z:-0.33 [[ 0.99852788 -0.00661404 -0.05383609 1.32550195] [ 0.00689273 0.99996378 0.00499267 0.40445396] [ 0.05380112 -0.0053564 0.9985373 -0.33062383] [ 0. 0. 0. 1. ]] SLAMing on 10.278001144999998 meters Centerline goodness [0,1] 0.862382176520994 Centerline is valid? [False, False] Translation: X:1.33, Y:0.40, Z:-0.33 [[ 0.99851292 -0.00623338 -0.05415806 1.32661152] [ 0.00650853 0.99996679 0.00490573 0.40428589] [ 0.05412568 -0.00525092 0.99852032 -0.33026196] [ 0. 0. 0. 1. ]] SLAMing on 10.308001144999999 meters Centerline goodness [0,1] 0.8607858815466332 Centerline is valid? [False, False] Translation: X:1.33, Y:0.40, Z:-0.33 [[ 0.99850382 -0.00604971 -0.0543463 1.32722205] [ 0.0063322 0.99996731 0.00502728 0.40311602] [ 0.05431411 -0.00536389 0.99850949 -0.33005334] [ 0. 0. 0. 1. ]] SLAMing on 10.338001144999998 meters Centerline goodness [0,1] 0.8590802894751838 Centerline is valid? [False, False] Translation: X:1.33, Y:0.40, Z:-0.33 [[ 9.98436033e-01 -8.74648565e-03 -5.52176409e-02 1.33144322e+00] [ 8.81780689e-03 9.99960573e-01 1.04813104e-03 4.03811064e-01] [ 5.52062964e-02 -1.53339029e-03 9.98473792e-01 -3.30384899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.368001144999997 meters Centerline goodness [0,1] 0.8618506954300312 Centerline is valid? [False, False] Translation: X:1.34, Y:0.40, Z:-0.33 [[ 0.99834261 -0.01188884 -0.05630881 1.33508704] [ 0.01172765 0.99992613 -0.00319217 0.40482568] [ 0.0563426 0.00252651 0.9984083 -0.3297471 ] [ 0. 0. 0. 1. ]] SLAMing on 10.398001144999999 meters Centerline goodness [0,1] 0.8571834023954135 Centerline is valid? [False, False] Translation: X:1.34, Y:0.40, Z:-0.33 [[ 0.99833135 -0.01138945 -0.05661085 1.3366874 ] [ 0.0112707 0.99993356 -0.00241639 0.40310878] [ 0.05663461 0.00177431 0.9983934 -0.3308378 ] [ 0. 0. 0. 1. ]] SLAMing on 10.428001144999998 meters Centerline goodness [0,1] 0.8571834023954135 Centerline is valid? [False, False] Translation: X:1.34, Y:0.40, Z:-0.33 [[ 0.99833135 -0.01138945 -0.05661085 1.3366874 ] [ 0.0112707 0.99993356 -0.00241639 0.40310878] [ 0.05663461 0.00177431 0.9983934 -0.3308378 ] [ 0. 0. 0. 1. ]] SLAMing on 10.458001144999997 meters Centerline goodness [0,1] 0.8612319149540946 Centerline is valid? [False, False] Translation: X:1.34, Y:0.40, Z:-0.33 [[ 9.98315690e-01 -1.10238852e-02 -5.69583815e-02 1.33802864e+00] [ 1.09334103e-02 9.99938424e-01 -1.89983056e-03 4.02281265e-01] [ 5.69758177e-02 1.27388130e-03 9.98374746e-01 -3.31457284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.488001144999998 meters Centerline goodness [0,1] 0.8619407222348399 Centerline is valid? [False, False] Translation: X:1.36, Y:0.40, Z:-0.34 [[ 0.99858041 -0.01282107 -0.05169907 1.35518936] [ 0.01316433 0.99989347 0.00630441 0.39851387] [ 0.05161274 -0.00697604 0.99864281 -0.33728049] [ 0. 0. 0. 1. ]] SLAMing on 10.518001144999998 meters Centerline goodness [0,1] 0.8579532561833447 Centerline is valid? [False, False] Translation: X:1.36, Y:0.40, Z:-0.34 [[ 0.99857843 -0.0127882 -0.05174534 1.35563733] [ 0.01314027 0.99989273 0.00646945 0.39749311] [ 0.05165706 -0.0071402 0.99863936 -0.33756575] [ 0. 0. 0. 1. ]] SLAMing on 10.548001144999997 meters Centerline goodness [0,1] 0.858846524276245 Centerline is valid? [False, False] Translation: X:1.36, Y:0.40, Z:-0.34 [[ 0.99847475 -0.01596832 -0.05285057 1.35918767] [ 0.01608795 0.99986889 0.0018388 0.39926128] [ 0.05281428 -0.00268625 0.99860074 -0.33624979] [ 0. 0. 0. 1. ]] SLAMing on 10.578001144999998 meters Centerline goodness [0,1] 0.8646942242355606 Centerline is valid? [False, False] Translation: X:1.36, Y:0.40, Z:-0.34 [[ 0.99846491 -0.01561629 -0.05314093 1.36065911] [ 0.01575664 0.99987339 0.00222305 0.39846876] [ 0.05309949 -0.00305696 0.99858455 -0.33709015] [ 0. 0. 0. 1. ]] SLAMing on 10.608001144999998 meters Centerline goodness [0,1] 0.8650374346659133 Centerline is valid? [False, False] Translation: X:1.36, Y:0.40, Z:-0.34 [[ 9.98368948e-01 -1.86057114e-02 -5.39747309e-02 1.36438079e+00] [ 1.85650968e-02 9.99826868e-01 -1.25380938e-03 3.98153380e-01] [ 5.39887141e-02 2.49718247e-04 9.98541515e-01 -3.37835592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.638001144999999 meters Centerline goodness [0,1] 0.8671740662438336 Centerline is valid? [False, False] Translation: X:1.37, Y:0.40, Z:-0.34 [[ 9.98356849e-01 -1.82935883e-02 -5.43042139e-02 1.36573220e+00] [ 1.82999318e-02 9.99832470e-01 -3.80473343e-04 3.95859938e-01] [ 5.43020765e-02 -6.13915246e-04 9.98524365e-01 -3.38916125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.668001144999998 meters Centerline goodness [0,1] 0.8656077503661147 Centerline is valid? [False, False] Translation: X:1.37, Y:0.40, Z:-0.34 [[ 9.98330756e-01 -1.75602557e-02 -5.50212642e-02 1.36844786e+00] [ 1.75799276e-02 9.99845453e-01 -1.26485550e-04 3.96202102e-01] [ 5.50149819e-02 -8.40995426e-04 9.98485175e-01 -3.39459986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.698001144999997 meters Centerline goodness [0,1] 0.868319154348379 Centerline is valid? [False, False] Translation: X:1.37, Y:0.40, Z:-0.34 [[ 9.98313999e-01 -1.70793036e-02 -5.54748272e-02 1.37008126e+00] [ 1.71055146e-02 9.99853690e-01 -2.34381732e-06 3.96431415e-01] [ 5.54667507e-02 -9.46585600e-04 9.98460086e-01 -3.39615519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.728001144999999 meters Centerline goodness [0,1] 0.8666081987155911 Centerline is valid? [False, False] Translation: X:1.37, Y:0.40, Z:-0.34 [[ 9.98299731e-01 -1.65949735e-02 -5.58771413e-02 1.37165673e+00] [ 1.66399155e-02 9.99861490e-01 3.39105556e-04 3.95568070e-01] [ 5.58637743e-02 -1.26831990e-03 9.98437594e-01 -3.39965641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.758001144999998 meters Centerline goodness [0,1] 0.8689280561292331 Centerline is valid? [False, False] Translation: X:1.37, Y:0.40, Z:-0.34 [[ 9.98286537e-01 -1.56611994e-02 -5.63801135e-02 1.37416341e+00] [ 1.57259445e-02 9.99876091e-01 7.04854940e-04 3.95114427e-01] [ 5.63620886e-02 -1.59027773e-03 9.98409128e-01 -3.40628742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.788001144999997 meters Centerline goodness [0,1] 0.8711691099624326 Centerline is valid? [False, False] Translation: X:1.38, Y:0.39, Z:-0.34 [[ 9.98257166e-01 -1.44145404e-02 -5.72263215e-02 1.37734046e+00] [ 1.44863790e-02 9.99894713e-01 8.40677683e-04 3.94616032e-01] [ 5.72081784e-02 -1.66821470e-03 9.98360877e-01 -3.40296545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.818001144999998 meters Centerline goodness [0,1] 0.8694241458115848 Centerline is valid? [False, False] Translation: X:1.38, Y:0.39, Z:-0.34 [[ 9.98226060e-01 -1.36103632e-02 -5.79611131e-02 1.37978474e+00] [ 1.36813549e-02 9.99906063e-01 8.28147873e-04 3.94640430e-01] [ 5.79443971e-02 -1.61966535e-03 9.98318498e-01 -3.39931020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.848001144999998 meters Centerline goodness [0,1] 0.8708319204250028 Centerline is valid? [False, False] Translation: X:1.38, Y:0.39, Z:-0.34 [[ 9.98204130e-01 -1.30799563e-02 -5.84587844e-02 1.38159972e+00] [ 1.31527891e-02 9.99913127e-01 8.61262626e-04 3.94932806e-01] [ 5.84424407e-02 -1.62861197e-03 9.98289451e-01 -3.39865892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.878001144999997 meters Centerline goodness [0,1] 0.8740772168010182 Centerline is valid? [False, False] Translation: X:1.38, Y:0.39, Z:-0.34 [[ 9.98183946e-01 -1.25693680e-02 -5.89136807e-02 1.38344628e+00] [ 1.26567306e-02 9.99919284e-01 1.10996056e-03 3.94430479e-01] [ 5.88949740e-02 -1.85359940e-03 9.98262464e-01 -3.40245302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.908001144999998 meters Centerline goodness [0,1] 0.8768987073232823 Centerline is valid? [False, False] Translation: X:1.38, Y:0.39, Z:-0.34 [[ 0.99817282 -0.01220087 -0.0591791 1.38482197] [ 0.01230849 0.99992319 0.00145446 0.3938935 ] [ 0.05915681 -0.00218021 0.99824632 -0.34098124] [ 0. 0. 0. 1. ]] SLAMing on 10.938001144999998 meters Centerline goodness [0,1] 0.8776525105252748 Centerline is valid? [False, False] Translation: X:1.39, Y:0.39, Z:-0.34 [[ 0.99815893 -0.01190458 -0.05947297 1.38604069] [ 0.01203669 0.99992582 0.00186348 0.39275361] [ 0.05944637 -0.00257591 0.99822818 -0.34155637] [ 0. 0. 0. 1. ]] SLAMing on 10.968001144999997 meters Centerline goodness [0,1] 0.8759523675150968 Centerline is valid? [False, False] Translation: X:1.39, Y:0.39, Z:-0.34 [[ 0.99813811 -0.01178539 -0.05984501 1.38699219] [ 0.01193945 0.99992626 0.00221737 0.39138556] [ 0.05981447 -0.00292776 0.99820522 -0.34167144] [ 0. 0. 0. 1. ]] SLAMing on 10.998001144999998 meters Centerline goodness [0,1] 0.8738771924853362 Centerline is valid? [False, False] Translation: X:1.39, Y:0.39, Z:-0.34 [[ 0.99813842 -0.01202999 -0.05979106 1.38671038] [ 0.01217902 0.99992357 0.0021286 0.39086576] [ 0.05976089 -0.00285284 0.99820864 -0.34149856] [ 0. 0. 0. 1. ]] SLAMing on 11.028001144999998 meters Centerline goodness [0,1] 0.8761937147553062 Centerline is valid? [False, False] Translation: X:1.39, Y:0.39, Z:-0.34 [[ 0.9981285 -0.01185725 -0.05999087 1.38756603] [ 0.01203729 0.99992406 0.00264055 0.38902133] [ 0.05995501 -0.00335773 0.99819543 -0.34216674] [ 0. 0. 0. 1. ]] SLAMing on 11.058001144999999 meters Centerline goodness [0,1] 0.8741246846029541 Centerline is valid? [False, False] Translation: X:1.39, Y:0.39, Z:-0.34 [[ 0.99813387 -0.01238977 -0.05979359 1.38679815] [ 0.01259111 0.99991625 0.0029917 0.38660669] [ 0.05975151 -0.00373898 0.99820628 -0.34260339] [ 0. 0. 0. 1. ]] SLAMing on 11.088001144999998 meters Centerline goodness [0,1] 0.8711814501288185 Centerline is valid? [False, False] Translation: X:1.39, Y:0.38, Z:-0.34 [[ 0.99811691 -0.01316301 -0.05991136 1.38644412] [ 0.01336861 0.99990604 0.00303215 0.38486976] [ 0.05986582 -0.00382737 0.9981991 -0.34274948] [ 0. 0. 0. 1. ]] SLAMing on 11.118001144999997 meters Centerline goodness [0,1] 0.8711814501288185 Centerline is valid? [False, False] Translation: X:1.39, Y:0.38, Z:-0.34 [[ 0.99811691 -0.01316301 -0.05991136 1.38644412] [ 0.01336861 0.99990604 0.00303215 0.38486976] [ 0.05986582 -0.00382737 0.9981991 -0.34274948] [ 0. 0. 0. 1. ]] SLAMing on 11.148001144999999 meters Centerline goodness [0,1] 0.8719864176570459 Centerline is valid? [False, False] Translation: X:1.40, Y:0.38, Z:-0.35 [[ 0.99838252 -0.01635706 -0.05444997 1.40072124] [ 0.01690209 0.9998114 0.00956428 0.38282382] [ 0.05428326 -0.01046913 0.99847069 -0.34559279] [ 0. 0. 0. 1. ]] SLAMing on 11.178001144999998 meters Centerline goodness [0,1] 0.8700366134022082 Centerline is valid? [False, False] Translation: X:1.40, Y:0.38, Z:-0.34 [[ 0.99837273 -0.01669006 -0.05452835 1.4004356 ] [ 0.01722261 0.99980832 0.00931124 0.38244779] [ 0.05436249 -0.01023521 0.99846881 -0.34495237] [ 0. 0. 0. 1. ]] SLAMing on 11.208001144999997 meters Centerline goodness [0,1] 0.8667196909442109 Centerline is valid? [False, False] Translation: X:1.40, Y:0.38, Z:-0.34 [[ 0.99836128 -0.01677537 -0.05471135 1.40083538] [ 0.01730899 0.99980699 0.009294 0.38176454] [ 0.05454488 -0.01022576 0.99845896 -0.3448656 ] [ 0. 0. 0. 1. ]] SLAMing on 11.238001144999998 meters Centerline goodness [0,1] 0.8612065294535132 Centerline is valid? [False, False] Translation: X:1.40, Y:0.38, Z:-0.34 [[ 0.99834872 -0.01682403 -0.05492527 1.40141765] [ 0.01735279 0.99980743 0.00916435 0.38127705] [ 0.05476051 -0.01010232 0.99844841 -0.34472773] [ 0. 0. 0. 1. ]] SLAMing on 11.268001144999998 meters Centerline goodness [0,1] 0.8612933458294283 Centerline is valid? [False, False] Translation: X:1.40, Y:0.38, Z:-0.34 [[ 0.99822913 -0.02045434 -0.05585895 1.40375579] [ 0.02069324 0.99977902 0.00370186 0.38438248] [ 0.05577088 -0.00485121 0.99843181 -0.34198194] [ 0. 0. 0. 1. ]] SLAMing on 11.298001144999997 meters Centerline goodness [0,1] 0.8576698257760627 Centerline is valid? [False, False] Translation: X:1.40, Y:0.38, Z:-0.34 [[ 0.9982075 -0.02021239 -0.05633161 1.40498549] [ 0.02044841 0.99978437 0.00361653 0.38426305] [ 0.05624636 -0.00476194 0.99840556 -0.34161399] [ 0. 0. 0. 1. ]] SLAMing on 11.328001144999998 meters Centerline goodness [0,1] 0.8525093015990229 Centerline is valid? [False, False] Translation: X:1.41, Y:0.38, Z:-0.34 [[ 0.99819439 -0.02018114 -0.05657461 1.40554978] [ 0.02041248 0.99978547 0.00351402 0.38417441] [ 0.05649155 -0.0046625 0.99839219 -0.34135059] [ 0. 0. 0. 1. ]] SLAMing on 11.358001144999998 meters Centerline goodness [0,1] 0.8250531990353241 Centerline is valid? [False, False] Translation: X:1.41, Y:0.38, Z:-0.34 [[ 0.99816532 -0.02007955 -0.05712099 1.40670432] [ 0.02028919 0.99978937 0.00309243 0.38461354] [ 0.05704687 -0.00424569 0.99836247 -0.34044173] [ 0. 0. 0. 1. ]] SLAMing on 11.388001144999997 meters Centerline goodness [0,1] 0.8179803375575382 Centerline is valid? [False, False] Translation: X:1.41, Y:0.38, Z:-0.34 [[ 0.9981421 -0.02009523 -0.05751977 1.40724606] [ 0.02028348 0.99979065 0.0026908 0.3848848 ] [ 0.05745366 -0.00385251 0.99834074 -0.33940097] [ 0. 0. 0. 1. ]] SLAMing on 11.418001144999998 meters Centerline goodness [0,1] 0.8515860812119141 Centerline is valid? [False, False] Translation: X:1.41, Y:0.39, Z:-0.34 [[ 0.99811949 -0.02014367 -0.05789394 1.40777341] [ 0.02030036 0.99979168 0.00211962 0.38571877] [ 0.05783918 -0.0032909 0.99832049 -0.33828534] [ 0. 0. 0. 1. ]] SLAMing on 11.448001144999997 meters Centerline goodness [0,1] 0.8407263812075945 Centerline is valid? [False, False] Translation: X:1.41, Y:0.39, Z:-0.34 [[ 0.99809441 -0.01983651 -0.05842989 1.40917536] [ 0.01997484 0.99979889 0.00178425 0.38636613] [ 0.05838275 -0.00294798 0.99828992 -0.33766072] [ 0. 0. 0. 1. ]] SLAMing on 11.478001144999999 meters Centerline goodness [0,1] 0.8395103802788901 Centerline is valid? [False, False] Translation: X:1.41, Y:0.39, Z:-0.34 [[ 0.99808272 -0.02031529 -0.05846515 1.40904644] [ 0.02045793 0.99978902 0.00184214 0.3856771 ] [ 0.05841539 -0.00303468 0.99828775 -0.33804196] [ 0. 0. 0. 1. ]] SLAMing on 11.508001144999998 meters Centerline goodness [0,1] 0.83344713781723 Centerline is valid? [False, False] Translation: X:1.41, Y:0.39, Z:-0.34 [[ 0.99805982 -0.0198434 -0.05901557 1.41112559] [ 0.02001359 0.99979708 0.00229407 0.38522979] [ 0.05895808 -0.00347073 0.99825443 -0.33897816] [ 0. 0. 0. 1. ]] SLAMing on 11.538001144999997 meters Centerline goodness [0,1] 0.8369515669515669 Centerline is valid? [False, False] Translation: X:1.41, Y:0.39, Z:-0.34 [[ 0.99804234 -0.01987842 -0.05929872 1.41202265] [ 0.02005116 0.99979626 0.0023194 0.38557705] [ 0.05924054 -0.00350387 0.99823759 -0.33938736] [ 0. 0. 0. 1. ]] SLAMing on 11.568001144999998 meters Centerline goodness [0,1] 0.8272758345676199 Centerline is valid? [False, False] Translation: X:1.41, Y:0.39, Z:-0.34 [[ 0.9980281 -0.01975366 -0.05957944 1.41303645] [ 0.01993566 0.99979823 0.0024619 0.38525509] [ 0.05951879 -0.0036448 0.99822053 -0.3397606 ] [ 0. 0. 0. 1. ]] SLAMing on 11.598001144999998 meters Centerline goodness [0,1] 0.840778857941101 Centerline is valid? [False, False] Translation: X:1.41, Y:0.39, Z:-0.34 [[ 0.99802383 -0.01968362 -0.05967409 1.4137989 ] [ 0.01986304 0.99979979 0.0024148 0.38548845] [ 0.05961461 -0.00359534 0.99821499 -0.34031486] [ 0. 0. 0. 1. ]] SLAMing on 11.628001144999997 meters Centerline goodness [0,1] 0.8420407930720146 Centerline is valid? [False, False] Translation: X:1.41, Y:0.39, Z:-0.34 [[ 0.99800342 -0.01945891 -0.06008771 1.41497485] [ 0.0196162 0.99980553 0.00202891 0.38623814] [ 0.06003654 -0.00320355 0.99819104 -0.33980251] [ 0. 0. 0. 1. ]] SLAMing on 11.658001144999998 meters Centerline goodness [0,1] 0.8331001798612498 Centerline is valid? [False, False] Translation: X:1.42, Y:0.39, Z:-0.34 [[ 0.99797184 -0.01917869 -0.06069912 1.41642726] [ 0.01930137 0.99981268 0.00143522 0.38783413] [ 0.06066022 -0.00260389 0.99815508 -0.33880333] [ 0. 0. 0. 1. ]] SLAMing on 11.688001144999998 meters Centerline goodness [0,1] 0.8420841568560052 Centerline is valid? [False, False] Translation: X:1.42, Y:0.39, Z:-0.34 [[ 9.97942660e-01 -1.94271874e-02 -6.10985392e-02 1.41651285e+00] [ 1.94595526e-02 9.99810643e-01 -6.53215230e-05 3.90330680e-01] [ 6.10882388e-02 -1.12376310e-03 9.98131737e-01 -3.36057797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.718001144999997 meters Centerline goodness [0,1] 0.8358470008028444 Centerline is valid? [False, False] Translation: X:1.42, Y:0.39, Z:-0.34 [[ 9.97917400e-01 -1.92891971e-02 -6.15531439e-02 1.41745546e+00] [ 1.93057672e-02 9.99813573e-01 -3.25572763e-04 3.90794997e-01] [ 6.15479487e-02 -8.63435943e-04 9.98103754e-01 -3.35371097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.748001144999998 meters Centerline goodness [0,1] 0.8174543994493518 Centerline is valid? [False, False] Translation: X:1.42, Y:0.39, Z:-0.33 [[ 9.97901565e-01 -1.92737909e-02 -6.18141423e-02 1.41793203e+00] [ 1.92809380e-02 9.99813990e-01 -4.80918549e-04 3.90916913e-01] [ 6.18119134e-02 -7.11925274e-04 9.98087562e-01 -3.34836369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.778001144999998 meters Centerline goodness [0,1] 0.8171577619811969 Centerline is valid? [False, False] Translation: X:1.42, Y:0.39, Z:-0.33 [[ 9.97882857e-01 -1.92713507e-02 -6.21161665e-02 1.41840000e+00] [ 1.92575720e-02 9.99814219e-01 -8.20551068e-04 3.91102328e-01] [ 6.21204396e-02 -3.77392706e-04 9.98068589e-01 -3.33960332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.808001144999997 meters Centerline goodness [0,1] 0.8117121246848499 Centerline is valid? [False, False] Translation: X:1.42, Y:0.39, Z:-0.33 [[ 0.99774547 -0.02298884 -0.06305142 1.42095059] [ 0.0226562 0.9997254 -0.00598567 0.39392317] [ 0.06317171 0.00454367 0.99799233 -0.33202913] [ 0. 0. 0. 1. ]] SLAMing on 11.838001144999998 meters Centerline goodness [0,1] 0.6556934134249666 Centerline is valid? [False, False] Translation: X:1.48, Y:0.40, Z:-0.32 [[ 0.99759469 -0.03112729 -0.06193479 1.47982672] [ 0.03028555 0.99943634 -0.01448376 0.40058125] [ 0.06235072 0.01257319 0.9979751 -0.3240834 ] [ 0. 0. 0. 1. ]] SLAMing on 11.868001144999997 meters Centerline goodness [0,1] 0.7954351414423132 Centerline is valid? [False, False] Translation: X:1.42, Y:0.40, Z:-0.33 [[ 0.99754994 -0.03303387 -0.06166752 1.41911004] [ 0.03199929 0.99933133 -0.01768978 0.39763259] [ 0.06221065 0.01567312 0.99793997 -0.33007503] [ 0. 0. 0. 1. ]] SLAMing on 11.898001144999999 meters Centerline goodness [0,1] 0.7790925899587541 Centerline is valid? [False, False] Translation: X:1.42, Y:0.39, Z:-0.33 [[ 0.99756001 -0.0327498 -0.06165611 1.4202052 ] [ 0.03180652 0.99936244 -0.01621908 0.3948462 ] [ 0.06214797 0.01421844 0.99796566 -0.3328072 ] [ 0. 0. 0. 1. ]] SLAMing on 11.928001144999998 meters Centerline goodness [0,1] 0.7782955869398426 Centerline is valid? [False, False] Translation: X:1.44, Y:0.39, Z:-0.34 [[ 0.99775822 -0.03471406 -0.05721415 1.43553106] [ 0.03444345 0.99939034 -0.00570953 0.39044988] [ 0.05737747 0.00372608 0.9983456 -0.34040922] [ 0. 0. 0. 1. ]] SLAMing on 11.958001144999997 meters Centerline goodness [0,1] 0.7799908686223034 Centerline is valid? [False, False] Translation: X:1.44, Y:0.39, Z:-0.34 [[ 9.97882971e-01 -3.03725559e-02 -5.75072485e-02 1.43606730e+00] [ 3.03367757e-02 9.99538616e-01 -1.49529948e-03 3.90717857e-01] [ 5.75261316e-02 -2.52450609e-04 9.98343969e-01 -3.40715524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.988001144999998 meters Centerline goodness [0,1] 0.7876747650699061 Centerline is valid? [False, False] Translation: X:1.44, Y:0.39, Z:-0.34 [[ 9.97856520e-01 -3.01411359e-02 -5.80850851e-02 1.43699480e+00] [ 3.00649296e-02 9.99545558e-01 -2.18563058e-03 3.92739714e-01] [ 5.81245662e-02 4.34621729e-04 9.98309244e-01 -3.39099659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.018001144999998 meters Centerline goodness [0,1] 0.7893879184653649 Centerline is valid? [False, False] Translation: X:1.44, Y:0.39, Z:-0.34 [[ 9.97824902e-01 -2.96125752e-02 -5.88944833e-02 1.43889739e+00] [ 2.95060880e-02 9.99561016e-01 -2.67710028e-03 3.94153571e-01] [ 5.89479054e-02 9.33531525e-04 9.98260624e-01 -3.37829927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.048001144999997 meters Centerline goodness [0,1] 0.7907803451636948 Centerline is valid? [False, False] Translation: X:1.44, Y:0.39, Z:-0.34 [[ 9.97810157e-01 -2.92849108e-02 -5.93067034e-02 1.43987909e+00] [ 2.91657576e-02 9.99570457e-01 -2.87391724e-03 3.94741612e-01] [ 5.93653911e-02 1.13789887e-03 9.98235671e-01 -3.37149954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.078001144999998 meters Centerline goodness [0,1] 0.7943804777453171 Centerline is valid? [False, False] Translation: X:1.44, Y:0.40, Z:-0.34 [[ 0.99778805 -0.028715 -0.05995375 1.44175457] [ 0.02857363 0.99958652 -0.00321418 0.39510591] [ 0.06002125 0.00149397 0.99819598 -0.33618548] [ 0. 0. 0. 1. ]] SLAMing on 12.108001144999998 meters Centerline goodness [0,1] 0.7963281698221457 Centerline is valid? [False, False] Translation: X:1.44, Y:0.39, Z:-0.34 [[ 9.97782552e-01 -2.80460437e-02 -6.03605749e-02 1.44349570e+00] [ 2.79228045e-02 9.99605921e-01 -2.88440371e-03 3.94277162e-01] [ 6.04176842e-02 1.19257116e-03 9.98172471e-01 -3.36549660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.138001144999997 meters Centerline goodness [0,1] 0.79988541965053 Centerline is valid? [False, False] Translation: X:1.45, Y:0.39, Z:-0.34 [[ 9.97785936e-01 -2.73370782e-02 -6.06292878e-02 1.44532085e+00] [ 2.72679457e-02 9.99626224e-01 -1.96749049e-03 3.92338316e-01] [ 6.06604114e-02 3.09898215e-04 9.98158414e-01 -3.37974227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.168001144999998 meters Centerline goodness [0,1] 0.8133703937188378 Centerline is valid? [False, False] Translation: X:1.45, Y:0.39, Z:-0.34 [[ 9.97783589e-01 -2.64780668e-02 -6.10476925e-02 1.44754643e+00] [ 2.64461503e-02 9.99649353e-01 -1.33088676e-03 3.91383197e-01] [ 6.10615256e-02 -2.86539479e-04 9.98133963e-01 -3.39074925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.198001144999997 meters Centerline goodness [0,1] 0.8250822250822251 Centerline is valid? [False, False] Translation: X:1.45, Y:0.39, Z:-0.34 [[ 9.97772066e-01 -2.48747615e-02 -6.19043668e-02 1.45131906e+00] [ 2.48766755e-02 9.99690254e-01 -7.39927218e-04 3.90771795e-01] [ 6.19035977e-02 -8.01696133e-04 9.98081811e-01 -3.39601571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.228001144999997 meters Centerline goodness [0,1] 0.8289676865885044 Centerline is valid? [False, False] Translation: X:1.45, Y:0.39, Z:-0.34 [[ 9.97757584e-01 -2.37514003e-02 -6.25753500e-02 1.45421440e+00] [ 2.37850575e-02 9.99717074e-01 -2.07093464e-04 3.90204482e-01] [ 6.25625646e-02 -1.28172922e-03 9.98040221e-01 -3.40264252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.258001144999998 meters Centerline goodness [0,1] 0.8396758583168685 Centerline is valid? [False, False] Translation: X:1.46, Y:0.39, Z:-0.34 [[ 9.97737077e-01 -2.26129147e-02 -6.33196771e-02 1.45723798e+00] [ 2.26611308e-02 9.99743203e-01 4.33151126e-05 3.90202385e-01] [ 6.33024373e-02 -1.47811258e-03 9.97993295e-01 -3.40550854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.288001144999997 meters Centerline goodness [0,1] 0.8531408438601014 Centerline is valid? [False, False] Translation: X:1.46, Y:0.39, Z:-0.34 [[ 9.97709750e-01 -2.11998126e-02 -6.42325629e-02 1.46053849e+00] [ 2.12337095e-02 9.99774527e-01 -1.54962650e-04 3.90477881e-01] [ 6.42213654e-02 -1.20928783e-03 9.97934945e-01 -3.39453090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.318001144999998 meters Centerline goodness [0,1] 0.8531408438601014 Centerline is valid? [False, False] Translation: X:1.46, Y:0.39, Z:-0.34 [[ 9.97709750e-01 -2.11998126e-02 -6.42325629e-02 1.46053849e+00] [ 2.12337095e-02 9.99774527e-01 -1.54962650e-04 3.90477881e-01] [ 6.42213654e-02 -1.20928783e-03 9.97934945e-01 -3.39453090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.348001144999998 meters Centerline goodness [0,1] 0.8531408438601014 Centerline is valid? [False, False] Translation: X:1.46, Y:0.39, Z:-0.34 [[ 9.97709750e-01 -2.11998126e-02 -6.42325629e-02 1.46053849e+00] [ 2.12337095e-02 9.99774527e-01 -1.54962650e-04 3.90477881e-01] [ 6.42213654e-02 -1.20928783e-03 9.97934945e-01 -3.39453090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.378001144999997 meters Centerline goodness [0,1] 0.8537402307406029 Centerline is valid? [False, False] Translation: X:1.46, Y:0.39, Z:-0.34 [[ 9.97680346e-01 -2.03066290e-02 -6.49735983e-02 1.46304581e+00] [ 2.03459677e-02 9.99792998e-01 -5.62293460e-05 3.90838002e-01] [ 6.49612904e-02 -1.26585182e-03 9.97886982e-01 -3.39295736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.408001144999998 meters Centerline goodness [0,1] 0.8576133337151695 Centerline is valid? [False, False] Translation: X:1.47, Y:0.39, Z:-0.34 [[ 9.97646922e-01 -1.87960761e-02 -6.59342646e-02 1.46702334e+00] [ 1.88941184e-02 9.99821117e-01 8.63665747e-04 3.90058111e-01] [ 6.59062366e-02 -2.10740327e-03 9.97823595e-01 -3.40546042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.438001144999998 meters Centerline goodness [0,1] 0.8613292965068121 Centerline is valid? [False, False] Translation: X:1.47, Y:0.39, Z:-0.34 [[ 0.99762394 -0.01778647 -0.06655913 1.46991609] [ 0.01792404 0.99983827 0.00147029 0.38893357] [ 0.06652222 -0.00265981 0.9977814 -0.34149942] [ 0. 0. 0. 1. ]] SLAMing on 12.468001144999997 meters Centerline goodness [0,1] 0.8645704949984235 Centerline is valid? [False, False] Translation: X:1.47, Y:0.39, Z:-0.34 [[ 0.9975855 -0.01621913 -0.06752855 1.47411274] [ 0.01640981 0.99986277 0.00226991 0.38862698] [ 0.06748247 -0.00337256 0.99771476 -0.34273631] [ 0. 0. 0. 1. ]] SLAMing on 12.498001144999998 meters Centerline goodness [0,1] 0.8654962399565379 Centerline is valid? [False, False] Translation: X:1.48, Y:0.39, Z:-0.34 [[ 0.99755034 -0.01525383 -0.06826883 1.47689243] [ 0.01546158 0.9998773 0.00251577 0.38820178] [ 0.06822208 -0.00356515 0.99766379 -0.34284307] [ 0. 0. 0. 1. ]] SLAMing on 12.528001144999998 meters Centerline goodness [0,1] 0.8678420390901818 Centerline is valid? [False, False] Translation: X:1.48, Y:0.39, Z:-0.34 [[ 0.99750928 -0.01434986 -0.06906019 1.47957904] [ 0.0145475 0.99989139 0.00235981 0.38864546] [ 0.06901882 -0.00335859 0.9976097 -0.34232156] [ 0. 0. 0. 1. ]] SLAMing on 12.558001144999997 meters Centerline goodness [0,1] 0.8688571510346604 Centerline is valid? [False, False] Translation: X:1.48, Y:0.39, Z:-0.34 [[ 0.99748216 -0.01351853 -0.06961742 1.48152738] [ 0.0137091 0.99990347 0.0022604 0.38865893] [ 0.06958014 -0.0032091 0.9975712 -0.34171685] [ 0. 0. 0. 1. ]] SLAMing on 12.588001144999998 meters Centerline goodness [0,1] 0.8694200251170225 Centerline is valid? [False, False] Translation: X:1.48, Y:0.39, Z:-0.34 [[ 0.997429 -0.01199922 -0.07064985 1.48495477] [ 0.01219527 0.99992289 0.00234431 0.38751338] [ 0.07061627 -0.00319988 0.99749842 -0.34050969] [ 0. 0. 0. 1. ]] SLAMing on 12.618001144999997 meters Centerline goodness [0,1] 0.86849174144139 Centerline is valid? [False, False] Translation: X:1.49, Y:0.39, Z:-0.34 [[ 0.99738959 -0.01114809 -0.07134231 1.48741943] [ 0.01135491 0.99993242 0.00249402 0.3878198 ] [ 0.07130968 -0.0032976 0.99744877 -0.34056742] [ 0. 0. 0. 1. ]] SLAMing on 12.648001144999997 meters Centerline goodness [0,1] 0.8663777125096239 Centerline is valid? [False, False] Translation: X:1.49, Y:0.39, Z:-0.34 [[ 0.99732804 -0.01002259 -0.07236242 1.49081189] [ 0.01025048 0.9999436 0.00277863 0.38743645] [ 0.07233049 -0.00351296 0.99737453 -0.34050651] [ 0. 0. 0. 1. ]] SLAMing on 12.678001144999998 meters Centerline goodness [0,1] 0.8665579212454213 Centerline is valid? [False, False] Translation: X:1.49, Y:0.39, Z:-0.34 [[ 0.99730795 -0.00945189 -0.07271524 1.49225459] [ 0.00969651 0.99994845 0.00301193 0.38708955] [ 0.07268302 -0.00370891 0.9973482 -0.34066135] [ 0. 0. 0. 1. ]] SLAMing on 12.708001144999997 meters Centerline goodness [0,1] 0.8683593526619775 Centerline is valid? [False, False] Translation: X:1.50, Y:0.39, Z:-0.34 [[ 0.99725232 -0.00853394 -0.07358654 1.49510775] [ 0.00877565 0.99995711 0.00296209 0.38742992] [ 0.0735581 -0.00359972 0.99728444 -0.34027513] [ 0. 0. 0. 1. ]] SLAMing on 12.738001144999998 meters Centerline goodness [0,1] 0.868108324287265 Centerline is valid? [False, False] Translation: X:1.50, Y:0.39, Z:-0.34 [[ 0.99717364 -0.00703328 -0.07480146 1.49976525] [ 0.00731151 0.99996733 0.00344633 0.38780423] [ 0.07477478 -0.0039835 0.99719249 -0.34103783] [ 0. 0. 0. 1. ]] SLAMing on 12.768001144999998 meters Centerline goodness [0,1] 0.8750605740999401 Centerline is valid? [False, False] Translation: X:1.50, Y:0.39, Z:-0.34 [[ 0.99710129 -0.00568823 -0.07587268 1.50420053] [ 0.0060282 0.99997279 0.00425256 0.38705629] [ 0.07584642 -0.0046976 0.99710845 -0.3425594 ] [ 0. 0. 0. 1. ]] SLAMing on 12.798001144999997 meters Centerline goodness [0,1] 0.8735596120935539 Centerline is valid? [False, False] Translation: X:1.51, Y:0.39, Z:-0.34 [[ 0.99703236 -0.0043675 -0.07685956 1.50846433] [ 0.00476329 0.99997632 0.00496696 0.38622654] [ 0.07683605 -0.00531833 0.99702956 -0.3439637 ] [ 0. 0. 0. 1. ]] SLAMing on 12.828001144999998 meters Centerline goodness [0,1] 0.8781791164199577 Centerline is valid? [False, False] Translation: X:1.51, Y:0.39, Z:-0.34 [[ 0.99700073 -0.0037939 -0.07729912 1.51052048] [ 0.00421721 0.99997699 0.00531366 0.38580201] [ 0.07727718 -0.00562371 0.99699379 -0.3447535 ] [ 0. 0. 0. 1. ]] SLAMing on 12.858001144999998 meters Centerline goodness [0,1] 0.879558705842003 Centerline is valid? [False, False] Translation: X:1.51, Y:0.39, Z:-0.34 [[ 0.99694316 -0.00324045 -0.07806298 1.51262041] [ 0.00363018 0.99998164 0.00485104 0.38678055] [ 0.07804583 -0.00511959 0.99693663 -0.3436585 ] [ 0. 0. 0. 1. ]] SLAMing on 12.888001144999997 meters Centerline goodness [0,1] 0.8841524430339938 Centerline is valid? [False, False] Translation: X:1.51, Y:0.39, Z:-0.34 [[ 0.99685669 -0.00260778 -0.07918294 1.51434729] [ 0.00278444 0.99999387 0.0021207 0.38993605] [ 0.07917692 -0.00233452 0.99685785 -0.33739407] [ 0. 0. 0. 1. ]] SLAMing on 12.918001144999998 meters Centerline goodness [0,1] 0.8813845625286303 Centerline is valid? [False, False] Translation: X:1.51, Y:0.39, Z:-0.34 [[ 0.99681807 -0.00238604 -0.07967462 1.51491171] [ 0.00251763 0.99999563 0.0015511 0.38999615] [ 0.07967057 -0.00174675 0.99681972 -0.33542755] [ 0. 0. 0. 1. ]] SLAMing on 12.948001144999997 meters Centerline goodness [0,1] 0.8808903148185282 Centerline is valid? [False, False] Translation: X:1.52, Y:0.39, Z:-0.33 [[ 9.96772792e-01 -1.73354822e-03 -8.02558194e-02 1.51669972e+00] [ 1.85890712e-03 9.99997166e-01 1.48730314e-03 3.89651260e-01] [ 8.02530136e-02 -1.63169141e-03 9.96773190e-01 -3.34751660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.978001144999997 meters Centerline goodness [0,1] 0.8762227989618686 Centerline is valid? [False, False] Translation: X:1.52, Y:0.39, Z:-0.33 [[ 9.96710536e-01 -5.10630768e-04 -8.10422481e-02 1.51945886e+00] [ 6.25336201e-04 9.99998838e-01 1.39000346e-03 3.88615193e-01] [ 8.10414442e-02 -1.43610975e-03 9.96709698e-01 -3.33613361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.008001144999998 meters Centerline goodness [0,1] 0.8789314458587819 Centerline is valid? [False, False] Translation: X:1.52, Y:0.39, Z:-0.33 [[ 9.96652207e-01 7.13633123e-04 -8.17549361e-02 1.52251590e+00] [-5.69664962e-04 9.99998246e-01 1.78428406e-03 3.87797665e-01] [ 8.17560660e-02 -1.73173772e-03 9.96650865e-01 -3.33898462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.038001144999997 meters Centerline goodness [0,1] 0.8754096491978001 Centerline is valid? [False, False] Translation: X:1.53, Y:0.39, Z:-0.33 [[ 0.99659052 0.00174337 -0.08248815 1.52523113] [-0.001565 0.9999963 0.00222702 0.38672807] [ 0.08249173 -0.00209034 0.99658956 -0.3340427 ] [ 0. 0. 0. 1. ]] SLAMing on 13.068001144999997 meters Centerline goodness [0,1] 0.8742477216713476 Centerline is valid? [False, False] Translation: X:1.53, Y:0.39, Z:-0.33 [[ 0.99650459 0.00296004 -0.08348552 1.52879697] [-0.00277565 0.99999345 0.00232465 0.38705448] [ 0.08349185 -0.0020848 0.99650628 -0.33389397] [ 0. 0. 0. 1. ]] SLAMing on 13.098001144999998 meters Centerline goodness [0,1] 0.8818578732693744 Centerline is valid? [False, False] Translation: X:1.53, Y:0.39, Z:-0.33 [[ 0.99635721 0.00560549 -0.08509338 1.53471024] [-0.00543595 0.99998275 0.0022239 0.38794106] [ 0.08510438 -0.00175323 0.9963705 -0.33223505] [ 0. 0. 0. 1. ]] SLAMing on 13.128001144999997 meters Centerline goodness [0,1] 0.8814123726137505 Centerline is valid? [False, False] Translation: X:1.54, Y:0.39, Z:-0.33 [[ 9.96243201e-01 6.81024410e-03 -8.63313650e-02 1.53853367e+00] [-6.66086392e-03 9.99975779e-01 2.01825558e-03 3.89115506e-01] [ 8.63430188e-02 -1.43563193e-03 9.96264434e-01 -3.31353489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.158001144999998 meters Centerline goodness [0,1] 0.8818617463915751 Centerline is valid? [False, False] Translation: X:1.54, Y:0.39, Z:-0.33 [[ 9.96125606e-01 8.21240612e-03 -8.75575958e-02 1.54261656e+00] [-8.06100739e-03 9.99965341e-01 2.08257902e-03 3.89253899e-01] [ 8.75716641e-02 -1.36870786e-03 9.96157282e-01 -3.30809390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.188001144999998 meters Centerline goodness [0,1] 0.8804566052888201 Centerline is valid? [False, False] Translation: X:1.55, Y:0.39, Z:-0.33 [[ 0.99603863 0.00928659 -0.08843533 1.54548505] [-0.00911249 0.99995567 0.00237226 0.38797947] [ 0.08845344 -0.001557 0.9960791 -0.3303952 ] [ 0. 0. 0. 1. ]] SLAMing on 13.218001144999997 meters Centerline goodness [0,1] 0.8687271996093413 Centerline is valid? [False, False] Translation: X:1.55, Y:0.39, Z:-0.33 [[ 0.99585703 0.01321421 -0.08996757 1.55401524] [-0.01294101 0.99990971 0.00361931 0.38562171] [ 0.09000727 -0.00244005 0.99593812 -0.33154828] [ 0. 0. 0. 1. ]] SLAMing on 13.248001144999998 meters Centerline goodness [0,1] 0.862872224453497 Centerline is valid? [False, False] Translation: X:1.56, Y:0.38, Z:-0.33 [[ 0.99574953 0.01482139 -0.09090213 1.55836512] [-0.01446987 0.99988507 0.00452484 0.38383177] [ 0.09095874 -0.00319027 0.99584955 -0.33281964] [ 0. 0. 0. 1. ]] SLAMing on 13.278001144999998 meters Centerline goodness [0,1] 0.862387167251193 Centerline is valid? [False, False] Translation: X:1.56, Y:0.38, Z:-0.33 [[ 0.99569567 0.01539899 -0.09139472 1.55996992] [-0.01503401 0.99987603 0.00468059 0.38271149] [ 0.09145546 -0.00328641 0.99580374 -0.33254923] [ 0. 0. 0. 1. ]] SLAMing on 13.308001144999997 meters Centerline goodness [0,1] 0.859860494610019 Centerline is valid? [False, False] Translation: X:1.56, Y:0.39, Z:-0.33 [[ 9.95574617e-01 1.68640488e-02 -9.24488238e-02 1.56331280e+00] [-1.66804876e-02 9.99857067e-01 2.75793978e-03 3.85903849e-01] [ 9.24821199e-02 -1.20364338e-03 9.95713618e-01 -3.28483439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.338001144999998 meters Centerline goodness [0,1] 0.8553426549283618 Centerline is valid? [False, False] Translation: X:1.56, Y:0.39, Z:-0.33 [[ 9.95515118e-01 1.71443106e-02 -9.30361308e-02 1.56453966e+00] [-1.70041421e-02 9.99852776e-01 2.29917173e-03 3.86900895e-01] [ 9.30618514e-02 -7.06860625e-04 9.95660079e-01 -3.27260078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.368001144999997 meters Centerline goodness [0,1] 0.8449847147718752 Centerline is valid? [False, False] Translation: X:1.57, Y:0.39, Z:-0.33 [[ 9.95455713e-01 1.74616437e-02 -9.36109762e-02 1.56617424e+00] [-1.73420927e-02 9.99847429e-01 2.09050583e-03 3.87469617e-01] [ 9.36331975e-02 -4.57595739e-04 9.95606657e-01 -3.26818028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.398001144999997 meters Centerline goodness [0,1] 0.8644482857966004 Centerline is valid? [False, False] Translation: X:1.57, Y:0.39, Z:-0.33 [[ 0.99545402 0.01339661 -0.09429647 1.56814182] [-0.01367037 0.99990401 -0.00225777 0.38820968] [ 0.09425717 0.00353657 0.9955416 -0.32630069] [ 0. 0. 0. 1. ]] SLAMing on 13.428001144999998 meters Centerline goodness [0,1] 0.8761404716818729 Centerline is valid? [False, False] Translation: X:1.57, Y:0.39, Z:-0.33 [[ 0.99542175 0.00921971 -0.09513428 1.56996648] [-0.00991644 0.99992734 -0.00685355 0.38930265] [ 0.09506418 0.00776557 0.99544086 -0.32511759] [ 0. 0. 0. 1. ]] SLAMing on 13.458001144999997 meters Centerline goodness [0,1] 0.8785677515300577 Centerline is valid? [False, False] Translation: X:1.59, Y:0.39, Z:-0.33 [[ 9.95905672e-01 5.20134095e-03 -9.02487558e-02 1.58615077e+00] [-5.22366594e-03 9.99986357e-01 -1.11752015e-05 3.86244420e-01] [ 9.02474663e-02 4.82558798e-04 9.95919255e-01 -3.30882241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.488001144999997 meters Centerline goodness [0,1] 0.8846835515407924 Centerline is valid? [False, False] Translation: X:1.59, Y:0.39, Z:-0.33 [[ 9.95849906e-01 1.23649937e-03 -9.10023925e-02 1.58866092e+00] [-1.62253561e-03 9.99989997e-01 -4.16818642e-03 3.87442373e-01] [ 9.09963282e-02 4.29854268e-03 9.95841951e-01 -3.31003123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.518001144999998 meters Centerline goodness [0,1] 0.8887843807895112 Centerline is valid? [False, False] Translation: X:1.61, Y:0.38, Z:-0.34 [[ 0.99614597 -0.00500315 -0.08756815 1.60611031] [ 0.00517626 0.99998507 0.00174992 0.38422015] [ 0.08755808 -0.00219645 0.99615699 -0.33783704] [ 0. 0. 0. 1. ]] SLAMing on 13.548001144999997 meters Centerline goodness [0,1] 0.8927292365414132 Centerline is valid? [False, False] Translation: X:1.61, Y:0.39, Z:-0.34 [[ 0.99602184 -0.00878539 -0.08867531 1.60908786] [ 0.00852195 0.99995808 -0.00334895 0.38741766] [ 0.08870102 0.00257994 0.99605496 -0.33596013] [ 0. 0. 0. 1. ]] SLAMing on 13.578001144999998 meters Centerline goodness [0,1] 0.8926210672643196 Centerline is valid? [False, False] Translation: X:1.61, Y:0.39, Z:-0.34 [[ 0.99598906 -0.00888932 -0.08903248 1.6098913 ] [ 0.00863005 0.99995733 -0.00329657 0.38689577] [ 0.08905798 0.00251499 0.99602327 -0.33592008] [ 0. 0. 0. 1. ]] SLAMing on 13.608001144999998 meters Centerline goodness [0,1] 0.8932823129251701 Centerline is valid? [False, False] Translation: X:1.61, Y:0.39, Z:-0.34 [[ 0.99596939 -0.00905508 -0.0892355 1.60996566] [ 0.00877845 0.99995537 -0.00349199 0.38680516] [ 0.08926314 0.00269457 0.99600443 -0.33521334] [ 0. 0. 0. 1. ]] SLAMing on 13.638001144999997 meters Centerline goodness [0,1] 0.8887569950822451 Centerline is valid? [False, False] Translation: X:1.63, Y:0.38, Z:-0.34 [[ 0.99643335 -0.0102298 -0.08376115 1.62636457] [ 0.01065334 0.99993262 0.00461112 0.38360858] [ 0.08370834 -0.00548701 0.99647519 -0.33922695] [ 0. 0. 0. 1. ]] SLAMing on 13.668001144999998 meters Centerline goodness [0,1] 0.8919666807849781 Centerline is valid? [False, False] Translation: X:1.63, Y:0.38, Z:-0.34 [[ 0.99639718 -0.00969288 -0.08425383 1.62801004] [ 0.01011506 0.99993833 0.00458527 0.38316844] [ 0.08420419 -0.00542098 0.99643377 -0.33886383] [ 0. 0. 0. 1. ]] SLAMing on 13.698001144999997 meters Centerline goodness [0,1] 0.8883056778417429 Centerline is valid? [False, False] Translation: X:1.63, Y:0.38, Z:-0.34 [[ 0.99634759 -0.00888108 -0.08492711 1.63048241] [ 0.00931723 0.99994536 0.00474051 0.38261964] [ 0.08488037 -0.00551449 0.99637589 -0.33883401] [ 0. 0. 0. 1. ]] SLAMing on 13.728001144999997 meters Centerline goodness [0,1] 0.8887102687762642 Centerline is valid? [False, False] Translation: X:1.63, Y:0.38, Z:-0.34 [[ 0.99629577 -0.00804923 -0.0856151 1.63305856] [ 0.00849853 0.99995196 0.00488474 0.38226395] [ 0.08557167 -0.00559425 0.99631631 -0.33886198] [ 0. 0. 0. 1. ]] SLAMing on 13.758001144999998 meters Centerline goodness [0,1] 0.8918290365580419 Centerline is valid? [False, False] Translation: X:1.64, Y:0.38, Z:-0.34 [[ 0.99624122 -0.00667717 -0.08636457 1.63615815] [ 0.00717441 0.99995942 0.00544841 0.38206218] [ 0.08632468 -0.00604755 0.9962487 -0.33915429] [ 0. 0. 0. 1. ]] SLAMing on 13.788001144999997 meters Centerline goodness [0,1] 0.8941359333050728 Centerline is valid? [False, False] Translation: X:1.64, Y:0.38, Z:-0.34 [[ 0.99616587 -0.00560615 -0.08730487 1.63950891] [ 0.00612604 0.99996506 0.00568807 0.38193218] [ 0.08726993 -0.0062011 0.9961654 -0.33929056] [ 0. 0. 0. 1. ]] SLAMing on 13.818001144999997 meters Centerline goodness [0,1] 0.8959573623632137 Centerline is valid? [False, False] Translation: X:1.64, Y:0.38, Z:-0.34 [[ 0.99611458 -0.00477845 -0.08793694 1.64231546] [ 0.00536443 0.99996495 0.00642856 0.38068024] [ 0.08790313 -0.00687532 0.9961053 -0.34053366] [ 0. 0. 0. 1. ]] SLAMing on 13.848001144999998 meters Centerline goodness [0,1] 0.8972777904069107 Centerline is valid? [False, False] Translation: X:1.65, Y:0.38, Z:-0.34 [[ 0.99606387 -0.00385695 -0.0885545 1.64536589] [ 0.00454373 0.99996114 0.00755518 0.3779844 ] [ 0.08852192 -0.00792781 0.99604268 -0.34241546] [ 0. 0. 0. 1. ]] SLAMing on 13.878001144999997 meters Centerline goodness [0,1] 0.8946919996591974 Centerline is valid? [False, False] Translation: X:1.65, Y:0.38, Z:-0.34 [[ 0.99600479 -0.00271795 -0.08925842 1.64910606] [ 0.00351959 0.99995487 0.00882496 0.37535047] [ 0.0892304 -0.00910386 0.9959694 -0.34473611] [ 0. 0. 0. 1. ]] SLAMing on 13.908001144999997 meters Centerline goodness [0,1] 0.8949709590593569 Centerline is valid? [False, False] Translation: X:1.65, Y:0.37, Z:-0.34 [[ 0.99595435 -0.00243211 -0.0898277 1.65016215] [ 0.00320317 0.99995925 0.00844066 0.37465867] [ 0.08980351 -0.00869424 0.99592155 -0.34329404] [ 0. 0. 0. 1. ]] SLAMing on 13.938001144999998 meters Centerline goodness [0,1] 0.8934653465346535 Centerline is valid? [False, False] Translation: X:1.65, Y:0.38, Z:-0.34 [[ 0.9959316 -0.00288929 -0.09006603 1.64930067] [ 0.00354245 0.99996857 0.00709305 0.37653111] [ 0.09004271 -0.00738325 0.99591054 -0.34042317] [ 0. 0. 0. 1. ]] SLAMing on 13.968001144999997 meters Centerline goodness [0,1] 0.8922087852955337 Centerline is valid? [False, False] Translation: X:1.65, Y:0.38, Z:-0.34 [[ 0.99590517 -0.00342687 -0.09033904 1.64838855] [ 0.00397536 0.99997474 0.00589227 0.37773226] [ 0.09031656 -0.00622727 0.99589364 -0.33764928] [ 0. 0. 0. 1. ]] SLAMing on 13.998001144999998 meters Centerline goodness [0,1] 0.8929574268939502 Centerline is valid? [False, False] Translation: X:1.65, Y:0.38, Z:-0.34 [[ 0.99589709 -0.00417865 -0.09039649 1.64697437] [ 0.00464312 0.99997708 0.00492846 0.3781619 ] [ 0.09037382 -0.00532796 0.99589366 -0.3354044 ] [ 0. 0. 0. 1. ]] SLAMing on 14.028001144999998 meters Centerline goodness [0,1] 0.8913839602555004 Centerline is valid? [False, False] Translation: X:1.65, Y:0.38, Z:-0.33 [[ 9.95782097e-01 -7.77050016e-03 -9.14200982e-02 1.64974768e+00] [ 7.83608901e-03 9.99969233e-01 3.58521400e-04 3.80454455e-01] [ 9.14144996e-02 -1.07338522e-03 9.95812350e-01 -3.34045203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.058001144999997 meters Centerline goodness [0,1] 0.8927832714702633 Centerline is valid? [False, False] Translation: X:1.65, Y:0.38, Z:-0.33 [[ 9.95739748e-01 -7.76992156e-03 -9.18802604e-02 1.65089284e+00] [ 7.86009842e-03 9.99968917e-01 6.19636607e-04 3.79470698e-01] [ 9.18725899e-02 -1.33918469e-03 9.95769870e-01 -3.34359664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.088001144999998 meters Centerline goodness [0,1] 0.8933128712308523 Centerline is valid? [False, False] Translation: X:1.65, Y:0.38, Z:-0.34 [[ 9.95727136e-01 -7.87611883e-03 -9.20078089e-02 1.65144904e+00] [ 8.01011374e-03 9.99967328e-01 1.08714819e-03 3.77622896e-01] [ 9.19962403e-02 -1.81949597e-03 9.95757692e-01 -3.35199970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.118001144999997 meters Centerline goodness [0,1] 0.8933409058639784 Centerline is valid? [False, False] Translation: X:1.65, Y:0.38, Z:-0.33 [[ 0.99560622 -0.01130026 -0.09295459 1.65469137] [ 0.01107493 0.99993435 -0.00293962 0.37824776] [ 0.09298171 0.00189724 0.99566601 -0.33495832] [ 0. 0. 0. 1. ]] SLAMing on 14.148001144999997 meters Centerline goodness [0,1] 0.8939115694307106 Centerline is valid? [False, False] Translation: X:1.66, Y:0.38, Z:-0.34 [[ 0.9954521 -0.01461233 -0.094136 1.65894999] [ 0.01412698 0.99988327 -0.00582025 0.37612715] [ 0.09421006 0.00446392 0.99554233 -0.33642328] [ 0. 0. 0. 1. ]] SLAMing on 14.178001144999998 meters Centerline goodness [0,1] 0.8931720551661768 Centerline is valid? [False, False] Translation: X:1.66, Y:0.38, Z:-0.34 [[ 0.99541301 -0.0140932 -0.09462732 1.66090602] [ 0.01364802 0.99989255 -0.00535021 0.37550967] [ 0.09469255 0.00403419 0.99549839 -0.33715856] [ 0. 0. 0. 1. ]] SLAMing on 14.208001144999997 meters Centerline goodness [0,1] 0.8875739644970414 Centerline is valid? [False, False] Translation: X:1.66, Y:0.37, Z:-0.34 [[ 0.99534153 -0.01437933 -0.0953335 1.66144747] [ 0.01396021 0.99988974 -0.00506198 0.3734933 ] [ 0.09539578 0.00370752 0.99543252 -0.33642021] [ 0. 0. 0. 1. ]] SLAMing on 14.238001144999997 meters Centerline goodness [0,1] 0.8875739644970414 Centerline is valid? [False, False] Translation: X:1.66, Y:0.37, Z:-0.34 [[ 0.99534153 -0.01437933 -0.0953335 1.66144747] [ 0.01396021 0.99988974 -0.00506198 0.3734933 ] [ 0.09539578 0.00370752 0.99543252 -0.33642021] [ 0. 0. 0. 1. ]] SLAMing on 14.268001144999998 meters Centerline goodness [0,1] 0.8846839706756489 Centerline is valid? [False, False] Translation: X:1.66, Y:0.37, Z:-0.34 [[ 0.99531121 -0.01411286 -0.09568919 1.66267551] [ 0.01371281 0.99989428 -0.004837 0.37303007] [ 0.09574734 0.00350215 0.99539951 -0.33670725] [ 0. 0. 0. 1. ]] SLAMing on 14.298001144999997 meters Centerline goodness [0,1] 0.8834899252886574 Centerline is valid? [False, False] Translation: X:1.66, Y:0.37, Z:-0.34 [[ 0.99526328 -0.01376919 -0.0962362 1.66413625] [ 0.01341113 0.99990053 -0.00436656 0.37146234] [ 0.09628675 0.00305524 0.99534895 -0.33687212] [ 0. 0. 0. 1. ]] SLAMing on 14.328001144999996 meters Centerline goodness [0,1] 0.8819077739813063 Centerline is valid? [False, False] Translation: X:1.67, Y:0.37, Z:-0.34 [[ 0.99522886 -0.01360059 -0.0966154 1.66518837] [ 0.01326623 0.99990358 -0.00410232 0.36999415] [ 0.09666187 0.00280102 0.99531334 -0.33699142] [ 0. 0. 0. 1. ]] SLAMing on 14.358001144999998 meters Centerline goodness [0,1] 0.8789944007691872 Centerline is valid? [False, False] Translation: X:1.67, Y:0.37, Z:-0.34 [[ 0.99517325 -0.01323444 -0.09723705 1.66716326] [ 0.01293287 0.99990941 -0.00373104 0.36957795] [ 0.09727762 0.00245548 0.99525426 -0.337577 ] [ 0. 0. 0. 1. ]] SLAMing on 14.388001144999997 meters Centerline goodness [0,1] 0.8767177627291531 Centerline is valid? [False, False] Translation: X:1.67, Y:0.37, Z:-0.34 [[ 0.99511603 -0.01232128 -0.09794018 1.6703771 ] [ 0.0120979 0.99992269 -0.0028743 0.36832338] [ 0.09796802 0.00167539 0.99518815 -0.3392087 ] [ 0. 0. 0. 1. ]] SLAMing on 14.418001144999998 meters Centerline goodness [0,1] 0.8752693659975048 Centerline is valid? [False, False] Translation: X:1.67, Y:0.37, Z:-0.34 [[ 9.95075159e-01 -1.17270367e-02 -9.84271534e-02 1.67300161e+00] [ 1.15665878e-02 9.99930683e-01 -2.20060898e-03 3.67552068e-01] [ 9.84461374e-02 1.05130502e-03 9.95141825e-01 -3.40975924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.448001144999997 meters Centerline goodness [0,1] 0.8758021466295645 Centerline is valid? [False, False] Translation: X:1.68, Y:0.37, Z:-0.34 [[ 9.95015839e-01 -1.12902640e-02 -9.90757807e-02 1.67510147e+00] [ 1.11478903e-02 9.99935879e-01 -1.99052306e-03 3.67255156e-01] [ 9.90919014e-02 8.76116036e-04 9.95077900e-01 -3.41286705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.478001144999997 meters Centerline goodness [0,1] 0.8746789200296821 Centerline is valid? [False, False] Translation: X:1.68, Y:0.37, Z:-0.34 [[ 0.9949407 -0.01172085 -0.09977784 1.67535106] [ 0.01137197 0.99992708 -0.00406462 0.37183267] [ 0.09981821 0.00290938 0.99500144 -0.3376835 ] [ 0. 0. 0. 1. ]] SLAMing on 14.508001144999998 meters Centerline goodness [0,1] 0.8748927897535594 Centerline is valid? [False, False] Translation: X:1.68, Y:0.37, Z:-0.34 [[ 0.99488368 -0.01169234 -0.10034812 1.67624033] [ 0.01126146 0.99992478 -0.00485927 0.37401235] [ 0.10039739 0.00370434 0.99494052 -0.3361847 ] [ 0. 0. 0. 1. ]] SLAMing on 14.538001144999997 meters Centerline goodness [0,1] 0.8749642264323736 Centerline is valid? [False, False] Translation: X:1.68, Y:0.38, Z:-0.34 [[ 0.99482512 -0.01158395 -0.10093957 1.67735553] [ 0.01109423 0.99992381 -0.00541164 0.37521356] [ 0.10099457 0.00426378 0.99487784 -0.33500942] [ 0. 0. 0. 1. ]] SLAMing on 14.568001144999997 meters Centerline goodness [0,1] 0.8733279751994948 Centerline is valid? [False, False] Translation: X:1.69, Y:0.37, Z:-0.34 [[ 9.95350161e-01 -1.43322436e-02 -9.52504248e-02 1.69158676e+00] [ 1.44957211e-02 9.99894407e-01 1.02454261e-03 3.74409732e-01] [ 9.52256830e-02 -2.40050225e-03 9.95452815e-01 -3.37404200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.598001144999998 meters Centerline goodness [0,1] 0.874684633027523 Centerline is valid? [False, False] Translation: X:1.69, Y:0.38, Z:-0.33 [[ 0.99520934 -0.01898897 -0.09590505 1.69194378] [ 0.01856807 0.99981366 -0.00527936 0.37775983] [ 0.09598743 0.0034733 0.99537649 -0.33307576] [ 0. 0. 0. 1. ]] SLAMing on 14.628001144999997 meters Centerline goodness [0,1] 0.8728368489022815 Centerline is valid? [False, False] Translation: X:1.69, Y:0.38, Z:-0.33 [[ 0.99517818 -0.01923614 -0.09617885 1.69215877] [ 0.01879245 0.99980819 -0.00551689 0.37756331] [ 0.09626652 0.00368286 0.99534878 -0.33246534] [ 0. 0. 0. 1. ]] SLAMing on 14.658001144999997 meters Centerline goodness [0,1] 0.8714019228009757 Centerline is valid? [False, False] Translation: X:1.69, Y:0.38, Z:-0.33 [[ 0.99515063 -0.01958767 -0.09639268 1.69217872] [ 0.01909923 0.99979967 -0.00598731 0.37773844] [ 0.09649065 0.00411725 0.99532538 -0.33163124] [ 0. 0. 0. 1. ]] SLAMing on 14.688001144999998 meters Centerline goodness [0,1] 0.8676305728822329 Centerline is valid? [False, False] Translation: X:1.69, Y:0.38, Z:-0.33 [[ 0.99512101 -0.01979093 -0.09665659 1.69239264] [ 0.01928199 0.99979488 -0.00619684 0.37739104] [ 0.09675941 0.00430287 0.9952985 -0.33104165] [ 0. 0. 0. 1. ]] SLAMing on 14.718001144999997 meters Centerline goodness [0,1] 0.8670137790179213 Centerline is valid? [False, False] Translation: X:1.69, Y:0.38, Z:-0.33 [[ 0.99512695 -0.0219658 -0.09612422 1.68864962] [ 0.02141274 0.99974772 -0.0067815 0.37665807] [ 0.09624893 0.00469017 0.99534624 -0.33013654] [ 0. 0. 0. 1. ]] SLAMing on 14.748001144999996 meters Centerline goodness [0,1] 0.8675759668508287 Centerline is valid? [False, False] Translation: X:1.69, Y:0.38, Z:-0.33 [[ 0.99508443 -0.02238507 -0.096467 1.68879491] [ 0.02183539 0.99973879 -0.00675015 0.37616129] [ 0.09659291 0.00461057 0.99531329 -0.32989372] [ 0. 0. 0. 1. ]] SLAMing on 14.778001144999998 meters Centerline goodness [0,1] 0.8617186600667665 Centerline is valid? [False, False] Translation: X:1.69, Y:0.38, Z:-0.33 [[ 0.9950467 -0.02218875 -0.0969006 1.69017348] [ 0.02166883 0.99974462 -0.00641462 0.37543733] [ 0.09701819 0.00428312 0.99527339 -0.33037211] [ 0. 0. 0. 1. ]] SLAMing on 14.808001144999997 meters Centerline goodness [0,1] 0.8548595368590204 Centerline is valid? [False, False] Translation: X:1.69, Y:0.38, Z:-0.33 [[ 0.99485951 -0.02601609 -0.09786578 1.69325343] [ 0.02506125 0.99962569 -0.0109735 0.37705643] [ 0.09811464 0.00846445 0.99513912 -0.32951873] [ 0. 0. 0. 1. ]] SLAMing on 14.838001144999998 meters Centerline goodness [0,1] 0.8518284268629255 Centerline is valid? [False, False] Translation: X:1.70, Y:0.38, Z:-0.33 [[ 0.99482703 -0.02557206 -0.09831204 1.69505064] [ 0.02467491 0.99964215 -0.0103308 0.37604921] [ 0.09854104 0.00785152 0.99510201 -0.33059015] [ 0. 0. 0. 1. ]] SLAMing on 14.868001144999997 meters Centerline goodness [0,1] 0.8458158635345472 Centerline is valid? [False, False] Translation: X:1.70, Y:0.38, Z:-0.33 [[ 0.99480573 -0.0253481 -0.09858516 1.69624607] [ 0.02450452 0.99965209 -0.00975846 0.37500007] [ 0.09879822 0.00729199 0.99508077 -0.33159274] [ 0. 0. 0. 1. ]] SLAMing on 14.898001144999997 meters Centerline goodness [0,1] 0.843737449079121 Centerline is valid? [False, False] Translation: X:1.70, Y:0.37, Z:-0.33 [[ 0.99476692 -0.02508545 -0.09904291 1.69764586] [ 0.02426255 0.99966044 -0.00950445 0.37457904] [ 0.0992477 0.00705168 0.99503777 -0.33184258] [ 0. 0. 0. 1. ]] SLAMing on 14.928001144999998 meters Centerline goodness [0,1] 0.8421113056456474 Centerline is valid? [False, False] Translation: X:1.70, Y:0.38, Z:-0.33 [[ 0.99469439 -0.02434893 -0.099951 1.70046108] [ 0.02350027 0.99967716 -0.00965962 0.37601467] [ 0.10015394 0.00725949 0.99494547 -0.33153324] [ 0. 0. 0. 1. ]] SLAMing on 14.958001144999997 meters Centerline goodness [0,1] 0.8534144653362556 Centerline is valid? [False, False] Translation: X:1.70, Y:0.37, Z:-0.33 [[ 0.99477342 -0.02002388 -0.10012436 1.70081377] [ 0.01962121 0.99979496 -0.00500501 0.37445781] [ 0.10020405 0.00301429 0.99496234 -0.33254855] [ 0. 0. 0. 1. ]] SLAMing on 14.988001144999997 meters Centerline goodness [0,1] 0.8530275969349542 Centerline is valid? [False, False] Translation: X:1.70, Y:0.37, Z:-0.33 [[ 0.99472649 -0.01929024 -0.10073282 1.70293735] [ 0.01891199 0.99981006 -0.00470875 0.37437194] [ 0.10080452 0.00277886 0.99490237 -0.332686 ] [ 0. 0. 0. 1. ]] SLAMing on 15.018001144999998 meters Centerline goodness [0,1] 0.8560417989723457 Centerline is valid? [False, False] Translation: X:1.70, Y:0.37, Z:-0.33 [[ 0.99470182 -0.01885264 -0.10105869 1.70409758] [ 0.0184942 0.99981892 -0.00448268 0.3738231 ] [ 0.1011249 0.00258993 0.99487037 -0.33270944] [ 0. 0. 0. 1. ]] SLAMing on 15.048001144999997 meters Centerline goodness [0,1] 0.858776097912167 Centerline is valid? [False, False] Translation: X:1.71, Y:0.37, Z:-0.33 [[ 0.99462605 -0.01724539 -0.10208631 1.70828576] [ 0.01694407 0.99984915 -0.0038181 0.37236049] [ 0.10213676 0.00206782 0.99476822 -0.33319496] [ 0. 0. 0. 1. ]] SLAMing on 15.078001144999996 meters Centerline goodness [0,1] 0.8582942344779942 Centerline is valid? [False, False] Translation: X:1.71, Y:0.37, Z:-0.33 [[ 9.94584118e-01 -1.63506381e-02 -1.02640580e-01 1.71067337e+00] [ 1.60995858e-02 9.99865033e-01 -3.27393849e-03 3.70930441e-01] [ 1.02680258e-01 1.60373640e-03 9.94713121e-01 -3.33759556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.108001144999998 meters Centerline goodness [0,1] 0.8653299244491683 Centerline is valid? [False, False] Translation: X:1.71, Y:0.37, Z:-0.33 [[ 9.94531241e-01 -1.54664138e-02 -1.03287951e-01 1.71321651e+00] [ 1.52470278e-02 9.99879513e-01 -2.91326161e-03 3.69817173e-01] [ 1.03320564e-01 1.32249542e-03 9.94647230e-01 -3.34018958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.138001144999997 meters Centerline goodness [0,1] 0.8673416556405684 Centerline is valid? [False, False] Translation: X:1.71, Y:0.37, Z:-0.33 [[ 9.94493643e-01 -1.49377788e-02 -1.03726833e-01 1.71462058e+00] [ 1.47094507e-02 9.99887411e-01 -2.96588367e-03 3.69696865e-01] [ 1.03759459e-01 1.42378771e-03 9.94601401e-01 -3.33576960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.168001144999996 meters Centerline goodness [0,1] 0.8678271896705767 Centerline is valid? [False, False] Translation: X:1.72, Y:0.37, Z:-0.33 [[ 0.99446442 -0.00934081 -0.10465785 1.71769168] [ 0.00957547 0.99995264 0.00173998 0.3681201 ] [ 0.10463664 -0.0027325 0.99450677 -0.3338629 ] [ 0. 0. 0. 1. ]] SLAMing on 15.198001144999997 meters Centerline goodness [0,1] 0.8658304498269896 Centerline is valid? [False, False] Translation: X:1.72, Y:0.37, Z:-0.33 [[ 9.94363253e-01 -8.27736405e-03 -1.05703390e-01 1.72098764e+00] [ 8.48898832e-03 9.99962763e-01 1.55228896e-03 3.68563460e-01] [ 1.05686605e-01 -2.44085394e-03 9.94396492e-01 -3.33097537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.228001144999997 meters Centerline goodness [0,1] 0.8666378938282262 Centerline is valid? [False, False] Translation: X:1.73, Y:0.37, Z:-0.33 [[ 0.99424185 -0.006789 -0.10694418 1.72537783] [ 0.00702252 0.99997371 0.00180712 0.36807552] [ 0.1069291 -0.00254773 0.99426338 -0.3329464 ] [ 0. 0. 0. 1. ]] SLAMing on 15.258001144999998 meters Centerline goodness [0,1] 0.8676225504281363 Centerline is valid? [False, False] Translation: X:1.73, Y:0.37, Z:-0.33 [[ 9.94041474e-01 -2.50971703e-03 -1.08973620e-01 1.73470477e+00] [ 2.71326540e-03 9.99994841e-01 1.71962953e-03 3.68898835e-01] [ 1.08968742e-01 -2.00505743e-03 9.94043155e-01 -3.31109225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.288001144999997 meters Centerline goodness [0,1] 0.8671205608285492 Centerline is valid? [False, False] Translation: X:1.74, Y:0.37, Z:-0.33 [[ 9.93961185e-01 -1.60716394e-03 -1.09720463e-01 1.73699394e+00] [ 1.78589169e-03 9.99997234e-01 1.53068554e-03 3.69891778e-01] [ 1.09717700e-01 -1.71739088e-03 9.93961306e-01 -3.30228437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.318001144999997 meters Centerline goodness [0,1] 0.8702919224229849 Centerline is valid? [False, False] Translation: X:1.74, Y:0.37, Z:-0.33 [[ 9.93872454e-01 -8.48212763e-04 -1.10529748e-01 1.73919064e+00] [ 9.67667752e-04 9.99999004e-01 1.02711177e-03 3.70851100e-01] [ 1.10528767e-01 -1.12777417e-03 9.93872285e-01 -3.28755756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.348001144999998 meters Centerline goodness [0,1] 0.8734231899084154 Centerline is valid? [False, False] Translation: X:1.74, Y:0.37, Z:-0.33 [[ 9.93776868e-01 2.11499334e-04 -1.11388921e-01 1.74185827e+00] [-1.19539321e-04 9.99999647e-01 8.32253753e-04 3.70788687e-01] [ 1.11389058e-01 -8.13759173e-04 9.93776542e-01 -3.27633372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.378001144999997 meters Centerline goodness [0,1] 0.8706011307257413 Centerline is valid? [False, False] Translation: X:1.74, Y:0.37, Z:-0.33 [[ 9.93689310e-01 1.40453618e-03 -1.12158739e-01 1.74471162e+00] [-1.30780267e-03 9.99998707e-01 9.36037967e-04 3.70340190e-01] [ 1.12159908e-01 -7.83449424e-04 9.93689862e-01 -3.27156603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.408001144999997 meters Centerline goodness [0,1] 0.8678271896705767 Centerline is valid? [False, False] Translation: X:1.75, Y:0.37, Z:-0.32 [[ 9.93515098e-01 3.98906788e-03 -1.13630269e-01 1.75030752e+00] [-3.95868030e-03 9.99992043e-01 4.93068356e-04 3.70412120e-01] [ 1.13631331e-01 -4.00449506e-05 9.93522984e-01 -3.24869263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.438001144999998 meters Centerline goodness [0,1] 0.8656897248024 Centerline is valid? [False, False] Translation: X:1.75, Y:0.37, Z:-0.32 [[ 9.93419647e-01 4.86004079e-03 -1.14428078e-01 1.75265930e+00] [-4.91969835e-03 9.99987870e-01 -2.38954976e-04 3.71985603e-01] [ 1.14425529e-01 8.00334196e-04 9.93431506e-01 -3.23213056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.468001144999997 meters Centerline goodness [0,1] 0.8619254119687771 Centerline is valid? [False, False] Translation: X:1.75, Y:0.37, Z:-0.32 [[ 9.93323533e-01 5.64731438e-03 -1.15223551e-01 1.75477278e+00] [-5.74906546e-03 9.99983322e-01 -5.50771224e-04 3.72561663e-01] [ 1.15218519e-01 1.20952175e-03 9.93339433e-01 -3.21899015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.498001144999996 meters Centerline goodness [0,1] 0.8437454787464915 Centerline is valid? [False, False] Translation: X:1.76, Y:0.37, Z:-0.32 [[ 0.99316403 0.01231673 -0.11607545 1.7596098 ] [-0.0119025 0.99992008 0.00426108 0.37198243] [ 0.11611865 -0.00285036 0.99323126 -0.3229503 ] [ 0. 0. 0. 1. ]] SLAMing on 15.528001144999998 meters Centerline goodness [0,1] 0.839024531526052 Centerline is valid? [False, False] Translation: X:1.76, Y:0.37, Z:-0.32 [[ 0.99305826 0.01303562 -0.11689898 1.76194891] [-0.01270414 0.99991289 0.0035803 0.37346732] [ 0.11693546 -0.00207034 0.99313736 -0.32145116] [ 0. 0. 0. 1. ]] SLAMing on 15.558001144999997 meters Centerline goodness [0,1] 0.8411737442790105 Centerline is valid? [False, False] Translation: X:1.76, Y:0.38, Z:-0.32 [[ 9.92959931e-01 1.34031396e-02 -1.17689982e-01 1.76353043e+00] [-1.31797841e-02 9.99909562e-01 2.67592865e-03 3.75308815e-01] [ 1.17715204e-01 -1.10596138e-03 9.93046780e-01 -3.19432588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.588001144999998 meters Centerline goodness [0,1] 0.8333236675752479 Centerline is valid? [False, False] Translation: X:1.76, Y:0.38, Z:-0.32 [[ 9.92870070e-01 1.36766136e-02 -1.18414416e-01 1.76471505e+00] [-1.35731554e-02 9.99906469e-01 1.68015564e-03 3.77224063e-01] [ 1.18426320e-01 -6.09189767e-05 9.92962841e-01 -3.16980012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.618001144999997 meters Centerline goodness [0,1] 0.8476021932751168 Centerline is valid? [False, False] Translation: X:1.77, Y:0.38, Z:-0.32 [[ 9.92816768e-01 1.39201932e-02 -1.18832208e-01 1.76589896e+00] [-1.38256110e-02 9.99903109e-01 1.62031854e-03 3.76667641e-01] [ 1.18843250e-01 3.42484715e-05 9.92913028e-01 -3.16645805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.648001144999997 meters Centerline goodness [0,1] 0.849882584872293 Centerline is valid? [False, False] Translation: X:1.77, Y:0.38, Z:-0.32 [[ 9.92750862e-01 1.44690621e-02 -1.19316267e-01 1.76806154e+00] [-1.43012462e-02 9.99895172e-01 2.26264948e-03 3.75213302e-01] [ 1.19336497e-01 -5.39875915e-04 9.92853720e-01 -3.17773667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.678001144999998 meters Centerline goodness [0,1] 0.8495360333015349 Centerline is valid? [False, False] Translation: X:1.77, Y:0.38, Z:-0.32 [[ 0.99264498 0.01129239 -0.1205339 1.77241917] [-0.01159783 0.99993106 -0.00183281 0.37659199] [ 0.1205049 0.00321726 0.99270752 -0.31760086] [ 0. 0. 0. 1. ]] SLAMing on 15.708001144999997 meters Centerline goodness [0,1] 0.8505488806292678 Centerline is valid? [False, False] Translation: X:1.78, Y:0.38, Z:-0.32 [[ 0.99255458 0.0078448 -0.12154775 1.77607156] [-0.00859845 0.99994692 -0.00567719 0.37775596] [ 0.12149676 0.00668004 0.99256935 -0.31787308] [ 0. 0. 0. 1. ]] SLAMing on 15.738001144999997 meters Centerline goodness [0,1] 0.8608605435315139 Centerline is valid? [False, False] Translation: X:1.78, Y:0.38, Z:-0.32 [[ 0.99254546 0.007425 -0.12164862 1.77597514] [-0.00818476 0.99994999 -0.00574703 0.37731105] [ 0.12159987 0.00669985 0.99255659 -0.31785606] [ 0. 0. 0. 1. ]] SLAMing on 15.768001144999998 meters Centerline goodness [0,1] 0.8681106336342399 Centerline is valid? [False, False] Translation: X:1.78, Y:0.38, Z:-0.32 [[ 0.99253994 0.00697087 -0.12172044 1.77532549] [-0.00776919 0.9999513 -0.00608523 0.37746207] [ 0.1216721 0.0069855 0.99254577 -0.31701685] [ 0. 0. 0. 1. ]] SLAMing on 15.798001144999997 meters Centerline goodness [0,1] 0.8787450210702534 Centerline is valid? [False, False] Translation: X:1.79, Y:0.38, Z:-0.32 [[ 9.93252608e-01 3.01389549e-03 -1.15931757e-01 1.78734034e+00] [-2.88376971e-03 9.99995010e-01 1.29014403e-03 3.75646366e-01] [ 1.15935067e-01 -9.47118437e-04 9.93256343e-01 -3.20908350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.828001144999996 meters Centerline goodness [0,1] 0.879854683850878 Centerline is valid? [False, False] Translation: X:1.79, Y:0.38, Z:-0.32 [[ 9.93189809e-01 -1.47856841e-03 -1.16498145e-01 1.78831861e+00] [ 1.06594398e-03 9.99992937e-01 -3.60411977e-03 3.77854862e-01] [ 1.16502651e-01 3.45539453e-03 9.93184370e-01 -3.19311603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.858001144999998 meters Centerline goodness [0,1] 0.8824546240276577 Centerline is valid? [False, False] Translation: X:1.79, Y:0.38, Z:-0.32 [[ 0.99310823 -0.00613109 -0.11704042 1.78919531] [ 0.00517913 0.999951 -0.00843594 0.37980747] [ 0.11708641 0.00777164 0.99309132 -0.31792424] [ 0. 0. 0. 1. ]] SLAMing on 15.888001144999997 meters Centerline goodness [0,1] 0.8782278262371535 Centerline is valid? [False, False] Translation: X:1.80, Y:0.38, Z:-0.32 [[ 9.93728659e-01 -1.03869821e-02 -1.11334914e-01 1.80222720e+00] [ 1.02726315e-02 9.99945954e-01 -1.60068748e-03 3.77504022e-01] [ 1.11345523e-01 4.46946480e-04 9.93781653e-01 -3.22184441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.918001144999996 meters Centerline goodness [0,1] 0.8803150060578088 Centerline is valid? [False, False] Translation: X:1.81, Y:0.38, Z:-0.33 [[ 0.99429211 -0.01784054 -0.10518988 1.81263427] [ 0.01821433 0.99983074 0.00259383 0.37704901] [ 0.1051258 -0.00449499 0.99444877 -0.32500105] [ 0. 0. 0. 1. ]] SLAMing on 15.948001144999997 meters Centerline goodness [0,1] 0.8798283261802575 Centerline is valid? [False, False] Translation: X:1.81, Y:0.38, Z:-0.32 [[ 9.94183704e-01 -2.28487623e-02 -1.05245892e-01 1.81196609e+00] [ 2.27623840e-02 9.99738859e-01 -2.02197218e-03 3.77458923e-01] [ 1.05264607e-01 -3.85435612e-04 9.94444173e-01 -3.23676865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.978001144999997 meters Centerline goodness [0,1] 0.8764913894718684 Centerline is valid? [False, False] Translation: X:1.81, Y:0.38, Z:-0.32 [[ 0.99404553 -0.02771083 -0.10538308 1.81180967] [ 0.02716724 0.99960918 -0.00659056 0.37773504] [ 0.10552452 0.00368835 0.99440986 -0.3225183 ] [ 0. 0. 0. 1. ]] SLAMing on 16.008001144999998 meters Centerline goodness [0,1] 0.8789745058722429 Centerline is valid? [False, False] Translation: X:1.83, Y:0.37, Z:-0.33 [[ 9.94490453e-01 -3.19659819e-02 -9.98344402e-02 1.82533879e+00] [ 3.21680087e-02 9.99482390e-01 4.14101256e-04 3.74537778e-01] [ 9.97695278e-02 -3.62329489e-03 9.95003976e-01 -3.27043580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.038001144999996 meters Centerline goodness [0,1] 0.8712854329022865 Centerline is valid? [False, False] Translation: X:1.84, Y:0.37, Z:-0.33 [[ 0.99490617 -0.03582418 -0.09422494 1.83973916] [ 0.03661521 0.99930712 0.00667917 0.3711542 ] [ 0.09392038 -0.01009521 0.99552853 -0.33023829] [ 0. 0. 0. 1. ]] SLAMing on 16.068001144999997 meters Centerline goodness [0,1] 0.8755797308903521 Centerline is valid? [False, False] Translation: X:1.84, Y:0.37, Z:-0.33 [[ 0.99488936 -0.03564544 -0.09446994 1.84050028] [ 0.03640398 0.99931719 0.0063177 0.37155422] [ 0.09418024 -0.00972449 0.99550767 -0.32966366] [ 0. 0. 0. 1. ]] SLAMing on 16.098001144999998 meters Centerline goodness [0,1] 0.8767601602747568 Centerline is valid? [False, False] Translation: X:1.84, Y:0.37, Z:-0.33 [[ 0.99486992 -0.03527508 -0.09481303 1.84181501] [ 0.03602865 0.99933123 0.00624732 0.37145028] [ 0.09452924 -0.00963126 0.99547549 -0.3295804 ] [ 0. 0. 0. 1. ]] SLAMing on 16.128001144999995 meters Centerline goodness [0,1] 0.879025787965616 Centerline is valid? [False, False] Translation: X:1.85, Y:0.37, Z:-0.33 [[ 0.99484919 -0.03411493 -0.09545293 1.8450179 ] [ 0.03494431 0.99936453 0.00703027 0.37071928] [ 0.09515243 -0.01032959 0.99540912 -0.33099645] [ 0. 0. 0. 1. ]] SLAMing on 16.158001144999997 meters Centerline goodness [0,1] 0.879025787965616 Centerline is valid? [False, False] Translation: X:1.85, Y:0.37, Z:-0.33 [[ 0.99484919 -0.03411493 -0.09545293 1.8450179 ] [ 0.03494431 0.99936453 0.00703027 0.37071928] [ 0.09515243 -0.01032959 0.99540912 -0.33099645] [ 0. 0. 0. 1. ]] SLAMing on 16.188001144999998 meters Centerline goodness [0,1] 0.8772492836676218 Centerline is valid? [False, False] Translation: X:1.85, Y:0.37, Z:-0.33 [[ 0.99482677 -0.03370897 -0.09583003 1.84642106] [ 0.03454147 0.99937846 0.00704124 0.37069379] [ 0.09553312 -0.01031492 0.99537281 -0.33101451] [ 0. 0. 0. 1. ]] SLAMing on 16.218001145 meters Centerline goodness [0,1] 0.8786259980469872 Centerline is valid? [False, False] Translation: X:1.85, Y:0.37, Z:-0.33 [[ 0.99481252 -0.03351632 -0.09604535 1.8471995 ] [ 0.03433998 0.99938615 0.00693527 0.3710385 ] [ 0.09575394 -0.01019749 0.9953528 -0.33092927] [ 0. 0. 0. 1. ]] SLAMing on 16.248001144999996 meters Centerline goodness [0,1] 0.8771116930958068 Centerline is valid? [False, False] Translation: X:1.85, Y:0.37, Z:-0.33 [[ 0.99479175 -0.03343108 -0.09628988 1.84777598] [ 0.03422533 0.99939229 0.0066083 0.37171627] [ 0.09601044 -0.00986943 0.9953314 -0.33038074] [ 0. 0. 0. 1. ]] SLAMing on 16.278001144999998 meters Centerline goodness [0,1] 0.8784976849854772 Centerline is valid? [False, False] Translation: X:1.85, Y:0.37, Z:-0.33 [[ 0.99474302 -0.03298545 -0.09694473 1.84948819] [ 0.03373865 0.99941183 0.00613998 0.3723629 ] [ 0.09668518 -0.00937848 0.99527083 -0.32929527] [ 0. 0. 0. 1. ]] SLAMing on 16.308001145 meters Centerline goodness [0,1] 0.8764959723820483 Centerline is valid? [False, False] Translation: X:1.85, Y:0.37, Z:-0.33 [[ 0.99472647 -0.03284795 -0.09716106 1.85017486] [ 0.03359832 0.99941682 0.00609655 0.37231219] [ 0.09690413 -0.00932885 0.99525 -0.32920702] [ 0. 0. 0. 1. ]] SLAMing on 16.338001144999996 meters Centerline goodness [0,1] 0.8740497581202488 Centerline is valid? [False, False] Translation: X:1.85, Y:0.37, Z:-0.33 [[ 0.99471451 -0.03283202 -0.09728876 1.85059683] [ 0.03357745 0.9994179 0.00603429 0.37215688] [ 0.09703401 -0.0092691 0.9952379 -0.32913905] [ 0. 0. 0. 1. ]] SLAMing on 16.368001144999997 meters Centerline goodness [0,1] 0.8786307053941909 Centerline is valid? [False, False] Translation: X:1.85, Y:0.37, Z:-0.33 [[ 0.99467838 -0.03288536 -0.09763949 1.85150055] [ 0.03363699 0.99941573 0.00606153 0.37146254] [ 0.09738311 -0.00931357 0.99520339 -0.32923826] [ 0. 0. 0. 1. ]] SLAMing on 16.398001145 meters Centerline goodness [0,1] 0.8756370756428346 Centerline is valid? [False, False] Translation: X:1.85, Y:0.37, Z:-0.33 [[ 0.9946709 -0.03282625 -0.09773552 1.85216125] [ 0.03360614 0.99941502 0.00634367 0.37056734] [ 0.09747011 -0.00959438 0.99519221 -0.3298643 ] [ 0. 0. 0. 1. ]] SLAMing on 16.428001144999996 meters Centerline goodness [0,1] 0.8798675115207373 Centerline is valid? [False, False] Translation: X:1.85, Y:0.37, Z:-0.33 [[ 0.99463606 -0.03245965 -0.09821142 1.85369866] [ 0.03325813 0.99942564 0.00650354 0.37001092] [ 0.0979439 -0.00973498 0.99514432 -0.3299912 ] [ 0. 0. 0. 1. ]] SLAMing on 16.458001144999997 meters Centerline goodness [0,1] 0.8766622531805883 Centerline is valid? [False, False] Translation: X:1.86, Y:0.37, Z:-0.33 [[ 0.994596 -0.0320721 -0.09874296 1.85535054] [ 0.03286129 0.99943958 0.00637593 0.37038055] [ 0.09848313 -0.0095863 0.99509255 -0.32976324] [ 0. 0. 0. 1. ]] SLAMing on 16.488001145 meters Centerline goodness [0,1] 0.8776185543278084 Centerline is valid? [False, False] Translation: X:1.86, Y:0.37, Z:-0.33 [[ 0.99456488 -0.03173299 -0.09916512 1.85660031] [ 0.03248445 0.9994544 0.00597203 0.37180879] [ 0.0989215 -0.0091609 0.99505307 -0.32912971] [ 0. 0. 0. 1. ]] SLAMing on 16.518001144999996 meters Centerline goodness [0,1] 0.8761498313100147 Centerline is valid? [False, False] Translation: X:1.86, Y:0.37, Z:-0.33 [[ 0.99452647 -0.03155203 -0.09960709 1.85770282] [ 0.0322719 0.9994633 0.00562378 0.37239796] [ 0.09937619 -0.00880751 0.99501096 -0.32848823] [ 0. 0. 0. 1. ]] SLAMing on 16.548001144999997 meters Centerline goodness [0,1] 0.879089205937455 Centerline is valid? [False, False] Translation: X:1.86, Y:0.37, Z:-0.33 [[ 0.99449822 -0.03133701 -0.09995638 1.85864342] [ 0.03203228 0.99947247 0.00535796 0.37264317] [ 0.09973574 -0.00853031 0.99497739 -0.32791363] [ 0. 0. 0. 1. ]] SLAMing on 16.578001144999998 meters Centerline goodness [0,1] 0.8811698602506843 Centerline is valid? [False, False] Translation: X:1.86, Y:0.37, Z:-0.33 [[ 0.99447924 -0.03142606 -0.10011714 1.85869419] [ 0.03206795 0.99947413 0.00480809 0.37308408] [ 0.09991339 -0.0079921 0.99496404 -0.32685052] [ 0. 0. 0. 1. ]] SLAMing on 16.608001144999996 meters Centerline goodness [0,1] 0.8808132001036657 Centerline is valid? [False, False] Translation: X:1.86, Y:0.37, Z:-0.33 [[ 0.99446952 -0.03171178 -0.10012365 1.85778208] [ 0.03227573 0.99947093 0.00401738 0.37361237] [ 0.09994328 -0.00722672 0.99496689 -0.32502485] [ 0. 0. 0. 1. ]] SLAMing on 16.638001144999997 meters Centerline goodness [0,1] 0.8796032772746873 Centerline is valid? [False, False] Translation: X:1.86, Y:0.37, Z:-0.32 [[ 0.99445877 -0.03201121 -0.10013514 1.85744098] [ 0.03255622 0.99946263 0.00381298 0.37278414] [ 0.09995927 -0.00705187 0.99496654 -0.32447943] [ 0. 0. 0. 1. ]] SLAMing on 16.668001144999998 meters Centerline goodness [0,1] 0.8798978830818657 Centerline is valid? [False, False] Translation: X:1.86, Y:0.37, Z:-0.32 [[ 0.99444508 -0.03159039 -0.10040433 1.85874685] [ 0.03214189 0.99947579 0.00387945 0.37187878] [ 0.10022914 -0.00708509 0.99493915 -0.32458795] [ 0. 0. 0. 1. ]] SLAMing on 16.698001144999996 meters Centerline goodness [0,1] 0.8780431918428138 Centerline is valid? [False, False] Translation: X:1.86, Y:0.37, Z:-0.32 [[ 0.99442312 -0.03154382 -0.10063616 1.85913863] [ 0.03203052 0.99948169 0.00322367 0.37269283] [ 0.10048231 -0.00642912 0.99491807 -0.32345935] [ 0. 0. 0. 1. ]] SLAMing on 16.728001144999997 meters Centerline goodness [0,1] 0.876979467941926 Centerline is valid? [False, False] Translation: X:1.86, Y:0.37, Z:-0.32 [[ 0.9944276 -0.03207704 -0.10042316 1.85780539] [ 0.03249092 0.99946893 0.00248817 0.37331037] [ 0.10029001 -0.00573714 0.99494171 -0.32213813] [ 0. 0. 0. 1. ]] SLAMing on 16.758001144999998 meters Centerline goodness [0,1] 0.8801801026699934 Centerline is valid? [False, False] Translation: X:1.86, Y:0.37, Z:-0.32 [[ 0.9944104 -0.03229378 -0.10052395 1.85735582] [ 0.03264842 0.99946512 0.00188435 0.37381587] [ 0.10040933 -0.00515576 0.99493285 -0.32073241] [ 0. 0. 0. 1. ]] SLAMing on 16.788001144999996 meters Centerline goodness [0,1] 0.8780780780780781 Centerline is valid? [False, False] Translation: X:1.86, Y:0.38, Z:-0.32 [[ 9.94400815e-01 -3.09179286e-02 -1.01049994e-01 1.86018848e+00] [ 3.12268032e-02 9.99511235e-01 1.47591797e-03 3.75988459e-01] [ 1.00954972e-01 -4.62312231e-03 9.94880254e-01 -3.20227860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.818001144999997 meters Centerline goodness [0,1] 0.8826444387155911 Centerline is valid? [False, False] Translation: X:1.86, Y:0.38, Z:-0.32 [[ 9.94370042e-01 -3.07588066e-02 -1.01400768e-01 1.86091020e+00] [ 3.10071175e-02 9.99518782e-01 8.73206237e-04 3.77688689e-01] [ 1.01325113e-01 -4.01243564e-03 9.94845275e-01 -3.19185489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.848001144999998 meters Centerline goodness [0,1] 0.8862287467385384 Centerline is valid? [False, False] Translation: X:1.86, Y:0.38, Z:-0.32 [[ 9.94326993e-01 -3.01027678e-02 -1.02017908e-01 1.86268684e+00] [ 3.02876344e-02 9.99541190e-01 2.63249298e-04 3.80189695e-01] [ 1.01963177e-01 -3.35163698e-03 9.94782528e-01 -3.17984926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.878001144999995 meters Centerline goodness [0,1] 0.8901931521395976 Centerline is valid? [False, False] Translation: X:1.86, Y:0.38, Z:-0.32 [[ 9.94266691e-01 -2.97295391e-02 -1.02712716e-01 1.86396813e+00] [ 2.98008475e-02 9.99555503e-01 -8.40542656e-04 3.83032316e-01] [ 1.02692049e-01 -2.22520241e-03 9.94710707e-01 -3.15738456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.908001144999997 meters Centerline goodness [0,1] 0.8942811115585985 Centerline is valid? [False, False] Translation: X:1.86, Y:0.38, Z:-0.32 [[ 0.99439703 -0.02554059 -0.10257789 1.86300598] [ 0.02602994 0.99965526 0.00343451 0.38166243] [ 0.10245481 -0.00608536 0.99471905 -0.3158419 ] [ 0. 0. 0. 1. ]] SLAMing on 16.938001144999998 meters Centerline goodness [0,1] 0.8928971479449694 Centerline is valid? [False, False] Translation: X:1.86, Y:0.38, Z:-0.32 [[ 0.99438578 -0.02527334 -0.102753 1.8637813 ] [ 0.02573054 0.99966403 0.00312634 0.38194716] [ 0.10263946 -0.00575268 0.99470199 -0.31543045] [ 0. 0. 0. 1. ]] SLAMing on 16.968001144999995 meters Centerline goodness [0,1] 0.8860492650668514 Centerline is valid? [False, False] Translation: X:1.86, Y:0.38, Z:-0.32 [[ 0.99437432 -0.02503914 -0.10292106 1.86434493] [ 0.02549654 0.99967001 0.00313078 0.38135188] [ 0.1028087 -0.00573729 0.9946846 -0.31522249] [ 0. 0. 0. 1. ]] SLAMing on 16.998001144999996 meters Centerline goodness [0,1] 0.8916522241478914 Centerline is valid? [False, False] Translation: X:1.87, Y:0.38, Z:-0.32 [[ 0.99435922 -0.02444484 -0.10320945 1.86592784] [ 0.02494293 0.99968262 0.00353805 0.38012292] [ 0.10309021 -0.00609244 0.99465335 -0.31586706] [ 0. 0. 0. 1. ]] SLAMing on 17.028001144999998 meters Centerline goodness [0,1] 0.8851349405224804 Centerline is valid? [False, False] Translation: X:1.87, Y:0.38, Z:-0.32 [[ 9.94241795e-01 -2.67682098e-02 -1.03762788e-01 1.86984751e+00] [ 2.69092330e-02 9.99637880e-01 -4.07895139e-05 3.81187253e-01] [ 1.03726305e-01 -2.75162239e-03 9.94602072e-01 -3.16307948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.058001145 meters Centerline goodness [0,1] 0.8841722255912674 Centerline is valid? [False, False] Translation: X:1.87, Y:0.38, Z:-0.32 [[ 9.94241713e-01 -2.63283620e-02 -1.03876044e-01 1.87078706e+00] [ 2.65046118e-02 9.99648641e-01 3.16524287e-04 3.80446628e-01] [ 1.03831213e-01 -3.06789586e-03 9.94590201e-01 -3.16940104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.088001144999996 meters Centerline goodness [0,1] 0.8857192254495159 Centerline is valid? [False, False] Translation: X:1.87, Y:0.38, Z:-0.32 [[ 9.94204886e-01 -2.64253776e-02 -1.04203379e-01 1.87093719e+00] [ 2.64952992e-02 9.99648683e-01 -7.13393296e-04 3.82996774e-01] [ 1.04185623e-01 -2.05164061e-03 9.94555753e-01 -3.15161354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.118001144999997 meters Centerline goodness [0,1] 0.8853766361351094 Centerline is valid? [False, False] Translation: X:1.87, Y:0.39, Z:-0.31 [[ 9.94175464e-01 -2.64911242e-02 -1.04467066e-01 1.87104582e+00] [ 2.64682533e-02 9.99648365e-01 -1.60549149e-03 3.85726746e-01] [ 1.04472863e-01 -1.16892052e-03 9.94527051e-01 -3.13700045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.148001145 meters Centerline goodness [0,1] 0.8858303118201596 Centerline is valid? [False, False] Translation: X:1.87, Y:0.39, Z:-0.31 [[ 9.94155897e-01 -2.65226892e-02 -1.04645115e-01 1.87110571e+00] [ 2.64354293e-02 9.99648056e-01 -2.22099998e-03 3.87787723e-01] [ 1.04667193e-01 -5.58318321e-04 9.94507148e-01 -3.12663585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.178001144999996 meters Centerline goodness [0,1] 0.8812391430225825 Centerline is valid? [False, False] Translation: X:1.87, Y:0.39, Z:-0.31 [[ 9.94151741e-01 -2.66784291e-02 -1.04645006e-01 1.87119644e+00] [ 2.66201525e-02 9.99643712e-01 -1.95377599e-03 3.86704902e-01] [ 1.04659846e-01 -8.43316228e-04 9.94507720e-01 -3.13224976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.208001144999997 meters Centerline goodness [0,1] 0.8809874830167953 Centerline is valid? [False, False] Translation: X:1.87, Y:0.39, Z:-0.31 [[ 9.94156162e-01 -2.72063502e-02 -1.04466936e-01 1.87056414e+00] [ 2.71427556e-02 9.99629505e-01 -2.03062029e-03 3.85602486e-01] [ 1.04483478e-01 -8.16766849e-04 9.94526287e-01 -3.13357121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.238001145 meters Centerline goodness [0,1] 0.8800378918360316 Centerline is valid? [False, False] Translation: X:1.87, Y:0.39, Z:-0.31 [[ 0.99400299 -0.03001995 -0.10515155 1.87493807] [ 0.02959496 0.99954629 -0.0056 0.38650183] [ 0.10527195 0.00245446 0.99444044 -0.31473247] [ 0. 0. 0. 1. ]] SLAMing on 17.268001144999996 meters Centerline goodness [0,1] 0.8774881175284459 Centerline is valid? [False, False] Translation: X:1.88, Y:0.39, Z:-0.32 [[ 0.99399008 -0.02942767 -0.10544066 1.8770025 ] [ 0.02900937 0.99956401 -0.00549899 0.38746225] [ 0.10555652 0.00240717 0.99441039 -0.31582413] [ 0. 0. 0. 1. ]] SLAMing on 17.298001144999997 meters Centerline goodness [0,1] 0.870537522420876 Centerline is valid? [False, False] Translation: X:1.88, Y:0.39, Z:-0.32 [[ 0.99397171 -0.02895679 -0.1057438 1.87851446] [ 0.02850268 0.99957687 -0.00580342 0.38940966] [ 0.1058671 0.00275446 0.99437647 -0.31595817] [ 0. 0. 0. 1. ]] SLAMing on 17.328001144999998 meters Centerline goodness [0,1] 0.8724296497671863 Centerline is valid? [False, False] Translation: X:1.88, Y:0.39, Z:-0.32 [[ 0.99392042 -0.02860368 -0.10632041 1.88014743] [ 0.02808501 0.99958522 -0.00637277 0.39219212] [ 0.10645859 0.00334802 0.9943115 -0.31536306] [ 0. 0. 0. 1. ]] SLAMing on 17.358001144999996 meters Centerline goodness [0,1] 0.8655523467810158 Centerline is valid? [False, False] Translation: X:1.88, Y:0.40, Z:-0.32 [[ 9.94001020e-01 -2.33166482e-02 -1.06856472e-01 1.88282493e+00] [ 2.31886445e-02 9.99728129e-01 -2.44040219e-03 3.95824798e-01] [ 1.06884323e-01 -5.20944739e-05 9.94271461e-01 -3.16611866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.388001144999997 meters Centerline goodness [0,1] 0.8601535362970314 Centerline is valid? [False, False] Translation: X:1.89, Y:0.40, Z:-0.32 [[ 9.93955731e-01 -2.26215889e-02 -1.07425641e-01 1.88509461e+00] [ 2.24493080e-02 9.99744025e-01 -2.81292211e-03 3.98528674e-01] [ 1.07461776e-01 3.84288741e-04 9.94209143e-01 -3.16573821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.418001144999998 meters Centerline goodness [0,1] 0.8525755404100974 Centerline is valid? [False, False] Translation: X:1.89, Y:0.40, Z:-0.32 [[ 9.93931913e-01 -2.23244613e-02 -1.07707805e-01 1.88612758e+00] [ 2.20803368e-02 9.99750217e-01 -3.45874270e-03 4.01159958e-01] [ 1.07758115e-01 1.05953015e-03 9.94176577e-01 -3.16007525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.448001144999996 meters Centerline goodness [0,1] 0.8346424384525205 Centerline is valid? [False, False] Translation: X:1.89, Y:0.40, Z:-0.32 [[ 9.94020647e-01 -1.75362899e-02 -1.07774917e-01 1.88731707e+00] [ 1.77206697e-02 9.99842693e-01 7.53238857e-04 4.01483196e-01] [ 1.07744754e-01 -2.65857869e-03 9.94175035e-01 -3.17275079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.478001144999997 meters Centerline goodness [0,1] 0.8301111860826709 Centerline is valid? [False, False] Translation: X:1.89, Y:0.40, Z:-0.32 [[ 9.94017697e-01 -1.74046923e-02 -1.07823445e-01 1.88800232e+00] [ 1.75707421e-02 9.99845448e-01 5.90095911e-04 4.01838979e-01] [ 1.07796510e-01 -2.48110372e-03 9.94169883e-01 -3.17561795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.508001144999998 meters Centerline goodness [0,1] 0.8327553779240625 Centerline is valid? [False, False] Translation: X:1.89, Y:0.40, Z:-0.32 [[ 9.93996651e-01 -1.70133937e-02 -1.08079609e-01 1.88968916e+00] [ 1.71842448e-02 9.99852129e-01 6.49557643e-04 4.02524322e-01] [ 1.08052576e-01 -2.50292458e-03 9.94142030e-01 -3.18506006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.538001144999996 meters Centerline goodness [0,1] 0.8138455664228861 Centerline is valid? [False, False] Translation: X:1.89, Y:0.40, Z:-0.32 [[ 9.93978837e-01 -1.69472638e-02 -1.08253695e-01 1.89066897e+00] [ 1.70891770e-02 9.99853896e-01 3.83289858e-04 4.03190366e-01] [ 1.08231383e-01 -2.23094857e-03 9.94123227e-01 -3.18804643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.568001144999997 meters Centerline goodness [0,1] 0.8225858384802271 Centerline is valid? [False, False] Translation: X:1.89, Y:0.41, Z:-0.32 [[ 9.93954807e-01 -1.71476996e-02 -1.08442603e-01 1.89151878e+00] [ 1.72101829e-02 9.99851829e-01 -3.59773604e-04 4.05243625e-01] [ 1.08432704e-01 -1.50871832e-03 9.94102647e-01 -3.18682420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.598001144999998 meters Centerline goodness [0,1] 0.8201944476982547 Centerline is valid? [False, False] Translation: X:1.89, Y:0.41, Z:-0.32 [[ 9.93940472e-01 -1.74104323e-02 -1.08532092e-01 1.89167265e+00] [ 1.74251743e-02 9.99847840e-01 -8.12636603e-04 4.06283982e-01] [ 1.08529727e-01 -1.08347822e-03 9.94092614e-01 -3.18412695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.628001144999995 meters Centerline goodness [0,1] 0.8186721383555621 Centerline is valid? [False, False] Translation: X:1.89, Y:0.41, Z:-0.32 [[ 9.93943564e-01 -1.78882246e-02 -1.08426023e-01 1.89109817e+00] [ 1.78259501e-02 9.99839913e-01 -1.54365700e-03 4.07802275e-01] [ 1.08436279e-01 -3.98488941e-04 9.94103322e-01 -3.17769764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.658001144999997 meters Centerline goodness [0,1] 0.8235225312161886 Centerline is valid? [False, False] Translation: X:1.89, Y:0.41, Z:-0.32 [[ 9.93912581e-01 -1.85621825e-02 -1.08596620e-01 1.89050549e+00] [ 1.83304148e-02 9.99827078e-01 -3.13216651e-03 4.11014162e-01] [ 1.08635981e-01 1.12247861e-03 9.94080964e-01 -3.15466283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.688001144999998 meters Centerline goodness [0,1] 0.8214013485781295 Centerline is valid? [False, False] Translation: X:1.89, Y:0.41, Z:-0.31 [[ 9.93901186e-01 -1.90453104e-02 -1.08617256e-01 1.88994419e+00] [ 1.87448939e-02 9.99817130e-01 -3.78627900e-03 4.12589129e-01] [ 1.08669504e-01 1.72716825e-03 9.94076434e-01 -3.14631756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.718001144999995 meters Centerline goodness [0,1] 0.8271156661786238 Centerline is valid? [False, False] Translation: X:1.89, Y:0.41, Z:-0.31 [[ 0.99387197 -0.01936926 -0.10882712 1.88978933] [ 0.01899651 0.9998096 -0.00446098 0.41390315] [ 0.1088928 0.00236631 0.99405068 -0.31341767] [ 0. 0. 0. 1. ]] SLAMing on 17.748001144999996 meters Centerline goodness [0,1] 0.8308392018779343 Centerline is valid? [False, False] Translation: X:1.89, Y:0.42, Z:-0.31 [[ 0.99390405 -0.02037515 -0.10834944 1.88772133] [ 0.01989913 0.99978701 -0.00547293 0.41506918] [ 0.10843787 0.00328351 0.99409781 -0.31223657] [ 0. 0. 0. 1. ]] SLAMing on 17.778001144999998 meters Centerline goodness [0,1] 0.8309706201755158 Centerline is valid? [False, False] Translation: X:1.89, Y:0.41, Z:-0.31 [[ 0.99392402 -0.02060914 -0.10812172 1.88756733] [ 0.02014035 0.99978244 -0.00542614 0.41491056] [ 0.10821003 0.00321557 0.99412285 -0.31294726] [ 0. 0. 0. 1. ]] SLAMing on 17.808001144999995 meters Centerline goodness [0,1] 0.8329814684494488 Centerline is valid? [False, False] Translation: X:1.89, Y:0.41, Z:-0.31 [[ 0.99391226 -0.02084647 -0.10818428 1.88787616] [ 0.02039364 0.99977803 -0.00529047 0.41433357] [ 0.10827056 0.00305199 0.99411678 -0.31353742] [ 0. 0. 0. 1. ]] SLAMing on 17.838001144999996 meters Centerline goodness [0,1] 0.8375201524256193 Centerline is valid? [False, False] Translation: X:1.89, Y:0.41, Z:-0.31 [[ 0.99390575 -0.02124719 -0.10816615 1.88796368] [ 0.02079938 0.9997698 -0.00526664 0.41450719] [ 0.10825316 0.00298476 0.99411888 -0.31424897] [ 0. 0. 0. 1. ]] SLAMing on 17.868001144999997 meters Centerline goodness [0,1] 0.8416921954777534 Centerline is valid? [False, False] Translation: X:1.89, Y:0.41, Z:-0.32 [[ 0.99384651 -0.02206063 -0.108547 1.88869677] [ 0.02164382 0.99975316 -0.0050168 0.41407482] [ 0.10863088 0.00263656 0.99407866 -0.31562994] [ 0. 0. 0. 1. ]] SLAMing on 17.898001145 meters Centerline goodness [0,1] 0.8397394707634792 Centerline is valid? [False, False] Translation: X:1.89, Y:0.41, Z:-0.32 [[ 0.99385443 -0.02227917 -0.10842975 1.88902859] [ 0.021912 0.99974943 -0.00457665 0.41319749] [ 0.10850455 0.00217261 0.99409358 -0.31712243] [ 0. 0. 0. 1. ]] SLAMing on 17.928001144999996 meters Centerline goodness [0,1] 0.8428354459956773 Centerline is valid? [False, False] Translation: X:1.89, Y:0.41, Z:-0.32 [[ 0.99387667 -0.02267582 -0.10814326 1.88864582] [ 0.02233203 0.99974097 -0.0043892 0.41226969] [ 0.10821478 0.00194726 0.99412563 -0.31808012] [ 0. 0. 0. 1. ]] SLAMing on 17.958001144999997 meters Centerline goodness [0,1] 0.8466565526899288 Centerline is valid? [False, False] Translation: X:1.89, Y:0.41, Z:-0.32 [[ 9.93865262e-01 -2.28218518e-02 -1.08217389e-01 1.88895086e+00] [ 2.24903274e-02 9.99737885e-01 -4.28318148e-03 4.11766906e-01] [ 1.08286774e-01 1.82306077e-03 9.94118027e-01 -3.18467606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.988001145 meters Centerline goodness [0,1] 0.8427914556777836 Centerline is valid? [False, False] Translation: X:1.90, Y:0.41, Z:-0.32 [[ 0.99443855 -0.02507143 -0.1022907 1.90201436] [ 0.0255394 0.99966848 0.00326753 0.4122615 ] [ 0.10217486 -0.0058618 0.99474918 -0.32148485] [ 0. 0. 0. 1. ]] SLAMing on 18.018001144999996 meters Centerline goodness [0,1] 0.8422189150544224 Centerline is valid? [False, False] Translation: X:1.90, Y:0.41, Z:-0.32 [[ 0.99443923 -0.02574643 -0.10211628 1.90048753] [ 0.02612592 0.99965583 0.00238032 0.41308584] [ 0.10201985 -0.00503497 0.99476962 -0.31982431] [ 0. 0. 0. 1. ]] SLAMing on 18.048001144999997 meters Centerline goodness [0,1] 0.8422189150544224 Centerline is valid? [False, False] Translation: X:1.90, Y:0.41, Z:-0.32 [[ 0.99443923 -0.02574643 -0.10211628 1.90048753] [ 0.02612592 0.99965583 0.00238032 0.41308584] [ 0.10201985 -0.00503497 0.99476962 -0.31982431] [ 0. 0. 0. 1. ]] SLAMing on 18.078001144999998 meters Centerline goodness [0,1] 0.8417276635296851 Centerline is valid? [False, False] Translation: X:1.90, Y:0.41, Z:-0.32 [[ 0.99442256 -0.02601253 -0.10221115 1.90043654] [ 0.0263477 0.99965098 0.00193036 0.41367991] [ 0.10212527 -0.00461262 0.99476085 -0.31921733] [ 0. 0. 0. 1. ]] SLAMing on 18.108001144999996 meters Centerline goodness [0,1] 0.8459136018680677 Centerline is valid? [False, False] Translation: X:1.90, Y:0.41, Z:-0.32 [[ 9.94408982e-01 -2.63260418e-02 -1.02262972e-01 1.90032858e+00] [ 2.66204814e-02 9.99644464e-01 1.51534701e-03 4.14343713e-01] [ 1.02186720e-01 -4.22916421e-03 9.94756246e-01 -3.18809484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.138001144999997 meters Centerline goodness [0,1] 0.842947503424957 Centerline is valid? [False, False] Translation: X:1.90, Y:0.41, Z:-0.32 [[ 9.94386165e-01 -2.67178409e-02 -1.02383160e-01 1.90056505e+00] [ 2.69919624e-02 9.99634815e-01 1.29269330e-03 4.14774796e-01] [ 1.02311233e-01 -4.04895874e-03 9.94744197e-01 -3.18945952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.168001144999998 meters Centerline goodness [0,1] 0.8461201227531785 Centerline is valid? [False, False] Translation: X:1.90, Y:0.42, Z:-0.32 [[ 9.94383273e-01 -2.70667299e-02 -1.02319593e-01 1.90037587e+00] [ 2.73196273e-02 9.99626176e-01 1.07084749e-03 4.15069919e-01] [ 1.02252359e-01 -3.86016598e-03 9.94751001e-01 -3.19060814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.198001144999996 meters Centerline goodness [0,1] 0.8460910627878505 Centerline is valid? [False, False] Translation: X:1.90, Y:0.42, Z:-0.32 [[ 9.94364577e-01 -2.70988584e-02 -1.02492637e-01 1.90109442e+00] [ 2.73561013e-02 9.99625141e-01 1.10484033e-03 4.15043525e-01] [ 1.02424277e-01 -3.90241306e-03 9.94733149e-01 -3.19433459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.228001144999997 meters Centerline goodness [0,1] 0.8453250014600245 Centerline is valid? [False, False] Translation: X:1.90, Y:0.42, Z:-0.32 [[ 9.94345590e-01 -2.72223651e-02 -1.02643999e-01 1.90156117e+00] [ 2.74739595e-02 9.99621981e-01 1.03791693e-03 4.15174483e-01] [ 1.02576943e-01 -3.85208518e-03 9.94717614e-01 -3.19642224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.258001144999998 meters Centerline goodness [0,1] 0.8436390101892285 Centerline is valid? [False, False] Translation: X:1.90, Y:0.41, Z:-0.32 [[ 9.94348807e-01 -2.75797352e-02 -1.02517354e-01 1.90138969e+00] [ 2.78185369e-02 9.99612584e-01 9.00126379e-04 4.14155958e-01] [ 1.02452812e-01 -3.74692238e-03 9.94730809e-01 -3.19850622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.288001144999996 meters Centerline goodness [0,1] 0.8454938110560338 Centerline is valid? [False, False] Translation: X:1.90, Y:0.41, Z:-0.32 [[ 9.94318262e-01 -2.74086912e-02 -1.02858918e-01 1.90255948e+00] [ 2.76625999e-02 9.99616773e-01 1.04260107e-03 4.13406240e-01] [ 1.02790923e-01 -3.88202238e-03 9.94695409e-01 -3.20116612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.318001144999997 meters Centerline goodness [0,1] 0.8429155431851787 Centerline is valid? [False, False] Translation: X:1.90, Y:0.41, Z:-0.32 [[ 9.94306961e-01 -2.74607371e-02 -1.02954241e-01 1.90301743e+00] [ 2.77208314e-02 9.99615103e-01 1.09609952e-03 4.13005576e-01] [ 1.02884514e-01 -3.94383652e-03 9.94685489e-01 -3.20472863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.348001144999998 meters Centerline goodness [0,1] 0.8406607738008984 Centerline is valid? [False, False] Translation: X:1.90, Y:0.41, Z:-0.32 [[ 9.94294474e-01 -2.75597003e-02 -1.03048349e-01 1.90339557e+00] [ 2.78090983e-02 9.99612768e-01 9.84047080e-04 4.13157363e-01] [ 1.02981326e-01 -3.84411425e-03 9.94675861e-01 -3.20570164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.378001144999995 meters Centerline goodness [0,1] 0.8435443778330165 Centerline is valid? [False, False] Translation: X:1.90, Y:0.41, Z:-0.32 [[ 9.94262765e-01 -2.78662549e-02 -1.03271614e-01 1.90345384e+00] [ 2.80557661e-02 9.99606286e-01 3.82679880e-04 4.14607355e-01] [ 1.03220290e-01 -3.27784860e-03 9.94653119e-01 -3.19692074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.408001144999997 meters Centerline goodness [0,1] 0.8434447975277689 Centerline is valid? [False, False] Translation: X:1.90, Y:0.42, Z:-0.32 [[ 9.94223417e-01 -2.77619742e-02 -1.03677718e-01 1.90452897e+00] [ 2.79230295e-02 9.99610071e-01 1.02054276e-04 4.15182459e-01] [ 1.03634458e-01 -2.99646073e-03 9.94610939e-01 -3.19253738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.438001144999998 meters Centerline goodness [0,1] 0.8438121999765835 Centerline is valid? [False, False] Translation: X:1.90, Y:0.42, Z:-0.32 [[ 9.94202050e-01 -2.78583469e-02 -1.03856610e-01 1.90497276e+00] [ 2.79837962e-02 9.99608346e-01 -2.49271321e-04 4.16072441e-01] [ 1.03822878e-01 -2.65847614e-03 9.94592249e-01 -3.19020977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.468001144999995 meters Centerline goodness [0,1] 0.8419683059470207 Centerline is valid? [False, False] Translation: X:1.91, Y:0.42, Z:-0.32 [[ 9.94167497e-01 -2.78898668e-02 -1.04178424e-01 1.90571162e+00] [ 2.79768227e-02 9.99608376e-01 -6.26776937e-04 4.16959227e-01] [ 1.04155106e-01 -2.29146003e-03 9.94558426e-01 -3.18576862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.498001144999996 meters Centerline goodness [0,1] 0.843855956974161 Centerline is valid? [False, False] Translation: X:1.91, Y:0.42, Z:-0.32 [[ 9.94142424e-01 -2.79317541e-02 -1.04406220e-01 1.90670002e+00] [ 2.80111313e-02 9.99607362e-01 -7.06213178e-04 4.17165518e-01] [ 1.04384952e-01 -2.22245987e-03 9.94534485e-01 -3.18989809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.528001144999998 meters Centerline goodness [0,1] 0.8436759413675063 Centerline is valid? [False, False] Translation: X:1.91, Y:0.42, Z:-0.32 [[ 9.94137067e-01 -2.80572346e-02 -1.04423579e-01 1.90698197e+00] [ 2.81450844e-02 9.99603649e-01 -6.32446892e-04 4.16740050e-01] [ 1.04399935e-01 -2.31027155e-03 9.94532712e-01 -3.19488734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.558001144999995 meters Centerline goodness [0,1] 0.845976407381453 Centerline is valid? [False, False] Translation: X:1.91, Y:0.42, Z:-0.32 [[ 9.94116917e-01 -2.80510974e-02 -1.04616876e-01 1.90797473e+00] [ 2.81477903e-02 9.99603620e-01 -5.52339494e-04 4.16384578e-01] [ 1.04590902e-01 -2.39564386e-03 9.94512445e-01 -3.20128130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.588001144999996 meters Centerline goodness [0,1] 0.8450934102765877 Centerline is valid? [False, False] Translation: X:1.91, Y:0.42, Z:-0.32 [[ 9.94084492e-01 -2.87658777e-02 -1.04730833e-01 1.90757576e+00] [ 2.88470214e-02 9.99583564e-01 -7.40201176e-04 4.15899869e-01] [ 1.04708511e-01 -2.28535006e-03 9.94500329e-01 -3.19877873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.618001144999997 meters Centerline goodness [0,1] 0.8444599586933124 Centerline is valid? [False, False] Translation: X:1.91, Y:0.42, Z:-0.32 [[ 9.94057318e-01 -2.91905422e-02 -1.04871166e-01 1.90703184e+00] [ 2.92066642e-02 9.99572439e-01 -1.38229791e-03 4.16485717e-01] [ 1.04866677e-01 -1.68885357e-03 9.94484856e-01 -3.18496206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.648001144999995 meters Centerline goodness [0,1] 0.8470605355064028 Centerline is valid? [False, False] Translation: X:1.91, Y:0.42, Z:-0.32 [[ 9.94027028e-01 -2.97235141e-02 -1.05008481e-01 1.90627374e+00] [ 2.96615419e-02 9.99557683e-01 -2.15213646e-03 4.17376590e-01] [ 1.05026003e-01 -9.75431641e-04 9.94468998e-01 -3.16894107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.678001144999996 meters Centerline goodness [0,1] 0.8466707391569945 Centerline is valid? [False, False] Translation: X:1.91, Y:0.42, Z:-0.32 [[ 9.94003699e-01 -2.98799416e-02 -1.05184771e-01 1.90638110e+00] [ 2.97911662e-02 9.99553226e-01 -2.41539388e-03 4.17719492e-01] [ 1.05209949e-01 -7.32666545e-04 9.94449762e-01 -3.16319923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.708001144999997 meters Centerline goodness [0,1] 0.8465359477124184 Centerline is valid? [False, False] Translation: X:1.91, Y:0.42, Z:-0.32 [[ 9.93996833e-01 -2.97441590e-02 -1.05288085e-01 1.90745438e+00] [ 2.97327612e-02 9.99556475e-01 -1.67821660e-03 4.15408529e-01] [ 1.05291305e-01 -1.46236352e-03 9.94440346e-01 -3.17841179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.738001145 meters Centerline goodness [0,1] 0.8484154368059381 Centerline is valid? [False, False] Translation: X:1.91, Y:0.41, Z:-0.32 [[ 9.93982355e-01 -2.94938818e-02 -1.05494969e-01 1.90877925e+00] [ 2.95481742e-02 9.99562807e-01 -1.04861395e-03 4.13658990e-01] [ 1.05479775e-01 -2.07487996e-03 9.94419284e-01 -3.19120182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.768001144999996 meters Centerline goodness [0,1] 0.847500289318366 Centerline is valid? [False, False] Translation: X:1.91, Y:0.41, Z:-0.32 [[ 9.93956049e-01 -2.90803167e-02 -1.05857012e-01 1.91056171e+00] [ 2.91905805e-02 9.99573735e-01 -5.07918193e-04 4.12550895e-01] [ 1.05826660e-01 -2.58517928e-03 9.94381232e-01 -3.20266259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.798001144999997 meters Centerline goodness [0,1] 0.8511464765052034 Centerline is valid? [False, False] Translation: X:1.91, Y:0.41, Z:-0.32 [[ 9.93898069e-01 -2.79237515e-02 -1.06709388e-01 1.91457808e+00] [ 2.81108659e-02 9.99604780e-01 2.49461256e-04 4.12492232e-01] [ 1.06660248e-01 -3.24763235e-03 9.94290221e-01 -3.22125683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.828001144999998 meters Centerline goodness [0,1] 0.8517069495160262 Centerline is valid? [False, False] Translation: X:1.92, Y:0.41, Z:-0.32 [[ 9.93859905e-01 -2.76363211e-02 -1.07138805e-01 1.91590076e+00] [ 2.78125866e-02 9.99613144e-01 1.51063524e-04 4.12948630e-01] [ 1.07093183e-01 -3.12994328e-03 9.94244061e-01 -3.21999036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.858001144999996 meters Centerline goodness [0,1] 0.8472732532909012 Centerline is valid? [False, False] Translation: X:1.92, Y:0.41, Z:-0.32 [[ 9.93794823e-01 -2.72268177e-02 -1.07845025e-01 1.91772523e+00] [ 2.73540429e-02 9.99625763e-01 -2.99710249e-04 4.13979819e-01] [ 1.07812825e-01 -2.65214693e-03 9.94167672e-01 -3.21082236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.888001144999997 meters Centerline goodness [0,1] 0.8542544229149116 Centerline is valid? [False, False] Translation: X:1.92, Y:0.41, Z:-0.32 [[ 0.99387821 -0.02223155 -0.10822135 1.91928151] [ 0.02281312 0.99973118 0.00413862 0.41338396] [ 0.10810025 -0.00658215 0.99411821 -0.32192137] [ 0. 0. 0. 1. ]] SLAMing on 18.918001144999998 meters Centerline goodness [0,1] 0.8509816449814126 Centerline is valid? [False, False] Translation: X:1.92, Y:0.42, Z:-0.32 [[ 0.99381018 -0.02185703 -0.10892018 1.92101975] [ 0.02235539 0.99974445 0.00335631 0.41537249] [ 0.10881898 -0.00577049 0.99404483 -0.32066704] [ 0. 0. 0. 1. ]] SLAMing on 18.948001144999996 meters Centerline goodness [0,1] 0.8546284982835864 Centerline is valid? [False, False] Translation: X:1.92, Y:0.42, Z:-0.32 [[ 0.99373211 -0.02135118 -0.10972978 1.9232252 ] [ 0.02179626 0.99975835 0.00285816 0.41684468] [ 0.10964224 -0.00523195 0.99395735 -0.31977793] [ 0. 0. 0. 1. ]] SLAMing on 18.978001144999997 meters Centerline goodness [0,1] 0.8581523161476053 Centerline is valid? [False, False] Translation: X:1.93, Y:0.42, Z:-0.32 [[ 0.9936583 -0.02073918 -0.11051275 1.92579214] [ 0.02117138 0.99977211 0.00273869 0.41763435] [ 0.11043077 -0.00506103 0.99387093 -0.31968042] [ 0. 0. 0. 1. ]] SLAMing on 19.008001144999998 meters Centerline goodness [0,1] 0.8600713270897967 Centerline is valid? [False, False] Translation: X:1.93, Y:0.42, Z:-0.32 [[ 0.99360104 -0.02027878 -0.1111114 1.92797496] [ 0.02072539 0.9997811 0.00286584 0.41731831] [ 0.11102896 -0.00515033 0.99380383 -0.32005643] [ 0. 0. 0. 1. ]] SLAMing on 19.038001144999996 meters Centerline goodness [0,1] 0.864239655321979 Centerline is valid? [False, False] Translation: X:1.93, Y:0.42, Z:-0.32 [[ 0.9935651 -0.02002207 -0.11147872 1.92945201] [ 0.02049083 0.99978536 0.00306069 0.41666542] [ 0.11139352 -0.00532529 0.99376211 -0.32063266] [ 0. 0. 0. 1. ]] SLAMing on 19.068001144999997 meters Centerline goodness [0,1] 0.8627144634435668 Centerline is valid? [False, False] Translation: X:1.93, Y:0.42, Z:-0.32 [[ 0.9935341 -0.01984671 -0.11178599 1.93063909] [ 0.02030266 0.99978955 0.00294183 0.4166876 ] [ 0.11170408 -0.00519236 0.99372795 -0.32073813] [ 0. 0. 0. 1. ]] SLAMing on 19.098001144999998 meters Centerline goodness [0,1] 0.8624052317842468 Centerline is valid? [False, False] Translation: X:1.93, Y:0.42, Z:-0.32 [[ 9.93528269e-01 -2.07240469e-02 -1.11678526e-01 1.92870574e+00] [ 2.10331819e-02 9.99777513e-01 1.59050032e-03 4.18007213e-01] [ 1.11620718e-01 -3.92916179e-03 9.93743114e-01 -3.18051833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.128001144999995 meters Centerline goodness [0,1] 0.8657702561724817 Centerline is valid? [False, False] Translation: X:1.93, Y:0.42, Z:-0.32 [[ 9.93488980e-01 -2.14350452e-02 -1.11893638e-01 1.92767795e+00] [ 2.15831573e-02 9.99767050e-01 1.12401823e-04 4.20334287e-01] [ 1.11865163e-01 -2.52668796e-03 9.93720183e-01 -3.15376859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.158001144999997 meters Centerline goodness [0,1] 0.8609265759624032 Centerline is valid? [False, False] Translation: X:1.93, Y:0.42, Z:-0.31 [[ 9.93465113e-01 -2.22197891e-02 -1.11952448e-01 1.92616012e+00] [ 2.22201377e-02 9.99752327e-01 -1.24476296e-03 4.21906357e-01] [ 1.11952379e-01 -1.25097024e-03 9.93712785e-01 -3.12729048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.188001144999998 meters Centerline goodness [0,1] 0.8630441690498888 Centerline is valid? [False, False] Translation: X:1.93, Y:0.43, Z:-0.31 [[ 0.99328135 -0.02682684 -0.11257208 1.92664112] [ 0.02614354 0.99962975 -0.00754204 0.42555694] [ 0.11273273 0.00454833 0.99361494 -0.30844213] [ 0. 0. 0. 1. ]] SLAMing on 19.218001144999995 meters Centerline goodness [0,1] 0.862610797743755 Centerline is valid? [False, False] Translation: X:1.93, Y:0.43, Z:-0.31 [[ 0.99314052 -0.03122612 -0.11268027 1.92727807] [ 0.03010027 0.99947865 -0.01167946 0.42501224] [ 0.11298623 0.00820764 0.99356265 -0.30809007] [ 0. 0. 0. 1. ]] SLAMing on 19.248001144999996 meters Centerline goodness [0,1] 0.8653928909544711 Centerline is valid? [False, False] Translation: X:1.93, Y:0.42, Z:-0.31 [[ 0.99312217 -0.03156255 -0.11274825 1.9273309 ] [ 0.03050026 0.99947274 -0.0111347 0.42296337] [ 0.11304025 0.00761926 0.9935612 -0.30892697] [ 0. 0. 0. 1. ]] SLAMing on 19.278001144999998 meters Centerline goodness [0,1] 0.8661840862922376 Centerline is valid? [False, False] Translation: X:1.93, Y:0.42, Z:-0.31 [[ 0.99307264 -0.03155966 -0.11318449 1.92898305] [ 0.03055824 0.99947708 -0.01057212 0.42191956] [ 0.11345895 0.00704017 0.99351774 -0.31023966] [ 0. 0. 0. 1. ]] SLAMing on 19.308001144999995 meters Centerline goodness [0,1] 0.8697867468155145 Centerline is valid? [False, False] Translation: X:1.93, Y:0.42, Z:-0.31 [[ 0.99303372 -0.03127319 -0.11360469 1.93081089] [ 0.03029541 0.99948768 -0.01032351 0.42231246] [ 0.11386933 0.00680989 0.9934724 -0.31116332] [ 0. 0. 0. 1. ]] SLAMing on 19.338001144999996 meters Centerline goodness [0,1] 0.875992091917137 Centerline is valid? [False, False] Translation: X:1.93, Y:0.42, Z:-0.31 [[ 0.99299009 -0.0308984 -0.11408759 1.93279445] [ 0.0299342 0.99950028 -0.01015532 0.42293435] [ 0.11434436 0.00666901 0.99341879 -0.31192061] [ 0. 0. 0. 1. ]] SLAMing on 19.368001144999997 meters Centerline goodness [0,1] 0.8766939218937618 Centerline is valid? [False, False] Translation: X:1.93, Y:0.42, Z:-0.31 [[ 0.99296536 -0.03058504 -0.11438684 1.93422218] [ 0.02966391 0.99951241 -0.00974674 0.42251058] [ 0.11462917 0.00628501 0.99338847 -0.31277853] [ 0. 0. 0. 1. ]] SLAMing on 19.398001144999995 meters Centerline goodness [0,1] 0.8730004013531334 Centerline is valid? [False, False] Translation: X:1.93, Y:0.42, Z:-0.31 [[ 0.99292095 -0.03073014 -0.11473294 1.9346388 ] [ 0.02976013 0.99950545 -0.01015824 0.42372315] [ 0.11498836 0.00667186 0.99334443 -0.31196139] [ 0. 0. 0. 1. ]] SLAMing on 19.428001144999996 meters Centerline goodness [0,1] 0.8780431983979402 Centerline is valid? [False, False] Translation: X:1.94, Y:0.42, Z:-0.31 [[ 0.99287896 -0.03057448 -0.11513722 1.93566378] [ 0.02960998 0.99951072 -0.01007836 0.42375201] [ 0.11538903 0.00659738 0.99329847 -0.31188942] [ 0. 0. 0. 1. ]] SLAMing on 19.458001144999997 meters Centerline goodness [0,1] 0.8781024819855885 Centerline is valid? [False, False] Translation: X:1.94, Y:0.42, Z:-0.31 [[ 0.99284908 -0.03022662 -0.11548616 1.93714947] [ 0.02930957 0.99952398 -0.00963111 0.42284764] [ 0.1157223 0.00617739 0.9932624 -0.31262088] [ 0. 0. 0. 1. ]] SLAMing on 19.488001144999995 meters Centerline goodness [0,1] 0.8768496829115009 Centerline is valid? [False, False] Translation: X:1.94, Y:0.42, Z:-0.32 [[ 0.99283345 -0.02983781 -0.11572142 1.93944421] [ 0.02903953 0.99954145 -0.00857842 0.41994724] [ 0.11592432 0.00515645 0.99324466 -0.3151703 ] [ 0. 0. 0. 1. ]] SLAMing on 19.518001144999996 meters Centerline goodness [0,1] 0.8808636531732711 Centerline is valid? [False, False] Translation: X:1.94, Y:0.42, Z:-0.32 [[ 0.99279168 -0.02949103 -0.11616777 1.94119831] [ 0.02874799 0.99955414 -0.00806692 0.41890423] [ 0.11635388 0.00466918 0.99319685 -0.31600176] [ 0. 0. 0. 1. ]] SLAMing on 19.548001144999997 meters Centerline goodness [0,1] 0.8863493872898262 Centerline is valid? [False, False] Translation: X:1.94, Y:0.42, Z:-0.32 [[ 0.99276907 -0.02957694 -0.11633904 1.94160467] [ 0.02883955 0.9995519 -0.00801686 0.41906527] [ 0.11652402 0.00460372 0.9931772 -0.31617108] [ 0. 0. 0. 1. ]] SLAMing on 19.578001144999998 meters Centerline goodness [0,1] 0.8877687597892638 Centerline is valid? [False, False] Translation: X:1.94, Y:0.42, Z:-0.32 [[ 0.9927259 -0.02963392 -0.11669239 1.94224757] [ 0.02889753 0.99955038 -0.00799768 0.41910085] [ 0.11687693 0.00456738 0.9931359 -0.31594785] [ 0. 0. 0. 1. ]] SLAMing on 19.608001144999996 meters Centerline goodness [0,1] 0.8918973010064044 Centerline is valid? [False, False] Translation: X:1.94, Y:0.42, Z:-0.32 [[ 0.99270872 -0.03037362 -0.11664837 1.94106794] [ 0.02959326 0.99952659 -0.00841633 0.41922664] [ 0.11684879 0.00490296 0.99313761 -0.31509697] [ 0. 0. 0. 1. ]] SLAMing on 19.638001144999997 meters Centerline goodness [0,1] 0.8849145079201692 Centerline is valid? [False, False] Translation: X:1.94, Y:0.42, Z:-0.32 [[ 0.99271114 -0.03038368 -0.11662511 1.94124466] [ 0.02961485 0.99952676 -0.00831992 0.41871824] [ 0.11682271 0.00480544 0.99314116 -0.31538083] [ 0. 0. 0. 1. ]] SLAMing on 19.668001144999998 meters Centerline goodness [0,1] 0.8859636571755616 Centerline is valid? [False, False] Translation: X:1.94, Y:0.42, Z:-0.32 [[ 0.99270838 -0.03021993 -0.1166912 1.94182839] [ 0.02948113 0.9995329 -0.00805244 0.41757916] [ 0.11688004 0.00455354 0.9931356 -0.31582536] [ 0. 0. 0. 1. ]] SLAMing on 19.698001144999996 meters Centerline goodness [0,1] 0.8751680155575257 Centerline is valid? [False, False] Translation: X:1.94, Y:0.42, Z:-0.32 [[ 0.99268388 -0.02992467 -0.11697536 1.94314849] [ 0.0292296 0.99954342 -0.00765337 0.41631392] [ 0.11715097 0.00417824 0.99310533 -0.31652686] [ 0. 0. 0. 1. ]] SLAMing on 19.728001144999997 meters Centerline goodness [0,1] 0.8783645365048655 Centerline is valid? [False, False] Translation: X:1.94, Y:0.41, Z:-0.32 [[ 0.99263263 -0.0298015 -0.11744079 1.94469297] [ 0.02918228 0.99954967 -0.00698905 0.41401177] [ 0.11759619 0.00351037 0.99305529 -0.31753644] [ 0. 0. 0. 1. ]] SLAMing on 19.758001144999998 meters Centerline goodness [0,1] 0.8769936204146731 Centerline is valid? [False, False] Translation: X:1.95, Y:0.41, Z:-0.32 [[ 0.99260865 -0.02975469 -0.11765512 1.94554341] [ 0.02915563 0.99955169 -0.00680991 0.4137971 ] [ 0.117805 0.00332927 0.99303117 -0.3180556 ] [ 0. 0. 0. 1. ]] SLAMing on 19.788001144999996 meters Centerline goodness [0,1] 0.8897815001566818 Centerline is valid? [False, False] Translation: X:1.95, Y:0.41, Z:-0.32 [[ 0.9925383 -0.02959898 -0.11828623 1.94715191] [ 0.02903187 0.99955725 -0.00651498 0.41410192] [ 0.1184267 0.0030323 0.99295817 -0.31835781] [ 0. 0. 0. 1. ]] SLAMing on 19.818001144999997 meters Centerline goodness [0,1] 0.8872439956643277 Centerline is valid? [False, False] Translation: X:1.95, Y:0.41, Z:-0.32 [[ 0.99250595 -0.02935988 -0.11861678 1.94860166] [ 0.0288269 0.99956515 -0.00620687 0.41409689] [ 0.11874743 0.002741 0.99292071 -0.3191831 ] [ 0. 0. 0. 1. ]] SLAMing on 19.848001144999998 meters Centerline goodness [0,1] 0.887221049026882 Centerline is valid? [False, False] Translation: X:1.95, Y:0.41, Z:-0.32 [[ 0.9924661 -0.02929677 -0.11896527 1.94963905] [ 0.02879627 0.99956775 -0.00592423 0.41330329] [ 0.11908741 0.00245384 0.99288074 -0.31959875] [ 0. 0. 0. 1. ]] SLAMing on 19.878001144999995 meters Centerline goodness [0,1] 0.8892795883361921 Centerline is valid? [False, False] Translation: X:1.95, Y:0.41, Z:-0.32 [[ 0.99245404 -0.02920043 -0.11908951 1.95045075] [ 0.02873037 0.99957116 -0.00566245 0.41273565] [ 0.11920379 0.00219824 0.99286738 -0.32022866] [ 0. 0. 0. 1. ]] SLAMing on 19.908001144999997 meters Centerline goodness [0,1] 0.8896029705798343 Centerline is valid? [False, False] Translation: X:1.95, Y:0.41, Z:-0.32 [[ 9.92414348e-01 -2.93377679e-02 -1.19386172e-01 1.95124325e+00] [ 2.89296842e-02 9.99568181e-01 -5.15022499e-03 4.10897692e-01] [ 1.19485715e-01 1.65735292e-03 9.92834537e-01 -3.20971696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.938001144999998 meters Centerline goodness [0,1] 0.8910967300510306 Centerline is valid? [False, False] Translation: X:1.95, Y:0.41, Z:-0.32 [[ 9.92382519e-01 -2.93235252e-02 -1.19653946e-01 1.95201734e+00] [ 2.89569909e-02 9.99569128e-01 -4.80116968e-03 4.09626918e-01] [ 1.19743178e-01 1.29977862e-03 9.92804050e-01 -3.21395516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.968001144999995 meters Centerline goodness [0,1] 0.8910967300510306 Centerline is valid? [False, False] Translation: X:1.95, Y:0.41, Z:-0.32 [[ 9.92382519e-01 -2.93235252e-02 -1.19653946e-01 1.95201734e+00] [ 2.89569909e-02 9.99569128e-01 -4.80116968e-03 4.09626918e-01] [ 1.19743178e-01 1.29977862e-03 9.92804050e-01 -3.21395516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.998001144999996 meters Centerline goodness [0,1] 0.8905263157894737 Centerline is valid? [False, False] Translation: X:1.95, Y:0.41, Z:-0.32 [[ 9.92328732e-01 -2.89309470e-02 -1.20194374e-01 1.95387153e+00] [ 2.85719285e-02 9.99580644e-01 -4.70961340e-03 4.09735642e-01] [ 1.20280223e-01 1.23929963e-03 9.92739206e-01 -3.21570971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.028001144999998 meters Centerline goodness [0,1] 0.8921066925869807 Centerline is valid? [False, False] Translation: X:1.95, Y:0.41, Z:-0.32 [[ 9.92301997e-01 -2.94121702e-02 -1.20298260e-01 1.95307467e+00] [ 2.89828596e-02 9.99565766e-01 -5.31719255e-03 4.10152495e-01] [ 1.20402412e-01 1.78967323e-03 9.92723555e-01 -3.20218731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.058001144999995 meters Centerline goodness [0,1] 0.8911954187544738 Centerline is valid? [False, False] Translation: X:1.95, Y:0.41, Z:-0.32 [[ 0.99221901 -0.02936362 -0.12099263 1.95365806] [ 0.02881276 0.99956497 -0.00630015 0.41145866] [ 0.12112499 0.002765 0.99263341 -0.31760361] [ 0. 0. 0. 1. ]] SLAMing on 20.088001144999996 meters Centerline goodness [0,1] 0.8915155162039027 Centerline is valid? [False, False] Translation: X:1.96, Y:0.41, Z:-0.32 [[ 0.99217812 -0.02873167 -0.12147865 1.95571568] [ 0.02821737 0.99958409 -0.00595214 0.41093369] [ 0.12159914 0.00247777 0.9925762 -0.3182514 ] [ 0. 0. 0. 1. ]] SLAMing on 20.118001144999997 meters Centerline goodness [0,1] 0.8889398543661488 Centerline is valid? [False, False] Translation: X:1.96, Y:0.41, Z:-0.32 [[ 9.92143785e-01 -2.78312083e-02 -1.21967753e-01 1.95844710e+00] [ 2.74246968e-02 9.99611314e-01 -5.01073606e-03 4.08872921e-01] [ 1.22059801e-01 1.62644198e-03 9.92521415e-01 -3.19924993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.148001144999995 meters Centerline goodness [0,1] 0.8918095346585407 Centerline is valid? [False, False] Translation: X:1.96, Y:0.41, Z:-0.32 [[ 9.92059620e-01 -2.64039938e-02 -1.22965603e-01 1.96288168e+00] [ 2.61637595e-02 9.99651302e-01 -3.56829489e-03 4.05513873e-01] [ 1.23016943e-01 3.22718803e-04 9.92404518e-01 -3.21996069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.178001144999996 meters Centerline goodness [0,1] 0.8921641577471238 Centerline is valid? [False, False] Translation: X:1.96, Y:0.41, Z:-0.32 [[ 9.91988144e-01 -2.59615467e-02 -1.23634627e-01 1.96461542e+00] [ 2.56794043e-02 9.99662718e-01 -3.87533642e-03 4.07247283e-01] [ 1.23693537e-01 6.69424221e-04 9.92320241e-01 -3.21352116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.208001144999997 meters Centerline goodness [0,1] 0.8999170029478263 Centerline is valid? [False, False] Translation: X:1.97, Y:0.41, Z:-0.32 [[ 9.91877687e-01 -2.51943678e-02 -1.24675170e-01 1.96749874e+00] [ 2.48569838e-02 9.99681936e-01 -4.26120710e-03 4.09285301e-01] [ 1.24742874e-01 1.12754755e-03 9.92188462e-01 -3.20554244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.238001144999995 meters Centerline goodness [0,1] 0.8952831541218638 Centerline is valid? [False, False] Translation: X:1.97, Y:0.41, Z:-0.32 [[ 9.91817088e-01 -2.48413834e-02 -1.25226873e-01 1.96895184e+00] [ 2.45057792e-02 9.99690782e-01 -4.21995221e-03 4.09237118e-01] [ 1.25292980e-01 1.11663860e-03 9.92119157e-01 -3.20290343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.268001144999996 meters Centerline goodness [0,1] 0.8976574611012229 Centerline is valid? [False, False] Translation: X:1.97, Y:0.41, Z:-0.32 [[ 9.91736593e-01 -2.33000122e-02 -1.26157202e-01 1.97288222e+00] [ 2.30163331e-02 9.99728220e-01 -3.70601096e-03 4.09416751e-01] [ 1.26209265e-01 7.71710503e-04 9.92003340e-01 -3.20952865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.298001144999997 meters Centerline goodness [0,1] 0.8926093687288573 Centerline is valid? [False, False] Translation: X:1.97, Y:0.41, Z:-0.32 [[ 9.91677778e-01 -2.31757135e-02 -1.26641507e-01 1.97387110e+00] [ 2.28735753e-02 9.99730992e-01 -3.83967963e-03 4.09188073e-01] [ 1.26696427e-01 9.10980913e-04 9.91941120e-01 -3.20394942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.328001144999995 meters Centerline goodness [0,1] 0.8935191837907746 Centerline is valid? [False, False] Translation: X:1.97, Y:0.41, Z:-0.32 [[ 9.91650010e-01 -2.33487187e-02 -1.26827029e-01 1.97393871e+00] [ 2.30014204e-02 9.99726600e-01 -4.20238777e-03 4.09578536e-01] [ 1.26890475e-01 1.25009606e-03 9.91915946e-01 -3.19732237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.358001144999996 meters Centerline goodness [0,1] 0.8893650063269297 Centerline is valid? [False, False] Translation: X:1.98, Y:0.41, Z:-0.32 [[ 9.91526747e-01 -2.27630546e-02 -1.27892745e-01 1.97658499e+00] [ 2.23348652e-02 9.99739112e-01 -4.78134876e-03 4.11100805e-01] [ 1.27968218e-01 1.88436796e-03 9.91776479e-01 -3.18422840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.388001144999997 meters Centerline goodness [0,1] 0.8922443574389682 Centerline is valid? [False, False] Translation: X:1.98, Y:0.41, Z:-0.32 [[ 0.99144888 -0.02237754 -0.12856271 1.97822891] [ 0.02189592 0.99974695 -0.00515848 0.41172216] [ 0.12864561 0.00229937 0.99168796 -0.31754926] [ 0. 0. 0. 1. ]] SLAMing on 20.418001144999998 meters Centerline goodness [0,1] 0.8836907644413697 Centerline is valid? [False, False] Translation: X:1.98, Y:0.41, Z:-0.32 [[ 0.99140432 -0.02220415 -0.12893581 1.97914033] [ 0.02165382 0.99974946 -0.00566869 0.41300496] [ 0.12902938 0.00282801 0.99163674 -0.31680037] [ 0. 0. 0. 1. ]] SLAMing on 20.448001144999996 meters Centerline goodness [0,1] 0.8782273937709852 Centerline is valid? [False, False] Translation: X:1.98, Y:0.42, Z:-0.31 [[ 0.9912914 -0.02198509 -0.12983845 1.98051309] [ 0.02119234 0.9997474 -0.00748431 0.41699999] [ 0.1299702 0.00466755 0.99150691 -0.31337791] [ 0. 0. 0. 1. ]] SLAMing on 20.478001144999997 meters Centerline goodness [0,1] 0.8803741575644899 Centerline is valid? [False, False] Translation: X:1.98, Y:0.42, Z:-0.31 [[ 0.99122263 -0.02203397 -0.13035414 1.98117344] [ 0.02114514 0.9997428 -0.00819888 0.41880224] [ 0.13050127 0.00537056 0.9914336 -0.31196873] [ 0. 0. 0. 1. ]] SLAMing on 20.508001144999998 meters Centerline goodness [0,1] 0.8826025048673467 Centerline is valid? [False, False] Translation: X:1.98, Y:0.42, Z:-0.31 [[ 0.9911537 -0.02198577 -0.13088535 1.98213096] [ 0.02104937 0.99974202 -0.00853374 0.41981815] [ 0.1310392 0.00570319 0.99136078 -0.31117506] [ 0. 0. 0. 1. ]] SLAMing on 20.538001144999996 meters Centerline goodness [0,1] 0.8798777826276735 Centerline is valid? [False, False] Translation: X:1.98, Y:0.42, Z:-0.31 [[ 0.99110867 -0.02234473 -0.13116524 1.98225007] [ 0.02138465 0.99973326 -0.00872379 0.41939434] [ 0.13132518 0.0058413 0.99132214 -0.31074395] [ 0. 0. 0. 1. ]] SLAMing on 20.568001144999997 meters Centerline goodness [0,1] 0.8776352903544739 Centerline is valid? [False, False] Translation: X:1.98, Y:0.42, Z:-0.31 [[ 0.99107774 -0.02246129 -0.13137883 1.98295503] [ 0.02149124 0.99973033 -0.00879704 0.41925463] [ 0.13154099 0.00589506 0.9912932 -0.31097922] [ 0. 0. 0. 1. ]] SLAMing on 20.598001144999998 meters Centerline goodness [0,1] 0.8794738986207298 Centerline is valid? [False, False] Translation: X:1.98, Y:0.42, Z:-0.31 [[ 0.99104788 -0.02257695 -0.13158416 1.98374736] [ 0.02159237 0.9997272 -0.0089047 0.41982152] [ 0.1317493 0.00598377 0.99126501 -0.31145096] [ 0. 0. 0. 1. ]] SLAMing on 20.628001144999995 meters Centerline goodness [0,1] 0.8763475321950935 Centerline is valid? [False, False] Translation: X:2.00, Y:0.42, Z:-0.31 [[ 9.91616925e-01 -2.62613789e-02 -1.26515665e-01 1.99873417e+00] [ 2.61315908e-02 9.99654904e-01 -2.68574233e-03 4.20031521e-01] [ 1.26542537e-01 -6.42828042e-04 9.91960974e-01 -3.14687074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.658001144999997 meters Centerline goodness [0,1] 0.8715850986121256 Centerline is valid? [False, False] Translation: X:2.00, Y:0.42, Z:-0.31 [[ 9.91580099e-01 -2.68919741e-02 -1.26671739e-01 1.99811079e+00] [ 2.66141257e-02 9.99638229e-01 -3.88569643e-03 4.22672000e-01] [ 1.26730407e-01 4.81721666e-04 9.91937081e-01 -3.13028822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.688001144999998 meters Centerline goodness [0,1] 0.8789253416839826 Centerline is valid? [False, False] Translation: X:2.00, Y:0.42, Z:-0.31 [[ 9.91554080e-01 -2.79254396e-02 -1.26651793e-01 1.99632008e+00] [ 2.75478220e-02 9.99609284e-01 -4.73245110e-03 4.23491038e-01] [ 1.26734464e-01 1.20350015e-03 9.91935949e-01 -3.11316694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.718001144999995 meters Centerline goodness [0,1] 0.8736614196266604 Centerline is valid? [False, False] Translation: X:2.01, Y:0.42, Z:-0.31 [[ 9.92156830e-01 -3.11613712e-02 -1.21052851e-01 2.00876116e+00] [ 3.16335437e-02 9.99497572e-01 1.98030570e-03 4.24285435e-01] [ 1.20930321e-01 -5.79410447e-03 9.92644088e-01 -3.13045057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.748001144999996 meters Centerline goodness [0,1] 0.867063899732895 Centerline is valid? [False, False] Translation: X:2.01, Y:0.42, Z:-0.31 [[ 9.92152534e-01 -3.22426591e-02 -1.20804640e-01 2.00673887e+00] [ 3.26347524e-02 9.99466540e-01 1.26810856e-03 4.24547409e-01] [ 1.20699309e-01 -5.20058665e-03 9.92675491e-01 -3.11895234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.778001144999998 meters Centerline goodness [0,1] 0.8692638413617619 Centerline is valid? [False, False] Translation: X:2.01, Y:0.43, Z:-0.31 [[ 9.91949249e-01 -3.71370052e-02 -1.21068285e-01 2.00675777e+00] [ 3.69352256e-02 9.99310008e-01 -3.91111250e-03 4.26567312e-01] [ 1.21129996e-01 -5.92059331e-04 9.92636476e-01 -3.09901243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.808001144999995 meters Centerline goodness [0,1] 0.8631594329972234 Centerline is valid? [False, False] Translation: X:2.01, Y:0.42, Z:-0.31 [[ 9.91943333e-01 -3.74691774e-02 -1.21014399e-01 2.00670666e+00] [ 3.72956568e-02 9.99297428e-01 -3.69934859e-03 4.24998411e-01] [ 1.21067989e-01 -8.43767336e-04 9.92643859e-01 -3.10536800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.838001144999996 meters Centerline goodness [0,1] 0.8602116156037439 Centerline is valid? [False, False] Translation: X:2.01, Y:0.42, Z:-0.31 [[ 0.99174987 -0.04203022 -0.12110181 2.00746428] [ 0.04137871 0.99911238 -0.00789072 0.42488265] [ 0.12132597 0.00281458 0.99260873 -0.31052521] [ 0. 0. 0. 1. ]] SLAMing on 20.868001144999997 meters Centerline goodness [0,1] 0.8587559082686584 Centerline is valid? [False, False] Translation: X:2.01, Y:0.42, Z:-0.31 [[ 0.99173493 -0.04199126 -0.12123766 2.00806919] [ 0.04135276 0.99911433 -0.00777887 0.42452797] [ 0.12145693 0.00270107 0.99259303 -0.31092439] [ 0. 0. 0. 1. ]] SLAMing on 20.898001144999995 meters Centerline goodness [0,1] 0.8605049830025859 Centerline is valid? [False, False] Translation: X:2.01, Y:0.42, Z:-0.31 [[ 0.99170099 -0.0414193 -0.12171109 2.01011438] [ 0.04080133 0.99913863 -0.00756635 0.42466856] [ 0.12191965 0.00253758 0.99253673 -0.31149687] [ 0. 0. 0. 1. ]] SLAMing on 20.928001144999996 meters Centerline goodness [0,1] 0.8583364872339806 Centerline is valid? [False, False] Translation: X:2.01, Y:0.43, Z:-0.31 [[ 9.91819590e-01 -3.63188358e-02 -1.22371740e-01 2.01213877e+00] [ 3.61960229e-02 9.99339498e-01 -3.22723585e-03 4.25511104e-01] [ 1.22408123e-01 -1.22853457e-03 9.92479089e-01 -3.12231641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.958001144999997 meters Centerline goodness [0,1] 0.8616588052617702 Centerline is valid? [False, False] Translation: X:2.01, Y:0.43, Z:-0.31 [[ 9.91945855e-01 -3.18934576e-02 -1.22581516e-01 2.01220858e+00] [ 3.22613350e-02 9.99478950e-01 1.01693943e-03 4.25359407e-01] [ 1.22485211e-01 -4.96339220e-03 9.92457927e-01 -3.12569464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.988001144999995 meters Centerline goodness [0,1] 0.8667608286252354 Centerline is valid? [False, False] Translation: X:2.01, Y:0.43, Z:-0.31 [[ 9.91888650e-01 -3.15472197e-02 -1.23132773e-01 2.01351483e+00] [ 3.18638203e-02 9.99492038e-01 6.02332339e-04 4.27031491e-01] [ 1.23051224e-01 -4.52092716e-03 9.92390023e-01 -3.11790030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.018001144999996 meters Centerline goodness [0,1] 0.8628754670353918 Centerline is valid? [False, False] Translation: X:2.02, Y:0.43, Z:-0.31 [[ 9.91831097e-01 -3.05496701e-02 -1.23845846e-01 2.01626889e+00] [ 3.08622110e-02 9.99523465e-01 6.05498084e-04 4.28270810e-01] [ 1.23768332e-01 -4.42270847e-03 9.92301285e-01 -3.11826453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.048001144999997 meters Centerline goodness [0,1] 0.8669217186580341 Centerline is valid? [False, False] Translation: X:2.02, Y:0.43, Z:-0.31 [[ 9.91764069e-01 -2.83768940e-02 -1.24895089e-01 2.02120520e+00] [ 2.88200028e-02 9.99583099e-01 1.74209946e-03 4.26897132e-01] [ 1.24793585e-01 -5.32722846e-03 9.92168424e-01 -3.13118414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.078001144999995 meters Centerline goodness [0,1] 0.8659724060836055 Centerline is valid? [False, False] Translation: X:2.02, Y:0.43, Z:-0.31 [[ 0.9917161 -0.02746004 -0.12547957 2.0237705 ] [ 0.02794327 0.99960732 0.00209229 0.42666411] [ 0.12537284 -0.00558126 0.992094 -0.3137592 ] [ 0. 0. 0. 1. ]] SLAMing on 21.108001144999996 meters Centerline goodness [0,1] 0.8590151381280556 Centerline is valid? [False, False] Translation: X:2.03, Y:0.43, Z:-0.31 [[ 0.991665 -0.02671938 -0.12604207 2.0258512 ] [ 0.02722466 0.99962672 0.0022876 0.42634484] [ 0.1259339 -0.00569998 0.99202226 -0.3139096 ] [ 0. 0. 0. 1. ]] SLAMing on 21.138001144999997 meters Centerline goodness [0,1] 0.8585266753032623 Centerline is valid? [False, False] Translation: X:2.03, Y:0.43, Z:-0.31 [[ 0.99161885 -0.02617572 -0.1265183 2.02730823] [ 0.02668629 0.99964111 0.00234194 0.42609286] [ 0.12641159 -0.00569862 0.99196151 -0.3136168 ] [ 0. 0. 0. 1. ]] SLAMing on 21.168001144999995 meters Centerline goodness [0,1] 0.8559821008007537 Centerline is valid? [False, False] Translation: X:2.03, Y:0.43, Z:-0.31 [[ 0.99162766 -0.02008512 -0.12755851 2.03067205] [ 0.02112599 0.99975361 0.00681216 0.42539026] [ 0.12739025 -0.00944992 0.99180765 -0.31337682] [ 0. 0. 0. 1. ]] SLAMing on 21.198001144999996 meters Centerline goodness [0,1] 0.848069225335531 Centerline is valid? [False, False] Translation: X:2.03, Y:0.43, Z:-0.31 [[ 0.9915476 -0.01925139 -0.12830723 2.03309206] [ 0.02026502 0.99977286 0.00659913 0.4264593 ] [ 0.12815104 -0.0091435 0.99171251 -0.31284507] [ 0. 0. 0. 1. ]] SLAMing on 21.228001144999997 meters Centerline goodness [0,1] 0.832815689058479 Centerline is valid? [False, False] Translation: X:2.04, Y:0.43, Z:-0.31 [[ 0.99145586 -0.01765695 -0.12924209 2.03715694] [ 0.01872445 0.99979983 0.00704923 0.42723767] [ 0.12909175 -0.00940898 0.99158802 -0.31356538] [ 0. 0. 0. 1. ]] SLAMing on 21.258001144999998 meters Centerline goodness [0,1] 0.8186104072131534 Centerline is valid? [False, False] Translation: X:2.04, Y:0.43, Z:-0.31 [[ 0.99134889 -0.0163321 -0.13023302 2.04092171] [ 0.01739443 0.99982403 0.00702374 0.42872153] [ 0.13009539 -0.00922831 0.99145854 -0.31354952] [ 0. 0. 0. 1. ]] SLAMing on 21.288001144999996 meters Centerline goodness [0,1] 0.7795254519505233 Centerline is valid? [False, False] Translation: X:2.04, Y:0.43, Z:-0.31 [[ 0.99134898 -0.01030553 -0.13084719 2.04352687] [ 0.01189498 0.99986459 0.01137159 0.42994622] [ 0.13071228 -0.01282964 0.99133733 -0.31358481] [ 0. 0. 0. 1. ]] SLAMing on 21.318001144999997 meters Centerline goodness [0,1] 0.794435857805255 Centerline is valid? [False, False] Translation: X:2.05, Y:0.43, Z:-0.31 [[ 0.99125143 -0.00943736 -0.13164929 2.0457729 ] [ 0.01094922 0.99988211 0.01076487 0.43206772] [ 0.13153218 -0.01211215 0.9912379 -0.31223451] [ 0. 0. 0. 1. ]] SLAMing on 21.348001144999998 meters Centerline goodness [0,1] 0.7210773250979927 Centerline is valid? [False, False] Translation: X:2.05, Y:0.43, Z:-0.31 [[ 9.92123848e-01 4.61772810e-04 -1.25259956e-01 2.04885725e+00] [ 9.25016273e-06 9.99992932e-01 3.75975587e-03 4.31744504e-01] [ 1.25260807e-01 -3.73130214e-03 9.92116832e-01 -3.13566161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.378001144999995 meters Centerline goodness [0,1] 0.7158740512333965 Centerline is valid? [False, False] Translation: X:2.05, Y:0.43, Z:-0.31 [[ 9.92043779e-01 1.53820926e-03 -1.25883971e-01 2.05170681e+00] [-1.01792927e-03 9.99990673e-01 4.19723430e-03 4.31405622e-01] [ 1.25889253e-01 -4.03569919e-03 9.92036093e-01 -3.14291581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.408001144999997 meters Centerline goodness [0,1] 0.7101380436396022 Centerline is valid? [False, False] Translation: X:2.05, Y:0.43, Z:-0.31 [[ 9.91970547e-01 2.27603666e-03 -1.26448619e-01 2.05368327e+00] [-1.76991365e-03 9.99989968e-01 4.11480667e-03 4.32151008e-01] [ 1.26456715e-01 -3.85796389e-03 9.91964624e-01 -3.14046495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.438001144999998 meters Centerline goodness [0,1] 0.6957605985037407 Centerline is valid? [False, False] Translation: X:2.05, Y:0.43, Z:-0.31 [[ 9.91925563e-01 2.41500707e-03 -1.26798447e-01 2.05425601e+00] [-2.01005620e-03 9.99992464e-01 3.32151338e-03 4.34035951e-01] [ 1.26805513e-01 -3.03982203e-03 9.91922941e-01 -3.12668079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.468001144999995 meters Centerline goodness [0,1] 0.690498223827577 Centerline is valid? [False, False] Translation: X:2.05, Y:0.44, Z:-0.31 [[ 9.91917198e-01 2.55723910e-03 -1.26861077e-01 2.05369486e+00] [-2.39345916e-03 9.99996094e-01 1.44343565e-03 4.37812181e-01] [ 1.26864272e-01 -1.12813184e-03 9.91919444e-01 -3.09041035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.498001144999996 meters Centerline goodness [0,1] 0.7096495667966773 Centerline is valid? [False, False] Translation: X:2.05, Y:0.44, Z:-0.31 [[ 9.91873130e-01 2.53114165e-03 -1.27205688e-01 2.05399700e+00] [-2.45756614e-03 9.99996710e-01 7.35340566e-04 4.38884187e-01] [ 1.27207131e-01 -4.16748158e-04 9.91876087e-01 -3.07626381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.528001144999998 meters Centerline goodness [0,1] 0.733917083631165 Centerline is valid? [False, False] Translation: X:2.05, Y:0.44, Z:-0.31 [[ 9.91887770e-01 2.11372936e-03 -1.27099107e-01 2.05311456e+00] [-2.08495051e-03 9.99997762e-01 3.59465228e-04 4.38843079e-01] [ 1.27099583e-01 -9.15538149e-05 9.91889957e-01 -3.06922180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.558001144999995 meters Centerline goodness [0,1] 0.710723340790455 Centerline is valid? [False, False] Translation: X:2.05, Y:0.44, Z:-0.31 [[ 9.91894835e-01 1.66882145e-03 -1.27050582e-01 2.05237581e+00] [-1.65828381e-03 9.99998607e-01 1.88712036e-04 4.38641548e-01] [ 1.27050720e-01 2.35034303e-05 9.91896221e-01 -3.06544276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.588001144999996 meters Centerline goodness [0,1] 0.7336158529306434 Centerline is valid? [False, False] Translation: X:2.05, Y:0.44, Z:-0.31 [[ 9.91905021e-01 1.16396234e-03 -1.26976668e-01 2.05174243e+00] [-1.17568820e-03 9.99999309e-01 -1.74007875e-05 4.38320989e-01] [ 1.26976560e-01 1.66544898e-04 9.91905704e-01 -3.06336510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.618001144999997 meters Centerline goodness [0,1] 0.7433686213869395 Centerline is valid? [False, False] Translation: X:2.05, Y:0.44, Z:-0.31 [[ 0.99189994 -0.00389375 -0.12696196 2.05162929] [ 0.00333129 0.99998368 -0.00464223 0.4395853 ] [ 0.12697796 0.00418168 0.99189672 -0.30617169] [ 0. 0. 0. 1. ]] SLAMing on 21.648001144999995 meters Centerline goodness [0,1] 0.7430557618609073 Centerline is valid? [False, False] Translation: X:2.05, Y:0.44, Z:-0.31 [[ 0.99191729 -0.00427725 -0.12681398 2.05149209] [ 0.00375747 0.99998353 -0.00433765 0.4381232 ] [ 0.12683045 0.00382609 0.99191703 -0.30719554] [ 0. 0. 0. 1. ]] SLAMing on 21.678001144999996 meters Centerline goodness [0,1] 0.7447314448770919 Centerline is valid? [False, False] Translation: X:2.05, Y:0.44, Z:-0.31 [[ 0.9919249 -0.00477177 -0.1267368 2.05111407] [ 0.00426898 0.99998191 -0.00423848 0.43727937] [ 0.12675474 0.00366321 0.99192732 -0.30766459] [ 0. 0. 0. 1. ]] SLAMing on 21.708001144999997 meters Centerline goodness [0,1] 0.7611186984145835 Centerline is valid? [False, False] Translation: X:2.05, Y:0.44, Z:-0.31 [[ 0.99189135 -0.01027679 -0.12667254 2.04986216] [ 0.00918055 0.99991521 -0.00923489 0.43935452] [ 0.12675671 0.00799708 0.9919016 -0.3064116 ] [ 0. 0. 0. 1. ]] SLAMing on 21.738001144999995 meters Centerline goodness [0,1] 0.7719755793965977 Centerline is valid? [False, False] Translation: X:2.05, Y:0.44, Z:-0.31 [[ 0.99188257 -0.01071229 -0.12670522 2.04954465] [ 0.00963765 0.99991223 -0.00909141 0.43840629] [ 0.12679149 0.00779647 0.99189875 -0.30658753] [ 0. 0. 0. 1. ]] SLAMing on 21.768001144999996 meters Centerline goodness [0,1] 0.7784173515710767 Centerline is valid? [False, False] Translation: X:2.05, Y:0.44, Z:-0.31 [[ 0.99189215 -0.0112034 -0.1265877 2.04882968] [ 0.01012033 0.9999065 -0.00919586 0.43836886] [ 0.12667889 0.00784019 0.99191279 -0.30659227] [ 0. 0. 0. 1. ]] SLAMing on 21.798001144999997 meters Centerline goodness [0,1] 0.7841944386740659 Centerline is valid? [False, False] Translation: X:2.05, Y:0.44, Z:-0.31 [[ 0.9918845 -0.01181188 -0.12659234 2.04826287] [ 0.01069413 0.99989764 -0.00950552 0.43909154] [ 0.12669166 0.00807459 0.99190928 -0.30634043] [ 0. 0. 0. 1. ]] SLAMing on 21.828001144999995 meters Centerline goodness [0,1] 0.8142458100558659 Centerline is valid? [False, False] Translation: X:2.05, Y:0.44, Z:-0.31 [[ 0.9918632 -0.0118211 -0.12675824 2.04875919] [ 0.01068196 0.99989626 -0.00966274 0.43980147] [ 0.12685932 0.00823009 0.99188658 -0.30631571] [ 0. 0. 0. 1. ]] SLAMing on 21.858001144999996 meters Centerline goodness [0,1] 0.8142458100558659 Centerline is valid? [False, False] Translation: X:2.05, Y:0.44, Z:-0.31 [[ 0.9918632 -0.0118211 -0.12675824 2.04875919] [ 0.01068196 0.99989626 -0.00966274 0.43980147] [ 0.12685932 0.00823009 0.99188658 -0.30631571] [ 0. 0. 0. 1. ]] SLAMing on 21.888001144999997 meters Centerline goodness [0,1] 0.8108268710817957 Centerline is valid? [False, False] Translation: X:2.05, Y:0.44, Z:-0.31 [[ 0.99182986 -0.01144347 -0.12705341 2.05012125] [ 0.0103249 0.99990196 -0.00945903 0.43999264] [ 0.1271492 0.00806993 0.99185077 -0.30685494] [ 0. 0. 0. 1. ]] SLAMing on 21.918001144999995 meters Centerline goodness [0,1] 0.8040608835245853 Centerline is valid? [False, False] Translation: X:2.05, Y:0.44, Z:-0.31 [[ 0.99181446 -0.01139416 -0.127178 2.05069086] [ 0.01033211 0.99990605 -0.00900754 0.43905376] [ 0.12726868 0.00761979 0.99183901 -0.30759097] [ 0. 0. 0. 1. ]] SLAMing on 21.948001144999996 meters Centerline goodness [0,1] 0.8000178821565881 Centerline is valid? [False, False] Translation: X:2.05, Y:0.44, Z:-0.31 [[ 0.99174068 -0.01035918 -0.12784021 2.0539423 ] [ 0.00932264 0.99991866 -0.00870379 0.44062846] [ 0.12791997 0.0074401 0.99175659 -0.30862097] [ 0. 0. 0. 1. ]] SLAMing on 21.978001144999997 meters Centerline goodness [0,1] 0.7915352104291922 Centerline is valid? [False, False] Translation: X:2.05, Y:0.44, Z:-0.31 [[ 0.9917186 -0.0103235 -0.12801424 2.054079 ] [ 0.00926687 0.99991793 -0.00884683 0.44070141] [ 0.12809506 0.00758727 0.99173287 -0.30798571] [ 0. 0. 0. 1. ]] SLAMing on 22.008001144999994 meters Centerline goodness [0,1] 0.7859775307614575 Centerline is valid? [False, False] Translation: X:2.05, Y:0.44, Z:-0.31 [[ 0.99170069 -0.01019112 -0.12816351 2.05431693] [ 0.00914002 0.99991962 -0.00878671 0.44019463] [ 0.12824275 0.00754237 0.99171413 -0.30762853] [ 0. 0. 0. 1. ]] SLAMing on 22.038001144999996 meters Centerline goodness [0,1] 0.7629315458536007 Centerline is valid? [False, False] Translation: X:2.06, Y:0.44, Z:-0.31 [[ 0.99166728 -0.00919566 -0.12849684 2.0563076 ] [ 0.00818018 0.99993102 -0.00842828 0.43943224] [ 0.12856548 0.00730693 0.9916741 -0.30795236] [ 0. 0. 0. 1. ]] SLAMing on 22.068001144999997 meters Centerline goodness [0,1] 0.767894658973221 Centerline is valid? [False, False] Translation: X:2.06, Y:0.44, Z:-0.31 [[ 0.99162608 -0.00863155 -0.12885347 2.05779951] [ 0.00763445 0.99993699 -0.00823012 0.43908141] [ 0.12891639 0.00717748 0.99162949 -0.30812488] [ 0. 0. 0. 1. ]] SLAMing on 22.098001144999998 meters Centerline goodness [0,1] 0.7580353704416862 Centerline is valid? [False, False] Translation: X:2.06, Y:0.44, Z:-0.31 [[ 0.99158179 -0.00810257 -0.12922811 2.05916327] [ 0.00711061 0.99994162 -0.00813557 0.43916177] [ 0.12928649 0.00714819 0.99158152 -0.30804707] [ 0. 0. 0. 1. ]] SLAMing on 22.128001144999995 meters Centerline goodness [0,1] 0.7696162742423344 Centerline is valid? [False, False] Translation: X:2.06, Y:0.44, Z:-0.31 [[ 0.99151218 -0.00751343 -0.12979658 2.0611584 ] [ 0.00651564 0.99994588 -0.00811029 0.43987053] [ 0.12985049 0.00719574 0.99150747 -0.30809711] [ 0. 0. 0. 1. ]] SLAMing on 22.158001144999997 meters Centerline goodness [0,1] 0.7531945101751065 Centerline is valid? [False, False] Translation: X:2.06, Y:0.44, Z:-0.31 [[ 0.99147074 -0.00677119 -0.13015344 2.06333655] [ 0.00588515 0.99995683 -0.00719107 0.43774329] [ 0.13019651 0.00636376 0.99146779 -0.30961802] [ 0. 0. 0. 1. ]] SLAMing on 22.188001144999998 meters Centerline goodness [0,1] 0.7504723665564478 Centerline is valid? [False, False] Translation: X:2.06, Y:0.44, Z:-0.31 [[ 0.99144618 -0.00624851 -0.13036654 2.0649222 ] [ 0.00541915 0.99996277 -0.00671554 0.43692095] [ 0.13040365 0.00595162 0.99144312 -0.31063949] [ 0. 0. 0. 1. ]] SLAMing on 22.218001144999995 meters Centerline goodness [0,1] 0.7587733537971134 Centerline is valid? [False, False] Translation: X:2.07, Y:0.44, Z:-0.31 [[ 0.99143423 -0.00604628 -0.1304669 2.06577087] [ 0.00523618 0.99996483 -0.00655141 0.43686925] [ 0.13050192 0.00581215 0.99143102 -0.31125821] [ 0. 0. 0. 1. ]] SLAMing on 22.248001144999996 meters Centerline goodness [0,1] 0.7578981588202264 Centerline is valid? [False, False] Translation: X:2.06, Y:0.44, Z:-0.31 [[ 0.99144798 -0.00655947 -0.13033752 2.06471894] [ 0.00567626 0.99995835 -0.00714669 0.43774007] [ 0.13037897 0.00634574 0.99144392 -0.31025153] [ 0. 0. 0. 1. ]] SLAMing on 22.278001144999998 meters Centerline goodness [0,1] 0.765143684101716 Centerline is valid? [False, False] Translation: X:2.08, Y:0.44, Z:-0.31 [[ 9.92164232e-01 -8.65828817e-03 -1.24640167e-01 2.07754358e+00] [ 8.89379060e-03 9.99959561e-01 1.33314075e-03 4.35872362e-01] [ 1.24623584e-01 -2.43121811e-03 9.92201114e-01 -3.13771119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.308001144999995 meters Centerline goodness [0,1] 0.7580702376729337 Centerline is valid? [False, False] Translation: X:2.08, Y:0.44, Z:-0.31 [[ 9.92167692e-01 -9.51212272e-03 -1.24550350e-01 2.07572207e+00] [ 9.64122898e-03 9.99953428e-01 4.33850072e-04 4.36659184e-01] [ 1.24540423e-01 -1.63127047e-03 9.92213194e-01 -3.11880827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.338001144999996 meters Centerline goodness [0,1] 0.7742860521492343 Centerline is valid? [False, False] Translation: X:2.07, Y:0.44, Z:-0.31 [[ 9.92194605e-01 -1.04260349e-02 -1.24262482e-01 2.07420122e+00] [ 1.04981991e-02 9.99944890e-01 -7.40678840e-05 4.37074240e-01] [ 1.24256406e-01 -1.23104252e-03 9.92249379e-01 -3.11469611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.368001144999997 meters Centerline goodness [0,1] 0.8102948998286154 Centerline is valid? [False, False] Translation: X:2.08, Y:0.44, Z:-0.31 [[ 0.99208212 -0.01481603 -0.1247139 2.07557624] [ 0.01432714 0.99988576 -0.00481611 0.43960162] [ 0.12477101 0.00299118 0.99218106 -0.3107509 ] [ 0. 0. 0. 1. ]] SLAMing on 22.398001144999995 meters Centerline goodness [0,1] 0.8012345314392038 Centerline is valid? [False, False] Translation: X:2.08, Y:0.44, Z:-0.31 [[ 0.99198105 -0.01960202 -0.12485738 2.07574075] [ 0.01857499 0.99978343 -0.00938463 0.44059065] [ 0.1250143 0.00699015 0.99213032 -0.31001525] [ 0. 0. 0. 1. ]] SLAMing on 22.428001144999996 meters Centerline goodness [0,1] 0.8314716024639689 Centerline is valid? [False, False] Translation: X:2.08, Y:0.44, Z:-0.31 [[ 0.9919835 -0.02023581 -0.1247367 2.07556998] [ 0.01926498 0.99977404 -0.00898451 0.438761 ] [ 0.12489032 0.00650944 0.9921492 -0.3113109 ] [ 0. 0. 0. 1. ]] SLAMing on 22.458001144999997 meters Centerline goodness [0,1] 0.8475538045395743 Centerline is valid? [False, False] Translation: X:2.07, Y:0.44, Z:-0.31 [[ 0.9918804 -0.02560987 -0.12456891 2.07494944] [ 0.0241538 0.9996213 -0.01318537 0.43885566] [ 0.12485941 0.0100695 0.99212335 -0.31172821] [ 0. 0. 0. 1. ]] SLAMing on 22.488001144999995 meters Centerline goodness [0,1] 0.8586258467493622 Centerline is valid? [False, False] Translation: X:2.07, Y:0.44, Z:-0.31 [[ 0.99189063 -0.02597876 -0.12441093 2.07446795] [ 0.02460622 0.99961836 -0.01255647 0.43695038] [ 0.12468966 0.00939336 0.99215133 -0.31272694] [ 0. 0. 0. 1. ]] SLAMing on 22.518001144999996 meters Centerline goodness [0,1] 0.8691104078762306 Centerline is valid? [False, False] Translation: X:2.07, Y:0.44, Z:-0.31 [[ 0.99192181 -0.02664671 -0.12402049 2.07308209] [ 0.02533235 0.99960509 -0.01216315 0.43546664] [ 0.12429562 0.00892316 0.99220511 -0.31338613] [ 0. 0. 0. 1. ]] SLAMing on 22.548001144999997 meters Centerline goodness [0,1] 0.8766233766233766 Centerline is valid? [False, False] Translation: X:2.07, Y:0.43, Z:-0.31 [[ 0.99193105 -0.02718935 -0.12382865 2.07208214] [ 0.02592586 0.99959418 -0.01180376 0.43405987] [ 0.12409933 0.00849815 0.99223341 -0.3137731 ] [ 0. 0. 0. 1. ]] SLAMing on 22.578001144999995 meters Centerline goodness [0,1] 0.8726427506359091 Centerline is valid? [False, False] Translation: X:2.07, Y:0.43, Z:-0.32 [[ 0.9919707 -0.02775388 -0.12338501 2.07137525] [ 0.02655255 0.99958275 -0.01137047 0.43338062] [ 0.1236491 0.00800298 0.99229373 -0.31537278] [ 0. 0. 0. 1. ]] SLAMing on 22.608001144999996 meters Centerline goodness [0,1] 0.8753249028941912 Centerline is valid? [False, False] Translation: X:2.07, Y:0.43, Z:-0.32 [[ 0.99196512 -0.02768485 -0.12344535 2.0720478 ] [ 0.0265356 0.99958795 -0.01094453 0.43275737] [ 0.12369748 0.0075809 0.99229102 -0.31638024] [ 0. 0. 0. 1. ]] SLAMing on 22.638001144999997 meters Centerline goodness [0,1] 0.8752659341940372 Centerline is valid? [False, False] Translation: X:2.07, Y:0.43, Z:-0.32 [[ 0.99196941 -0.02794996 -0.12335109 2.07166127] [ 0.026852 0.99958369 -0.01055494 0.43183303] [ 0.12359475 0.00715795 0.99230696 -0.31691034] [ 0. 0. 0. 1. ]] SLAMing on 22.668001144999995 meters Centerline goodness [0,1] 0.8755477651183172 Centerline is valid? [False, False] Translation: X:2.07, Y:0.43, Z:-0.32 [[ 0.99197768 -0.02834565 -0.1231942 2.07153819] [ 0.02728535 0.99957477 -0.01028571 0.43201881] [ 0.12343336 0.0068418 0.99232928 -0.31812654] [ 0. 0. 0. 1. ]] SLAMing on 22.698001144999996 meters Centerline goodness [0,1] 0.8751091957369984 Centerline is valid? [False, False] Translation: X:2.07, Y:0.43, Z:-0.32 [[ 0.99199204 -0.02865113 -0.12300775 2.07101827] [ 0.02766594 0.99957006 -0.00971015 0.43008447] [ 0.12323307 0.00622927 0.9923582 -0.31891193] [ 0. 0. 0. 1. ]] SLAMing on 22.728001144999997 meters Centerline goodness [0,1] 0.8818435429501337 Centerline is valid? [False, False] Translation: X:2.07, Y:0.43, Z:-0.32 [[ 0.99199708 -0.02866985 -0.1229627 2.07107325] [ 0.02771896 0.99957121 -0.00943724 0.42919876] [ 0.12318054 0.00595332 0.99236642 -0.31935336] [ 0. 0. 0. 1. ]] SLAMing on 22.758001144999994 meters Centerline goodness [0,1] 0.8800069814119906 Centerline is valid? [False, False] Translation: X:2.07, Y:0.43, Z:-0.32 [[ 0.99202883 -0.02898515 -0.12263219 2.0701104 ] [ 0.02804625 0.99956265 -0.00937589 0.42844111] [ 0.12285032 0.00586178 0.9924079 -0.31952355] [ 0. 0. 0. 1. ]] SLAMing on 22.788001144999996 meters Centerline goodness [0,1] 0.8701140772482483 Centerline is valid? [False, False] Translation: X:2.07, Y:0.43, Z:-0.32 [[ 0.99207501 -0.02952259 -0.1221294 2.06841205] [ 0.02858748 0.99954707 -0.00940223 0.42615684] [ 0.12235166 0.00583634 0.99246965 -0.31929309] [ 0. 0. 0. 1. ]] SLAMing on 22.818001144999997 meters Centerline goodness [0,1] 0.86903485643091 Centerline is valid? [False, False] Translation: X:2.07, Y:0.43, Z:-0.32 [[ 0.99209287 -0.02962983 -0.12195822 2.06778158] [ 0.02870211 0.99954421 -0.00935702 0.42548049] [ 0.12217988 0.00578258 0.99249113 -0.3191373 ] [ 0. 0. 0. 1. ]] SLAMing on 22.848001144999994 meters Centerline goodness [0,1] 0.8676977437947113 Centerline is valid? [False, False] Translation: X:2.07, Y:0.43, Z:-0.32 [[ 0.9921012 -0.02976109 -0.12185843 2.06732245] [ 0.02882863 0.99954009 -0.00940838 0.42502427] [ 0.12208239 0.00582105 0.9925029 -0.31889626] [ 0. 0. 0. 1. ]] SLAMing on 22.878001144999995 meters Centerline goodness [0,1] 0.8673472347089701 Centerline is valid? [False, False] Translation: X:2.07, Y:0.42, Z:-0.32 [[ 9.92234854e-01 -2.49338442e-02 -1.21853591e-01 2.06778867e+00] [ 2.45558664e-02 9.99687863e-01 -4.60285880e-03 4.23677508e-01] [ 1.21930323e-01 1.57489642e-03 9.92537413e-01 -3.20247105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.908001144999997 meters Centerline goodness [0,1] 0.873071773677164 Centerline is valid? [False, False] Translation: X:2.07, Y:0.42, Z:-0.32 [[ 9.92369340e-01 -2.05472781e-02 -1.21576737e-01 2.06724002e+00] [ 2.06929271e-02 9.99785876e-01 -6.45847998e-05 4.22279764e-01] [ 1.21552032e-01 -2.45168658e-03 9.92582033e-01 -3.21304498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.938001144999998 meters Centerline goodness [0,1] 0.874035465742655 Centerline is valid? [False, False] Translation: X:2.07, Y:0.42, Z:-0.32 [[ 9.92295415e-01 -1.98847840e-02 -1.22288207e-01 2.06927243e+00] [ 1.99511740e-02 9.99800723e-01 -6.81692893e-04 4.24657669e-01] [ 1.22277393e-01 -1.76335256e-03 9.92494398e-01 -3.20262123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.968001144999995 meters Centerline goodness [0,1] 0.8811722082627242 Centerline is valid? [False, False] Translation: X:2.07, Y:0.43, Z:-0.32 [[ 9.92264117e-01 -1.97254249e-02 -1.22567655e-01 2.06973813e+00] [ 1.97318158e-02 9.99804634e-01 -1.16179435e-03 4.26107984e-01] [ 1.22566627e-01 -1.26567555e-03 9.92459480e-01 -3.19322229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.998001144999996 meters Centerline goodness [0,1] 0.8842486986020939 Centerline is valid? [False, False] Translation: X:2.07, Y:0.42, Z:-0.32 [[ 0.99233074 -0.01437095 -0.12277288 2.0712464 ] [ 0.01497898 0.99987968 0.00403087 0.42356667] [ 0.12270018 -0.00583897 0.99242661 -0.32094579] [ 0. 0. 0. 1. ]] SLAMing on 23.028001144999998 meters Centerline goodness [0,1] 0.8831267762444699 Centerline is valid? [False, False] Translation: X:2.07, Y:0.42, Z:-0.32 [[ 0.99226967 -0.01347016 -0.12336716 2.07367556] [ 0.0140811 0.99989253 0.00408157 0.42416405] [ 0.12329892 -0.00578716 0.9923527 -0.32107596] [ 0. 0. 0. 1. ]] SLAMing on 23.058001144999995 meters Centerline goodness [0,1] 0.8793866721393181 Centerline is valid? [False, False] Translation: X:2.08, Y:0.42, Z:-0.32 [[ 0.99221219 -0.01247556 -0.12393275 2.07624557] [ 0.0131033 0.99990511 0.00425132 0.42452229] [ 0.12386795 -0.00584214 0.99228151 -0.32147015] [ 0. 0. 0. 1. ]] SLAMing on 23.088001144999996 meters Centerline goodness [0,1] 0.8545263034700685 Centerline is valid? [False, False] Translation: X:2.08, Y:0.42, Z:-0.32 [[ 0.99220345 -0.00601398 -0.12448348 2.08017934] [ 0.00732887 0.99992206 0.01010753 0.42063836] [ 0.12441299 -0.01094105 0.9921702 -0.32409223] [ 0. 0. 0. 1. ]] SLAMing on 23.118001144999997 meters Centerline goodness [0,1] 0.8548679819682689 Centerline is valid? [False, False] Translation: X:2.08, Y:0.42, Z:-0.32 [[ 0.99211658 -0.00494848 -0.12522062 2.08280255] [ 0.00623169 0.99993199 0.00985794 0.42213512] [ 0.12516332 -0.01056056 0.99207995 -0.32350033] [ 0. 0. 0. 1. ]] SLAMing on 23.148001144999995 meters Centerline goodness [0,1] 0.8382115964958542 Centerline is valid? [False, False] Translation: X:2.08, Y:0.42, Z:-0.32 [[ 0.99203997 -0.00409481 -0.12585677 2.08480324] [ 0.00533914 0.99994013 0.00955114 0.4236703 ] [ 0.12581013 -0.01014708 0.99200244 -0.32269196] [ 0. 0. 0. 1. ]] SLAMing on 23.178001144999996 meters Centerline goodness [0,1] 0.8151640668605505 Centerline is valid? [False, False] Translation: X:2.09, Y:0.43, Z:-0.32 [[ 0.99196543 -0.00296093 -0.1264746 2.087161 ] [ 0.00417964 0.99994735 0.0093717 0.42564298] [ 0.12644019 -0.00982502 0.99192557 -0.3221364 ] [ 0. 0. 0. 1. ]] SLAMing on 23.208001144999997 meters Centerline goodness [0,1] 0.7830260685767967 Centerline is valid? [False, False] Translation: X:2.09, Y:0.42, Z:-0.32 [[ 9.91916501e-01 2.72551774e-03 -1.26863020e-01 2.08926147e+00] [-9.61944094e-04 9.99902083e-01 1.39605903e-02 4.24834130e-01] [ 1.26888648e-01 -1.37257047e-02 9.91821998e-01 -3.22616013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.238001144999995 meters Centerline goodness [0,1] 0.7768017157798865 Centerline is valid? [False, False] Translation: X:2.09, Y:0.43, Z:-0.32 [[ 9.91845679e-01 3.29855121e-03 -1.27401994e-01 2.09087489e+00] [-1.55731551e-03 9.99904053e-01 1.37644475e-02 4.25475727e-01] [ 1.27435173e-01 -1.34538027e-02 9.91755651e-01 -3.22104410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.268001144999996 meters Centerline goodness [0,1] 0.7648510488277807 Centerline is valid? [False, False] Translation: X:2.09, Y:0.43, Z:-0.32 [[ 0.99178001 0.00396307 -0.12789333 2.09284384] [-0.00219671 0.99990029 0.01394924 0.42535967] [ 0.12793586 -0.01355363 0.99168983 -0.32239795] [ 0. 0. 0. 1. ]] SLAMing on 23.298001144999997 meters Centerline goodness [0,1] 0.7604050810747527 Centerline is valid? [False, False] Translation: X:2.10, Y:0.43, Z:-0.32 [[ 9.91770904e-01 1.44789175e-03 -1.28017102e-01 2.09501997e+00] [-1.60956828e-04 9.99949358e-01 1.00626097e-02 4.27202322e-01] [ 1.28025189e-01 -9.95919828e-03 9.91720911e-01 -3.21895137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.328001144999995 meters Centerline goodness [0,1] 0.7580768103195543 Centerline is valid? [False, False] Translation: X:2.09, Y:0.43, Z:-0.32 [[ 9.91773711e-01 9.92019695e-04 -1.27999697e-01 2.09409253e+00] [ 2.25377124e-04 9.99954886e-01 9.49610099e-03 4.27612961e-01] [ 1.28003342e-01 -9.44683152e-03 9.91728744e-01 -3.20780763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.358001144999996 meters Centerline goodness [0,1] 0.7637146876098934 Centerline is valid? [False, False] Translation: X:2.09, Y:0.43, Z:-0.32 [[ 9.91784428e-01 5.22350886e-04 -1.27919410e-01 2.09305487e+00] [ 6.40210386e-04 9.99958871e-01 9.04694679e-03 4.27822921e-01] [ 1.27918874e-01 -9.05451628e-03 9.91743302e-01 -3.19834451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.388001144999997 meters Centerline goodness [0,1] 0.8091073935423491 Centerline is valid? [False, False] Translation: X:2.09, Y:0.43, Z:-0.32 [[ 0.99173989 -0.004284 -0.12819371 2.09314102] [ 0.00486994 0.99997908 0.00425765 0.42881064] [ 0.12817279 -0.00484677 0.99174001 -0.3185957 ] [ 0. 0. 0. 1. ]] SLAMing on 23.418001144999995 meters Centerline goodness [0,1] 0.7747166062872501 Centerline is valid? [False, False] Translation: X:2.09, Y:0.43, Z:-0.32 [[ 9.91652915e-01 -8.68611927e-03 -1.28643103e-01 2.09415872e+00] [ 8.71617405e-03 9.99961959e-01 -3.29356523e-04 4.30172109e-01] [ 1.28641070e-01 -7.94668321e-04 9.91690901e-01 -3.17653866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.448001144999996 meters Centerline goodness [0,1] 0.8279266161910308 Centerline is valid? [False, False] Translation: X:2.09, Y:0.43, Z:-0.32 [[ 0.99157268 -0.01353034 -0.12884316 2.09403136] [ 0.01295053 0.9999019 -0.00533687 0.43229731] [ 0.12890273 0.0036233 0.99165062 -0.3160704 ] [ 0. 0. 0. 1. ]] SLAMing on 23.478001144999997 meters Centerline goodness [0,1] 0.8673234428284123 Centerline is valid? [False, False] Translation: X:2.09, Y:0.43, Z:-0.31 [[ 0.99147847 -0.01927211 -0.1288372 2.09203533] [ 0.01804903 0.99978034 -0.01065416 0.43442348] [ 0.12901423 0.00823799 0.99160852 -0.31357334] [ 0. 0. 0. 1. ]] SLAMing on 23.508001144999994 meters Centerline goodness [0,1] 0.8745818911608155 Centerline is valid? [False, False] Translation: X:2.09, Y:0.43, Z:-0.31 [[ 0.99147858 -0.01976273 -0.12876206 2.09133605] [ 0.01854995 0.99977162 -0.01061133 0.43395495] [ 0.12894237 0.00813238 0.99161874 -0.31356635] [ 0. 0. 0. 1. ]] SLAMing on 23.538001144999996 meters Centerline goodness [0,1] 0.8845806507996621 Centerline is valid? [False, False] Translation: X:2.09, Y:0.43, Z:-0.31 [[ 0.99151604 -0.02061882 -0.12833867 2.08959486] [ 0.01941443 0.99975503 -0.01062858 0.43321004] [ 0.12852638 0.00804678 0.99167344 -0.31368978] [ 0. 0. 0. 1. ]] SLAMing on 23.568001144999997 meters Centerline goodness [0,1] 0.887240356083086 Centerline is valid? [False, False] Translation: X:2.09, Y:0.43, Z:-0.31 [[ 0.99153816 -0.02122937 -0.12806789 2.08891106] [ 0.02007705 0.99974556 -0.01028214 0.43159848] [ 0.12825359 0.00762391 0.9917121 -0.3146908 ] [ 0. 0. 0. 1. ]] SLAMing on 23.598001144999994 meters Centerline goodness [0,1] 0.8916203381978226 Centerline is valid? [False, False] Translation: X:2.10, Y:0.43, Z:-0.32 [[ 0.99206371 -0.02827148 -0.12251659 2.10218376] [ 0.02777165 0.99959755 -0.00578583 0.43082366] [ 0.12263085 0.00233743 0.9924496 -0.31946471] [ 0. 0. 0. 1. ]] SLAMing on 23.628001144999995 meters Centerline goodness [0,1] 0.8893678576594821 Centerline is valid? [False, False] Translation: X:2.10, Y:0.43, Z:-0.32 [[ 0.99210325 -0.02953212 -0.12189747 2.09965893] [ 0.0289955 0.99956047 -0.00617413 0.42998621] [ 0.12202623 0.0025909 0.99252349 -0.31920604] [ 0. 0. 0. 1. ]] SLAMing on 23.658001144999997 meters Centerline goodness [0,1] 0.8861351819757366 Centerline is valid? [False, False] Translation: X:2.11, Y:0.43, Z:-0.32 [[ 9.92549819e-01 -3.52337495e-02 -1.16633782e-01 2.11413217e+00] [ 3.52911609e-02 9.99375834e-01 -1.57349296e-03 4.28812113e-01] [ 1.16616424e-01 -2.55437143e-03 9.93173744e-01 -3.22241618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.688001144999998 meters Centerline goodness [0,1] 0.8804488936329804 Centerline is valid? [False, False] Translation: X:2.11, Y:0.43, Z:-0.32 [[ 9.92376113e-01 -4.08842169e-02 -1.16267497e-01 2.11177628e+00] [ 4.03708973e-02 9.99161845e-01 -6.76745859e-03 4.30039960e-01] [ 1.16446729e-01 2.02204109e-03 9.93194881e-01 -3.20053342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.718001144999995 meters Centerline goodness [0,1] 0.8750574184657786 Centerline is valid? [False, False] Translation: X:2.12, Y:0.43, Z:-0.32 [[ 0.99267643 -0.04877172 -0.11052073 2.12232666] [ 0.04877422 0.99880623 -0.00268258 0.42877867] [ 0.11051963 -0.00272763 0.9938702 -0.32227954] [ 0. 0. 0. 1. ]] SLAMing on 23.748001144999996 meters Centerline goodness [0,1] 0.8674148319483709 Centerline is valid? [False, False] Translation: X:2.12, Y:0.43, Z:-0.32 [[ 9.92411905e-01 -5.37452101e-02 -1.10589612e-01 2.12198741e+00] [ 5.32273519e-02 9.98553256e-01 -7.63179139e-03 4.30648004e-01] [ 1.10839789e-01 1.68748846e-03 9.93836855e-01 -3.20692575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.778001144999998 meters Centerline goodness [0,1] 0.8674148319483709 Centerline is valid? [False, False] Translation: X:2.12, Y:0.43, Z:-0.32 [[ 9.92411905e-01 -5.37452101e-02 -1.10589612e-01 2.12198741e+00] [ 5.32273519e-02 9.98553256e-01 -7.63179139e-03 4.30648004e-01] [ 1.10839789e-01 1.68748846e-03 9.93836855e-01 -3.20692575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.808001144999995 meters Centerline goodness [0,1] 0.8642947103274559 Centerline is valid? [False, False] Translation: X:2.12, Y:0.43, Z:-0.32 [[ 9.92418634e-01 -5.45780407e-02 -1.10120352e-01 2.12030088e+00] [ 5.40947718e-02 9.98508581e-01 -7.37358997e-03 4.28730439e-01] [ 1.10358553e-01 1.36075275e-03 9.93890909e-01 -3.21163847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.838001144999996 meters Centerline goodness [0,1] 0.863932366045927 Centerline is valid? [False, False] Translation: X:2.12, Y:0.43, Z:-0.32 [[ 9.92417813e-01 -5.47554236e-02 -1.10039669e-01 2.11985116e+00] [ 5.43030309e-02 9.98499216e-01 -7.10609551e-03 4.27487806e-01] [ 1.10263621e-01 1.07672820e-03 9.93901793e-01 -3.21232828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.868001144999997 meters Centerline goodness [0,1] 0.8715307582260372 Centerline is valid? [False, False] Translation: X:2.12, Y:0.43, Z:-0.32 [[ 9.92389163e-01 -5.39129892e-02 -1.10711966e-01 2.12239979e+00] [ 5.34704633e-02 9.98545145e-01 -6.96442600e-03 4.29360173e-01] [ 1.10926369e-01 9.91600786e-04 9.93828133e-01 -3.21711360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.898001144999995 meters Centerline goodness [0,1] 0.8685264663805436 Centerline is valid? [False, False] Translation: X:2.12, Y:0.43, Z:-0.32 [[ 9.92367960e-01 -5.34994575e-02 -1.11101931e-01 2.12396799e+00] [ 5.30477105e-02 9.98567302e-01 -7.02022628e-03 4.30391943e-01] [ 1.11318334e-01 1.07294456e-03 9.93784221e-01 -3.22001829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.928001144999996 meters Centerline goodness [0,1] 0.8735401877719258 Centerline is valid? [False, False] Translation: X:2.12, Y:0.43, Z:-0.32 [[ 9.92377371e-01 -5.34132004e-02 -1.11059373e-01 2.12421258e+00] [ 5.30088680e-02 9.98572281e-01 -6.59233297e-03 4.29110481e-01] [ 1.11252929e-01 6.54950432e-04 9.93791908e-01 -3.22651253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.958001144999997 meters Centerline goodness [0,1] 0.8775854670290373 Centerline is valid? [False, False] Translation: X:2.13, Y:0.43, Z:-0.32 [[ 9.92377622e-01 -5.25653030e-02 -1.11460955e-01 2.12656594e+00] [ 5.22508626e-02 9.98617481e-01 -5.74231288e-03 4.27307816e-01] [ 1.11608704e-01 -1.25388225e-04 9.93752223e-01 -3.24187400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.988001144999995 meters Centerline goodness [0,1] 0.875535867390683 Centerline is valid? [False, False] Translation: X:2.13, Y:0.43, Z:-0.32 [[ 9.92380958e-01 -5.23054687e-02 -1.11553450e-01 2.12736118e+00] [ 5.20339078e-02 9.98631007e-01 -5.34634938e-03 4.25975878e-01] [ 1.11680378e-01 -4.98946618e-04 9.93744054e-01 -3.24844813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.018001144999996 meters Centerline goodness [0,1] 0.8730339965175692 Centerline is valid? [False, False] Translation: X:2.13, Y:0.43, Z:-0.33 [[ 9.92377990e-01 -5.19732844e-02 -1.11734963e-01 2.12846046e+00] [ 5.17388346e-02 9.98648139e-01 -4.99882096e-03 4.25586985e-01] [ 1.11843718e-01 -8.20316865e-04 9.93725470e-01 -3.25619666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.048001144999997 meters Centerline goodness [0,1] 0.8746243022756548 Centerline is valid? [False, False] Translation: X:2.13, Y:0.43, Z:-0.33 [[ 9.92344557e-01 -5.16969845e-02 -1.12159268e-01 2.12956219e+00] [ 5.14327841e-02 9.98662660e-01 -5.24971974e-03 4.26667931e-01] [ 1.12280668e-01 -5.59132603e-04 9.93676375e-01 -3.25186882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.078001144999995 meters Centerline goodness [0,1] 0.8759736540664376 Centerline is valid? [False, False] Translation: X:2.13, Y:0.43, Z:-0.32 [[ 9.92318556e-01 -5.22463355e-02 -1.12134758e-01 2.12806027e+00] [ 5.18588350e-02 9.98634099e-01 -6.37169049e-03 4.28471209e-01] [ 1.12314490e-01 5.07568813e-04 9.93672581e-01 -3.22822947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.108001144999996 meters Centerline goodness [0,1] 0.8786072503223957 Centerline is valid? [False, False] Translation: X:2.13, Y:0.43, Z:-0.32 [[ 9.92298079e-01 -5.20251343e-02 -1.12418446e-01 2.12875704e+00] [ 5.16126393e-02 9.98645512e-01 -6.57849391e-03 4.29260805e-01] [ 1.12608424e-01 7.25614162e-04 9.93639178e-01 -3.22410857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.138001144999997 meters Centerline goodness [0,1] 0.8804020964000343 Centerline is valid? [False, False] Translation: X:2.13, Y:0.43, Z:-0.32 [[ 9.92290380e-01 -5.17715675e-02 -1.12603318e-01 2.12967585e+00] [ 5.13686379e-02 9.98658745e-01 -6.47870330e-03 4.29240031e-01] [ 1.12787700e-01 6.44475908e-04 9.93618900e-01 -3.22784930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.168001144999995 meters Centerline goodness [0,1] 0.8783868935097668 Centerline is valid? [False, False] Translation: X:2.13, Y:0.43, Z:-0.32 [[ 9.92291080e-01 -5.15931325e-02 -1.12679018e-01 2.13029122e+00] [ 5.12192395e-02 9.98668110e-01 -6.21252831e-03 4.28271299e-01] [ 1.12849466e-01 3.93302807e-04 9.93612019e-01 -3.23277084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.198001144999996 meters Centerline goodness [0,1] 0.8819827808129058 Centerline is valid? [False, False] Translation: X:2.13, Y:0.43, Z:-0.32 [[ 9.92286312e-01 -5.12814726e-02 -1.12863124e-01 2.13115596e+00] [ 5.09067414e-02 9.98684156e-01 -6.20159580e-03 4.28588976e-01] [ 1.13032641e-01 4.08264764e-04 9.93591191e-01 -3.23457785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.228001144999997 meters Centerline goodness [0,1] 0.8817512392195066 Centerline is valid? [False, False] Translation: X:2.13, Y:0.43, Z:-0.32 [[ 9.92255024e-01 -5.11073618e-02 -1.13216630e-01 2.13178099e+00] [ 5.06954486e-02 9.98692901e-01 -6.51623293e-03 4.29381178e-01] [ 1.13401672e-01 7.26197027e-04 9.93548959e-01 -3.22687056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.258001144999994 meters Centerline goodness [0,1] 0.888382361373932 Centerline is valid? [False, False] Translation: X:2.13, Y:0.43, Z:-0.32 [[ 9.92221594e-01 -5.09052879e-02 -1.13599997e-01 2.13269583e+00] [ 5.04520492e-02 9.98702903e-01 -6.86308172e-03 4.30849725e-01] [ 1.13802014e-01 1.07834523e-03 9.93502863e-01 -3.22192985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.288001144999996 meters Centerline goodness [0,1] 0.8884513681306048 Centerline is valid? [False, False] Translation: X:2.13, Y:0.43, Z:-0.32 [[ 9.92182795e-01 -5.07904483e-02 -1.13989613e-01 2.13363440e+00] [ 5.03242296e-02 9.98708641e-01 -6.96576506e-03 4.31862352e-01] [ 1.14196206e-01 1.17487281e-03 9.93457521e-01 -3.22103273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.318001144999997 meters Centerline goodness [0,1] 0.89339693121085 Centerline is valid? [False, False] Translation: X:2.13, Y:0.43, Z:-0.32 [[ 9.92166427e-01 -5.05545141e-02 -1.14236694e-01 2.13482508e+00] [ 5.01108965e-02 9.98720826e-01 -6.75349483e-03 4.31959337e-01] [ 1.14431985e-01 9.76087687e-04 9.93430606e-01 -3.22798782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.348001144999994 meters Centerline goodness [0,1] 0.8905665803853897 Centerline is valid? [False, False] Translation: X:2.14, Y:0.43, Z:-0.32 [[ 9.92159541e-01 -5.04039469e-02 -1.14362967e-01 2.13574595e+00] [ 5.00108846e-02 9.98728769e-01 -6.30532424e-03 4.30972440e-01] [ 1.14535399e-01 5.36494458e-04 9.93419023e-01 -3.23800721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.378001144999995 meters Centerline goodness [0,1] 0.8908939158464284 Centerline is valid? [False, False] Translation: X:2.14, Y:0.43, Z:-0.33 [[ 9.92141474e-01 -5.02100308e-02 -1.14604752e-01 2.13708426e+00] [ 4.98748223e-02 9.98738680e-01 -5.79225748e-03 4.29927750e-01] [ 1.14751028e-01 3.08472247e-05 9.93394283e-01 -3.25026180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.408001144999997 meters Centerline goodness [0,1] 0.8887043664996421 Centerline is valid? [False, False] Translation: X:2.14, Y:0.43, Z:-0.33 [[ 0.99187915 -0.0540346 -0.1151348 2.13983063] [ 0.05329618 0.99853371 -0.00948458 0.42969789] [ 0.11547848 0.00327131 0.9933046 -0.32576792] [ 0. 0. 0. 1. ]] SLAMing on 24.438001144999994 meters Centerline goodness [0,1] 0.8845121115173674 Centerline is valid? [False, False] Translation: X:2.14, Y:0.43, Z:-0.33 [[ 0.99188595 -0.05420724 -0.11499496 2.13957646] [ 0.05349483 0.99852506 -0.00927444 0.42835452] [ 0.11532809 0.00304755 0.99332278 -0.32615455] [ 0. 0. 0. 1. ]] SLAMing on 24.468001144999995 meters Centerline goodness [0,1] 0.8857330628339573 Centerline is valid? [False, False] Translation: X:2.14, Y:0.43, Z:-0.33 [[ 0.99189348 -0.05448319 -0.11479942 2.13882295] [ 0.05376185 0.9985098 -0.0093726 0.42795815] [ 0.115139 0.00312479 0.99334448 -0.32597967] [ 0. 0. 0. 1. ]] SLAMing on 24.498001144999996 meters Centerline goodness [0,1] 0.882128193430657 Centerline is valid? [False, False] Translation: X:2.14, Y:0.43, Z:-0.33 [[ 0.9918839 -0.0547929 -0.11473475 2.13806491] [ 0.0540283 0.99849165 -0.0097656 0.42840412] [ 0.11509678 0.00348742 0.99334816 -0.32516747] [ 0. 0. 0. 1. ]] SLAMing on 24.528001144999998 meters Centerline goodness [0,1] 0.8824788764558118 Centerline is valid? [False, False] Translation: X:2.14, Y:0.43, Z:-0.32 [[ 0.9918491 -0.05592355 -0.11448983 2.13510519] [ 0.05497599 0.99842237 -0.01141968 0.43045416] [ 0.11494783 0.00503241 0.99335878 -0.3217067 ] [ 0. 0. 0. 1. ]] SLAMing on 24.558001144999995 meters Centerline goodness [0,1] 0.8855895943864454 Centerline is valid? [False, False] Translation: X:2.13, Y:0.43, Z:-0.32 [[ 0.99181236 -0.05630802 -0.11461961 2.13430974] [ 0.05528526 0.99839746 -0.01208506 0.43133319] [ 0.11511641 0.00564934 0.99333594 -0.32010432] [ 0. 0. 0. 1. ]] SLAMing on 24.588001144999996 meters Centerline goodness [0,1] 0.8850377487989018 Centerline is valid? [False, False] Translation: X:2.13, Y:0.43, Z:-0.32 [[ 0.99180372 -0.05698724 -0.11435838 2.13268485] [ 0.05592839 0.99835717 -0.01244891 0.43146731] [ 0.11487994 0.00595099 0.99336156 -0.31929572] [ 0. 0. 0. 1. ]] SLAMing on 24.618001144999997 meters Centerline goodness [0,1] 0.8868430818417973 Centerline is valid? [False, False] Translation: X:2.13, Y:0.43, Z:-0.32 [[ 0.99181141 -0.05674714 -0.11441108 2.13338178] [ 0.05576875 0.99837473 -0.01173691 0.43006221] [ 0.11489117 0.00526024 0.99336416 -0.32039367] [ 0. 0. 0. 1. ]] SLAMing on 24.648001144999995 meters Centerline goodness [0,1] 0.8868021463637401 Centerline is valid? [False, False] Translation: X:2.13, Y:0.43, Z:-0.32 [[ 0.99180898 -0.05641805 -0.11459472 2.13465858] [ 0.0555103 0.99839642 -0.01109964 0.42914121] [ 0.11503717 0.00464753 0.99335032 -0.321698 ] [ 0. 0. 0. 1. ]] SLAMing on 24.678001144999996 meters Centerline goodness [0,1] 0.8840191496637411 Centerline is valid? [False, False] Translation: X:2.14, Y:0.43, Z:-0.32 [[ 0.99181578 -0.05640632 -0.1145416 2.1350739 ] [ 0.05556869 0.9983997 -0.01049532 0.42778378] [ 0.1149503 0.0040445 0.99336301 -0.32290901] [ 0. 0. 0. 1. ]] SLAMing on 24.708001144999997 meters Centerline goodness [0,1] 0.8877165040812264 Centerline is valid? [False, False] Translation: X:2.14, Y:0.43, Z:-0.32 [[ 0.99181151 -0.05606063 -0.11474813 2.13652187] [ 0.05531181 0.99842199 -0.00970185 0.42682999] [ 0.11511095 0.00327548 0.99334724 -0.32448802] [ 0. 0. 0. 1. ]] SLAMing on 24.738001144999995 meters Centerline goodness [0,1] 0.8847472150814053 Centerline is valid? [False, False] Translation: X:2.14, Y:0.43, Z:-0.32 [[ 0.99179724 -0.05648278 -0.11466444 2.13608888] [ 0.05575883 0.99839894 -0.00951385 0.42654573] [ 0.11501822 0.00304226 0.99335872 -0.32498265] [ 0. 0. 0. 1. ]] SLAMing on 24.768001144999996 meters Centerline goodness [0,1] 0.8856148558062584 Centerline is valid? [False, False] Translation: X:2.14, Y:0.43, Z:-0.32 [[ 0.99180314 -0.05669924 -0.11450648 2.13545753] [ 0.05598224 0.99838685 -0.00947033 0.42605971] [ 0.11485872 0.00298237 0.99337736 -0.32489366] [ 0. 0. 0. 1. ]] SLAMing on 24.798001144999997 meters Centerline goodness [0,1] 0.8859852054951018 Centerline is valid? [False, False] Translation: X:2.14, Y:0.43, Z:-0.32 [[ 0.99181031 -0.05681795 -0.11438545 2.13502115] [ 0.05609634 0.99837997 -0.00952024 0.42559214] [ 0.11474106 0.00302567 0.99339083 -0.32470347] [ 0. 0. 0. 1. ]] SLAMing on 24.828001144999995 meters Centerline goodness [0,1] 0.883795187592656 Centerline is valid? [False, False] Translation: X:2.13, Y:0.42, Z:-0.32 [[ 0.99182546 -0.05683965 -0.11424323 2.13453587] [ 0.05610985 0.99837848 -0.00959628 0.42474249] [ 0.11460343 0.00310767 0.99340646 -0.32428756] [ 0. 0. 0. 1. ]] SLAMing on 24.858001144999996 meters Centerline goodness [0,1] 0.8832702541191201 Centerline is valid? [False, False] Translation: X:2.13, Y:0.42, Z:-0.32 [[ 0.9918241 -0.05682056 -0.11426454 2.13455814] [ 0.05608273 0.99837935 -0.00966418 0.42486503] [ 0.11462848 0.0031769 0.99340335 -0.32415109] [ 0. 0. 0. 1. ]] SLAMing on 24.888001144999997 meters Centerline goodness [0,1] 0.8823596401321034 Centerline is valid? [False, False] Translation: X:2.13, Y:0.42, Z:-0.32 [[ 0.99181405 -0.05680767 -0.11435813 2.13450291] [ 0.05605013 0.99837955 -0.00983152 0.42492829] [ 0.11473132 0.00334125 0.99339094 -0.3235967 ] [ 0. 0. 0. 1. ]] SLAMing on 24.918001144999995 meters Centerline goodness [0,1] 0.8810635390571624 Centerline is valid? [False, False] Translation: X:2.13, Y:0.43, Z:-0.32 [[ 0.99180046 -0.05682184 -0.1144689 2.13435499] [ 0.05600746 0.99837701 -0.01032068 0.42583507] [ 0.11486955 0.00382494 0.99337322 -0.32253651] [ 0. 0. 0. 1. ]] SLAMing on 24.948001144999996 meters Centerline goodness [0,1] 0.8828296039350602 Centerline is valid? [False, False] Translation: X:2.13, Y:0.43, Z:-0.32 [[ 0.99179558 -0.05674236 -0.1145506 2.1341605 ] [ 0.0558506 0.99837874 -0.01098201 0.4277334 ] [ 0.11498803 0.00449419 0.99335671 -0.32124527] [ 0. 0. 0. 1. ]] SLAMing on 24.978001144999997 meters Centerline goodness [0,1] 0.8820259947554441 Centerline is valid? [False, False] Translation: X:2.14, Y:0.43, Z:-0.32 [[ 0.99177592 -0.05626249 -0.11495679 2.13554753] [ 0.05537299 0.99840603 -0.01091901 0.42860799] [ 0.11538788 0.00446371 0.99331048 -0.32135077] [ 0. 0. 0. 1. ]] SLAMing on 25.008001144999994 meters Centerline goodness [0,1] 0.8814905488499203 Centerline is valid? [False, False] Translation: X:2.14, Y:0.43, Z:-0.32 [[ 0.99176639 -0.05595935 -0.11518672 2.13643789] [ 0.05510019 0.99842422 -0.01063195 0.42840588] [ 0.11560017 0.0041976 0.99328696 -0.32174061] [ 0. 0. 0. 1. ]] SLAMing on 25.038001144999996 meters Centerline goodness [0,1] 0.8815481958615972 Centerline is valid? [False, False] Translation: X:2.14, Y:0.43, Z:-0.32 [[ 0.99175472 -0.05507066 -0.11571426 2.13905167] [ 0.05428673 0.99847613 -0.00991772 0.42763065] [ 0.1160841 0.0035542 0.99323303 -0.32310656] [ 0. 0. 0. 1. ]] SLAMing on 25.068001144999997 meters Centerline goodness [0,1] 0.8875135165898356 Centerline is valid? [False, False] Translation: X:2.14, Y:0.43, Z:-0.32 [[ 0.99173635 -0.05452236 -0.11613063 2.14075836] [ 0.05377901 0.99850741 -0.00952702 0.42733605] [ 0.11647673 0.0032029 0.99318826 -0.32373943] [ 0. 0. 0. 1. ]] SLAMing on 25.098001144999994 meters Centerline goodness [0,1] 0.8889808262953663 Centerline is valid? [False, False] Translation: X:2.14, Y:0.43, Z:-0.32 [[ 0.99171287 -0.05386897 -0.11663494 2.14294227] [ 0.05317833 0.99854423 -0.00902748 0.42715508] [ 0.11695144 0.00275022 0.99313383 -0.32472675] [ 0. 0. 0. 1. ]] SLAMing on 25.128001144999995 meters Centerline goodness [0,1] 0.8884487131986205 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:-0.33 [[ 0.99168268 -0.05315673 -0.11721696 2.1454176 ] [ 0.05253493 0.99858384 -0.00839013 0.42647385] [ 0.11749696 0.00216236 0.99307089 -0.32591014] [ 0. 0. 0. 1. ]] SLAMing on 25.158001144999997 meters Centerline goodness [0,1] 0.8948225612892166 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:-0.33 [[ 9.91641185e-01 -5.20483699e-02 -1.18062386e-01 2.14889472e+00] [ 5.14905829e-02 9.98643238e-01 -7.77190875e-03 4.26927335e-01] [ 1.18306719e-01 1.62784373e-03 9.92975765e-01 -3.27159123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.188001144999994 meters Centerline goodness [0,1] 0.8934524489096929 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:-0.33 [[ 9.91623450e-01 -5.17582154e-02 -1.18338586e-01 2.14981024e+00] [ 5.11946175e-02 9.98658239e-01 -7.79952728e-03 4.27409971e-01] [ 1.18583493e-01 1.67589553e-03 9.92942670e-01 -3.27093998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.218001144999995 meters Centerline goodness [0,1] 0.8947893791175884 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:-0.33 [[ 9.91600535e-01 -5.16105710e-02 -1.18594809e-01 2.15020862e+00] [ 5.09947384e-02 9.98665064e-01 -8.22349904e-03 4.28382146e-01] [ 1.18860912e-01 2.10671480e-03 9.92908679e-01 -3.26185811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.248001144999996 meters Centerline goodness [0,1] 0.8985950082814552 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:-0.32 [[ 0.99158893 -0.05175966 -0.11862682 2.14965455] [ 0.05106751 0.99865582 -0.00886908 0.42943919] [ 0.11892642 0.0027365 0.9928993 -0.32486741] [ 0. 0. 0. 1. ]] SLAMing on 25.278001144999994 meters Centerline goodness [0,1] 0.8910606577899169 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:-0.32 [[ 0.99158768 -0.05181119 -0.11861479 2.14872033] [ 0.0510107 0.99865025 -0.00977683 0.42993524] [ 0.11896124 0.00364396 0.99289221 -0.32250058] [ 0. 0. 0. 1. ]] SLAMing on 25.308001144999995 meters Centerline goodness [0,1] 0.8927037397629002 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:-0.32 [[ 0.99157786 -0.05162064 -0.11877988 2.14915618] [ 0.05080529 0.99865966 -0.00988424 0.43032681] [ 0.1191309 0.00376635 0.99287141 -0.32218901] [ 0. 0. 0. 1. ]] SLAMing on 25.338001144999996 meters Centerline goodness [0,1] 0.8986811926605505 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:-0.32 [[ 0.99155476 -0.05156998 -0.11899449 2.14933502] [ 0.05069242 0.99866025 -0.01039188 0.43174558] [ 0.11937097 0.004272 0.99284053 -0.32120179] [ 0. 0. 0. 1. ]] SLAMing on 25.368001144999997 meters Centerline goodness [0,1] 0.8980053877457442 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:-0.32 [[ 0.99154223 -0.05137154 -0.11918459 2.14987131] [ 0.05050474 0.99867087 -0.01028382 0.43157339] [ 0.11955448 0.00417746 0.99281885 -0.32117661] [ 0. 0. 0. 1. ]] SLAMing on 25.398001144999995 meters Centerline goodness [0,1] 0.898701820897237 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:-0.32 [[ 0.99154148 -0.05092004 -0.11938443 2.15112399] [ 0.0500937 0.99869531 -0.00991435 0.43121296] [ 0.11973351 0.00385009 0.9927986 -0.32195208] [ 0. 0. 0. 1. ]] SLAMing on 25.428001144999996 meters Centerline goodness [0,1] 0.9039101020525169 Centerline is valid? [False, False] Translation: X:2.15, Y:0.43, Z:-0.32 [[ 0.99150898 -0.05029185 -0.11991941 2.1532103 ] [ 0.04950685 0.99872843 -0.00951815 0.43091837] [ 0.12024561 0.0035005 0.992738 -0.32265558] [ 0. 0. 0. 1. ]] SLAMing on 25.458001144999997 meters Centerline goodness [0,1] 0.9043735462194527 Centerline is valid? [False, False] Translation: X:2.16, Y:0.43, Z:-0.32 [[ 0.99149283 -0.04953195 -0.12036843 2.15511815] [ 0.04876556 0.9987669 -0.00930615 0.43164288] [ 0.12068096 0.00335715 0.99268567 -0.32301977] [ 0. 0. 0. 1. ]] SLAMing on 25.488001144999995 meters Centerline goodness [0,1] 0.9083278236122689 Centerline is valid? [False, False] Translation: X:2.16, Y:0.43, Z:-0.32 [[ 0.99145986 -0.04930489 -0.12073266 2.15575471] [ 0.04849676 0.99877697 -0.00962449 0.4329028 ] [ 0.12105953 0.00368715 0.9926384 -0.32218451] [ 0. 0. 0. 1. ]] SLAMing on 25.518001144999996 meters Centerline goodness [0,1] 0.9101868595539482 Centerline is valid? [False, False] Translation: X:2.16, Y:0.43, Z:-0.32 [[ 0.99142349 -0.0488927 -0.12119804 2.15684666] [ 0.04803878 0.99879582 -0.00995935 0.43406574] [ 0.12153904 0.00405173 0.99257838 -0.32131651] [ 0. 0. 0. 1. ]] SLAMing on 25.548001144999997 meters Centerline goodness [0,1] 0.9093680789254178 Centerline is valid? [False, False] Translation: X:2.16, Y:0.43, Z:-0.32 [[ 0.99140373 -0.048487 -0.12152228 2.15787139] [ 0.0476297 0.99881549 -0.00995131 0.43434773] [ 0.12186084 0.0040777 0.99253882 -0.32110504] [ 0. 0. 0. 1. ]] SLAMing on 25.578001144999995 meters Centerline goodness [0,1] 0.9107451341702176 Centerline is valid? [False, False] Translation: X:2.16, Y:0.43, Z:-0.32 [[ 0.99137974 -0.04693469 -0.12232474 2.1615674 ] [ 0.04614672 0.99889167 -0.00926832 0.43429924] [ 0.12262417 0.00354353 0.99244685 -0.32213511] [ 0. 0. 0. 1. ]] SLAMing on 25.608001144999996 meters Centerline goodness [0,1] 0.908434081750144 Centerline is valid? [False, False] Translation: X:2.16, Y:0.43, Z:-0.32 [[ 0.99136586 -0.04649519 -0.12260473 2.1627484 ] [ 0.04572634 0.99891275 -0.00907881 0.43407721] [ 0.12289355 0.00339416 0.99241405 -0.32240386] [ 0. 0. 0. 1. ]] SLAMing on 25.638001144999997 meters Centerline goodness [0,1] 0.9066847153019786 Centerline is valid? [False, False] Translation: X:2.16, Y:0.43, Z:-0.32 [[ 0.99132681 -0.04588041 -0.12315089 2.1645172 ] [ 0.04510263 0.99894093 -0.00909756 0.43476153] [ 0.12343786 0.00346422 0.99234626 -0.32225086] [ 0. 0. 0. 1. ]] SLAMing on 25.668001144999995 meters Centerline goodness [0,1] 0.9066847153019786 Centerline is valid? [False, False] Translation: X:2.16, Y:0.43, Z:-0.32 [[ 0.99132681 -0.04588041 -0.12315089 2.1645172 ] [ 0.04510263 0.99894093 -0.00909756 0.43476153] [ 0.12343786 0.00346422 0.99234626 -0.32225086] [ 0. 0. 0. 1. ]] SLAMing on 25.698001144999996 meters Centerline goodness [0,1] 0.9045860974906259 Centerline is valid? [False, False] Translation: X:2.17, Y:0.43, Z:-0.32 [[ 9.91493490e-01 -4.08852095e-02 -1.23568033e-01 2.16547510e+00] [ 4.06159148e-02 9.99163785e-01 -4.69867106e-03 4.33715498e-01] [ 1.23656810e-01 -3.60126944e-04 9.92324979e-01 -3.22483777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.728001144999997 meters Centerline goodness [0,1] 0.9015184256778171 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:-0.32 [[ 9.91462134e-01 -4.05393407e-02 -1.23933040e-01 2.16635874e+00] [ 4.02172625e-02 9.99177940e-01 -5.10051277e-03 4.35118769e-01] [ 1.24037931e-01 7.27176869e-05 9.92277475e-01 -3.21665154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.758001144999994 meters Centerline goodness [0,1] 0.9000375256184511 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:-0.32 [[ 9.91426145e-01 -4.01007139e-02 -1.24362902e-01 2.16744959e+00] [ 3.97210621e-02 9.99195494e-01 -5.53182001e-03 4.36424379e-01] [ 1.24484682e-01 5.44564425e-04 9.92221380e-01 -3.20729494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.788001144999996 meters Centerline goodness [0,1] 0.8941026532267409 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:-0.32 [[ 9.91403738e-01 -3.99435620e-02 -1.24591893e-01 2.16781930e+00] [ 3.94978955e-02 9.99201361e-01 -6.04614188e-03 4.37786411e-01] [ 1.24733894e-01 1.07305007e-03 9.92189651e-01 -3.19749750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.818001144999997 meters Centerline goodness [0,1] 0.8736738646546989 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:-0.32 [[ 9.91374549e-01 -3.92555159e-02 -1.25042028e-01 2.16933490e+00] [ 3.87778871e-02 9.99228294e-01 -6.25239189e-03 4.38824007e-01] [ 1.25190973e-01 1.34959654e-03 9.92131745e-01 -3.19130755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.848001144999994 meters Centerline goodness [0,1] 0.8901086202911949 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:-0.32 [[ 9.91351759e-01 -3.88150886e-02 -1.25359799e-01 2.17080537e+00] [ 3.83666642e-02 9.99245773e-01 -5.99038209e-03 4.38641851e-01] [ 1.25497766e-01 1.12893850e-03 9.92093260e-01 -3.19735253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.878001144999995 meters Centerline goodness [0,1] 0.8893607187220152 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:-0.32 [[ 9.91339592e-01 -3.85794184e-02 -1.25528650e-01 2.17172028e+00] [ 3.81552740e-02 9.99255092e-01 -5.78231794e-03 4.37970425e-01] [ 1.25658222e-01 9.42660660e-04 9.92073144e-01 -3.20178514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.908001144999997 meters Centerline goodness [0,1] 0.8904894984009911 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:-0.32 [[ 9.91336485e-01 -3.87188324e-02 -1.25510263e-01 2.17158020e+00] [ 3.82904947e-02 9.99249676e-01 -5.82435498e-03 4.37433074e-01] [ 1.25641601e-01 9.68045551e-04 9.92075224e-01 -3.20078693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.938001144999994 meters Centerline goodness [0,1] 0.8853072384515758 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:-0.32 [[ 9.91329862e-01 -3.93062048e-02 -1.25379927e-01 2.17011533e+00] [ 3.87773292e-02 9.99225702e-01 -6.65693233e-03 4.37739122e-01] [ 1.25544504e-01 1.73731710e-03 9.92086468e-01 -3.18303198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.968001144999995 meters Centerline goodness [0,1] 0.8924323392518532 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:-0.32 [[ 9.91323407e-01 -3.94282960e-02 -1.25392631e-01 2.16997662e+00] [ 3.88846181e-02 9.99220696e-01 -6.78139749e-03 4.36949040e-01] [ 1.25562291e-01 1.84671350e-03 9.92084019e-01 -3.17960535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.998001144999996 meters Centerline goodness [0,1] 0.8920159508850446 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:-0.32 [[ 9.91346927e-01 -3.98676940e-02 -1.25067330e-01 2.16903669e+00] [ 3.93037551e-02 9.99202969e-01 -6.97433448e-03 4.36128503e-01] [ 1.25245698e-01 1.99836934e-03 9.92123743e-01 -3.17847284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.028001144999994 meters Centerline goodness [0,1] 0.8969113633098693 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:-0.32 [[ 0.9913308 -0.04031554 -0.12505161 2.16825495] [ 0.03966382 0.99918343 -0.00769808 0.43752268] [ 0.12525985 0.00267132 0.99212037 -0.3166644 ] [ 0. 0. 0. 1. ]] SLAMing on 26.058001144999995 meters Centerline goodness [0,1] 0.8953665184335102 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:-0.31 [[ 0.99129879 -0.04084911 -0.12513219 2.16737746] [ 0.04007457 0.9991588 -0.00870179 0.4393388 ] [ 0.12538239 0.00361146 0.99210192 -0.3149032 ] [ 0. 0. 0. 1. ]] SLAMing on 26.088001144999996 meters Centerline goodness [0,1] 0.8993698023078472 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:-0.31 [[ 0.99129219 -0.04138988 -0.12500665 2.16634933] [ 0.04054028 0.99913431 -0.00933378 0.44034445] [ 0.12528476 0.0041847 0.992112 -0.31396544] [ 0. 0. 0. 1. ]] SLAMing on 26.118001144999994 meters Centerline goodness [0,1] 0.8968858728469966 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:-0.31 [[ 0.9912944 -0.04165733 -0.12490025 2.16628578] [ 0.04082332 0.99912374 -0.00923056 0.43987439] [ 0.12517532 0.00405136 0.99212637 -0.31459943] [ 0. 0. 0. 1. ]] SLAMing on 26.148001144999995 meters Centerline goodness [0,1] 0.9096105238970589 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:-0.32 [[ 0.99110893 -0.04664544 -0.12460855 2.16607915] [ 0.04533738 0.998883 -0.01331408 0.43935753] [ 0.1250904 0.00754628 0.99211665 -0.31511089] [ 0. 0. 0. 1. ]] SLAMing on 26.178001144999996 meters Centerline goodness [0,1] 0.9138188501522027 Centerline is valid? [False, False] Translation: X:2.16, Y:0.44, Z:-0.32 [[ 0.99111077 -0.04743259 -0.1242964 2.16485053] [ 0.04618035 0.99884933 -0.01293819 0.43726589] [ 0.12476707 0.00708313 0.99216078 -0.31574241] [ 0. 0. 0. 1. ]] SLAMing on 26.208001144999997 meters Centerline goodness [0,1] 0.9187285223367697 Centerline is valid? [False, False] Translation: X:2.18, Y:0.44, Z:-0.32 [[ 9.91479995e-01 -5.25123813e-02 -1.19205160e-01 2.17769417e+00] [ 5.20613786e-02 9.98620073e-01 -6.89653599e-03 4.36095781e-01] [ 1.19402819e-01 6.31792508e-04 9.92845692e-01 -3.18579922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.238001144999995 meters Centerline goodness [0,1] 0.9191662139364652 Centerline is valid? [False, False] Translation: X:2.18, Y:0.44, Z:-0.32 [[ 9.91449253e-01 -5.39745404e-02 -1.18807100e-01 2.17512094e+00] [ 5.34823384e-02 9.98541895e-01 -7.32965800e-03 4.35219214e-01] [ 1.19029482e-01 9.12902407e-04 9.92890301e-01 -3.17762323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.268001144999996 meters Centerline goodness [0,1] 0.9180857142857143 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:-0.32 [[ 0.99116408 -0.05944997 -0.1185726 2.17417087] [ 0.05847856 0.99822059 -0.01165817 0.43539263] [ 0.11905469 0.00462121 0.99287694 -0.31752867] [ 0. 0. 0. 1. ]] SLAMing on 26.298001144999997 meters Centerline goodness [0,1] 0.9146111682082905 Centerline is valid? [False, False] Translation: X:2.17, Y:0.43, Z:-0.32 [[ 0.99117831 -0.05973704 -0.11830911 2.17438839] [ 0.05885685 0.99820667 -0.01092288 0.43260666] [ 0.11874945 0.00386322 0.99291674 -0.31944653] [ 0. 0. 0. 1. ]] SLAMing on 26.328001144999995 meters Centerline goodness [0,1] 0.9090598679717733 Centerline is valid? [False, False] Translation: X:2.18, Y:0.43, Z:-0.32 [[ 0.9909028 -0.06386237 -0.11846199 2.17675706] [ 0.06256522 0.99793349 -0.01464052 0.43346795] [ 0.11915216 0.00709574 0.99285065 -0.32109029] [ 0. 0. 0. 1. ]] SLAMing on 26.358001144999996 meters Centerline goodness [0,1] 0.9093857577740476 Centerline is valid? [False, False] Translation: X:2.18, Y:0.43, Z:-0.32 [[ 0.99089205 -0.06377503 -0.11859883 2.177674 ] [ 0.06252095 0.99794165 -0.01426863 0.43346486] [ 0.11926469 0.00672376 0.99283973 -0.32213735] [ 0. 0. 0. 1. ]] SLAMing on 26.388001144999997 meters Centerline goodness [0,1] 0.9051694722474977 Centerline is valid? [False, False] Translation: X:2.18, Y:0.43, Z:-0.32 [[ 0.99087698 -0.06405381 -0.11857457 2.17744889] [ 0.06278816 0.99792323 -0.01438288 0.43415408] [ 0.1192496 0.00680659 0.99284098 -0.32219531] [ 0. 0. 0. 1. ]] SLAMing on 26.418001144999995 meters Centerline goodness [0,1] 0.9054400455710624 Centerline is valid? [False, False] Translation: X:2.17, Y:0.43, Z:-0.32 [[ 0.99108843 -0.06111831 -0.11835653 2.17453128] [ 0.06027502 0.99812451 -0.01069491 0.4327893 ] [ 0.11878821 0.00346566 0.99291357 -0.3214822 ] [ 0. 0. 0. 1. ]] SLAMing on 26.448001144999996 meters Centerline goodness [0,1] 0.9088700225823971 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:-0.32 [[ 0.9910195 -0.06162843 -0.11866885 2.1735117 ] [ 0.06058122 0.99808606 -0.01241525 0.43646677] [ 0.11920686 0.00511465 0.99285627 -0.31802038] [ 0. 0. 0. 1. ]] SLAMing on 26.478001144999997 meters Centerline goodness [0,1] 0.9112223016440315 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:-0.32 [[ 0.99101475 -0.06152879 -0.11876016 2.17397994] [ 0.06046252 0.99809139 -0.01256404 0.43713635] [ 0.11930655 0.00527061 0.99284348 -0.31805251] [ 0. 0. 0. 1. ]] SLAMing on 26.508001144999994 meters Centerline goodness [0,1] 0.9114372180665791 Centerline is valid? [False, False] Translation: X:2.17, Y:0.44, Z:-0.32 [[ 0.99102924 -0.0612381 -0.11878945 2.17478571] [ 0.06022917 0.99811162 -0.01206831 0.43557002] [ 0.11930417 0.00480546 0.99284612 -0.31892522] [ 0. 0. 0. 1. ]] SLAMing on 26.538001144999996 meters Centerline goodness [0,1] 0.9111155526368386 Centerline is valid? [False, False] Translation: X:2.18, Y:0.43, Z:-0.32 [[ 0.9910429 -0.06090627 -0.11884608 2.17569237] [ 0.05995292 0.99813399 -0.01158392 0.43419118] [ 0.11932984 0.00435499 0.99284512 -0.31980821] [ 0. 0. 0. 1. ]] SLAMing on 26.568001144999997 meters Centerline goodness [0,1] 0.9107696685161474 Centerline is valid? [False, False] Translation: X:2.18, Y:0.43, Z:-0.32 [[ 0.99106293 -0.06058075 -0.11884549 2.17678746] [ 0.05971361 0.99815661 -0.01084706 0.43162263] [ 0.11928353 0.00365342 0.99285351 -0.32127193] [ 0. 0. 0. 1. ]] SLAMing on 26.598001144999994 meters Centerline goodness [0,1] 0.913845541627583 Centerline is valid? [False, False] Translation: X:2.18, Y:0.43, Z:-0.32 [[ 0.99104735 -0.06042504 -0.11905444 2.17741943] [ 0.05955423 0.99816597 -0.01086194 0.43160495] [ 0.11949242 0.0036745 0.99282831 -0.32116115] [ 0. 0. 0. 1. ]] SLAMing on 26.628001144999995 meters Centerline goodness [0,1] 0.9106843555580807 Centerline is valid? [False, False] Translation: X:2.18, Y:0.43, Z:-0.32 [[ 0.99102644 -0.06036363 -0.11925952 2.17778589] [ 0.0594798 0.99816934 -0.01095994 0.43207109] [ 0.11970277 0.00376805 0.99280262 -0.32086292] [ 0. 0. 0. 1. ]] SLAMing on 26.658001144999997 meters Centerline goodness [0,1] 0.9130136986301369 Centerline is valid? [False, False] Translation: X:2.18, Y:0.43, Z:-0.32 [[ 0.99099169 -0.06063899 -0.11940846 2.17723159] [ 0.05967263 0.99814996 -0.01165512 0.43402234] [ 0.1198943 0.00442471 0.9927768 -0.31940603] [ 0. 0. 0. 1. ]] SLAMing on 26.688001144999994 meters Centerline goodness [0,1] 0.9140974816758406 Centerline is valid? [False, False] Translation: X:2.18, Y:0.43, Z:-0.32 [[ 0.99096967 -0.06053498 -0.11964378 2.17766582] [ 0.05954741 0.99815555 -0.01181552 0.4344533 ] [ 0.12013835 0.00458434 0.99274657 -0.31888682] [ 0. 0. 0. 1. ]] SLAMing on 26.718001144999995 meters Centerline goodness [0,1] 0.9128323765458544 Centerline is valid? [False, False] Translation: X:2.18, Y:0.43, Z:-0.32 [[ 0.99097238 -0.0604188 -0.11968003 2.17799443] [ 0.05944516 0.9981631 -0.011692 0.43415803] [ 0.1201666 0.00447205 0.99274367 -0.31907546] [ 0. 0. 0. 1. ]] SLAMing on 26.748001144999996 meters Centerline goodness [0,1] 0.9103225990473203 Centerline is valid? [False, False] Translation: X:2.18, Y:0.43, Z:-0.32 [[ 0.99097105 -0.06000937 -0.11989681 2.17932041] [ 0.05909893 0.99818999 -0.01113805 0.43294246] [ 0.12034818 0.00395171 0.99272388 -0.32005344] [ 0. 0. 0. 1. ]] SLAMing on 26.778001144999994 meters Centerline goodness [0,1] 0.9138776441074178 Centerline is valid? [False, False] Translation: X:2.18, Y:0.43, Z:-0.32 [[ 0.99099488 -0.05983745 -0.11978577 2.17975938] [ 0.05897797 0.99820182 -0.01071069 0.43109545] [ 0.12021128 0.00354952 0.99274199 -0.32088682] [ 0. 0. 0. 1. ]] SLAMing on 26.808001144999995 meters Centerline goodness [0,1] 0.9126771788011613 Centerline is valid? [False, False] Translation: X:2.18, Y:0.43, Z:-0.32 [[ 0.99099399 -0.05998715 -0.11971824 2.17921027] [ 0.05912219 0.99819269 -0.01076692 0.4302585 ] [ 0.12014775 0.00359195 0.99274952 -0.32029 ] [ 0. 0. 0. 1. ]] SLAMing on 26.838001144999996 meters Centerline goodness [0,1] 0.9151968593536641 Centerline is valid? [False, False] Translation: X:2.18, Y:0.43, Z:-0.32 [[ 0.99099112 -0.06017346 -0.11964846 2.17863139] [ 0.05926624 0.99818017 -0.01112963 0.4307831 ] [ 0.12010043 0.00393825 0.99275394 -0.31953873] [ 0. 0. 0. 1. ]] SLAMing on 26.868001144999994 meters Centerline goodness [0,1] 0.9142913978800193 Centerline is valid? [False, False] Translation: X:2.18, Y:0.43, Z:-0.32 [[ 0.99097086 -0.06008191 -0.11986205 2.17905893] [ 0.0591489 0.99818487 -0.01132986 0.43114943] [ 0.1203252 0.00413785 0.99272591 -0.31906354] [ 0. 0. 0. 1. ]] SLAMing on 26.898001144999995 meters Centerline goodness [0,1] 0.9136223967224308 Centerline is valid? [False, False] Translation: X:2.18, Y:0.43, Z:-0.32 [[ 0.99096151 -0.05978795 -0.12008619 2.17971442] [ 0.05880106 0.99820059 -0.01174805 0.43217985] [ 0.1205725 0.00458067 0.99269396 -0.31834583] [ 0. 0. 0. 1. ]] SLAMing on 26.928001144999996 meters Centerline goodness [0,1] 0.9147361830496898 Centerline is valid? [False, False] Translation: X:2.18, Y:0.43, Z:-0.32 [[ 0.99093968 -0.05996549 -0.12017776 2.17964621] [ 0.0589753 0.99818991 -0.01178239 0.43235824] [ 0.12066677 0.00458811 0.99268247 -0.31815201] [ 0. 0. 0. 1. ]] SLAMing on 26.958001144999994 meters Centerline goodness [0,1] 0.9114518147684606 Centerline is valid? [False, False] Translation: X:2.18, Y:0.43, Z:-0.32 [[ 0.9909072 -0.05966424 -0.12059475 2.18099077] [ 0.05869817 0.99820895 -0.0115506 0.43255381] [ 0.12106791 0.00436688 0.99263462 -0.3185306 ] [ 0. 0. 0. 1. ]] SLAMing on 26.988001144999995 meters Centerline goodness [0,1] 0.9168729196893403 Centerline is valid? [False, False] Translation: X:2.19, Y:0.43, Z:-0.32 [[ 0.99089663 -0.0582656 -0.12136302 2.18554962] [ 0.05746639 0.99829657 -0.01007803 0.43107524] [ 0.12174349 0.00301199 0.99255703 -0.32182124] [ 0. 0. 0. 1. ]] SLAMing on 27.018001144999996 meters Centerline goodness [0,1] 0.9150905889702959 Centerline is valid? [False, False] Translation: X:2.19, Y:0.43, Z:-0.32 [[ 0.99087659 -0.05738741 -0.12194374 2.18864917] [ 0.05667345 0.99834928 -0.00931806 0.43047955] [ 0.12227718 0.00232208 0.99249327 -0.32367499] [ 0. 0. 0. 1. ]] SLAMing on 27.048001144999997 meters Centerline goodness [0,1] 0.9176155773172399 Centerline is valid? [False, False] Translation: X:2.19, Y:0.43, Z:-0.32 [[ 9.90858572e-01 -5.70602578e-02 -1.22243270e-01 2.18996295e+00] [ 5.63668730e-02 9.98368417e-01 -9.12573733e-03 4.30510935e-01] [ 1.22564537e-01 2.15184417e-03 9.92458213e-01 -3.24192952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.078001144999995 meters Centerline goodness [0,1] 0.9192135376537397 Centerline is valid? [False, False] Translation: X:2.19, Y:0.43, Z:-0.32 [[ 9.91070398e-01 -5.31713476e-02 -1.22279492e-01 2.18824686e+00] [ 5.28563020e-02 9.98585162e-01 -5.82111116e-03 4.31125145e-01] [ 1.22416002e-01 -6.94110779e-04 9.92478635e-01 -3.22522649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.108001144999996 meters Centerline goodness [0,1] 0.9194855784378312 Centerline is valid? [False, False] Translation: X:2.19, Y:0.43, Z:-0.32 [[ 9.91046702e-01 -5.31013657e-02 -1.22501750e-01 2.18828045e+00] [ 5.26985005e-02 9.98589127e-01 -6.52865206e-03 4.32786271e-01] [ 1.22675596e-01 1.45405839e-05 9.92446824e-01 -3.21017614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.138001144999997 meters Centerline goodness [0,1] 0.9186548187091059 Centerline is valid? [False, False] Translation: X:2.19, Y:0.43, Z:-0.32 [[ 9.91021264e-01 -5.28986190e-02 -1.22794913e-01 2.18880079e+00] [ 5.24602957e-02 9.98599843e-01 -6.80226940e-03 4.32627067e-01] [ 1.22982812e-01 2.99336171e-04 9.92408756e-01 -3.20061329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.168001144999995 meters Centerline goodness [0,1] 0.9176302640970735 Centerline is valid? [False, False] Translation: X:2.19, Y:0.43, Z:-0.32 [[ 9.91001793e-01 -5.27488586e-02 -1.23016273e-01 2.18921710e+00] [ 5.22925273e-02 9.98607712e-01 -6.93752631e-03 4.32510668e-01] [ 1.23210946e-01 4.42269196e-04 9.92380405e-01 -3.19491843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.198001144999996 meters Centerline goodness [0,1] 0.9166190258403841 Centerline is valid? [False, False] Translation: X:2.19, Y:0.43, Z:-0.32 [[ 9.90996509e-01 -5.21942301e-02 -1.23295101e-01 2.18965080e+00] [ 5.16431192e-02 9.98636198e-01 -7.66369946e-03 4.34458032e-01] [ 1.23526952e-01 1.22735582e-03 9.92340459e-01 -3.17546057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.228001144999997 meters Centerline goodness [0,1] 0.9130795887390096 Centerline is valid? [False, False] Translation: X:2.19, Y:0.44, Z:-0.32 [[ 9.90963391e-01 -5.18643030e-02 -1.23699845e-01 2.19063193e+00] [ 5.12635143e-02 9.98652823e-01 -8.03692715e-03 4.35619472e-01] [ 1.23950029e-01 1.62301183e-03 9.92287134e-01 -3.16758102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.258001144999994 meters Centerline goodness [0,1] 0.9149710551957356 Centerline is valid? [False, False] Translation: X:2.19, Y:0.44, Z:-0.32 [[ 9.90951830e-01 -5.13953904e-02 -1.23987837e-01 2.19222393e+00] [ 5.08359623e-02 9.98677536e-01 -7.67359096e-03 4.35167884e-01] [ 1.24218255e-01 1.30111800e-03 9.92254066e-01 -3.17612984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.288001144999996 meters Centerline goodness [0,1] 0.9127386165249993 Centerline is valid? [False, False] Translation: X:2.19, Y:0.43, Z:-0.32 [[ 9.90936941e-01 -5.06436081e-02 -1.24415449e-01 2.19463697e+00] [ 5.01734118e-02 9.98716605e-01 -6.91172276e-03 4.33531967e-01] [ 1.24605810e-01 6.06733840e-04 9.92206140e-01 -3.19057318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.318001144999997 meters Centerline goodness [0,1] 0.9151309408341416 Centerline is valid? [False, False] Translation: X:2.20, Y:0.43, Z:-0.32 [[ 9.90936528e-01 -4.95876063e-02 -1.24843370e-01 2.19780995e+00] [ 4.92791571e-02 9.98769571e-01 -5.55956940e-03 4.30779875e-01] [ 1.24965445e-01 -6.42995663e-04 9.92160886e-01 -3.21665138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.348001144999994 meters Centerline goodness [0,1] 0.9109858192379976 Centerline is valid? [False, False] Translation: X:2.20, Y:0.43, Z:-0.32 [[ 9.90917175e-01 -4.91109518e-02 -1.25184928e-01 2.19931239e+00] [ 4.88277569e-02 9.98792985e-01 -5.33140237e-03 4.30587281e-01] [ 1.25295658e-01 -8.29521037e-04 9.92119101e-01 -3.22123476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.378001144999995 meters Centerline goodness [0,1] 0.9145491278490738 Centerline is valid? [False, False] Translation: X:2.20, Y:0.43, Z:-0.32 [[ 9.90867616e-01 -4.87719787e-02 -1.25708636e-01 2.20054712e+00] [ 4.84346327e-02 9.98809859e-01 -5.74044929e-03 4.31950074e-01] [ 1.25838998e-01 -4.00626325e-04 9.92050596e-01 -3.21286144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.408001144999997 meters Centerline goodness [0,1] 0.9131928538708199 Centerline is valid? [False, False] Translation: X:2.20, Y:0.43, Z:-0.32 [[ 0.99104442 -0.04467769 -0.12583662 2.19913678] [ 0.04466472 0.99899775 -0.00292595 0.43452861] [ 0.12584122 -0.00272071 0.99204666 -0.31888837] [ 0. 0. 0. 1. ]] SLAMing on 27.438001144999994 meters Centerline goodness [0,1] 0.9127198528566502 Centerline is valid? [False, False] Translation: X:2.20, Y:0.44, Z:-0.32 [[ 9.90992835e-01 -4.44354852e-02 -1.26327700e-01 2.19981400e+00] [ 4.42883324e-02 9.99010884e-01 -3.97468836e-03 4.37148041e-01] [ 1.26379364e-01 -1.65595547e-03 9.91980602e-01 -3.16851641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.468001144999995 meters Centerline goodness [0,1] 0.9115566037735849 Centerline is valid? [False, False] Translation: X:2.20, Y:0.44, Z:-0.32 [[ 9.90962426e-01 -4.40473898e-02 -1.26701612e-01 2.20094860e+00] [ 4.38435364e-02 9.99028727e-01 -4.39860685e-03 4.38604800e-01] [ 1.26772297e-01 -1.19619263e-03 9.91931123e-01 -3.16209362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.498001144999996 meters Centerline goodness [0,1] 0.9064408341974882 Centerline is valid? [False, False] Translation: X:2.20, Y:0.44, Z:-0.32 [[ 9.90934468e-01 -4.34704916e-02 -1.27118825e-01 2.20274710e+00] [ 4.32718936e-02 9.99053972e-01 -4.32474471e-03 4.39009312e-01] [ 1.27186566e-01 -1.21513368e-03 9.91878068e-01 -3.16540509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.528001144999994 meters Centerline goodness [0,1] 0.9093419236079153 Centerline is valid? [False, False] Translation: X:2.20, Y:0.44, Z:-0.32 [[ 9.90914132e-01 -4.31754098e-02 -1.27377656e-01 2.20413122e+00] [ 4.30658435e-02 9.99065695e-01 -3.61537360e-03 4.36861404e-01] [ 1.27414741e-01 -1.90310140e-03 9.91847701e-01 -3.17764094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.558001144999995 meters Centerline goodness [0,1] 0.9058701836048617 Centerline is valid? [False, False] Translation: X:2.20, Y:0.44, Z:-0.32 [[ 9.90901266e-01 -4.31023878e-02 -1.27502414e-01 2.20475631e+00] [ 4.29940765e-02 9.99068831e-01 -3.60281312e-03 4.36802034e-01] [ 1.27538978e-01 -1.91181646e-03 9.91831717e-01 -3.18015294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.588001144999996 meters Centerline goodness [0,1] 0.9058701836048617 Centerline is valid? [False, False] Translation: X:2.20, Y:0.44, Z:-0.32 [[ 9.90901266e-01 -4.31023878e-02 -1.27502414e-01 2.20475631e+00] [ 4.29940765e-02 9.99068831e-01 -3.60281312e-03 4.36802034e-01] [ 1.27538978e-01 -1.91181646e-03 9.91831717e-01 -3.18015294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.618001144999994 meters Centerline goodness [0,1] 0.9068105501822461 Centerline is valid? [False, False] Translation: X:2.21, Y:0.44, Z:-0.32 [[ 9.90861788e-01 -4.29027236e-02 -1.27876007e-01 2.20592252e+00] [ 4.27865992e-02 9.99077544e-01 -3.65621030e-03 4.36772570e-01] [ 1.27914908e-01 -1.84858036e-03 9.91783423e-01 -3.18002646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.648001144999995 meters Centerline goodness [0,1] 0.9057638211148745 Centerline is valid? [False, False] Translation: X:2.21, Y:0.44, Z:-0.32 [[ 9.90849683e-01 -4.28514260e-02 -1.27986959e-01 2.20645491e+00] [ 4.27230961e-02 9.99079917e-01 -3.74907672e-03 4.36521955e-01] [ 1.28029854e-01 -1.75322767e-03 9.91768765e-01 -3.18050267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.678001144999996 meters Centerline goodness [0,1] 0.90500501936039 Centerline is valid? [False, False] Translation: X:2.21, Y:0.44, Z:-0.32 [[ 9.90857914e-01 -4.34847396e-02 -1.27709322e-01 2.20503726e+00] [ 4.33006275e-02 9.99053180e-01 -4.21893989e-03 4.35876756e-01] [ 1.27771864e-01 -1.34952380e-03 9.91802667e-01 -3.17165416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.708001144999994 meters Centerline goodness [0,1] 0.9041371192328673 Centerline is valid? [False, False] Translation: X:2.20, Y:0.44, Z:-0.32 [[ 9.90835008e-01 -4.38185907e-02 -1.27772919e-01 2.20482568e+00] [ 4.35922476e-02 9.99038960e-01 -4.56868603e-03 4.36001675e-01] [ 1.27850318e-01 -1.04309466e-03 9.91792926e-01 -3.16659332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.738001144999995 meters Centerline goodness [0,1] 0.9069293283174913 Centerline is valid? [False, False] Translation: X:2.20, Y:0.44, Z:-0.32 [[ 9.90809080e-01 -4.43266062e-02 -1.27798747e-01 2.20424984e+00] [ 4.40639147e-02 9.99016778e-01 -4.88343219e-03 4.35684660e-01] [ 1.27889558e-01 -7.92764119e-04 9.91788099e-01 -3.16093185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.768001144999996 meters Centerline goodness [0,1] 0.909659286451761 Centerline is valid? [False, False] Translation: X:2.20, Y:0.44, Z:-0.32 [[ 9.90777585e-01 -4.44351124e-02 -1.28005072e-01 2.20442744e+00] [ 4.41476084e-02 9.99012084e-01 -5.08380957e-03 4.35698859e-01] [ 1.28104514e-01 -6.14193241e-04 9.91760483e-01 -3.15537145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.798001144999994 meters Centerline goodness [0,1] 0.9109955167260605 Centerline is valid? [False, False] Translation: X:2.20, Y:0.44, Z:-0.31 [[ 9.90758175e-01 -4.48204542e-02 -1.28020956e-01 2.20395843e+00] [ 4.44818405e-02 9.98995029e-01 -5.50428492e-03 4.35871644e-01] [ 1.28139003e-01 -2.41192463e-04 9.91756189e-01 -3.14876756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.828001144999995 meters Centerline goodness [0,1] 0.9089290841228825 Centerline is valid? [False, False] Translation: X:2.20, Y:0.44, Z:-0.31 [[ 9.90738376e-01 -4.49496545e-02 -1.28128838e-01 2.20415933e+00] [ 4.45855470e-02 9.98989252e-01 -5.70995015e-03 4.35859406e-01] [ 1.28255993e-01 -5.56276032e-05 9.91741094e-01 -3.14640595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.858001144999996 meters Centerline goodness [0,1] 0.9033543577981651 Centerline is valid? [False, False] Translation: X:2.20, Y:0.44, Z:-0.31 [[ 9.90744370e-01 -4.51899998e-02 -1.27997876e-01 2.20384817e+00] [ 4.48037254e-02 9.98978404e-01 -5.89693456e-03 4.35754661e-01] [ 1.28133596e-01 1.07573030e-04 9.91756911e-01 -3.14579247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.888001144999997 meters Centerline goodness [0,1] 0.9076865650213914 Centerline is valid? [False, False] Translation: X:2.20, Y:0.44, Z:-0.31 [[ 9.90728415e-01 -4.54058483e-02 -1.28044979e-01 2.20363773e+00] [ 4.49589603e-02 9.98968464e-01 -6.37971883e-03 4.36413081e-01] [ 1.28202573e-01 5.63799591e-04 9.91747842e-01 -3.13862452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.918001144999995 meters Centerline goodness [0,1] 0.9098080839955248 Centerline is valid? [False, False] Translation: X:2.20, Y:0.44, Z:-0.31 [[ 9.90679422e-01 -4.52943442e-02 -1.28462853e-01 2.20455842e+00] [ 4.47672062e-02 9.98972995e-01 -6.98938797e-03 4.37415403e-01] [ 1.28647500e-01 1.17331983e-03 9.91689691e-01 -3.12837157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.948001144999996 meters Centerline goodness [0,1] 0.9090830846913014 Centerline is valid? [False, False] Translation: X:2.21, Y:0.44, Z:-0.31 [[ 9.90644306e-01 -4.50383798e-02 -1.28823145e-01 2.20549368e+00] [ 4.44701036e-02 9.98984148e-01 -7.28574429e-03 4.38658774e-01] [ 1.29020418e-01 1.48880249e-03 9.91640820e-01 -3.12330271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.978001144999997 meters Centerline goodness [0,1] 0.9071444993677434 Centerline is valid? [False, False] Translation: X:2.21, Y:0.44, Z:-0.31 [[ 0.9906115 -0.04502252 -0.12908074 2.20562755] [ 0.04432642 0.99898294 -0.00826202 0.44126528] [ 0.12932144 0.00246277 0.99159967 -0.31065462] [ 0. 0. 0. 1. ]] SLAMing on 28.008001144999994 meters Centerline goodness [0,1] 0.9050943884147918 Centerline is valid? [False, False] Translation: X:2.21, Y:0.44, Z:-0.31 [[ 0.99057214 -0.04478059 -0.12946635 2.20643999] [ 0.04405314 0.99899321 -0.00847854 0.44195579] [ 0.12971568 0.00269521 0.99154757 -0.31000498] [ 0. 0. 0. 1. ]] SLAMing on 28.038001144999996 meters Centerline goodness [0,1] 0.906146728354263 Centerline is valid? [False, False] Translation: X:2.21, Y:0.44, Z:-0.31 [[ 0.99052826 -0.04424872 -0.12998388 2.20825714] [ 0.04351073 0.99901669 -0.0085134 0.44263385] [ 0.13023277 0.00277707 0.99147956 -0.31003173] [ 0. 0. 0. 1. ]] SLAMing on 28.068001144999997 meters Centerline goodness [0,1] 0.8987737092430234 Centerline is valid? [False, False] Translation: X:2.21, Y:0.44, Z:-0.31 [[ 9.90495785e-01 -4.29229284e-02 -1.30674109e-01 2.21172596e+00] [ 4.22872610e-02 9.99076307e-01 -7.63676111e-03 4.41847987e-01] [ 1.30881198e-01 2.03832954e-03 9.91395964e-01 -3.11537596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.098001144999994 meters Centerline goodness [0,1] 0.8969388047306778 Centerline is valid? [False, False] Translation: X:2.21, Y:0.44, Z:-0.31 [[ 9.90470517e-01 -4.25104161e-02 -1.31000074e-01 2.21299483e+00] [ 4.19136738e-02 9.99094491e-01 -7.31041094e-03 4.40932101e-01] [ 1.31192221e-01 1.75005212e-03 9.91355405e-01 -3.11914407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.128001144999995 meters Centerline goodness [0,1] 0.8945157326169586 Centerline is valid? [False, False] Translation: X:2.21, Y:0.44, Z:-0.31 [[ 9.90447881e-01 -4.20020981e-02 -1.31334759e-01 2.21444931e+00] [ 4.14548826e-02 9.99116557e-01 -6.89909524e-03 4.39826393e-01] [ 1.31508509e-01 1.38872722e-03 9.91314069e-01 -3.12409087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.158001144999997 meters Centerline goodness [0,1] 0.8955032119914347 Centerline is valid? [False, False] Translation: X:2.22, Y:0.44, Z:-0.31 [[ 9.90427243e-01 -4.17197953e-02 -1.31580148e-01 2.21544963e+00] [ 4.11790833e-02 9.99128445e-01 -6.82890485e-03 4.39281772e-01] [ 1.31750369e-01 1.34518352e-03 9.91282014e-01 -3.12493362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.188001144999994 meters Centerline goodness [0,1] 0.889830992348978 Centerline is valid? [False, False] Translation: X:2.22, Y:0.44, Z:-0.31 [[ 9.90379443e-01 -4.11918571e-02 -1.32105223e-01 2.21682692e+00] [ 4.06380961e-02 9.99150201e-01 -6.88630834e-03 4.38974200e-01] [ 1.32276620e-01 1.45155347e-03 9.91211778e-01 -3.11735306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.218001144999995 meters Centerline goodness [0,1] 0.8805394439841139 Centerline is valid? [False, False] Translation: X:2.22, Y:0.44, Z:-0.31 [[ 9.90343227e-01 -4.09806006e-02 -1.32441997e-01 2.21777747e+00] [ 4.04254863e-02 9.99158878e-01 -6.87866612e-03 4.39024447e-01] [ 1.32612489e-01 1.45820827e-03 9.91166889e-01 -3.11603060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.248001144999996 meters Centerline goodness [0,1] 0.8862564659483867 Centerline is valid? [False, False] Translation: X:2.22, Y:0.44, Z:-0.31 [[ 9.90297704e-01 -4.09076550e-02 -1.32804450e-01 2.21859163e+00] [ 4.03329242e-02 9.99161664e-01 -7.01601778e-03 4.39095567e-01] [ 1.32980124e-01 1.59155448e-03 9.91117427e-01 -3.11282454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.278001144999994 meters Centerline goodness [0,1] 0.8719244162813267 Centerline is valid? [False, False] Translation: X:2.22, Y:0.44, Z:-0.31 [[ 9.90259203e-01 -4.05740016e-02 -1.33193322e-01 2.22002025e+00] [ 4.00213580e-02 9.99175516e-01 -6.82489902e-03 4.38707782e-01] [ 1.33360419e-01 1.42784146e-03 9.91066577e-01 -3.11607634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.308001144999995 meters Centerline goodness [0,1] 0.8836379090522737 Centerline is valid? [False, False] Translation: X:2.23, Y:0.44, Z:-0.31 [[ 0.9899863 -0.0431595 -0.13440378 2.22571415] [ 0.04217441 0.99905851 -0.01016915 0.43931827] [ 0.13471613 0.00439892 0.99087447 -0.31259104] [ 0. 0. 0. 1. ]] SLAMing on 28.338001144999996 meters Centerline goodness [0,1] 0.8752233218954711 Centerline is valid? [False, False] Translation: X:2.23, Y:0.44, Z:-0.31 [[ 0.98996878 -0.04293402 -0.1346049 2.22699585] [ 0.04201415 0.99907024 -0.00966832 0.4379401 ] [ 0.13489485 0.00391603 0.99085218 -0.31371334] [ 0. 0. 0. 1. ]] SLAMing on 28.368001144999994 meters Centerline goodness [0,1] 0.889645390070922 Centerline is valid? [False, False] Translation: X:2.23, Y:0.44, Z:-0.31 [[ 0.98994752 -0.04310073 -0.13470797 2.2271656 ] [ 0.04218901 0.99906336 -0.00961679 0.43704015] [ 0.13499629 0.00383692 0.99083867 -0.31376286] [ 0. 0. 0. 1. ]] SLAMing on 28.398001144999995 meters Centerline goodness [0,1] 0.9022912005437707 Centerline is valid? [False, False] Translation: X:2.22, Y:0.44, Z:-0.31 [[ 0.98989531 -0.04461021 -0.13460018 2.22484446] [ 0.04360874 0.99899475 -0.01038093 0.43583182] [ 0.13492797 0.00440629 0.99084561 -0.31213196] [ 0. 0. 0. 1. ]] SLAMing on 28.428001144999996 meters Centerline goodness [0,1] 0.9048925339366516 Centerline is valid? [False, False] Translation: X:2.22, Y:0.44, Z:-0.31 [[ 0.98987221 -0.04519717 -0.13457425 2.22373157] [ 0.0441357 0.99896649 -0.01086208 0.43522273] [ 0.13492611 0.00481255 0.99084398 -0.31083246] [ 0. 0. 0. 1. ]] SLAMing on 28.458001144999994 meters Centerline goodness [0,1] 0.9063700022588661 Centerline is valid? [False, False] Translation: X:2.22, Y:0.43, Z:-0.31 [[ 0.9898629 -0.04586512 -0.13441663 2.22248303] [ 0.0447593 0.99893458 -0.0112388 0.43454364] [ 0.13478889 0.00510847 0.99086117 -0.30997176] [ 0. 0. 0. 1. ]] SLAMing on 28.488001144999995 meters Centerline goodness [0,1] 0.9054202449669154 Centerline is valid? [False, False] Translation: X:2.22, Y:0.44, Z:-0.31 [[ 0.98964035 -0.05047512 -0.13440326 2.22226961] [ 0.04873421 0.99868018 -0.01621359 0.43593705] [ 0.13504425 0.00949559 0.99079407 -0.30782998] [ 0. 0. 0. 1. ]] SLAMing on 28.518001144999996 meters Centerline goodness [0,1] 0.9064774483630743 Centerline is valid? [False, False] Translation: X:2.22, Y:0.43, Z:-0.31 [[ 0.98963694 -0.05063271 -0.13436913 2.22216082] [ 0.04892149 0.99867433 -0.01600868 0.43477968] [ 0.13500156 0.00926924 0.99080203 -0.30804872] [ 0. 0. 0. 1. ]] SLAMing on 28.548001144999994 meters Centerline goodness [0,1] 0.9078925178481084 Centerline is valid? [False, False] Translation: X:2.22, Y:0.43, Z:-0.31 [[ 0.98964535 -0.05085305 -0.13422387 2.22182572] [ 0.04916725 0.99866484 -0.01584676 0.43379035] [ 0.13485051 0.00908325 0.99082432 -0.30837366] [ 0. 0. 0. 1. ]] SLAMing on 28.578001144999995 meters Centerline goodness [0,1] 0.9062262825017569 Centerline is valid? [False, False] Translation: X:2.22, Y:0.43, Z:-0.31 [[ 0.98965704 -0.05094852 -0.13410142 2.22187516] [ 0.04930793 0.9986629 -0.01552895 0.43282594] [ 0.13471329 0.00875607 0.99084593 -0.30913164] [ 0. 0. 0. 1. ]] SLAMing on 28.608001144999996 meters Centerline goodness [0,1] 0.9053137922304425 Centerline is valid? [False, False] Translation: X:2.22, Y:0.43, Z:-0.31 [[ 0.98965767 -0.05113635 -0.13402525 2.22165349] [ 0.04948918 0.9986529 -0.01559494 0.43221183] [ 0.13464218 0.00880085 0.9908552 -0.30903866] [ 0. 0. 0. 1. ]] SLAMing on 28.638001144999993 meters Centerline goodness [0,1] 0.9049360146252285 Centerline is valid? [False, False] Translation: X:2.22, Y:0.43, Z:-0.31 [[ 0.98963551 -0.05067231 -0.13436472 2.2228962 ] [ 0.04905481 0.99867853 -0.01532373 0.43185609] [ 0.13496365 0.00857367 0.99081346 -0.30917882] [ 0. 0. 0. 1. ]] SLAMing on 28.668001144999995 meters Centerline goodness [0,1] 0.9038315576420319 Centerline is valid? [False, False] Translation: X:2.22, Y:0.43, Z:-0.31 [[ 0.98962127 -0.05069019 -0.13446282 2.22304019] [ 0.04905055 0.99867631 -0.01548103 0.43233445] [ 0.13506957 0.00872489 0.9907977 -0.3089094 ] [ 0. 0. 0. 1. ]] SLAMing on 28.698001144999996 meters Centerline goodness [0,1] 0.9081298979534307 Centerline is valid? [False, False] Translation: X:2.22, Y:0.43, Z:-0.31 [[ 0.98958683 -0.05077106 -0.13468556 2.2230949 ] [ 0.04903985 0.99866637 -0.01614254 0.43471873] [ 0.13532552 0.00936949 0.99075689 -0.30781828] [ 0. 0. 0. 1. ]] SLAMing on 28.728001144999997 meters Centerline goodness [0,1] 0.9076631923848262 Centerline is valid? [False, False] Translation: X:2.22, Y:0.44, Z:-0.31 [[ 0.98955485 -0.05049039 -0.13502566 2.22415461] [ 0.04873447 0.99867908 -0.0162803 0.43570738] [ 0.1356693 0.00952985 0.99070834 -0.30766673] [ 0. 0. 0. 1. ]] SLAMing on 28.758001144999994 meters Centerline goodness [0,1] 0.9051371120336638 Centerline is valid? [False, False] Translation: X:2.23, Y:0.44, Z:-0.31 [[ 0.98951556 -0.0499071 -0.13552948 2.22604916] [ 0.04818276 0.99871077 -0.0159756 0.43588733] [ 0.13615205 0.00927792 0.99064451 -0.30814233] [ 0. 0. 0. 1. ]] SLAMing on 28.788001144999996 meters Centerline goodness [0,1] 0.9082994120307553 Centerline is valid? [False, False] Translation: X:2.23, Y:0.44, Z:-0.31 [[ 0.98948802 -0.04956956 -0.13585401 2.22754929] [ 0.04788471 0.99873036 -0.01564378 0.43595315] [ 0.13645697 0.00897401 0.99060535 -0.30896232] [ 0. 0. 0. 1. ]] SLAMing on 28.818001144999997 meters Centerline goodness [0,1] 0.9132992110397874 Centerline is valid? [False, False] Translation: X:2.23, Y:0.44, Z:-0.31 [[ 0.98947402 -0.04980125 -0.13587125 2.22777923] [ 0.04811233 0.99871872 -0.01568798 0.43720549] [ 0.13647844 0.00898577 0.99060229 -0.30958799] [ 0. 0. 0. 1. ]] SLAMing on 28.848001144999994 meters Centerline goodness [0,1] 0.9127490264687623 Centerline is valid? [False, False] Translation: X:2.23, Y:0.44, Z:-0.31 [[ 0.98944053 -0.04981294 -0.13611067 2.22841949] [ 0.04810508 0.99871715 -0.01581008 0.43769131] [ 0.13672361 0.00909552 0.99056748 -0.30948187] [ 0. 0. 0. 1. ]] SLAMing on 28.878001144999995 meters Centerline goodness [0,1] 0.907823524411323 Centerline is valid? [False, False] Translation: X:2.23, Y:0.44, Z:-0.31 [[ 0.98943652 -0.05011665 -0.13602831 2.2280478 ] [ 0.04839704 0.99870127 -0.01592143 0.43767796] [ 0.13664958 0.00916987 0.99057701 -0.30947502] [ 0. 0. 0. 1. ]] SLAMing on 28.908001144999997 meters Centerline goodness [0,1] 0.90800792303339 Centerline is valid? [False, False] Translation: X:2.23, Y:0.44, Z:-0.31 [[ 0.98941543 -0.0505898 -0.13600657 2.22849499] [ 0.04889475 0.99867932 -0.01577693 0.43731438] [ 0.1366251 0.00895993 0.9905823 -0.31081221] [ 0. 0. 0. 1. ]] SLAMing on 28.938001144999994 meters Centerline goodness [0,1] 0.9118632517462661 Centerline is valid? [False, False] Translation: X:2.23, Y:0.44, Z:-0.31 [[ 0.98941361 -0.05072462 -0.13596955 2.22877918] [ 0.04902714 0.99867237 -0.01580616 0.43776818] [ 0.13659079 0.00897263 0.99058692 -0.31140263] [ 0. 0. 0. 1. ]] SLAMing on 28.968001144999995 meters Centerline goodness [0,1] 0.9118416562393357 Centerline is valid? [False, False] Translation: X:2.23, Y:0.44, Z:-0.31 [[ 0.98938287 -0.05068865 -0.13620646 2.22975048] [ 0.04901325 0.99867585 -0.01562819 0.43792824] [ 0.13681828 0.00878635 0.9905572 -0.31204172] [ 0. 0. 0. 1. ]] SLAMing on 28.998001144999996 meters Centerline goodness [0,1] 0.9116777531411677 Centerline is valid? [False, False] Translation: X:2.23, Y:0.44, Z:-0.31 [[ 0.98934724 -0.05067894 -0.13646862 2.23071081] [ 0.04902899 0.99867821 -0.01542668 0.4381925 ] [ 0.13707004 0.00857142 0.99052427 -0.31272262] [ 0. 0. 0. 1. ]] SLAMing on 29.028001144999994 meters Centerline goodness [0,1] 0.916476689843839 Centerline is valid? [False, False] Translation: X:2.23, Y:0.44, Z:-0.31 [[ 0.98930806 -0.05116431 -0.1365715 2.23075345] [ 0.04948337 0.9986519 -0.01567702 0.43994476] [ 0.13718949 0.00875139 0.99050616 -0.3129956 ] [ 0. 0. 0. 1. ]] SLAMing on 29.058001144999995 meters Centerline goodness [0,1] 0.9149839081769247 Centerline is valid? [False, False] Translation: X:2.23, Y:0.44, Z:-0.31 [[ 0.98930723 -0.05164944 -0.13639478 2.22997247] [ 0.04997828 0.99862767 -0.01565076 0.43961483] [ 0.13701596 0.00866663 0.99053093 -0.31310737] [ 0. 0. 0. 1. ]] SLAMing on 29.088001144999996 meters Centerline goodness [0,1] 0.9164080517040116 Centerline is valid? [False, False] Translation: X:2.23, Y:0.44, Z:-0.31 [[ 0.98929468 -0.05192927 -0.13637954 2.22965824] [ 0.0502914 0.99861538 -0.01543012 0.43843911] [ 0.13699199 0.00840621 0.99053649 -0.31323446] [ 0. 0. 0. 1. ]] SLAMing on 29.118001144999994 meters Centerline goodness [0,1] 0.9141834502741244 Centerline is valid? [False, False] Translation: X:2.24, Y:0.44, Z:-0.32 [[ 9.89856132e-01 -5.49667268e-02 -1.31009531e-01 2.24387335e+00] [ 5.42868202e-02 9.98486972e-01 -8.75828500e-03 4.36369588e-01] [ 1.31292724e-01 1.55735127e-03 9.91342421e-01 -3.15321183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.148001144999995 meters Centerline goodness [0,1] 0.909743298822862 Centerline is valid? [False, False] Translation: X:2.24, Y:0.44, Z:-0.32 [[ 9.89841676e-01 -5.48579133e-02 -1.31164270e-01 2.24445189e+00] [ 5.41891113e-02 9.98493089e-01 -8.66551950e-03 4.35748944e-01] [ 1.31441989e-01 1.46981713e-03 9.91322774e-01 -3.15318023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.178001144999996 meters Centerline goodness [0,1] 0.9123170316577782 Centerline is valid? [False, False] Translation: X:2.25, Y:0.44, Z:-0.32 [[ 9.89813957e-01 -5.46040941e-02 -1.31478987e-01 2.24548382e+00] [ 5.39429187e-02 9.98507091e-01 -8.58784678e-03 4.35424046e-01] [ 1.31751633e-01 1.40801029e-03 9.91281759e-01 -3.15338008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.208001144999994 meters Centerline goodness [0,1] 0.9145386448757236 Centerline is valid? [False, False] Translation: X:2.25, Y:0.44, Z:-0.32 [[ 9.89795017e-01 -5.41323664e-02 -1.31816204e-01 2.24695122e+00] [ 5.34990009e-02 9.98533039e-01 -8.34428423e-03 4.35215382e-01] [ 1.32074531e-01 1.20709571e-03 9.91239053e-01 -3.15753421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.238001144999995 meters Centerline goodness [0,1] 0.9160045402951191 Centerline is valid? [False, False] Translation: X:2.25, Y:0.44, Z:-0.32 [[ 9.89746435e-01 -5.28177725e-02 -1.32711252e-01 2.25038261e+00] [ 5.22369238e-02 9.98603811e-01 -7.85705628e-03 4.35656969e-01] [ 1.32940954e-01 8.44065881e-04 9.91123600e-01 -3.16169364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.268001144999996 meters Centerline goodness [0,1] 0.9169179134194209 Centerline is valid? [False, False] Translation: X:2.25, Y:0.44, Z:-0.32 [[ 9.89702640e-01 -5.22194731e-02 -1.33273445e-01 2.25211678e+00] [ 5.16544084e-02 9.98635364e-01 -7.69626826e-03 4.35842905e-01] [ 1.33493471e-01 7.32856044e-04 9.91049422e-01 -3.16089844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.298001144999994 meters Centerline goodness [0,1] 0.9150402814024736 Centerline is valid? [False, False] Translation: X:2.25, Y:0.43, Z:-0.32 [[ 9.89680501e-01 -5.18776298e-02 -1.33571017e-01 2.25311900e+00] [ 5.13488976e-02 9.98653340e-01 -7.40254547e-03 4.34809163e-01] [ 1.33775169e-01 4.67430440e-04 9.91011597e-01 -3.16134092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.328001144999995 meters Centerline goodness [0,1] 0.912906610703043 Centerline is valid? [False, False] Translation: X:2.26, Y:0.43, Z:-0.32 [[ 9.89678750e-01 -4.95419041e-02 -1.34467736e-01 2.25807447e+00] [ 4.91408420e-02 9.98771977e-01 -6.30202074e-03 4.34188897e-01] [ 1.34614820e-01 -3.70881753e-04 9.90897932e-01 -3.17559737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.358001144999996 meters Centerline goodness [0,1] 0.9113420108987209 Centerline is valid? [False, False] Translation: X:2.26, Y:0.44, Z:-0.32 [[ 9.89590694e-01 -4.80261274e-02 -1.35660418e-01 2.26243191e+00] [ 4.76197913e-02 9.98846039e-01 -6.24061764e-03 4.35507641e-01] [ 1.35803584e-01 -2.84463659e-04 9.90735740e-01 -3.17516343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.388001144999993 meters Centerline goodness [0,1] 0.908313444709626 Centerline is valid? [False, False] Translation: X:2.26, Y:0.44, Z:-0.32 [[ 9.89531350e-01 -4.70548287e-02 -1.36431486e-01 2.26483271e+00] [ 4.66306109e-02 9.98892301e-01 -6.30539769e-03 4.36737594e-01] [ 1.36577061e-01 -1.22494866e-04 9.90629442e-01 -3.16935555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.418001144999995 meters Centerline goodness [0,1] 0.9080204145639096 Centerline is valid? [False, False] Translation: X:2.27, Y:0.44, Z:-0.32 [[ 9.89479390e-01 -4.62829997e-02 -1.37070863e-01 2.26688122e+00] [ 4.58307935e-02 9.98928362e-01 -6.45487640e-03 4.38421408e-01] [ 1.37222724e-01 1.04900737e-04 9.90540213e-01 -3.16506740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.448001144999996 meters Centerline goodness [0,1] 0.9032138265962005 Centerline is valid? [False, False] Translation: X:2.27, Y:0.44, Z:-0.32 [[ 9.89404707e-01 -4.48712151e-02 -1.38075704e-01 2.27053377e+00] [ 4.44619680e-02 9.98992768e-01 -6.04841359e-03 4.38732601e-01] [ 1.38208029e-01 -1.54788648e-04 9.90403209e-01 -3.16614387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.478001144999993 meters Centerline goodness [0,1] 0.9032138265962005 Centerline is valid? [False, False] Translation: X:2.27, Y:0.44, Z:-0.32 [[ 9.89404707e-01 -4.48712151e-02 -1.38075704e-01 2.27053377e+00] [ 4.44619680e-02 9.98992768e-01 -6.04841359e-03 4.38732601e-01] [ 1.38208029e-01 -1.54788648e-04 9.90403209e-01 -3.16614387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.508001144999994 meters Centerline goodness [0,1] 0.9009578270192995 Centerline is valid? [False, False] Translation: X:2.27, Y:0.44, Z:-0.32 [[ 9.89353468e-01 -4.42672816e-02 -1.38636657e-01 2.27263586e+00] [ 4.38883367e-02 9.99019660e-01 -5.79072294e-03 4.38492943e-01] [ 1.38757086e-01 -3.55460461e-04 9.90326383e-01 -3.16980033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.538001144999996 meters Centerline goodness [0,1] 0.8998629824160768 Centerline is valid? [False, False] Translation: X:2.27, Y:0.44, Z:-0.32 [[ 9.89309808e-01 -4.38539626e-02 -1.39078874e-01 2.27443427e+00] [ 4.34869125e-02 9.99037859e-01 -5.67835937e-03 4.38400228e-01] [ 1.39194080e-01 -4.30454220e-04 9.90265027e-01 -3.17347546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.568001144999997 meters Centerline goodness [0,1] 0.9052884890849711 Centerline is valid? [False, False] Translation: X:2.28, Y:0.44, Z:-0.32 [[ 9.89278393e-01 -4.34596174e-02 -1.39425687e-01 2.27602192e+00] [ 4.31157931e-02 9.99055014e-01 -5.48698181e-03 4.38249579e-01] [ 1.39532393e-01 -5.83296503e-04 9.90217335e-01 -3.17826420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.598001144999994 meters Centerline goodness [0,1] 0.900303411953286 Centerline is valid? [False, False] Translation: X:2.28, Y:0.44, Z:-0.32 [[ 9.89230613e-01 -4.35051443e-02 -1.39750121e-01 2.27669359e+00] [ 4.31125284e-02 9.99053172e-01 -5.83698593e-03 4.38374850e-01] [ 1.39871741e-01 -2.50855900e-04 9.90169598e-01 -3.17204937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.628001144999995 meters Centerline goodness [0,1] 0.9040329030046841 Centerline is valid? [False, False] Translation: X:2.28, Y:0.44, Z:-0.32 [[ 9.89188126e-01 -4.36391935e-02 -1.40008825e-01 2.27713166e+00] [ 4.31825869e-02 9.99047340e-01 -6.29901625e-03 4.38803593e-01] [ 1.40150329e-01 1.84968805e-04 9.90130219e-01 -3.16431662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.658001144999997 meters Centerline goodness [0,1] 0.9031871144619602 Centerline is valid? [False, False] Translation: X:2.28, Y:0.44, Z:-0.32 [[ 9.89184492e-01 -4.41477702e-02 -1.39874999e-01 2.27631110e+00] [ 4.36327950e-02 9.99024848e-01 -6.74770560e-03 4.39235052e-01] [ 1.40036495e-01 5.71588591e-04 9.90146178e-01 -3.15827925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.688001144999994 meters Centerline goodness [0,1] 0.9042410395544767 Centerline is valid? [False, False] Translation: X:2.28, Y:0.44, Z:-0.32 [[ 9.89177395e-01 -4.45136192e-02 -1.39809225e-01 2.27579238e+00] [ 4.39568501e-02 9.99008418e-01 -7.06933193e-03 4.39008716e-01] [ 1.39985274e-01 8.47250199e-04 9.90153223e-01 -3.15300275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.718001144999995 meters Centerline goodness [0,1] 0.9046074162611344 Centerline is valid? [False, False] Translation: X:2.28, Y:0.44, Z:-0.31 [[ 0.98892488 -0.04947078 -0.13992939 2.27591509] [ 0.04816205 0.99875847 -0.01272576 0.4416263 ] [ 0.14038521 0.00584553 0.9900797 -0.31279441] [ 0. 0. 0. 1. ]] SLAMing on 29.748001144999996 meters Centerline goodness [0,1] 0.9049911685943821 Centerline is valid? [False, False] Translation: X:2.28, Y:0.44, Z:-0.31 [[ 0.98893328 -0.0496622 -0.13980211 2.2758029 ] [ 0.04838294 0.99875018 -0.01253649 0.44038286] [ 0.14024997 0.00563371 0.9901001 -0.31320277] [ 0. 0. 0. 1. ]] SLAMing on 29.778001144999994 meters Centerline goodness [0,1] 0.906295420217162 Centerline is valid? [False, False] Translation: X:2.28, Y:0.44, Z:-0.31 [[ 0.98892406 -0.04989281 -0.13978524 2.27587275] [ 0.04864283 0.99873992 -0.01234665 0.43943033] [ 0.14022511 0.00541035 0.99010487 -0.31357763] [ 0. 0. 0. 1. ]] SLAMing on 29.808001144999995 meters Centerline goodness [0,1] 0.9064723531933133 Centerline is valid? [False, False] Translation: X:2.29, Y:0.44, Z:-0.32 [[ 9.89392370e-01 -5.43465905e-02 -1.34718915e-01 2.28987340e+00] [ 5.40673189e-02 9.98520832e-01 -5.73349371e-03 4.38375097e-01] [ 1.34831239e-01 -1.61121561e-03 9.90867267e-01 -3.17452287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.838001144999996 meters Centerline goodness [0,1] 0.9059254384710023 Centerline is valid? [False, False] Translation: X:2.29, Y:0.44, Z:-0.32 [[ 9.89391266e-01 -5.51272045e-02 -1.34409500e-01 2.28843189e+00] [ 5.47976860e-02 9.98478522e-01 -6.15267239e-03 4.37817496e-01] [ 1.34544179e-01 -1.27792927e-03 9.90906772e-01 -3.16799856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.868001144999994 meters Centerline goodness [0,1] 0.903609644742474 Centerline is valid? [False, False] Translation: X:2.29, Y:0.44, Z:-0.32 [[ 9.89371699e-01 -5.54776615e-02 -1.34409336e-01 2.28815255e+00] [ 5.51179233e-02 9.98459347e-01 -6.39893302e-03 4.37264467e-01] [ 1.34557256e-01 -1.07744026e-03 9.90905235e-01 -3.16288334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.898001144999995 meters Centerline goodness [0,1] 0.9018455657928517 Centerline is valid? [False, False] Translation: X:2.29, Y:0.44, Z:-0.32 [[ 9.89358921e-01 -5.61064638e-02 -1.34242281e-01 2.28778262e+00] [ 5.57380497e-02 9.98424242e-01 -6.50403804e-03 4.36392613e-01] [ 1.34395666e-01 -1.04757486e-03 9.90927196e-01 -3.16600523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.928001144999996 meters Centerline goodness [0,1] 0.9023549847652135 Centerline is valid? [False, False] Translation: X:2.29, Y:0.44, Z:-0.32 [[ 9.89354204e-01 -5.61867284e-02 -1.34243474e-01 2.28806612e+00] [ 5.58359444e-02 9.98419576e-01 -6.37947741e-03 4.35435504e-01] [ 1.34389755e-01 -1.18404837e-03 9.90927844e-01 -3.16924851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.958001144999994 meters Centerline goodness [0,1] 0.9016421484775915 Centerline is valid? [False, False] Translation: X:2.29, Y:0.44, Z:-0.32 [[ 9.89358747e-01 -5.61274104e-02 -1.34234810e-01 2.28847563e+00] [ 5.57863140e-02 9.98422830e-01 -6.30395480e-03 4.35123341e-01] [ 1.34376924e-01 -1.25159246e-03 9.90929501e-01 -3.17249769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.988001144999995 meters Centerline goodness [0,1] 0.9045260461144321 Centerline is valid? [False, False] Translation: X:2.29, Y:0.44, Z:-0.32 [[ 9.89327326e-01 -5.57738027e-02 -1.34613244e-01 2.29032009e+00] [ 5.54476289e-02 9.98442509e-01 -6.17384306e-03 4.35117333e-01] [ 1.34747924e-01 -1.35603358e-03 9.90878983e-01 -3.17647748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.018001144999996 meters Centerline goodness [0,1] 0.9058173323457352 Centerline is valid? [False, False] Translation: X:2.29, Y:0.43, Z:-0.32 [[ 9.89314588e-01 -5.51891447e-02 -1.34947410e-01 2.29218522e+00] [ 5.48958143e-02 9.98474676e-01 -5.89661915e-03 4.34986761e-01] [ 1.35067001e-01 -1.57443661e-03 9.90835217e-01 -3.18328929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.048001144999994 meters Centerline goodness [0,1] 0.9087178317991393 Centerline is valid? [False, False] Translation: X:2.29, Y:0.43, Z:-0.32 [[ 9.89303073e-01 -5.47581874e-02 -1.35207137e-01 2.29377367e+00] [ 5.44994279e-02 9.98498002e-01 -5.61722711e-03 4.34643792e-01] [ 1.35311646e-01 -1.81157160e-03 9.90801432e-01 -3.19110441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.078001144999995 meters Centerline goodness [0,1] 0.9088631381146257 Centerline is valid? [False, False] Translation: X:2.30, Y:0.43, Z:-0.32 [[ 9.89286545e-01 -5.41474407e-02 -1.35573546e-01 2.29582109e+00] [ 5.39158361e-02 9.98530978e-01 -5.38221266e-03 4.34043356e-01] [ 1.35665819e-01 -1.98501053e-03 9.90752666e-01 -3.19554466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.108001144999996 meters Centerline goodness [0,1] 0.9088445078459344 Centerline is valid? [False, False] Translation: X:2.30, Y:0.43, Z:-0.32 [[ 9.89257764e-01 -5.36498832e-02 -1.35980759e-01 2.29752609e+00] [ 5.34251753e-02 9.98557769e-01 -5.30397240e-03 4.33854292e-01] [ 1.36069201e-01 -2.01780004e-03 9.90697280e-01 -3.19697409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.138001144999993 meters Centerline goodness [0,1] 0.9088552792731208 Centerline is valid? [False, False] Translation: X:2.30, Y:0.43, Z:-0.32 [[ 9.89248883e-01 -5.32353861e-02 -1.36208081e-01 2.29886611e+00] [ 5.30291379e-02 9.98579712e-01 -5.14478377e-03 4.33261349e-01] [ 1.36288511e-01 -2.13352553e-03 9.90666891e-01 -3.20055894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.168001144999995 meters Centerline goodness [0,1] 0.9134121274409044 Centerline is valid? [False, False] Translation: X:2.30, Y:0.43, Z:-0.32 [[ 9.89232110e-01 -5.22871668e-02 -1.36696326e-01 2.30136491e+00] [ 5.21052886e-02 9.98629523e-01 -4.91076732e-03 4.32970856e-01] [ 1.36765757e-01 -2.26471281e-03 9.90600827e-01 -3.20248322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.198001144999996 meters Centerline goodness [0,1] 0.9118479348292126 Centerline is valid? [False, False] Translation: X:2.30, Y:0.43, Z:-0.32 [[ 9.89195952e-01 -5.20260507e-02 -1.37057139e-01 2.30241475e+00] [ 5.17434965e-02 9.98644561e-01 -5.62594047e-03 4.34707818e-01] [ 1.37164062e-01 -1.52665807e-03 9.90547167e-01 -3.19118591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.228001144999993 meters Centerline goodness [0,1] 0.913789651325763 Centerline is valid? [False, False] Translation: X:2.30, Y:0.44, Z:-0.32 [[ 9.89168566e-01 -5.19265423e-02 -1.37292323e-01 2.30276269e+00] [ 5.15398847e-02 9.98650608e-01 -6.37209104e-03 4.36343486e-01] [ 1.37437942e-01 -7.72958338e-04 9.90510078e-01 -3.17764353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.258001144999994 meters Centerline goodness [0,1] 0.912888101092115 Centerline is valid? [False, False] Translation: X:2.30, Y:0.44, Z:-0.32 [[ 9.89133829e-01 -5.18845383e-02 -1.37558219e-01 2.30295172e+00] [ 5.13816797e-02 9.98653088e-01 -7.20638062e-03 4.37591192e-01] [ 1.37746840e-01 6.01025384e-05 9.90467468e-01 -3.15967291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.288001144999996 meters Centerline goodness [0,1] 0.9138753248236672 Centerline is valid? [False, False] Translation: X:2.30, Y:0.44, Z:-0.32 [[ 9.89078633e-01 -5.13849903e-02 -1.38141378e-01 2.30459030e+00] [ 5.08303763e-02 9.98678823e-01 -7.54200177e-03 4.38378430e-01] [ 1.38346414e-01 4.37854588e-04 9.90383803e-01 -3.15113294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.318001144999993 meters Centerline goodness [0,1] 0.9130472103004292 Centerline is valid? [False, False] Translation: X:2.31, Y:0.44, Z:-0.32 [[ 9.89071061e-01 -5.00795131e-02 -1.38674003e-01 2.30760568e+00] [ 4.95636485e-02 9.98745209e-01 -7.17296190e-03 4.38204374e-01] [ 1.38859215e-01 2.21379474e-04 9.90312107e-01 -3.15562781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.348001144999994 meters Centerline goodness [0,1] 0.9122766965355859 Centerline is valid? [False, False] Translation: X:2.31, Y:0.44, Z:-0.32 [[ 9.89038754e-01 -4.93583225e-02 -1.39162134e-01 2.30996199e+00] [ 4.88942019e-02 9.98781127e-01 -6.75399622e-03 4.37301148e-01] [ 1.39325879e-01 -1.24257463e-04 9.90246577e-01 -3.16277600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.378001144999995 meters Centerline goodness [0,1] 0.9127975085002429 Centerline is valid? [False, False] Translation: X:2.31, Y:0.44, Z:-0.32 [[ 9.89003333e-01 -4.87375840e-02 -1.39631858e-01 2.31213441e+00] [ 4.83088698e-02 9.98811554e-01 -6.46005042e-03 4.36729927e-01] [ 1.39780761e-01 -3.56445871e-04 9.90182413e-01 -3.16862458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.408001144999997 meters Centerline goodness [0,1] 0.9082133881654101 Centerline is valid? [False, False] Translation: X:2.32, Y:0.44, Z:-0.32 [[ 9.88931782e-01 -4.67400111e-02 -1.40816558e-01 2.31821397e+00] [ 4.64142617e-02 9.98906589e-01 -5.59853607e-03 4.36704343e-01] [ 1.40924263e-01 -9.99326300e-04 9.90019875e-01 -3.18654377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.438001144999994 meters Centerline goodness [0,1] 0.9071561205542066 Centerline is valid? [False, False] Translation: X:2.32, Y:0.44, Z:-0.32 [[ 9.88883524e-01 -4.63829030e-02 -1.41272792e-01 2.31964265e+00] [ 4.59842041e-02 9.98923620e-01 -6.08719831e-03 4.38313881e-01] [ 1.41403070e-01 -4.76786772e-04 9.89951991e-01 -3.17970632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.468001144999995 meters Centerline goodness [0,1] 0.902140144977563 Centerline is valid? [False, False] Translation: X:2.32, Y:0.44, Z:-0.32 [[ 9.88874267e-01 -4.57031093e-02 -1.41558858e-01 2.32113905e+00] [ 4.51963357e-02 9.98955015e-01 -6.79474896e-03 4.41281618e-01] [ 1.41721472e-01 3.21210718e-04 9.89906521e-01 -3.16796253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.498001144999996 meters Centerline goodness [0,1] 0.899136273637694 Centerline is valid? [False, False] Translation: X:2.32, Y:0.44, Z:-0.32 [[ 9.88855425e-01 -4.56189229e-02 -1.41717548e-01 2.32185161e+00] [ 4.50491288e-02 9.98958623e-01 -7.22804666e-03 4.41923821e-01] [ 1.41899702e-01 7.63241095e-04 9.89880746e-01 -3.16334517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.528001144999994 meters Centerline goodness [0,1] 0.8952304240262355 Centerline is valid? [False, False] Translation: X:2.32, Y:0.44, Z:-0.32 [[ 9.88852020e-01 -4.56646424e-02 -1.41726576e-01 2.32202582e+00] [ 4.50436645e-02 9.98956198e-01 -7.58826582e-03 4.42512613e-01] [ 1.41925157e-01 1.11978765e-03 9.89876758e-01 -3.15964990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.558001144999995 meters Centerline goodness [0,1] 0.9037919327924506 Centerline is valid? [False, False] Translation: X:2.32, Y:0.44, Z:-0.32 [[ 9.88858370e-01 -4.59520440e-02 -1.41589311e-01 2.32152135e+00] [ 4.52687194e-02 9.98942451e-01 -8.04506582e-03 4.42980002e-01] [ 1.41809261e-01 1.54586386e-03 9.89892794e-01 -3.15344547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.588001144999996 meters Centerline goodness [0,1] 0.9040508659876862 Centerline is valid? [False, False] Translation: X:2.32, Y:0.44, Z:-0.31 [[ 9.88864888e-01 -4.63949810e-02 -1.41399222e-01 2.32096066e+00] [ 4.56570180e-02 9.98921346e-01 -8.46054810e-03 4.43354543e-01] [ 1.41639228e-01 1.91047213e-03 9.89916501e-01 -3.14982035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.618001144999994 meters Centerline goodness [0,1] 0.9102538304539052 Centerline is valid? [False, False] Translation: X:2.32, Y:0.44, Z:-0.31 [[ 0.98865569 -0.05129538 -0.14116908 2.32059384] [ 0.04993421 0.99866567 -0.01316998 0.4447784 ] [ 0.14165627 0.0059714 0.9898979 -0.31371772] [ 0. 0. 0. 1. ]] SLAMing on 30.648001144999995 meters Centerline goodness [0,1] 0.9088904164518531 Centerline is valid? [False, False] Translation: X:2.32, Y:0.44, Z:-0.31 [[ 0.98865201 -0.05181207 -0.14100606 2.32041423] [ 0.05049468 0.99864092 -0.01290716 0.44274341] [ 0.14148317 0.00564063 0.98992459 -0.31453396] [ 0. 0. 0. 1. ]] SLAMing on 30.678001144999996 meters Centerline goodness [0,1] 0.9096525096525097 Centerline is valid? [False, False] Translation: X:2.32, Y:0.44, Z:-0.32 [[ 0.98861499 -0.05250187 -0.14101048 2.32051973] [ 0.05122911 0.99860689 -0.01264354 0.44043697] [ 0.14147785 0.00527575 0.98992736 -0.31547467] [ 0. 0. 0. 1. ]] SLAMing on 30.708001144999994 meters Centerline goodness [0,1] 0.9090986879634911 Centerline is valid? [False, False] Translation: X:2.32, Y:0.44, Z:-0.32 [[ 0.98836215 -0.05722842 -0.14094384 2.32183015] [ 0.0554995 0.99832776 -0.01617038 0.43962726] [ 0.14163355 0.00815988 0.98988552 -0.31688089] [ 0. 0. 0. 1. ]] SLAMing on 30.738001144999995 meters Centerline goodness [0,1] 0.9052258635961028 Centerline is valid? [False, False] Translation: X:2.32, Y:0.44, Z:-0.32 [[ 0.98837416 -0.05759946 -0.14070831 2.32168964] [ 0.05591726 0.99830906 -0.01588318 0.43835996] [ 0.14138525 0.0078305 0.98992368 -0.31786462] [ 0. 0. 0. 1. ]] SLAMing on 30.768001144999996 meters Centerline goodness [0,1] 0.9050809762773723 Centerline is valid? [False, False] Translation: X:2.32, Y:0.44, Z:-0.32 [[ 0.98836881 -0.05763603 -0.14073086 2.32253166] [ 0.05601913 0.9983105 -0.01542726 0.43694671] [ 0.14138226 0.00736421 0.98992769 -0.31900555] [ 0. 0. 0. 1. ]] SLAMing on 30.798001144999994 meters Centerline goodness [0,1] 0.9037588834660502 Centerline is valid? [False, False] Translation: X:2.32, Y:0.44, Z:-0.32 [[ 0.98838212 -0.05789786 -0.14052977 2.32239228] [ 0.05631206 0.99829692 -0.01523818 0.43598675] [ 0.14117269 0.00714763 0.98995918 -0.31969182] [ 0. 0. 0. 1. ]] SLAMing on 30.828001144999995 meters Centerline goodness [0,1] 0.9043011673373862 Centerline is valid? [False, False] Translation: X:2.32, Y:0.44, Z:-0.32 [[ 0.98834926 -0.05746578 -0.14093768 2.32447991] [ 0.05586023 0.99832098 -0.01532505 0.43712718] [ 0.14158171 0.00727369 0.98989985 -0.31986955] [ 0. 0. 0. 1. ]] SLAMing on 30.858001144999996 meters Centerline goodness [0,1] 0.9018390870348654 Centerline is valid? [False, False] Translation: X:2.33, Y:0.44, Z:-0.32 [[ 0.98832036 -0.05721738 -0.14124103 2.32560505] [ 0.05553983 0.99833155 -0.015794 0.43936797] [ 0.14190907 0.00776503 0.98984924 -0.31937 ] [ 0. 0. 0. 1. ]] SLAMing on 30.888001144999993 meters Centerline goodness [0,1] 0.9020762139964966 Centerline is valid? [False, False] Translation: X:2.33, Y:0.44, Z:-0.32 [[ 0.98856473 -0.05292751 -0.14120356 2.32545003] [ 0.05182195 0.99859015 -0.01149784 0.43835702] [ 0.14161304 0.00404892 0.98991381 -0.32033045] [ 0. 0. 0. 1. ]] SLAMing on 30.918001144999995 meters Centerline goodness [0,1] 0.9054112243433329 Centerline is valid? [False, False] Translation: X:2.33, Y:0.44, Z:-0.32 [[ 0.98851835 -0.05246212 -0.14170109 2.32711277] [ 0.05128908 0.9986127 -0.01192049 0.44030166] [ 0.14212988 0.0045159 0.98983772 -0.31969886] [ 0. 0. 0. 1. ]] SLAMing on 30.948001144999996 meters Centerline goodness [0,1] 0.9033082534030211 Centerline is valid? [False, False] Translation: X:2.33, Y:0.44, Z:-0.32 [[ 0.98851308 -0.05234998 -0.14177928 2.32764066] [ 0.05115732 0.99861795 -0.01204657 0.44008333] [ 0.14221397 0.00465514 0.98982499 -0.31921644] [ 0. 0. 0. 1. ]] SLAMing on 30.978001144999993 meters Centerline goodness [0,1] 0.9064194909174391 Centerline is valid? [False, False] Translation: X:2.33, Y:0.44, Z:-0.32 [[ 0.98850025 -0.05216683 -0.14193616 2.32856416] [ 0.05098073 0.99862775 -0.01198268 0.4399653 ] [ 0.14236649 0.00460887 0.98980328 -0.31950732] [ 0. 0. 0. 1. ]] SLAMing on 31.008001144999994 meters Centerline goodness [0,1] 0.9056370789420785 Centerline is valid? [False, False] Translation: X:2.33, Y:0.44, Z:-0.32 [[ 0.98850592 -0.05133598 -0.1421994 2.33070667] [ 0.05016268 0.99867104 -0.01182596 0.44029081] [ 0.14261752 0.00455693 0.98976739 -0.31990719] [ 0. 0. 0. 1. ]] SLAMing on 31.038001144999996 meters Centerline goodness [0,1] 0.9044030945328003 Centerline is valid? [False, False] Translation: X:2.33, Y:0.44, Z:-0.32 [[ 0.98848968 -0.0508707 -0.14247923 2.3321621 ] [ 0.04969291 0.99869466 -0.01181484 0.44073488] [ 0.14289427 0.00459864 0.98972727 -0.32007937] [ 0. 0. 0. 1. ]] SLAMing on 31.068001144999993 meters Centerline goodness [0,1] 0.9053262969691727 Centerline is valid? [False, False] Translation: X:2.33, Y:0.44, Z:-0.32 [[ 0.98845942 -0.0504137 -0.14285106 2.33387007] [ 0.04922643 0.99871752 -0.01183551 0.44147346] [ 0.14326452 0.00466687 0.98967343 -0.32028936] [ 0. 0. 0. 1. ]] SLAMing on 31.098001144999994 meters Centerline goodness [0,1] 0.9048003692591737 Centerline is valid? [False, False] Translation: X:2.34, Y:0.44, Z:-0.32 [[ 0.98841819 -0.04994226 -0.14330126 2.33580095] [ 0.04874401 0.99874086 -0.01186249 0.44242749] [ 0.14371326 0.00474002 0.98960802 -0.32056772] [ 0. 0. 0. 1. ]] SLAMing on 31.128001144999995 meters Centerline goodness [0,1] 0.9043395628761483 Centerline is valid? [False, False] Translation: X:2.34, Y:0.44, Z:-0.32 [[ 0.98838298 -0.0491308 -0.14382368 2.33867646] [ 0.04792299 0.99878071 -0.01185214 0.44292635] [ 0.14423063 0.004822 0.98953235 -0.32089021] [ 0. 0. 0. 1. ]] SLAMing on 31.158001144999997 meters Centerline goodness [0,1] 0.9054729225291449 Centerline is valid? [False, False] Translation: X:2.34, Y:0.44, Z:-0.32 [[ 0.98835966 -0.049069 -0.14400493 2.33947205] [ 0.04785246 0.99878351 -0.01190145 0.44258322] [ 0.14441374 0.00487192 0.9895054 -0.3209037 ] [ 0. 0. 0. 1. ]] SLAMing on 31.188001144999994 meters Centerline goodness [0,1] 0.9059347607414858 Centerline is valid? [False, False] Translation: X:2.34, Y:0.44, Z:-0.32 [[ 0.9883442 -0.04910225 -0.14409968 2.33983588] [ 0.04787342 0.99878151 -0.01198475 0.44238045] [ 0.14451257 0.00494651 0.9894906 -0.32073749] [ 0. 0. 0. 1. ]] SLAMing on 31.218001144999995 meters Centerline goodness [0,1] 0.9064785339413233 Centerline is valid? [False, False] Translation: X:2.34, Y:0.44, Z:-0.32 [[ 0.98832053 -0.04949767 -0.14412671 2.34001276] [ 0.04821466 0.99876023 -0.01238327 0.4417849 ] [ 0.14456097 0.00528962 0.98948176 -0.32013291] [ 0. 0. 0. 1. ]] SLAMing on 31.248001144999996 meters Centerline goodness [0,1] 0.9066406698015828 Centerline is valid? [False, False] Translation: X:2.34, Y:0.44, Z:-0.32 [[ 0.9883172 -0.04953344 -0.14413728 2.34063725] [ 0.04827652 0.99875941 -0.01220693 0.44052837] [ 0.14456311 0.00510588 0.98948241 -0.32074702] [ 0. 0. 0. 1. ]] SLAMing on 31.278001144999994 meters Centerline goodness [0,1] 0.9036423368090273 Centerline is valid? [False, False] Translation: X:2.34, Y:0.44, Z:-0.32 [[ 0.98829268 -0.04927882 -0.14439245 2.34224938] [ 0.04809541 0.99877449 -0.01167713 0.43876539] [ 0.14479093 0.00459581 0.9894516 -0.32185578] [ 0. 0. 0. 1. ]] SLAMing on 31.308001144999995 meters Centerline goodness [0,1] 0.9060456349772967 Centerline is valid? [False, False] Translation: X:2.34, Y:0.44, Z:-0.32 [[ 0.9882271 -0.04995886 -0.14460744 2.34307655] [ 0.04884027 0.99874294 -0.0112773 0.4359714 ] [ 0.14498906 0.00408186 0.98942484 -0.32305055] [ 0. 0. 0. 1. ]] SLAMing on 31.338001144999996 meters Centerline goodness [0,1] 0.9049655093780287 Centerline is valid? [False, False] Translation: X:2.34, Y:0.43, Z:-0.32 [[ 0.98819474 -0.05015934 -0.14475913 2.34362426] [ 0.04909278 0.99873439 -0.0109328 0.4346454 ] [ 0.1451243 0.00369711 0.98940652 -0.32365055] [ 0. 0. 0. 1. ]] SLAMing on 31.368001144999994 meters Centerline goodness [0,1] 0.9038581737598728 Centerline is valid? [False, False] Translation: X:2.34, Y:0.43, Z:-0.32 [[ 0.98813619 -0.0501941 -0.14514619 2.34473097] [ 0.04913144 0.99873285 -0.01089894 0.43407423] [ 0.14550934 0.00363839 0.98935019 -0.3236008 ] [ 0. 0. 0. 1. ]] SLAMing on 31.398001144999995 meters Centerline goodness [0,1] 0.9038581737598728 Centerline is valid? [False, False] Translation: X:2.34, Y:0.43, Z:-0.32 [[ 0.98813619 -0.0501941 -0.14514619 2.34473097] [ 0.04913144 0.99873285 -0.01089894 0.43407423] [ 0.14550934 0.00363839 0.98935019 -0.3236008 ] [ 0. 0. 0. 1. ]] SLAMing on 31.428001144999996 meters Centerline goodness [0,1] 0.9041980930695888 Centerline is valid? [False, False] Translation: X:2.35, Y:0.44, Z:-0.32 [[ 0.98786359 -0.05496317 -0.14527414 2.34537176] [ 0.05321643 0.99845664 -0.01588565 0.43675297] [ 0.14592305 0.00796189 0.9892639 -0.32164657] [ 0. 0. 0. 1. ]] SLAMing on 31.458001144999994 meters Centerline goodness [0,1] 0.906271263325017 Centerline is valid? [False, False] Translation: X:2.35, Y:0.44, Z:-0.32 [[ 0.98754078 -0.05890309 -0.14592341 2.34817725] [ 0.05656307 0.99819593 -0.02013714 0.4383707 ] [ 0.1468463 0.01163237 0.98909092 -0.3211972 ] [ 0. 0. 0. 1. ]] SLAMing on 31.488001144999995 meters Centerline goodness [0,1] 0.9049048482102402 Centerline is valid? [False, False] Translation: X:2.35, Y:0.44, Z:-0.32 [[ 0.98754339 -0.0591235 -0.14581652 2.34869699] [ 0.05689152 0.99819121 -0.01943343 0.43571913] [ 0.14670174 0.01089563 0.98912076 -0.32285699] [ 0. 0. 0. 1. ]] SLAMing on 31.518001144999996 meters Centerline goodness [0,1] 0.903440684185272 Centerline is valid? [False, False] Translation: X:2.35, Y:0.43, Z:-0.32 [[ 0.98724355 -0.06301089 -0.14621834 2.35210645] [ 0.06033787 0.99792102 -0.02264913 0.4346396 ] [ 0.1473415 0.0135377 0.98899303 -0.3246162 ] [ 0. 0. 0. 1. ]] SLAMing on 31.548001144999994 meters Centerline goodness [0,1] 0.9018071100335485 Centerline is valid? [False, False] Translation: X:2.35, Y:0.43, Z:-0.33 [[ 0.98719354 -0.06290554 -0.14660083 2.35349697] [ 0.06026285 0.99793111 -0.02240301 0.43423975] [ 0.1477068 0.01328152 0.98894201 -0.32515484] [ 0. 0. 0. 1. ]] SLAMing on 31.578001144999995 meters Centerline goodness [0,1] 0.9024527769946433 Centerline is valid? [False, False] Translation: X:2.35, Y:0.43, Z:-0.33 [[ 0.98715882 -0.06268899 -0.14692701 2.35481869] [ 0.0600654 0.99794688 -0.02223003 0.43439373] [ 0.14801893 0.01311934 0.98889751 -0.3255084 ] [ 0. 0. 0. 1. ]] SLAMing on 31.608001144999996 meters Centerline goodness [0,1] 0.9045550698067973 Centerline is valid? [False, False] Translation: X:2.36, Y:0.43, Z:-0.33 [[ 0.98712667 -0.06235287 -0.14728566 2.35628303] [ 0.05971481 0.99796703 -0.02226978 0.43488146] [ 0.14837482 0.01318796 0.98884326 -0.32552177] [ 0. 0. 0. 1. ]] SLAMing on 31.638001144999993 meters Centerline goodness [0,1] 0.9055461233729485 Centerline is valid? [False, False] Translation: X:2.36, Y:0.44, Z:-0.33 [[ 0.98712544 -0.06128697 -0.14774058 2.35908996] [ 0.05862581 0.99803083 -0.02230437 0.43675387] [ 0.14881662 0.0133558 0.98877461 -0.32551892] [ 0. 0. 0. 1. ]] SLAMing on 31.668001144999995 meters Centerline goodness [0,1] 0.9067517730496454 Centerline is valid? [False, False] Translation: X:2.36, Y:0.44, Z:-0.33 [[ 0.98707424 -0.06045351 -0.14842444 2.3617938 ] [ 0.05780511 0.99808331 -0.02209678 0.43788893] [ 0.14947578 0.01323147 0.98867685 -0.3259387 ] [ 0. 0. 0. 1. ]] SLAMing on 31.698001144999996 meters Centerline goodness [0,1] 0.9075904778137606 Centerline is valid? [False, False] Translation: X:2.37, Y:0.44, Z:-0.33 [[ 0.98728452 -0.05592455 -0.14880093 2.36662335] [ 0.05369474 0.99837731 -0.0189637 0.43873285] [ 0.14962001 0.01073274 0.98868532 -0.32825645] [ 0. 0. 0. 1. ]] SLAMing on 31.728001144999993 meters Centerline goodness [0,1] 0.9058061940341071 Centerline is valid? [False, False] Translation: X:2.37, Y:0.44, Z:-0.33 [[ 0.98749413 -0.05109919 -0.14914496 2.36802781] [ 0.04948553 0.99866939 -0.01451285 0.43819203] [ 0.1496881 0.00695084 0.98870883 -0.32957414] [ 0. 0. 0. 1. ]] SLAMing on 31.758001144999994 meters Centerline goodness [0,1] 0.9068225340840884 Centerline is valid? [False, False] Translation: X:2.37, Y:0.44, Z:-0.33 [[ 0.98742327 -0.04980586 -0.15004884 2.3716588 ] [ 0.04817103 0.99873367 -0.01451254 0.44092213] [ 0.15058164 0.00710201 0.98857207 -0.32973198] [ 0. 0. 0. 1. ]] SLAMing on 31.788001144999996 meters Centerline goodness [0,1] 0.9083738210917405 Centerline is valid? [False, False] Translation: X:2.38, Y:0.44, Z:-0.33 [[ 0.98732825 -0.04858216 -0.15107184 2.37550164] [ 0.04687247 0.99879035 -0.01485968 0.44383756] [ 0.15161101 0.00759027 0.98841109 -0.32932545] [ 0. 0. 0. 1. ]] SLAMing on 31.818001144999993 meters Centerline goodness [0,1] 0.905379637120074 Centerline is valid? [False, False] Translation: X:2.38, Y:0.44, Z:-0.33 [[ 0.98745404 -0.04308837 -0.15191416 2.37930547] [ 0.04202956 0.99906455 -0.01017549 0.44412265] [ 0.1522105 0.00366294 0.98834131 -0.3314012 ] [ 0. 0. 0. 1. ]] SLAMing on 31.848001144999994 meters Centerline goodness [0,1] 0.9023481500736504 Centerline is valid? [False, False] Translation: X:2.38, Y:0.45, Z:-0.33 [[ 0.98737433 -0.04244128 -0.15261281 2.38212225] [ 0.04136001 0.99909169 -0.0102542 0.44519364] [ 0.15290939 0.00381267 0.98823286 -0.33173777] [ 0. 0. 0. 1. ]] SLAMing on 31.878001144999995 meters Centerline goodness [0,1] 0.8995837669094693 Centerline is valid? [False, False] Translation: X:2.38, Y:0.45, Z:-0.33 [[ 0.98731888 -0.04225492 -0.15302273 2.38371694] [ 0.04113913 0.99909876 -0.01045203 0.44570107] [ 0.15332647 0.00402426 0.98816739 -0.33186472] [ 0. 0. 0. 1. ]] SLAMing on 31.908001144999993 meters Centerline goodness [0,1] 0.9026620136705794 Centerline is valid? [False, False] Translation: X:2.39, Y:0.45, Z:-0.33 [[ 0.98702749 -0.04648634 -0.1536742 2.38584166] [ 0.04459847 0.99888144 -0.01571132 0.44739406] [ 0.15423267 0.00865387 0.98799666 -0.32928199] [ 0. 0. 0. 1. ]] SLAMing on 31.938001144999994 meters Centerline goodness [0,1] 0.9026490066225166 Centerline is valid? [False, False] Translation: X:2.39, Y:0.45, Z:-0.33 [[ 0.98699575 -0.0465125 -0.15387 2.38658105] [ 0.04464208 0.99888138 -0.01559063 0.44549323] [ 0.15442303 0.00851881 0.98796809 -0.32943948] [ 0. 0. 0. 1. ]] SLAMing on 31.968001144999995 meters Centerline goodness [0,1] 0.9000517271107535 Centerline is valid? [False, False] Translation: X:2.39, Y:0.44, Z:-0.33 [[ 0.9869639 -0.04638402 -0.15411288 2.38783797] [ 0.04456683 0.99889035 -0.01522708 0.44326105] [ 0.15464816 0.00816026 0.98793591 -0.33007911] [ 0. 0. 0. 1. ]] SLAMing on 31.998001144999996 meters Centerline goodness [0,1] 0.8993471164309031 Centerline is valid? [False, False] Translation: X:2.39, Y:0.44, Z:-0.33 [[ 0.98693161 -0.04653623 -0.15427369 2.38829539] [ 0.04474889 0.99888505 -0.01503981 0.44117047] [ 0.15480158 0.00793969 0.98791368 -0.33015759] [ 0. 0. 0. 1. ]] SLAMing on 32.028001145 meters Centerline goodness [0,1] 0.9028326180257511 Centerline is valid? [False, False] Translation: X:2.40, Y:0.44, Z:-0.33 [[ 9.87495740e-01 -5.05166053e-02 -1.49332633e-01 2.40268237e+00] [ 4.96426182e-02 9.98721130e-01 -9.57678875e-03 4.38922622e-01] [ 1.49625443e-01 2.04377520e-03 9.88740638e-01 -3.30448747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.05800114499999 meters Centerline goodness [0,1] 0.9034003531355015 Centerline is valid? [False, False] Translation: X:2.40, Y:0.44, Z:-0.33 [[ 0.98718116 -0.05471498 -0.14993211 2.40439157] [ 0.05319329 0.99848406 -0.01414389 0.44024841] [ 0.1504787 0.0059872 0.98859512 -0.32888937] [ 0. 0. 0. 1. ]] SLAMing on 32.08800114499999 meters Centerline goodness [0,1] 0.9032533515498249 Centerline is valid? [False, False] Translation: X:2.40, Y:0.44, Z:-0.33 [[ 0.98715231 -0.05489647 -0.15005565 2.40487728] [ 0.05343431 0.99847653 -0.01376183 0.43793975] [ 0.15058253 0.0055669 0.98858177 -0.32943856] [ 0. 0. 0. 1. ]] SLAMing on 32.118001144999994 meters Centerline goodness [0,1] 0.9039655319028317 Centerline is valid? [False, False] Translation: X:2.41, Y:0.44, Z:-0.33 [[ 0.98710351 -0.05483619 -0.1503983 2.40620456] [ 0.05343135 0.99848203 -0.01336902 0.43577606] [ 0.15090311 0.00516062 0.98853509 -0.33001655] [ 0. 0. 0. 1. ]] SLAMing on 32.148001144999995 meters Centerline goodness [0,1] 0.9046046130826346 Centerline is valid? [False, False] Translation: X:2.41, Y:0.43, Z:-0.33 [[ 0.98706297 -0.05475466 -0.15069382 2.40748498] [ 0.05341827 0.99848883 -0.01290513 0.43369974] [ 0.15117271 0.00468837 0.98849625 -0.33077862] [ 0. 0. 0. 1. ]] SLAMing on 32.178001144999996 meters Centerline goodness [0,1] 0.9064669345999269 Centerline is valid? [False, False] Translation: X:2.41, Y:0.43, Z:-0.33 [[ 0.98672001 -0.05835304 -0.15158673 2.41130765] [ 0.05644138 0.99826309 -0.01688704 0.43374332] [ 0.15230884 0.00810702 0.9882997 -0.33007657] [ 0. 0. 0. 1. ]] SLAMing on 32.208001145 meters Centerline goodness [0,1] 0.9048287085098622 Centerline is valid? [False, False] Translation: X:2.41, Y:0.43, Z:-0.33 [[ 0.98668098 -0.05831327 -0.15185588 2.41232104] [ 0.05641419 0.9982663 -0.01678805 0.43256811] [ 0.15257157 0.00799762 0.98826006 -0.33019616] [ 0. 0. 0. 1. ]] SLAMing on 32.23800114499999 meters Centerline goodness [0,1] 0.9046055401195588 Centerline is valid? [False, False] Translation: X:2.42, Y:0.43, Z:-0.33 [[ 0.986322 -0.06182658 -0.15279526 2.4160188 ] [ 0.05926497 0.99801571 -0.02126736 0.43478904] [ 0.15380696 0.01192105 0.988029 -0.32872037] [ 0. 0. 0. 1. ]] SLAMing on 32.26800114499999 meters Centerline goodness [0,1] 0.9059539160172675 Centerline is valid? [False, False] Translation: X:2.42, Y:0.43, Z:-0.33 [[ 0.98626256 -0.06157139 -0.15328118 2.4178162 ] [ 0.0590453 0.99803476 -0.02098243 0.43415616] [ 0.15427187 0.01164365 0.98795983 -0.32927379] [ 0. 0. 0. 1. ]] SLAMing on 32.29800114499999 meters Centerline goodness [0,1] 0.90731611674416 Centerline is valid? [False, False] Translation: X:2.42, Y:0.43, Z:-0.33 [[ 0.98622145 -0.06167433 -0.15350415 2.41841761] [ 0.05915006 0.998029 -0.02096174 0.43333353] [ 0.15449439 0.01159313 0.98792565 -0.3293211 ] [ 0. 0. 0. 1. ]] SLAMing on 32.328001144999995 meters Centerline goodness [0,1] 0.9092891896426374 Centerline is valid? [False, False] Translation: X:2.42, Y:0.44, Z:-0.33 [[ 0.98585843 -0.06549907 -0.15424988 2.42137395] [ 0.06231667 0.99773362 -0.02538228 0.43530782] [ 0.15556281 0.015411 0.98770578 -0.32837875] [ 0. 0. 0. 1. ]] SLAMing on 32.358001144999996 meters Centerline goodness [0,1] 0.912913583693983 Centerline is valid? [False, False] Translation: X:2.42, Y:0.43, Z:-0.33 [[ 0.98578702 -0.0656014 -0.15466221 2.42329594] [ 0.06253456 0.99773916 -0.02461705 0.43297438] [ 0.15592746 0.01459543 0.98766067 -0.33001323] [ 0. 0. 0. 1. ]] SLAMing on 32.388001145 meters Centerline goodness [0,1] 0.9127879446254978 Centerline is valid? [False, False] Translation: X:2.42, Y:0.43, Z:-0.33 [[ 0.98574548 -0.06542675 -0.1550006 2.42474643] [ 0.06242831 0.99775749 -0.02413932 0.43174225] [ 0.15623236 0.0141188 0.98761941 -0.33088142] [ 0. 0. 0. 1. ]] SLAMing on 32.418001145 meters Centerline goodness [0,1] 0.9121856329025984 Centerline is valid? [False, False] Translation: X:2.43, Y:0.43, Z:-0.33 [[ 0.9856965 -0.06494551 -0.15551364 2.42692639] [ 0.06201761 0.99779574 -0.02361084 0.43069467] [ 0.15670427 0.01362854 0.98755154 -0.33176862] [ 0. 0. 0. 1. ]] SLAMing on 32.44800114499999 meters Centerline goodness [0,1] 0.9104798014999024 Centerline is valid? [False, False] Translation: X:2.43, Y:0.43, Z:-0.33 [[ 0.98563025 -0.06416344 -0.15625642 2.429789 ] [ 0.06126578 0.9978496 -0.02329537 0.43168377] [ 0.15741512 0.01338745 0.98744177 -0.33208541] [ 0. 0. 0. 1. ]] SLAMing on 32.47800114499999 meters Centerline goodness [0,1] 0.9116245366628578 Centerline is valid? [False, False] Translation: X:2.43, Y:0.43, Z:-0.33 [[ 0.98554332 -0.06314616 -0.15721618 2.43327171] [ 0.06026076 0.99791633 -0.0230574 0.43335986] [ 0.15834458 0.0132501 0.98729501 -0.33246396] [ 0. 0. 0. 1. ]] SLAMing on 32.508001144999994 meters Centerline goodness [0,1] 0.9118754707506904 Centerline is valid? [False, False] Translation: X:2.44, Y:0.44, Z:-0.33 [[ 0.98544987 -0.06226197 -0.15815182 2.43631182] [ 0.05933948 0.99796965 -0.02313899 0.43532253] [ 0.1592714 0.01341766 0.98714365 -0.33219984] [ 0. 0. 0. 1. ]] SLAMing on 32.538001144999996 meters Centerline goodness [0,1] 0.9119143464161914 Centerline is valid? [False, False] Translation: X:2.44, Y:0.44, Z:-0.33 [[ 0.98561751 -0.05705767 -0.15906772 2.4390979 ] [ 0.05476259 0.99832281 -0.01877822 0.43513523] [ 0.15987238 0.00979718 0.98708907 -0.33294512] [ 0. 0. 0. 1. ]] SLAMing on 32.568001145 meters Centerline goodness [0,1] 0.911797595750629 Centerline is valid? [False, False] Translation: X:2.44, Y:0.44, Z:-0.33 [[ 0.98550875 -0.05605592 -0.16009445 2.44294995] [ 0.05375333 0.99837949 -0.01868084 0.43648436] [ 0.16088219 0.00980452 0.98692492 -0.33335814] [ 0. 0. 0. 1. ]] SLAMing on 32.598001145 meters Centerline goodness [0,1] 0.9078489676840216 Centerline is valid? [False, False] Translation: X:2.45, Y:0.44, Z:-0.33 [[ 0.98543359 -0.05544348 -0.16076898 2.44550368] [ 0.05309922 0.99841141 -0.01884472 0.43819783] [ 0.1615584 0.01003351 0.98681215 -0.33352597] [ 0. 0. 0. 1. ]] SLAMing on 32.62800114499999 meters Centerline goodness [0,1] 0.9040204966495862 Centerline is valid? [False, False] Translation: X:2.45, Y:0.44, Z:-0.33 [[ 0.98537067 -0.05377043 -0.16172011 2.45061008] [ 0.05147187 0.99850543 -0.01837245 0.43928439] [ 0.1624663 0.00977964 0.98666563 -0.33484075] [ 0. 0. 0. 1. ]] SLAMing on 32.65800114499999 meters Centerline goodness [0,1] 0.903234888369605 Centerline is valid? [False, False] Translation: X:2.45, Y:0.44, Z:-0.34 [[ 0.98532359 -0.05316795 -0.16220543 2.45299425] [ 0.05088823 0.99853887 -0.01818 0.43918565] [ 0.16293502 0.00965884 0.98658952 -0.33553087] [ 0. 0. 0. 1. ]] SLAMing on 32.688001144999994 meters Centerline goodness [0,1] 0.9035605804927438 Centerline is valid? [False, False] Translation: X:2.45, Y:0.44, Z:-0.34 [[ 0.98529286 -0.05293051 -0.16246951 2.45425596] [ 0.05063588 0.9985507 -0.01823498 0.43929137] [ 0.16319922 0.00974001 0.98654505 -0.33566073] [ 0. 0. 0. 1. ]] SLAMing on 32.718001144999995 meters Centerline goodness [0,1] 0.9063027574563871 Centerline is valid? [False, False] Translation: X:2.46, Y:0.44, Z:-0.34 [[ 0.98521809 -0.05306699 -0.1628779 2.45532565] [ 0.05074454 0.99854235 -0.01838924 0.43955962] [ 0.16361635 0.00985224 0.98647485 -0.33532384] [ 0. 0. 0. 1. ]] SLAMing on 32.748001144999996 meters Centerline goodness [0,1] 0.9077502177027444 Centerline is valid? [False, False] Translation: X:2.46, Y:0.44, Z:-0.33 [[ 0.9851428 -0.05334719 -0.16324136 2.4558732 ] [ 0.05098503 0.99852566 -0.01862889 0.43927347] [ 0.16399448 0.01002925 0.98641027 -0.33479907] [ 0. 0. 0. 1. ]] SLAMing on 32.778001145 meters Centerline goodness [0,1] 0.910255332268281 Centerline is valid? [False, False] Translation: X:2.46, Y:0.44, Z:-0.33 [[ 0.98478993 -0.05781018 -0.16384988 2.45743482] [ 0.05468751 0.99822673 -0.02350906 0.44190494] [ 0.16491839 0.01419094 0.98620512 -0.33290931] [ 0. 0. 0. 1. ]] SLAMing on 32.80800114499999 meters Centerline goodness [0,1] 0.9111222977319127 Centerline is valid? [False, False] Translation: X:2.47, Y:0.44, Z:-0.34 [[ 0.98545475 -0.06013411 -0.15894286 2.47256996] [ 0.05831076 0.9981684 -0.01611494 0.43997931] [ 0.1596208 0.00661246 0.98715626 -0.33539658] [ 0. 0. 0. 1. ]] SLAMing on 32.83800114499999 meters Centerline goodness [0,1] 0.9111781464722641 Centerline is valid? [False, False] Translation: X:2.47, Y:0.44, Z:-0.33 [[ 0.98518527 -0.06567691 -0.15841884 2.47107111] [ 0.06319341 0.99778724 -0.02066902 0.43880613] [ 0.15942577 0.01035179 0.98715564 -0.33422137] [ 0. 0. 0. 1. ]] SLAMing on 32.868001144999994 meters Centerline goodness [0,1] 0.9079155453208667 Centerline is valid? [False, False] Translation: X:2.47, Y:0.44, Z:-0.33 [[ 0.98484057 -0.06977343 -0.15881031 2.47325022] [ 0.06667723 0.99746763 -0.0247484 0.43922704] [ 0.16013492 0.0137842 0.98699889 -0.33395039] [ 0. 0. 0. 1. ]] SLAMing on 32.898001144999995 meters Centerline goodness [0,1] 0.9122037848937233 Centerline is valid? [False, False] Translation: X:2.47, Y:0.44, Z:-0.33 [[ 0.98483036 -0.07020591 -0.15868302 2.47322191] [ 0.0671751 0.99744304 -0.02439026 0.43729385] [ 0.15998961 0.01336072 0.98702827 -0.33492455] [ 0. 0. 0. 1. ]] SLAMing on 32.928001144999996 meters Centerline goodness [0,1] 0.9127931120400875 Centerline is valid? [False, False] Translation: X:2.47, Y:0.44, Z:-0.33 [[ 0.98446463 -0.07460441 -0.15894518 2.47498407] [ 0.07091209 0.99706716 -0.02878457 0.43923135] [ 0.16062648 0.01706626 0.98686771 -0.33421911] [ 0. 0. 0. 1. ]] SLAMing on 32.958001145 meters Centerline goodness [0,1] 0.9152194418243356 Centerline is valid? [False, False] Translation: X:2.48, Y:0.44, Z:-0.33 [[ 0.98439645 -0.07465694 -0.15934233 2.475881 ] [ 0.07094083 0.99706201 -0.0288919 0.43995 ] [ 0.16103116 0.01713721 0.98680053 -0.33405934] [ 0. 0. 0. 1. ]] SLAMing on 32.98800114499999 meters Centerline goodness [0,1] 0.9145168888026822 Centerline is valid? [False, False] Translation: X:2.48, Y:0.44, Z:-0.33 [[ 0.98432421 -0.07445792 -0.15988081 2.47743001] [ 0.07074053 0.99707815 -0.02882619 0.44071811] [ 0.16156 0.01706427 0.98671535 -0.3341878 ] [ 0. 0. 0. 1. ]] SLAMing on 33.01800114499999 meters Centerline goodness [0,1] 0.9166435352245601 Centerline is valid? [False, False] Translation: X:2.48, Y:0.44, Z:-0.34 [[ 0.98427253 -0.07390093 -0.16045635 2.47970831] [ 0.07024424 0.99712685 -0.02835117 0.44105063] [ 0.16209051 0.01663414 0.98663568 -0.33508554] [ 0. 0. 0. 1. ]] SLAMing on 33.04800114499999 meters Centerline goodness [0,1] 0.9110411500849748 Centerline is valid? [False, False] Translation: X:2.48, Y:0.44, Z:-0.34 [[ 0.98422551 -0.07275114 -0.16126818 2.48423801] [ 0.06922931 0.99722556 -0.02735839 0.44123835] [ 0.1628111 0.01576234 0.98653134 -0.33765798] [ 0. 0. 0. 1. ]] SLAMing on 33.078001144999995 meters Centerline goodness [0,1] 0.9070564628504543 Centerline is valid? [False, False] Translation: X:2.49, Y:0.44, Z:-0.34 [[ 0.984168 -0.07164194 -0.16211348 2.48815436] [ 0.06820806 0.99731494 -0.02665656 0.44192395] [ 0.16358792 0.01517709 0.98641201 -0.33932183] [ 0. 0. 0. 1. ]] SLAMing on 33.108001144999996 meters Centerline goodness [0,1] 0.9082912117065542 Centerline is valid? [False, False] Translation: X:2.49, Y:0.44, Z:-0.34 [[ 0.98407775 -0.07042907 -0.16318926 2.4926021 ] [ 0.06703131 0.99740573 -0.02624154 0.44359753] [ 0.16461407 0.01488493 0.98624573 -0.34058194] [ 0. 0. 0. 1. ]] SLAMing on 33.138001145 meters Centerline goodness [0,1] 0.9058889512058329 Centerline is valid? [False, False] Translation: X:2.50, Y:0.45, Z:-0.34 [[ 0.98430277 -0.06406648 -0.16444922 2.49866844] [ 0.06139654 0.99788673 -0.02127285 0.44510452] [ 0.16546457 0.01084231 0.98615613 -0.34371702] [ 0. 0. 0. 1. ]] SLAMing on 33.16800114499999 meters Centerline goodness [0,1] 0.9060281690140846 Centerline is valid? [False, False] Translation: X:2.50, Y:0.45, Z:-0.34 [[ 0.98451947 -0.05896429 -0.16505948 2.50072333] [ 0.05695221 0.99823385 -0.01690051 0.44526359] [ 0.16576449 0.00723838 0.9861388 -0.34492886] [ 0. 0. 0. 1. ]] SLAMing on 33.19800114499999 meters Centerline goodness [0,1] 0.9077639751552795 Centerline is valid? [False, False] Translation: X:2.50, Y:0.45, Z:-0.34 [[ 0.98444369 -0.05729829 -0.16609494 2.50487579] [ 0.05522761 0.99832799 -0.01706265 0.44869818] [ 0.16679489 0.00762419 0.98596214 -0.34457691] [ 0. 0. 0. 1. ]] SLAMing on 33.22800114499999 meters Centerline goodness [0,1] 0.9015470367421227 Centerline is valid? [False, False] Translation: X:2.51, Y:0.45, Z:-0.34 [[ 0.98456285 -0.05120195 -0.1673749 2.50872 ] [ 0.04958195 0.99867408 -0.01384625 0.45264026] [ 0.16786193 0.00533373 0.98579609 -0.34306196] [ 0. 0. 0. 1. ]] SLAMing on 33.258001144999994 meters Centerline goodness [0,1] 0.8927733592721863 Centerline is valid? [False, False] Translation: X:2.51, Y:0.45, Z:-0.34 [[ 9.84736532e-01 -4.62665624e-02 -1.67789652e-01 2.50993246e+00] [ 4.52924923e-02 9.98927354e-01 -9.62969352e-03 4.52781549e-01] [ 1.68055206e-01 1.88309948e-03 9.85775787e-01 -3.43721566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.288001144999996 meters Centerline goodness [0,1] 0.8927733592721863 Centerline is valid? [False, False] Translation: X:2.51, Y:0.45, Z:-0.34 [[ 9.84736532e-01 -4.62665624e-02 -1.67789652e-01 2.50993246e+00] [ 4.52924923e-02 9.98927354e-01 -9.62969352e-03 4.52781549e-01] [ 1.68055206e-01 1.88309948e-03 9.85775787e-01 -3.43721566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.318001145 meters Centerline goodness [0,1] 0.8883611810482948 Centerline is valid? [False, False] Translation: X:2.51, Y:0.46, Z:-0.34 [[ 0.98458857 -0.04543589 -0.1688814 2.51308347] [ 0.04432127 0.99896355 -0.01036577 0.45544961] [ 0.16917734 0.00272098 0.98558187 -0.34238924] [ 0. 0. 0. 1. ]] SLAMing on 33.348001145 meters Centerline goodness [0,1] 0.8813738667886865 Centerline is valid? [False, False] Translation: X:2.52, Y:0.46, Z:-0.34 [[ 0.98432978 -0.04623728 -0.17016757 2.52047775] [ 0.04436191 0.99890576 -0.01480856 0.4579169 ] [ 0.17066607 0.00702755 0.98530386 -0.33981257] [ 0. 0. 0. 1. ]] SLAMing on 33.37800114499999 meters Centerline goodness [0,1] 0.8731485973573814 Centerline is valid? [False, False] Translation: X:2.52, Y:0.46, Z:-0.34 [[ 0.98427556 -0.04597879 -0.17055082 2.52202808] [ 0.04414136 0.99891931 -0.01455188 0.45630827] [ 0.17103558 0.00679472 0.98524142 -0.34021062] [ 0. 0. 0. 1. ]] SLAMing on 33.40800114499999 meters Centerline goodness [0,1] 0.8829978074546542 Centerline is valid? [False, False] Translation: X:2.52, Y:0.46, Z:-0.34 [[ 0.98423197 -0.04654683 -0.17064825 2.52194723] [ 0.04465893 0.99889136 -0.01488725 0.45505073] [ 0.17115202 0.00703154 0.98521954 -0.33966261] [ 0. 0. 0. 1. ]] SLAMing on 33.438001144999994 meters Centerline goodness [0,1] 0.8821137055260089 Centerline is valid? [False, False] Translation: X:2.52, Y:0.45, Z:-0.34 [[ 0.98420236 -0.04689896 -0.17072258 2.52180748] [ 0.04499968 0.99887468 -0.0149798 0.45379227] [ 0.171233 0.0070607 0.98520526 -0.33935488] [ 0. 0. 0. 1. ]] SLAMing on 33.468001144999995 meters Centerline goodness [0,1] 0.8895754208945071 Centerline is valid? [False, False] Translation: X:2.52, Y:0.45, Z:-0.34 [[ 0.9838882 -0.05097796 -0.17136295 2.52384553] [ 0.04837863 0.99864233 -0.01931335 0.45495513] [ 0.17211485 0.01071187 0.98501865 -0.33809399] [ 0. 0. 0. 1. ]] SLAMing on 33.498001144999996 meters Centerline goodness [0,1] 0.8929916466090896 Centerline is valid? [False, False] Translation: X:2.52, Y:0.45, Z:-0.34 [[ 0.98387035 -0.05167656 -0.17125617 2.52280524] [ 0.04909229 0.99860788 -0.01929375 0.45288706] [ 0.1720148 0.01057519 0.9850376 -0.33778705] [ 0. 0. 0. 1. ]] SLAMing on 33.528001145 meters Centerline goodness [0,1] 0.8950023959184824 Centerline is valid? [False, False] Translation: X:2.54, Y:0.45, Z:-0.34 [[ 0.98443408 -0.05731409 -0.16614641 2.53631662] [ 0.05560933 0.99834144 -0.01489836 0.45050772] [ 0.16672474 0.00542717 0.98598854 -0.33818658] [ 0. 0. 0. 1. ]] SLAMing on 33.55800114499999 meters Centerline goodness [0,1] 0.8950023959184824 Centerline is valid? [False, False] Translation: X:2.54, Y:0.45, Z:-0.34 [[ 0.98443408 -0.05731409 -0.16614641 2.53631662] [ 0.05560933 0.99834144 -0.01489836 0.45050772] [ 0.16672474 0.00542717 0.98598854 -0.33818658] [ 0. 0. 0. 1. ]] SLAMing on 33.58800114499999 meters Centerline goodness [0,1] 0.8980300949925744 Centerline is valid? [False, False] Translation: X:2.54, Y:0.45, Z:-0.34 [[ 0.98417038 -0.06274489 -0.16574601 2.53527867] [ 0.06047756 0.99799445 -0.01869628 0.4467992 ] [ 0.16658669 0.00837641 0.98599123 -0.33793637] [ 0. 0. 0. 1. ]] SLAMing on 33.618001144999994 meters Centerline goodness [0,1] 0.896711259754738 Centerline is valid? [False, False] Translation: X:2.54, Y:0.45, Z:-0.34 [[ 0.98383344 -0.06681051 -0.16615691 2.53750995] [ 0.06397646 0.99770095 -0.02235675 0.44588947] [ 0.16726857 0.01136518 0.98584586 -0.33813853] [ 0. 0. 0. 1. ]] SLAMing on 33.648001144999995 meters Centerline goodness [0,1] 0.8990550305725403 Centerline is valid? [False, False] Translation: X:2.54, Y:0.44, Z:-0.34 [[ 0.9837934 -0.06714149 -0.16626054 2.53802642] [ 0.06441682 0.9976864 -0.0217328 0.44265911] [ 0.16733505 0.01067061 0.98584234 -0.33922546] [ 0. 0. 0. 1. ]] SLAMing on 33.678001144999996 meters Centerline goodness [0,1] 0.8976294898129129 Centerline is valid? [False, False] Translation: X:2.54, Y:0.44, Z:-0.34 [[ 0.98375543 -0.06730282 -0.1664199 2.53851689] [ 0.06465135 0.99768046 -0.02130508 0.44090849] [ 0.16746778 0.01019972 0.98582479 -0.33985534] [ 0. 0. 0. 1. ]] SLAMing on 33.708001145 meters Centerline goodness [0,1] 0.9031231845970843 Centerline is valid? [False, False] Translation: X:2.54, Y:0.44, Z:-0.34 [[ 0.98333093 -0.07162631 -0.16712257 2.54017639] [ 0.06818105 0.99732704 -0.02627006 0.44369257] [ 0.16855748 0.01443757 0.98558609 -0.3372174 ] [ 0. 0. 0. 1. ]] SLAMing on 33.73800114499999 meters Centerline goodness [0,1] 0.9044274218080253 Centerline is valid? [False, False] Translation: X:2.54, Y:0.44, Z:-0.34 [[ 0.98328751 -0.07161621 -0.16738216 2.54065202] [ 0.0682097 0.99733163 -0.02602048 0.44334965] [ 0.16879901 0.01416852 0.98554865 -0.33729105] [ 0. 0. 0. 1. ]] SLAMing on 33.76800114499999 meters Centerline goodness [0,1] 0.8990192819148937 Centerline is valid? [False, False] Translation: X:2.54, Y:0.44, Z:-0.34 [[ 0.98326127 -0.07167484 -0.16751116 2.54090588] [ 0.06832579 0.99733253 -0.02567916 0.44200733] [ 0.16890488 0.01380399 0.98553569 -0.33755707] [ 0. 0. 0. 1. ]] SLAMing on 33.79800114499999 meters Centerline goodness [0,1] 0.8978253652058433 Centerline is valid? [False, False] Translation: X:2.54, Y:0.44, Z:-0.34 [[ 0.98322017 -0.07136731 -0.16788332 2.5433407 ] [ 0.06821703 0.99737049 -0.02446517 0.43859753] [ 0.16918789 0.01260214 0.98550324 -0.34003745] [ 0. 0. 0. 1. ]] SLAMing on 33.828001144999995 meters Centerline goodness [0,1] 0.8971598907013332 Centerline is valid? [False, False] Translation: X:2.55, Y:0.44, Z:-0.34 [[ 0.98317689 -0.07084034 -0.16835927 2.54593362] [ 0.06781882 0.99741762 -0.02363696 0.43751225] [ 0.16959896 0.01182138 0.98544226 -0.34191112] [ 0. 0. 0. 1. ]] SLAMing on 33.858001144999996 meters Centerline goodness [0,1] 0.8996469160322189 Centerline is valid? [False, False] Translation: X:2.55, Y:0.44, Z:-0.34 [[ 0.98311749 -0.07008968 -0.16901902 2.54911052] [ 0.06723388 0.99748198 -0.02256784 0.43593464] [ 0.1701752 0.01082303 0.98535438 -0.34394224] [ 0. 0. 0. 1. ]] SLAMing on 33.888001145 meters Centerline goodness [0,1] 0.8958161299201761 Centerline is valid? [False, False] Translation: X:2.55, Y:0.43, Z:-0.35 [[ 0.9830284 -0.06919907 -0.16990188 2.55295986] [ 0.06652304 0.99755538 -0.0213998 0.43471483] [ 0.17096738 0.00973422 0.9852286 -0.34614836] [ 0. 0. 0. 1. ]] SLAMing on 33.91800114499999 meters Centerline goodness [0,1] 0.8949786857111222 Centerline is valid? [False, False] Translation: X:2.55, Y:0.44, Z:-0.35 [[ 0.98293601 -0.0689704 -0.17052826 2.55441354] [ 0.06622961 0.99756807 -0.02171603 0.43619735] [ 0.17161131 0.01005145 0.98511346 -0.34554479] [ 0. 0. 0. 1. ]] SLAMing on 33.94800114499999 meters Centerline goodness [0,1] 0.8963034750103835 Centerline is valid? [False, False] Translation: X:2.56, Y:0.44, Z:-0.34 [[ 0.98283898 -0.06855023 -0.17125536 2.55614856] [ 0.06576013 0.99759469 -0.02191884 0.43777825] [ 0.17234598 0.01028091 0.98498282 -0.34493172] [ 0. 0. 0. 1. ]] SLAMing on 33.97800114499999 meters Centerline goodness [0,1] 0.8964121333111518 Centerline is valid? [False, False] Translation: X:2.56, Y:0.44, Z:-0.34 [[ 0.98278835 -0.0674317 -0.17198842 2.55867965] [ 0.06457591 0.99766689 -0.02215217 0.44069077] [ 0.17308092 0.01066459 0.98484987 -0.3441765 ] [ 0. 0. 0. 1. ]] SLAMing on 34.008001144999994 meters Centerline goodness [0,1] 0.8973111253232489 Centerline is valid? [False, False] Translation: X:2.56, Y:0.44, Z:-0.34 [[ 0.98271784 -0.06690211 -0.1725971 2.56062119] [ 0.06398211 0.99769889 -0.02243258 0.44243441] [ 0.17370072 0.01100177 0.98473703 -0.34385288] [ 0. 0. 0. 1. ]] SLAMing on 34.038001144999996 meters Centerline goodness [0,1] 0.8953413989709359 Centerline is valid? [False, False] Translation: X:2.56, Y:0.44, Z:-0.34 [[ 0.98264307 -0.06645016 -0.17319632 2.56249426] [ 0.06345766 0.99772486 -0.0227646 0.44453685] [ 0.17431498 0.01137884 0.9846242 -0.34355808] [ 0. 0. 0. 1. ]] SLAMing on 34.068001145 meters Centerline goodness [0,1] 0.8959518233522917 Centerline is valid? [False, False] Translation: X:2.56, Y:0.44, Z:-0.34 [[ 0.98286481 -0.06136695 -0.17381272 2.56419468] [ 0.0590724 0.99808505 -0.01834883 0.44369881] [ 0.17460588 0.00776689 0.98460777 -0.34441412] [ 0. 0. 0. 1. ]] SLAMing on 34.098001145 meters Centerline goodness [0,1] 0.8955457441457553 Centerline is valid? [False, False] Translation: X:2.56, Y:0.44, Z:-0.34 [[ 0.98283506 -0.06116126 -0.17405326 2.56499376] [ 0.05882854 0.99809602 -0.01853493 0.44424371] [ 0.17485549 0.00797748 0.98456179 -0.34418475] [ 0. 0. 0. 1. ]] SLAMing on 34.12800114499999 meters Centerline goodness [0,1] 0.8949729699604303 Centerline is valid? [False, False] Translation: X:2.57, Y:0.44, Z:-0.34 [[ 0.9827846 -0.06100419 -0.17439302 2.56605144] [ 0.05864852 0.99810476 -0.01863436 0.4443495 ] [ 0.17519927 0.00808566 0.98449979 -0.34411805] [ 0. 0. 0. 1. ]] SLAMing on 34.15800114499999 meters Centerline goodness [0,1] 0.8934506353861192 Centerline is valid? [False, False] Translation: X:2.57, Y:0.45, Z:-0.34 [[ 0.98279521 -0.06106378 -0.17431234 2.56588594] [ 0.05865385 0.99809853 -0.01894844 0.44526698] [ 0.17513796 0.00839835 0.98450808 -0.34364424] [ 0. 0. 0. 1. ]] SLAMing on 34.188001144999994 meters Centerline goodness [0,1] 0.8901350295725924 Centerline is valid? [False, False] Translation: X:2.57, Y:0.45, Z:-0.34 [[ 0.98275247 -0.06101411 -0.1745705 2.56636054] [ 0.05857861 0.99810054 -0.01907505 0.44581039] [ 0.17540275 0.00851995 0.98445989 -0.34323914] [ 0. 0. 0. 1. ]] SLAMing on 34.218001144999995 meters Centerline goodness [0,1] 0.8919477328568237 Centerline is valid? [False, False] Translation: X:2.57, Y:0.45, Z:-0.34 [[ 0.98266706 -0.06079 -0.17512861 2.56758002] [ 0.05835372 0.99811453 -0.01903233 0.44611851] [ 0.17595539 0.00848304 0.98436159 -0.34288501] [ 0. 0. 0. 1. ]] SLAMing on 34.248001144999996 meters Centerline goodness [0,1] 0.890283005715879 Centerline is valid? [False, False] Translation: X:2.57, Y:0.45, Z:-0.34 [[ 0.98261344 -0.06086685 -0.17540256 2.5679173 ] [ 0.05844597 0.99811089 -0.01893969 0.44514287] [ 0.17622401 0.00835882 0.9843146 -0.34258865] [ 0. 0. 0. 1. ]] SLAMing on 34.278001145 meters Centerline goodness [0,1] 0.8899662849341023 Centerline is valid? [False, False] Translation: X:2.57, Y:0.44, Z:-0.34 [[ 0.98257903 -0.06083073 -0.17560771 2.56873196] [ 0.05846932 0.99811601 -0.01859483 0.44411723] [ 0.17640801 0.00800323 0.98428459 -0.34319334] [ 0. 0. 0. 1. ]] SLAMing on 34.30800114499999 meters Centerline goodness [0,1] 0.8909454172100897 Centerline is valid? [False, False] Translation: X:2.57, Y:0.44, Z:-0.34 [[ 0.98246849 -0.0606654 -0.17628208 2.57085174] [ 0.05840861 0.99813105 -0.01796776 0.44163747] [ 0.17704264 0.00735637 0.98417569 -0.34409548] [ 0. 0. 0. 1. ]] SLAMing on 34.33800114499999 meters Centerline goodness [0,1] 0.8909454172100897 Centerline is valid? [False, False] Translation: X:2.57, Y:0.44, Z:-0.34 [[ 0.98246849 -0.0606654 -0.17628208 2.57085174] [ 0.05840861 0.99813105 -0.01796776 0.44163747] [ 0.17704264 0.00735637 0.98417569 -0.34409548] [ 0. 0. 0. 1. ]] SLAMing on 34.368001144999994 meters Centerline goodness [0,1] 0.8919669127852107 Centerline is valid? [False, False] Translation: X:2.57, Y:0.44, Z:-0.34 [[ 0.9824227 -0.06071409 -0.17652035 2.57140431] [ 0.0584683 0.99812875 -0.01790104 0.44094822] [ 0.17727688 0.00726555 0.9841342 -0.34410803] [ 0. 0. 0. 1. ]] SLAMing on 34.398001144999995 meters Centerline goodness [0,1] 0.8896455872133426 Centerline is valid? [False, False] Translation: X:2.57, Y:0.44, Z:-0.35 [[ 0.98234106 -0.06039695 -0.17708261 2.57348335] [ 0.05825969 0.99815244 -0.01724891 0.43984649] [ 0.17779722 0.00662754 0.98404483 -0.34526251] [ 0. 0. 0. 1. ]] SLAMing on 34.428001144999996 meters Centerline goodness [0,1] 0.8904634878292764 Centerline is valid? [False, False] Translation: X:2.58, Y:0.44, Z:-0.35 [[ 0.9822819 -0.0600237 -0.17753713 2.57525399] [ 0.05798846 0.99817865 -0.01663515 0.438394 ] [ 0.17821227 0.0060453 0.9839735 -0.34616106] [ 0. 0. 0. 1. ]] SLAMing on 34.458001145 meters Centerline goodness [0,1] 0.8889750263026746 Centerline is valid? [False, False] Translation: X:2.58, Y:0.44, Z:-0.35 [[ 0.98223512 -0.0599947 -0.17780553 2.57613986] [ 0.05802845 0.99818278 -0.01624298 0.4367175 ] [ 0.17845692 0.00563665 0.98393158 -0.34667708] [ 0. 0. 0. 1. ]] SLAMing on 34.48800114499999 meters Centerline goodness [0,1] 0.8874534161490684 Centerline is valid? [False, False] Translation: X:2.58, Y:0.44, Z:-0.35 [[ 0.9821795 -0.06040566 -0.17797354 2.57532755] [ 0.05837417 0.99815619 -0.01663376 0.43536026] [ 0.17865017 0.00594828 0.98389468 -0.34509818] [ 0. 0. 0. 1. ]] SLAMing on 34.51800114499999 meters Centerline goodness [0,1] 0.885992946881199 Centerline is valid? [False, False] Translation: X:2.58, Y:0.44, Z:-0.34 [[ 0.98205945 -0.06011022 -0.17873444 2.57681747] [ 0.05800283 0.9981717 -0.01699783 0.43603066] [ 0.1794294 0.00632578 0.98375051 -0.34391764] [ 0. 0. 0. 1. ]] SLAMing on 34.54800114499999 meters Centerline goodness [0,1] 0.8897544266732963 Centerline is valid? [False, False] Translation: X:2.58, Y:0.44, Z:-0.34 [[ 0.9819735 -0.05981861 -0.17930361 2.57803916] [ 0.05764582 0.99818704 -0.01730861 0.43711904] [ 0.18001391 0.00666049 0.98364151 -0.3431157 ] [ 0. 0. 0. 1. ]] SLAMing on 34.578001144999995 meters Centerline goodness [0,1] 0.8908192012373639 Centerline is valid? [False, False] Translation: X:2.58, Y:0.44, Z:-0.34 [[ 0.98189028 -0.05909469 -0.17999805 2.5802535 ] [ 0.05694044 0.99823085 -0.01711616 0.43722228] [ 0.18069108 0.00655702 0.98351804 -0.34306019] [ 0. 0. 0. 1. ]] SLAMing on 34.608001144999996 meters Centerline goodness [0,1] 0.8947484676127893 Centerline is valid? [False, False] Translation: X:2.58, Y:0.44, Z:-0.34 [[ 0.98180735 -0.05781885 -0.18086266 2.58373059] [ 0.05576225 0.99830873 -0.01643941 0.43692249] [ 0.18150728 0.00605503 0.98337096 -0.34380926] [ 0. 0. 0. 1. ]] SLAMing on 34.638001145 meters Centerline goodness [0,1] 0.8915775807298141 Centerline is valid? [False, False] Translation: X:2.58, Y:0.44, Z:-0.34 [[ 0.9817389 -0.05772186 -0.1812648 2.58453373] [ 0.0556296 0.99831331 -0.01660972 0.43725585] [ 0.18191781 0.00622272 0.98329405 -0.34330782] [ 0. 0. 0. 1. ]] SLAMing on 34.66800114499999 meters Centerline goodness [0,1] 0.8936623419734986 Centerline is valid? [False, False] Translation: X:2.59, Y:0.44, Z:-0.34 [[ 0.98168026 -0.05749894 -0.1816528 2.5855192 ] [ 0.0554224 0.9983268 -0.01649111 0.43722463] [ 0.18229708 0.00612136 0.98322444 -0.34322775] [ 0. 0. 0. 1. ]] SLAMing on 34.69800114499999 meters Centerline goodness [0,1] 0.8936193710483448 Centerline is valid? [False, False] Translation: X:2.59, Y:0.44, Z:-0.34 [[ 0.98161461 -0.05739988 -0.18203848 2.58639725] [ 0.05530864 0.99833217 -0.01654805 0.43701289] [ 0.18268473 0.00617551 0.98315215 -0.34290354] [ 0. 0. 0. 1. ]] SLAMing on 34.72800114499999 meters Centerline goodness [0,1] 0.8893452791178498 Centerline is valid? [False, False] Translation: X:2.59, Y:0.44, Z:-0.34 [[ 0.98155355 -0.05730942 -0.18239588 2.58730326] [ 0.0552785 0.99833949 -0.01620345 0.43567799] [ 0.18302162 0.00582198 0.98309165 -0.34312352] [ 0. 0. 0. 1. ]] SLAMing on 34.758001144999994 meters Centerline goodness [0,1] 0.8897733219489354 Centerline is valid? [False, False] Translation: X:2.59, Y:0.43, Z:-0.34 [[ 0.98150097 -0.05730175 -0.182681 2.5879515 ] [ 0.05526751 0.99833997 -0.01621138 0.43478822] [ 0.18330669 0.00581516 0.98303858 -0.34293603] [ 0. 0. 0. 1. ]] SLAMing on 34.788001144999996 meters Centerline goodness [0,1] 0.887269833429379 Centerline is valid? [False, False] Translation: X:2.59, Y:0.43, Z:-0.34 [[ 0.98145573 -0.05712228 -0.18298006 2.58907548] [ 0.05513778 0.99835185 -0.01591893 0.43238913] [ 0.18358781 0.00553461 0.98298773 -0.34315753] [ 0. 0. 0. 1. ]] SLAMing on 34.818001145 meters Centerline goodness [0,1] 0.8849707971153582 Centerline is valid? [False, False] Translation: X:2.59, Y:0.43, Z:-0.34 [[ 0.98141275 -0.05724712 -0.18317146 2.58934723] [ 0.05522107 0.99834358 -0.01614683 0.43211231] [ 0.18379241 0.00573178 0.98294837 -0.34272808] [ 0. 0. 0. 1. ]] SLAMing on 34.84800114499999 meters Centerline goodness [0,1] 0.8871966252122938 Centerline is valid? [False, False] Translation: X:2.59, Y:0.43, Z:-0.34 [[ 0.98137914 -0.05732363 -0.18332753 2.58939005] [ 0.05525639 0.99833801 -0.01636901 0.4319514 ] [ 0.18396117 0.00593419 0.9829156 -0.34212634] [ 0. 0. 0. 1. ]] SLAMing on 34.87800114499999 meters Centerline goodness [0,1] 0.8867159682278828 Centerline is valid? [False, False] Translation: X:2.59, Y:0.43, Z:-0.34 [[ 0.9813389 -0.05757777 -0.18346323 2.58896547] [ 0.05544755 0.99832153 -0.01672424 0.43208568] [ 0.18411824 0.00623956 0.9828843 -0.34113019] [ 0. 0. 0. 1. ]] SLAMing on 34.90800114499999 meters Centerline goodness [0,1] 0.8859843207954328 Centerline is valid? [False, False] Translation: X:2.59, Y:0.43, Z:-0.34 [[ 0.98128844 -0.05838809 -0.18347706 2.58700307] [ 0.0561557 0.99827137 -0.01734399 0.43134427] [ 0.18417257 0.00671618 0.98287098 -0.33897401] [ 0. 0. 0. 1. ]] SLAMing on 34.938001144999994 meters Centerline goodness [0,1] 0.8907624833147185 Centerline is valid? [False, False] Translation: X:2.59, Y:0.43, Z:-0.34 [[ 0.98124284 -0.05860865 -0.18365053 2.58658095] [ 0.05636888 0.99825843 -0.01739725 0.43007242] [ 0.18435032 0.00671876 0.98283764 -0.33807504] [ 0. 0. 0. 1. ]] SLAMing on 34.968001144999995 meters Centerline goodness [0,1] 0.8863419553544659 Centerline is valid? [False, False] Translation: X:2.59, Y:0.43, Z:-0.34 [[ 0.98119757 -0.05904648 -0.18375212 2.58604007] [ 0.05678794 0.99823228 -0.01753405 0.42899787] [ 0.18446262 0.00676946 0.98281622 -0.33741786] [ 0. 0. 0. 1. ]] SLAMing on 34.998001144999996 meters Centerline goodness [0,1] 0.8823193606263252 Centerline is valid? [False, False] Translation: X:2.59, Y:0.43, Z:-0.34 [[ 0.98117119 -0.05916785 -0.1838539 2.586192 ] [ 0.05694276 0.99822645 -0.01736332 0.42733681] [ 0.18455517 0.00656724 0.98280021 -0.33738648] [ 0. 0. 0. 1. ]] SLAMing on 35.028001145 meters Centerline goodness [0,1] 0.8832404512708985 Centerline is valid? [False, False] Translation: X:2.59, Y:0.43, Z:-0.34 [[ 0.98114051 -0.05908987 -0.1840426 2.58689839] [ 0.05694461 0.99823387 -0.01692461 0.42538654] [ 0.18471764 0.00612519 0.98277255 -0.3378251 ] [ 0. 0. 0. 1. ]] SLAMing on 35.05800114499999 meters Centerline goodness [0,1] 0.8819632233639805 Centerline is valid? [False, False] Translation: X:2.59, Y:0.42, Z:-0.34 [[ 0.98080534 -0.06243832 -0.18472235 2.59038827] [ 0.0596942 0.99800854 -0.02038512 0.4243703 ] [ 0.1856273 0.00896698 0.98257931 -0.33789853] [ 0. 0. 0. 1. ]] SLAMing on 35.08800114499999 meters Centerline goodness [0,1] 0.8789588789588789 Centerline is valid? [False, False] Translation: X:2.59, Y:0.42, Z:-0.34 [[ 0.98076096 -0.06194247 -0.18512445 2.59196509] [ 0.05927697 0.99804312 -0.01990401 0.42279889] [ 0.18599509 0.00854746 0.9825135 -0.33829461] [ 0. 0. 0. 1. ]] SLAMing on 35.118001144999994 meters Centerline goodness [0,1] 0.883028946019585 Centerline is valid? [False, False] Translation: X:2.59, Y:0.42, Z:-0.34 [[ 0.98073166 -0.06116024 -0.18553933 2.59344485] [ 0.05855675 0.99809391 -0.01948483 0.42197813] [ 0.18637737 0.0082448 0.98244364 -0.33823636] [ 0. 0. 0. 1. ]] SLAMing on 35.148001144999995 meters Centerline goodness [0,1] 0.8796478816190965 Centerline is valid? [False, False] Translation: X:2.59, Y:0.42, Z:-0.34 [[ 0.98067778 -0.06075224 -0.1859577 2.59447978] [ 0.05812692 0.9981179 -0.01954271 0.42241177] [ 0.18679497 0.00835595 0.98236338 -0.3376794 ] [ 0. 0. 0. 1. ]] SLAMing on 35.178001144999996 meters Centerline goodness [0,1] 0.8850252987404457 Centerline is valid? [False, False] Translation: X:2.60, Y:0.42, Z:-0.34 [[ 0.98062181 -0.06040852 -0.18636434 2.59535697] [ 0.0577326 0.99813656 -0.01975757 0.42293605] [ 0.18721059 0.0086154 0.98228202 -0.33686499] [ 0. 0. 0. 1. ]] SLAMing on 35.208001145 meters Centerline goodness [0,1] 0.8850252987404457 Centerline is valid? [False, False] Translation: X:2.60, Y:0.42, Z:-0.34 [[ 0.98062181 -0.06040852 -0.18636434 2.59535697] [ 0.0577326 0.99813656 -0.01975757 0.42293605] [ 0.18721059 0.0086154 0.98228202 -0.33686499] [ 0. 0. 0. 1. ]] SLAMing on 35.23800114499999 meters Centerline goodness [0,1] 0.8853003075926825 Centerline is valid? [False, False] Translation: X:2.60, Y:0.42, Z:-0.34 [[ 0.9805651 -0.05984883 -0.18684274 2.59667983] [ 0.05714824 0.99816911 -0.01981179 0.42333927] [ 0.18768637 0.00874901 0.98219004 -0.33628634] [ 0. 0. 0. 1. ]] SLAMing on 35.26800114499999 meters Centerline goodness [0,1] 0.8874929075139824 Centerline is valid? [False, False] Translation: X:2.60, Y:0.42, Z:-0.34 [[ 0.98054184 -0.05878806 -0.187301 2.59848389] [ 0.05611441 0.99823293 -0.01954951 0.42341853] [ 0.1881193 0.00865883 0.98210801 -0.33596249] [ 0. 0. 0. 1. ]] SLAMing on 35.29800114499999 meters Centerline goodness [0,1] 0.8870375371320551 Centerline is valid? [False, False] Translation: X:2.60, Y:0.42, Z:-0.34 [[ 0.98047485 -0.05794544 -0.18791329 2.60082589] [ 0.05533715 0.998285 -0.01910127 0.42310035] [ 0.18869785 0.00832973 0.98199987 -0.33632589] [ 0. 0. 0. 1. ]] SLAMing on 35.328001144999995 meters Centerline goodness [0,1] 0.8861922650739169 Centerline is valid? [False, False] Translation: X:2.60, Y:0.42, Z:-0.34 [[ 0.9804024 -0.05708468 -0.18855364 2.60348194] [ 0.05455118 0.99833767 -0.01860305 0.42272405] [ 0.18930215 0.00795265 0.98188668 -0.33697546] [ 0. 0. 0. 1. ]] SLAMing on 35.358001144999996 meters Centerline goodness [0,1] 0.8852928463367192 Centerline is valid? [False, False] Translation: X:2.61, Y:0.42, Z:-0.34 [[ 0.98035248 -0.05625316 -0.18906244 2.60585719] [ 0.05377248 0.99838681 -0.01822904 0.42265509] [ 0.18978289 0.00770453 0.98179585 -0.33753695] [ 0. 0. 0. 1. ]] SLAMing on 35.388001145 meters Centerline goodness [0,1] 0.8865413228729879 Centerline is valid? [False, False] Translation: X:2.61, Y:0.42, Z:-0.34 [[ 0.98029422 -0.05515117 -0.18968813 2.60848633] [ 0.05273725 0.99845059 -0.01775384 0.42267762] [ 0.19037337 0.00740036 0.98168387 -0.33795531] [ 0. 0. 0. 1. ]] SLAMing on 35.41800114499999 meters Centerline goodness [0,1] 0.8876839030722631 Centerline is valid? [False, False] Translation: X:2.61, Y:0.42, Z:-0.34 [[ 0.98022454 -0.05466344 -0.19018873 2.60993428] [ 0.052261 0.99847786 -0.01762839 0.42278993] [ 0.19086286 0.00734032 0.98158927 -0.33774341] [ 0. 0. 0. 1. ]] SLAMing on 35.44800114499999 meters Centerline goodness [0,1] 0.8872365783628582 Centerline is valid? [False, False] Translation: X:2.61, Y:0.42, Z:-0.34 [[ 0.98016705 -0.05439165 -0.19056257 2.61089508] [ 0.05197971 0.9984924 -0.01763648 0.42290859] [ 0.19123456 0.00738131 0.98151661 -0.33741972] [ 0. 0. 0. 1. ]] SLAMing on 35.47800114499999 meters Centerline goodness [0,1] 0.8863667108573903 Centerline is valid? [False, False] Translation: X:2.61, Y:0.42, Z:-0.34 [[ 0.98015777 -0.05430306 -0.19063558 2.61118587] [ 0.05193026 0.99849869 -0.01742426 0.42156488] [ 0.19129557 0.00717877 0.98150623 -0.33750578] [ 0. 0. 0. 1. ]] SLAMing on 35.508001144999994 meters Centerline goodness [0,1] 0.8885529157667387 Centerline is valid? [False, False] Translation: X:2.61, Y:0.42, Z:-0.34 [[ 0.98014159 -0.05461873 -0.19062856 2.61065048] [ 0.05223393 0.99848124 -0.01751643 0.42029997] [ 0.19129577 0.0072113 0.98150595 -0.33700198] [ 0. 0. 0. 1. ]] SLAMing on 35.538001144999996 meters Centerline goodness [0,1] 0.8904404444803186 Centerline is valid? [False, False] Translation: X:2.61, Y:0.42, Z:-0.34 [[ 0.98012518 -0.0549868 -0.19060715 2.61022524] [ 0.05261276 0.99846169 -0.01749735 0.41882839] [ 0.19127606 0.00712122 0.98151045 -0.3368205 ] [ 0. 0. 0. 1. ]] SLAMing on 35.568001145 meters Centerline goodness [0,1] 0.8889515674107502 Centerline is valid? [False, False] Translation: X:2.61, Y:0.42, Z:-0.34 [[ 0.98010854 -0.05571101 -0.19048235 2.60902396] [ 0.05330543 0.99842078 -0.0177335 0.4175955 ] [ 0.19116949 0.00722701 0.98153044 -0.33624915] [ 0. 0. 0. 1. ]] SLAMing on 35.59800114499999 meters Centerline goodness [0,1] 0.8833717625609953 Centerline is valid? [False, False] Translation: X:2.61, Y:0.42, Z:-0.33 [[ 0.9798134 -0.06127552 -0.19029192 2.60763817] [ 0.05804693 0.99806028 -0.02249967 0.41768426] [ 0.19130148 0.01099962 0.98146969 -0.33458618] [ 0. 0. 0. 1. ]] SLAMing on 35.62800114499999 meters Centerline goodness [0,1] 0.8811663991439272 Centerline is valid? [False, False] Translation: X:2.61, Y:0.42, Z:-0.33 [[ 0.97981921 -0.06199242 -0.19002963 2.60629182] [ 0.05878297 0.99801753 -0.02248511 0.41548642] [ 0.1910468 0.01086084 0.98152084 -0.33434992] [ 0. 0. 0. 1. ]] SLAMing on 35.65800114499999 meters Centerline goodness [0,1] 0.8794543950030697 Centerline is valid? [False, False] Translation: X:2.61, Y:0.41, Z:-0.33 [[ 0.97981275 -0.06265411 -0.18984582 2.60520867] [ 0.05948751 0.99797907 -0.02233854 0.41291304] [ 0.19086176 0.01059413 0.98155976 -0.33427043] [ 0. 0. 0. 1. ]] SLAMing on 35.688001144999994 meters Centerline goodness [0,1] 0.8796478536092345 Centerline is valid? [False, False] Translation: X:2.60, Y:0.41, Z:-0.33 [[ 0.97982055 -0.06319767 -0.18962529 2.60426424] [ 0.06009048 0.99794833 -0.02209688 0.41032721] [ 0.19063272 0.0102563 0.98160785 -0.33436226] [ 0. 0. 0. 1. ]] SLAMing on 35.718001144999995 meters Centerline goodness [0,1] 0.8786969680879307 Centerline is valid? [False, False] Translation: X:2.60, Y:0.41, Z:-0.33 [[ 0.9798104 -0.06432127 -0.18929965 2.60245027] [ 0.06130462 0.997882 -0.02175458 0.40777443] [ 0.190298 0.00971042 0.98167835 -0.33469501] [ 0. 0. 0. 1. ]] SLAMing on 35.748001144999996 meters Centerline goodness [0,1] 0.8832903928391193 Centerline is valid? [False, False] Translation: X:2.60, Y:0.41, Z:-0.33 [[ 0.97977775 -0.06474035 -0.18932574 2.60191591] [ 0.06172185 0.99785523 -0.02180263 0.40745439] [ 0.19033119 0.0096762 0.98167225 -0.33435749] [ 0. 0. 0. 1. ]] SLAMing on 35.778001145 meters Centerline goodness [0,1] 0.8831802982856536 Centerline is valid? [False, False] Translation: X:2.60, Y:0.41, Z:-0.33 [[ 0.97974178 -0.06520438 -0.18935267 2.6013231 ] [ 0.06216322 0.99782433 -0.02196225 0.40742493] [ 0.19037274 0.00974656 0.9816635 -0.33391925] [ 0. 0. 0. 1. ]] SLAMing on 35.80800114499999 meters Centerline goodness [0,1] 0.8790309769658459 Centerline is valid? [False, False] Translation: X:2.60, Y:0.40, Z:-0.33 [[ 0.9797361 -0.06565857 -0.18922509 2.60085828] [ 0.06269208 0.99779857 -0.02162684 0.40474797] [ 0.19022851 0.00932568 0.98169555 -0.33431807] [ 0. 0. 0. 1. ]] SLAMing on 35.83800114499999 meters Centerline goodness [0,1] 0.8785199221011633 Centerline is valid? [False, False] Translation: X:2.60, Y:0.40, Z:-0.34 [[ 0.97972894 -0.06538683 -0.18935621 2.60200425] [ 0.06253384 0.9978217 -0.02100903 0.40249562] [ 0.19031745 0.00874199 0.98168368 -0.33531102] [ 0. 0. 0. 1. ]] SLAMing on 35.868001144999994 meters Centerline goodness [0,1] 0.8787111075924313 Centerline is valid? [False, False] Translation: X:2.60, Y:0.40, Z:-0.34 [[ 0.97972521 -0.06539521 -0.18937259 2.60231372] [ 0.06258957 0.99782331 -0.02076484 0.4010945 ] [ 0.1903183 0.00849108 0.98168572 -0.33569039] [ 0. 0. 0. 1. ]] SLAMing on 35.898001144999995 meters Centerline goodness [0,1] 0.880030693514672 Centerline is valid? [False, False] Translation: X:2.60, Y:0.40, Z:-0.33 [[ 0.97968597 -0.06573812 -0.18945687 2.60195559] [ 0.06280834 0.99779543 -0.02143361 0.40306068] [ 0.19044821 0.00909874 0.98165508 -0.33475517] [ 0. 0. 0. 1. ]] SLAMing on 35.928001144999996 meters Centerline goodness [0,1] 0.8782127637047037 Centerline is valid? [False, False] Translation: X:2.60, Y:0.41, Z:-0.33 [[ 0.97959631 -0.06543953 -0.19002299 2.60333153] [ 0.06244764 0.99781238 -0.02169683 0.40513041] [ 0.19102712 0.00938764 0.98153987 -0.33421842] [ 0. 0. 0. 1. ]] SLAMing on 35.958001145 meters Centerline goodness [0,1] 0.8804090848718289 Centerline is valid? [False, False] Translation: X:2.61, Y:0.41, Z:-0.33 [[ 0.97951075 -0.06488994 -0.19065148 2.60541386] [ 0.06187949 0.99784753 -0.02170789 0.40676277] [ 0.19164973 0.0094657 0.98141774 -0.33420997] [ 0. 0. 0. 1. ]] SLAMing on 35.98800114499999 meters Centerline goodness [0,1] 0.8795684603090037 Centerline is valid? [False, False] Translation: X:2.61, Y:0.41, Z:-0.33 [[ 0.97947411 -0.06460426 -0.1909365 2.60673569] [ 0.06156373 0.99786462 -0.02181996 0.40815461] [ 0.19193844 0.00961732 0.98135984 -0.33442916] [ 0. 0. 0. 1. ]] SLAMing on 36.01800114499999 meters Centerline goodness [0,1] 0.8773589949211441 Centerline is valid? [False, False] Translation: X:2.61, Y:0.41, Z:-0.33 [[ 0.979442 -0.06434435 -0.19118882 2.60773749] [ 0.06123024 0.99787769 -0.0221578 0.41001987] [ 0.19220879 0.00999574 0.98130315 -0.33424083] [ 0. 0. 0. 1. ]] SLAMing on 36.04800114499999 meters Centerline goodness [0,1] 0.8791731210939586 Centerline is valid? [False, False] Translation: X:2.61, Y:0.41, Z:-0.33 [[ 0.97943789 -0.06435591 -0.19120601 2.60806103] [ 0.0611995 0.99787476 -0.02237389 0.41067254] [ 0.19223954 0.01021212 0.9812949 -0.33423219] [ 0. 0. 0. 1. ]] SLAMing on 36.078001144999995 meters Centerline goodness [0,1] 0.8779065100473604 Centerline is valid? [False, False] Translation: X:2.61, Y:0.41, Z:-0.33 [[ 0.97943065 -0.06430677 -0.19125963 2.6085202 ] [ 0.06112989 0.99787685 -0.02247075 0.41097622] [ 0.19229858 0.01031686 0.98128223 -0.33436683] [ 0. 0. 0. 1. ]] SLAMing on 36.108001144999996 meters Centerline goodness [0,1] 0.8781504744086597 Centerline is valid? [False, False] Translation: X:2.61, Y:0.41, Z:-0.33 [[ 0.97941143 -0.06422599 -0.19138514 2.60908446] [ 0.06101695 0.99788038 -0.02262018 0.41156273] [ 0.19243228 0.01047673 0.98125433 -0.33431733] [ 0. 0. 0. 1. ]] SLAMing on 36.138001145 meters Centerline goodness [0,1] 0.8813314037626628 Centerline is valid? [False, False] Translation: X:2.61, Y:0.41, Z:-0.33 [[ 0.97936318 -0.06361535 -0.19183549 2.61114286] [ 0.06039543 0.99791884 -0.02259171 0.41364951] [ 0.19287343 0.0105395 0.98116704 -0.33471634] [ 0. 0. 0. 1. ]] SLAMing on 36.16800114499999 meters Centerline goodness [0,1] 0.8814703272473043 Centerline is valid? [False, False] Translation: X:2.61, Y:0.41, Z:-0.34 [[ 0.97960963 -0.05951459 -0.19189314 2.61042719] [ 0.05701518 0.99820142 -0.01852558 0.41292369] [ 0.19265055 0.00720701 0.98124096 -0.3351467 ] [ 0. 0. 0. 1. ]] SLAMing on 36.19800114499999 meters Centerline goodness [0,1] 0.8803906715004599 Centerline is valid? [False, False] Translation: X:2.61, Y:0.41, Z:-0.34 [[ 0.979799 -0.0552121 -0.19221222 2.61045975] [ 0.0533431 0.99846524 -0.01488897 0.41496455] [ 0.19273928 0.00433501 0.98124043 -0.33513945] [ 0. 0. 0. 1. ]] SLAMing on 36.22800114499999 meters Centerline goodness [0,1] 0.8819828614817226 Centerline is valid? [False, False] Translation: X:2.61, Y:0.42, Z:-0.34 [[ 0.9797465 -0.05478225 -0.19260244 2.61212355] [ 0.05286853 0.99848783 -0.01506549 0.41641337] [ 0.19313651 0.00457776 0.98116122 -0.33515757] [ 0. 0. 0. 1. ]] SLAMing on 36.258001144999994 meters Centerline goodness [0,1] 0.8838967608583317 Centerline is valid? [False, False] Translation: X:2.61, Y:0.42, Z:-0.34 [[ 0.97972995 -0.05425294 -0.1928363 2.61408367] [ 0.05228559 0.99851526 -0.01528047 0.41824639] [ 0.193379 0.00488817 0.98111195 -0.33566636] [ 0. 0. 0. 1. ]] SLAMing on 36.288001144999996 meters Centerline goodness [0,1] 0.885554647042791 Centerline is valid? [False, False] Translation: X:2.61, Y:0.42, Z:-0.33 [[ 0.97971163 -0.05484456 -0.19276202 2.6128772 ] [ 0.05254912 0.99847355 -0.0170047 0.42245836] [ 0.19340039 0.00653023 0.98109818 -0.33322799] [ 0. 0. 0. 1. ]] SLAMing on 36.318001145 meters Centerline goodness [0,1] 0.8818487073789959 Centerline is valid? [False, False] Translation: X:2.61, Y:0.42, Z:-0.33 [[ 0.97967236 -0.05503487 -0.19290729 2.61292857] [ 0.05257051 0.99845723 -0.01787434 0.42493613] [ 0.19359339 0.00736977 0.98105417 -0.33209331] [ 0. 0. 0. 1. ]] SLAMing on 36.34800114499999 meters Centerline goodness [0,1] 0.8863294394440949 Centerline is valid? [False, False] Translation: X:2.61, Y:0.43, Z:-0.33 [[ 0.97962687 -0.05481939 -0.19319947 2.61398114] [ 0.05226253 0.99846551 -0.01831006 0.42667572] [ 0.19390675 0.00783993 0.98098864 -0.33163139] [ 0. 0. 0. 1. ]] SLAMing on 36.37800114499999 meters Centerline goodness [0,1] 0.8863294394440949 Centerline is valid? [False, False] Translation: X:2.61, Y:0.43, Z:-0.33 [[ 0.97962687 -0.05481939 -0.19319947 2.61398114] [ 0.05226253 0.99846551 -0.01831006 0.42667572] [ 0.19390675 0.00783993 0.98098864 -0.33163139] [ 0. 0. 0. 1. ]] SLAMing on 36.40800114499999 meters Centerline goodness [0,1] 0.8884746134444567 Centerline is valid? [False, False] Translation: X:2.62, Y:0.43, Z:-0.33 [[ 0.97959935 -0.05369603 -0.19365394 2.61693158] [ 0.05109921 0.99852437 -0.0183835 0.42943352] [ 0.1943553 0.0081129 0.98089765 -0.33191055] [ 0. 0. 0. 1. ]] SLAMing on 36.438001144999994 meters Centerline goodness [0,1] 0.8901050547274627 Centerline is valid? [False, False] Translation: X:2.62, Y:0.43, Z:-0.33 [[ 0.9795201 -0.05332017 -0.19415803 2.61873634] [ 0.05065363 0.99854164 -0.01867634 0.43147739] [ 0.19487071 0.00845904 0.98079246 -0.33174254] [ 0. 0. 0. 1. ]] SLAMing on 36.468001144999995 meters Centerline goodness [0,1] 0.8891522434130746 Centerline is valid? [False, False] Translation: X:2.62, Y:0.43, Z:-0.33 [[ 0.9794694 -0.05318115 -0.19445168 2.61975601] [ 0.05043036 0.99854544 -0.01907316 0.43353428] [ 0.19518317 0.00887531 0.98072665 -0.33142083] [ 0. 0. 0. 1. ]] SLAMing on 36.498001144999996 meters Centerline goodness [0,1] 0.8904714585403555 Centerline is valid? [False, False] Translation: X:2.62, Y:0.43, Z:-0.33 [[ 0.97940555 -0.05295551 -0.19483452 2.62113451] [ 0.05015302 0.99855519 -0.01929257 0.43484912] [ 0.19557467 0.00912371 0.98064637 -0.3312904 ] [ 0. 0. 0. 1. ]] SLAMing on 36.52800114499999 meters Centerline goodness [0,1] 0.8912989417258435 Centerline is valid? [False, False] Translation: X:2.62, Y:0.44, Z:-0.33 [[ 0.97940771 -0.0528844 -0.19484293 2.62207466] [ 0.05000757 0.99855536 -0.01965791 0.4367259 ] [ 0.19560105 0.00950949 0.98063744 -0.33151863] [ 0. 0. 0. 1. ]] SLAMing on 36.55800114499999 meters Centerline goodness [0,1] 0.8941593704976172 Centerline is valid? [False, False] Translation: X:2.62, Y:0.44, Z:-0.33 [[ 0.97938181 -0.05284699 -0.19498324 2.62274423] [ 0.04990977 0.99855447 -0.01994981 0.43775205] [ 0.19575567 0.00980691 0.98060366 -0.33135147] [ 0. 0. 0. 1. ]] SLAMing on 36.58800114499999 meters Centerline goodness [0,1] 0.8920512749522412 Centerline is valid? [False, False] Translation: X:2.62, Y:0.44, Z:-0.33 [[ 0.97937955 -0.05274018 -0.1950235 2.62367328] [ 0.04979767 0.99855978 -0.01996374 0.43832214] [ 0.19579551 0.00984037 0.98059537 -0.33187151] [ 0. 0. 0. 1. ]] SLAMing on 36.618001144999994 meters Centerline goodness [0,1] 0.8927243465231145 Centerline is valid? [False, False] Translation: X:2.62, Y:0.44, Z:-0.33 [[ 0.979381 -0.05261105 -0.1950511 2.62470023] [ 0.04971274 0.99856869 -0.01972833 0.43811324] [ 0.19580985 0.00962502 0.98059465 -0.3328061 ] [ 0. 0. 0. 1. ]] SLAMing on 36.648001144999995 meters Centerline goodness [0,1] 0.8904359861591695 Centerline is valid? [False, False] Translation: X:2.63, Y:0.44, Z:-0.33 [[ 0.97938178 -0.05275513 -0.19500829 2.6261851 ] [ 0.04997619 0.99856687 -0.0191466 0.43698816] [ 0.1957389 0.00900606 0.98061469 -0.33496616] [ 0. 0. 0. 1. ]] SLAMing on 36.678001144999996 meters Centerline goodness [0,1] 0.8908536585365854 Centerline is valid? [False, False] Translation: X:2.63, Y:0.44, Z:-0.34 [[ 0.97937485 -0.0528726 -0.19501125 2.62643994] [ 0.0501222 0.99856206 -0.01901503 0.43650409] [ 0.19573621 0.00884845 0.98061666 -0.33526298] [ 0. 0. 0. 1. ]] SLAMing on 36.708001145 meters Centerline goodness [0,1] 0.8852831233559463 Centerline is valid? [False, False] Translation: X:2.63, Y:0.44, Z:-0.33 [[ 0.97936837 -0.05342536 -0.19489313 2.62554253] [ 0.05058351 0.9985288 -0.01953314 0.43692403] [ 0.19564997 0.00927176 0.98062996 -0.33446885] [ 0. 0. 0. 1. ]] SLAMing on 36.73800114499999 meters Centerline goodness [0,1] 0.8865896562231641 Centerline is valid? [False, False] Translation: X:2.63, Y:0.44, Z:-0.33 [[ 0.9793748 -0.05377368 -0.19476496 2.6251335 ] [ 0.05086923 0.99850729 -0.01988743 0.43729803] [ 0.19554366 0.0095697 0.98064831 -0.33414473] [ 0. 0. 0. 1. ]] SLAMing on 36.76800114499999 meters Centerline goodness [0,1] 0.8832842619854453 Centerline is valid? [False, False] Translation: X:2.62, Y:0.44, Z:-0.33 [[ 0.9794101 -0.05453752 -0.1943747 2.62385283] [ 0.05154258 0.99846168 -0.02043633 0.43806359] [ 0.19519023 0.00999697 0.98071445 -0.33390889] [ 0. 0. 0. 1. ]] SLAMing on 36.79800114499999 meters Centerline goodness [0,1] 0.8831551173448132 Centerline is valid? [False, False] Translation: X:2.62, Y:0.44, Z:-0.33 [[ 0.97939548 -0.05456461 -0.19444073 2.62441218] [ 0.05154527 0.99845904 -0.02055806 0.43828256] [ 0.19526285 0.01011197 0.98069882 -0.3339897 ] [ 0. 0. 0. 1. ]] SLAMing on 36.828001144999995 meters Centerline goodness [0,1] 0.8808881972042353 Centerline is valid? [False, False] Translation: X:2.63, Y:0.44, Z:-0.33 [[ 0.97937296 -0.05437774 -0.19460643 2.62548879] [ 0.05136483 0.99846956 -0.02049878 0.43836182] [ 0.19542327 0.01008002 0.98066719 -0.33431078] [ 0. 0. 0. 1. ]] SLAMing on 36.858001144999996 meters Centerline goodness [0,1] 0.8837942678536544 Centerline is valid? [False, False] Translation: X:2.63, Y:0.44, Z:-0.34 [[ 0.97934793 -0.05422059 -0.1947762 2.62712959] [ 0.05120434 0.99847795 -0.02049123 0.43957254] [ 0.19559079 0.01009466 0.98063364 -0.33520927] [ 0. 0. 0. 1. ]] SLAMing on 36.888001145 meters Centerline goodness [0,1] 0.8850047277379165 Centerline is valid? [False, False] Translation: X:2.63, Y:0.44, Z:-0.34 [[ 0.97929918 -0.05372149 -0.1951592 2.62926228] [ 0.05077964 0.9985086 -0.02004986 0.43931242] [ 0.19594525 0.0097247 0.98056662 -0.3360984 ] [ 0. 0. 0. 1. ]] SLAMing on 36.91800114499999 meters Centerline goodness [0,1] 0.8833793238007637 Centerline is valid? [False, False] Translation: X:2.63, Y:0.44, Z:-0.34 [[ 0.97930898 -0.05390774 -0.19505867 2.62941067] [ 0.05097161 0.99849893 -0.02004453 0.43900723] [ 0.19584643 0.00968734 0.98058673 -0.33650388] [ 0. 0. 0. 1. ]] SLAMing on 36.94800114499999 meters Centerline goodness [0,1] 0.8824694526585951 Centerline is valid? [False, False] Translation: X:2.63, Y:0.44, Z:-0.34 [[ 0.97930831 -0.05413089 -0.1950002 2.62942616] [ 0.0511905 0.9984868 -0.02009077 0.43890669] [ 0.19579266 0.0096929 0.98059741 -0.33670796] [ 0. 0. 0. 1. ]] SLAMing on 36.97800114499999 meters Centerline goodness [0,1] 0.8830146545708304 Centerline is valid? [False, False] Translation: X:2.63, Y:0.44, Z:-0.34 [[ 0.97926635 -0.05442887 -0.19512797 2.62986759] [ 0.05138742 0.99846591 -0.02061929 0.44081638] [ 0.19595091 0.01016465 0.98056102 -0.33633827] [ 0. 0. 0. 1. ]] SLAMing on 37.008001144999994 meters Centerline goodness [0,1] 0.8821802935010482 Centerline is valid? [False, False] Translation: X:2.63, Y:0.44, Z:-0.34 [[ 0.97922753 -0.05427044 -0.19536675 2.63083603] [ 0.05119265 0.99847274 -0.02077273 0.44169299] [ 0.19619572 0.01033989 0.98051024 -0.33616695] [ 0. 0. 0. 1. ]] SLAMing on 37.038001144999996 meters Centerline goodness [0,1] 0.8840608113783353 Centerline is valid? [False, False] Translation: X:2.63, Y:0.44, Z:-0.34 [[ 0.97923537 -0.05428524 -0.19532334 2.63132895] [ 0.05116332 0.99846955 -0.02099712 0.4424304 ] [ 0.19616424 0.01056773 0.98051411 -0.33635496] [ 0. 0. 0. 1. ]] SLAMing on 37.068001145 meters Centerline goodness [0,1] 0.8862632138262766 Centerline is valid? [False, False] Translation: X:2.63, Y:0.44, Z:-0.34 [[ 0.9791823 -0.05409394 -0.19564219 2.6325235 ] [ 0.05089306 0.99847577 -0.02135482 0.44296717] [ 0.19649915 0.01095343 0.98044281 -0.33590333] [ 0. 0. 0. 1. ]] SLAMing on 37.09800114499999 meters Centerline goodness [0,1] 0.8862632138262766 Centerline is valid? [False, False] Translation: X:2.63, Y:0.44, Z:-0.34 [[ 0.9791823 -0.05409394 -0.19564219 2.6325235 ] [ 0.05089306 0.99847577 -0.02135482 0.44296717] [ 0.19649915 0.01095343 0.98044281 -0.33590333] [ 0. 0. 0. 1. ]] SLAMing on 37.12800114499999 meters Centerline goodness [0,1] 0.8807612417897042 Centerline is valid? [False, False] Translation: X:2.63, Y:0.45, Z:-0.33 [[ 0.9791831 -0.05350226 -0.19580083 2.63379431] [ 0.05010484 0.9984957 -0.02226735 0.44612101] [ 0.19669764 0.01199325 0.98039084 -0.33455073] [ 0. 0. 0. 1. ]] SLAMing on 37.15800114499999 meters Centerline goodness [0,1] 0.8831779649083279 Centerline is valid? [False, False] Translation: X:2.64, Y:0.45, Z:-0.33 [[ 0.97910905 -0.05297162 -0.19631471 2.63551944] [ 0.04943081 0.99851508 -0.02289595 0.44917673] [ 0.19723604 0.01271363 0.98027359 -0.33346588] [ 0. 0. 0. 1. ]] SLAMing on 37.188001144999994 meters Centerline goodness [0,1] 0.8833809348754348 Centerline is valid? [False, False] Translation: X:2.64, Y:0.45, Z:-0.33 [[ 0.97932166 -0.0484816 -0.19641443 2.63551289] [ 0.0456881 0.99878012 -0.01873136 0.44843856] [ 0.19708296 0.00937022 0.98034204 -0.33404207] [ 0. 0. 0. 1. ]] SLAMing on 37.218001144999995 meters Centerline goodness [0,1] 0.8860486864851078 Centerline is valid? [False, False] Translation: X:2.64, Y:0.45, Z:-0.34 [[ 0.97922451 -0.04733043 -0.19717809 2.63951861] [ 0.04459668 0.99883774 -0.01828427 0.44916375] [ 0.19781431 0.00911092 0.98019717 -0.33518075] [ 0. 0. 0. 1. ]] SLAMing on 37.248001144999996 meters Centerline goodness [0,1] 0.8862972106353395 Centerline is valid? [False, False] Translation: X:2.64, Y:0.45, Z:-0.34 [[ 0.97917086 -0.04672228 -0.19758912 2.64188345] [ 0.04406675 0.99886969 -0.01781769 0.44837334] [ 0.19819826 0.00873945 0.98012299 -0.33613153] [ 0. 0. 0. 1. ]] SLAMing on 37.27800114499999 meters Centerline goodness [0,1] 0.8874826186895202 Centerline is valid? [False, False] Translation: X:2.64, Y:0.45, Z:-0.34 [[ 0.97910648 -0.04632532 -0.19800118 2.64352663] [ 0.04368155 0.99888867 -0.01770164 0.44866572] [ 0.19860117 0.00868279 0.98004193 -0.33625356] [ 0. 0. 0. 1. ]] SLAMing on 37.30800114499999 meters Centerline goodness [0,1] 0.8866621183694354 Centerline is valid? [False, False] Translation: X:2.64, Y:0.45, Z:-0.34 [[ 0.97902423 -0.04623971 -0.19842744 2.64451607] [ 0.04348308 0.99888783 -0.01822979 0.4502715 ] [ 0.1990497 0.00921916 0.97994603 -0.33530695] [ 0. 0. 0. 1. ]] SLAMing on 37.33800114499999 meters Centerline goodness [0,1] 0.8918388253372034 Centerline is valid? [False, False] Translation: X:2.64, Y:0.45, Z:-0.33 [[ 0.97894451 -0.04622399 -0.19882401 2.64494582] [ 0.04326002 0.9988788 -0.01922805 0.45252908] [ 0.19948988 0.01022206 0.97984657 -0.33313788] [ 0. 0. 0. 1. ]] SLAMing on 37.368001144999994 meters Centerline goodness [0,1] 0.8931837546151662 Centerline is valid? [False, False] Translation: X:2.65, Y:0.45, Z:-0.33 [[ 0.97888802 -0.04608564 -0.199134 2.64573392] [ 0.04304827 0.99888154 -0.01955801 0.45255395] [ 0.19981262 0.01057272 0.97977708 -0.33223311] [ 0. 0. 0. 1. ]] SLAMing on 37.398001144999995 meters Centerline goodness [0,1] 0.8946069392039491 Centerline is valid? [False, False] Translation: X:2.65, Y:0.45, Z:-0.33 [[ 0.97887802 -0.04606905 -0.19918699 2.64600533] [ 0.0429879 0.99888 -0.01976809 0.45202869] [ 0.1998746 0.01078792 0.9797621 -0.33171279] [ 0. 0. 0. 1. ]] SLAMing on 37.428001144999996 meters Centerline goodness [0,1] 0.8935380605682881 Centerline is valid? [False, False] Translation: X:2.65, Y:0.45, Z:-0.33 [[ 0.97887436 -0.04620129 -0.19917436 2.6460993 ] [ 0.04311116 0.99887354 -0.01982602 0.45120407] [ 0.19986599 0.01082054 0.97976349 -0.33167571] [ 0. 0. 0. 1. ]] SLAMing on 37.458001145 meters Centerline goodness [0,1] 0.8923255419095592 Centerline is valid? [False, False] Translation: X:2.65, Y:0.45, Z:-0.33 [[ 0.97881348 -0.04588854 -0.19954551 2.64765395] [ 0.04284404 0.99889046 -0.01955093 0.44975879] [ 0.20022126 0.01058737 0.9796935 -0.33191006] [ 0. 0. 0. 1. ]] SLAMing on 37.48800114499999 meters Centerline goodness [0,1] 0.8896940190778114 Centerline is valid? [False, False] Translation: X:2.65, Y:0.45, Z:-0.33 [[ 0.97881731 -0.0462143 -0.19945152 2.64783459] [ 0.04322401 0.99887852 -0.0193233 0.44737393] [ 0.20012085 0.01029289 0.97971715 -0.33255096] [ 0. 0. 0. 1. ]] SLAMing on 37.51800114499999 meters Centerline goodness [0,1] 0.8843312101910829 Centerline is valid? [False, False] Translation: X:2.65, Y:0.45, Z:-0.33 [[ 0.9787989 -0.04614302 -0.19955833 2.64862348] [ 0.04322396 0.99888544 -0.01896202 0.44581978] [ 0.20021088 0.0099343 0.97970246 -0.33311489] [ 0. 0. 0. 1. ]] SLAMing on 37.54800114499999 meters Centerline goodness [0,1] 0.887080394922426 Centerline is valid? [False, False] Translation: X:2.65, Y:0.44, Z:-0.33 [[ 0.97880247 -0.04632747 -0.1994981 2.64881903] [ 0.04345273 0.99887921 -0.01876664 0.44430987] [ 0.20014391 0.0097001 0.97971849 -0.33358868] [ 0. 0. 0. 1. ]] SLAMing on 37.578001144999995 meters Centerline goodness [0,1] 0.8842603017338437 Centerline is valid? [False, False] Translation: X:2.65, Y:0.44, Z:-0.33 [[ 0.9787933 -0.04694568 -0.19939853 2.64798977] [ 0.04406334 0.9988505 -0.01887082 0.44193835] [ 0.20005523 0.00968447 0.97973676 -0.3330522 ] [ 0. 0. 0. 1. ]] SLAMing on 37.608001144999996 meters Centerline goodness [0,1] 0.887085906793936 Centerline is valid? [False, False] Translation: X:2.65, Y:0.44, Z:-0.33 [[ 0.97875341 -0.04708057 -0.19956245 2.64829951] [ 0.04419848 0.99884445 -0.01887504 0.44099164] [ 0.2002205 0.00965366 0.9797033 -0.33281004] [ 0. 0. 0. 1. ]] SLAMing on 37.638001145 meters Centerline goodness [0,1] 0.8861918808821464 Centerline is valid? [False, False] Translation: X:2.65, Y:0.44, Z:-0.33 [[ 0.97871687 -0.04721473 -0.19970993 2.64858834] [ 0.04436887 0.99884011 -0.01870413 0.43952038] [ 0.2003614 0.00944514 0.97967653 -0.33281898] [ 0. 0. 0. 1. ]] SLAMing on 37.66800114499999 meters Centerline goodness [0,1] 0.8837170176373272 Centerline is valid? [False, False] Translation: X:2.65, Y:0.44, Z:-0.33 [[ 0.97867346 -0.04711777 -0.19994541 2.6496464 ] [ 0.04435648 0.99884869 -0.01827007 0.43734805] [ 0.20057606 0.00901156 0.97963669 -0.33331081] [ 0. 0. 0. 1. ]] SLAMing on 37.69800114499999 meters Centerline goodness [0,1] 0.8843425315607195 Centerline is valid? [False, False] Translation: X:2.65, Y:0.44, Z:-0.33 [[ 0.97862656 -0.04723287 -0.20014774 2.65021297] [ 0.04452831 0.99884603 -0.01799559 0.43531057] [ 0.20076676 0.00869872 0.97960045 -0.33353581] [ 0. 0. 0. 1. ]] SLAMing on 37.72800114499999 meters Centerline goodness [0,1] 0.88425 Centerline is valid? [False, False] Translation: X:2.65, Y:0.44, Z:-0.33 [[ 0.97828776 -0.05139341 -0.20077791 2.65222097] [ 0.04794708 0.99860771 -0.02199352 0.43526051] [ 0.2016287 0.01188927 0.97938987 -0.33237393] [ 0. 0. 0. 1. ]] SLAMing on 37.758001144999994 meters Centerline goodness [0,1] 0.8861117268898249 Centerline is valid? [False, False] Translation: X:2.65, Y:0.43, Z:-0.33 [[ 0.97821314 -0.05111301 -0.20121259 2.65366305] [ 0.04770725 0.9986247 -0.02174247 0.43412255] [ 0.20204718 0.01166947 0.97930626 -0.33235602] [ 0. 0. 0. 1. ]] SLAMing on 37.788001144999996 meters Centerline goodness [0,1] 0.8792744242895636 Centerline is valid? [False, False] Translation: X:2.65, Y:0.43, Z:-0.33 [[ 0.97814756 -0.05070938 -0.2016331 2.65499203] [ 0.04731813 0.99864616 -0.02160667 0.43382483] [ 0.20245578 0.01159361 0.97922278 -0.33217059] [ 0. 0. 0. 1. ]] SLAMing on 37.818001145 meters Centerline goodness [0,1] 0.8790434444875992 Centerline is valid? [False, False] Translation: X:2.66, Y:0.43, Z:-0.33 [[ 0.97808425 -0.04898062 -0.20236627 2.65862548] [ 0.04572047 0.99873861 -0.02075624 0.43280476] [ 0.20312766 0.01104908 0.97908992 -0.33269672] [ 0. 0. 0. 1. ]] SLAMing on 37.84800114499999 meters Centerline goodness [0,1] 0.8831449468085106 Centerline is valid? [False, False] Translation: X:2.66, Y:0.43, Z:-0.33 [[ 0.97798092 -0.04826355 -0.20303683 2.66099367] [ 0.04500832 0.99877373 -0.02062231 0.43280796] [ 0.20378315 0.01102988 0.97895391 -0.33260502] [ 0. 0. 0. 1. ]] SLAMing on 37.87800114499999 meters Centerline goodness [0,1] 0.884751969814671 Centerline is valid? [False, False] Translation: X:2.66, Y:0.43, Z:-0.33 [[ 0.97784728 -0.04735386 -0.20389286 2.66382663] [ 0.04409102 0.99881679 -0.02051838 0.43341356] [ 0.20462324 0.011074 0.97877816 -0.33228902] [ 0. 0. 0. 1. ]] SLAMing on 37.90800114499999 meters Centerline goodness [0,1] 0.889908001115138 Centerline is valid? [False, False] Translation: X:2.68, Y:0.43, Z:-0.33 [[ 0.97786686 -0.03643175 -0.20603188 2.67514937] [ 0.03368241 0.99929075 -0.0168372 0.43452014] [ 0.20649916 0.00952489 0.97840042 -0.32799573] [ 0. 0. 0. 1. ]] SLAMing on 37.938001144999994 meters Centerline goodness [0,1] 0.8862355632427608 Centerline is valid? [False, False] Translation: X:2.68, Y:0.44, Z:-0.33 [[ 0.97776823 -0.03475803 -0.20678772 2.67841925] [ 0.03198902 0.99934836 -0.01672023 0.43563423] [ 0.20723413 0.00973357 0.97824295 -0.3273943 ] [ 0. 0. 0. 1. ]] SLAMing on 37.968001144999995 meters Centerline goodness [0,1] 0.8834585416259391 Centerline is valid? [False, False] Translation: X:2.68, Y:0.44, Z:-0.33 [[ 0.97761658 -0.03357745 -0.20769779 2.68144582] [ 0.03081405 0.99938849 -0.01652684 0.43575245] [ 0.20812571 0.00975691 0.97805342 -0.32691424] [ 0. 0. 0. 1. ]] SLAMing on 37.998001144999996 meters Centerline goodness [0,1] 0.8772610540419831 Centerline is valid? [False, False] Translation: X:2.68, Y:0.44, Z:-0.33 [[ 0.97746302 -0.03245852 -0.20859649 2.68481609] [ 0.02971806 0.99942608 -0.01625907 0.4356081 ] [ 0.20900452 0.00969356 0.97786663 -0.32687866] [ 0. 0. 0. 1. ]] SLAMing on 38.02800114499999 meters Centerline goodness [0,1] 0.8721069823278148 Centerline is valid? [False, False] Translation: X:2.69, Y:0.44, Z:-0.33 [[ 0.97730331 -0.03133807 -0.20951411 2.68824582] [ 0.02865414 0.99946397 -0.01583417 0.43516399] [ 0.20989802 0.00947134 0.97767741 -0.32705266] [ 0. 0. 0. 1. ]] SLAMing on 38.05800114499999 meters Centerline goodness [0,1] 0.8669854862926096 Centerline is valid? [False, False] Translation: X:2.69, Y:0.43, Z:-0.33 [[ 0.97709246 -0.02957826 -0.21074974 2.69355377] [ 0.0271353 0.99952697 -0.01447482 0.43217803] [ 0.21107819 0.00842448 0.97743288 -0.32843703] [ 0. 0. 0. 1. ]] SLAMing on 38.08800114499999 meters Centerline goodness [0,1] 0.8639736419513816 Centerline is valid? [False, False] Translation: X:2.70, Y:0.43, Z:-0.33 [[ 0.97681056 -0.03344368 -0.21147732 2.69595476] [ 0.03016976 0.99937004 -0.0186898 0.43284295] [ 0.21196916 0.01187618 0.97720419 -0.32707856] [ 0. 0. 0. 1. ]] SLAMing on 38.118001144999994 meters Centerline goodness [0,1] 0.8782941889954791 Centerline is valid? [False, False] Translation: X:2.70, Y:0.43, Z:-0.32 [[ 0.9765699 -0.03823908 -0.21177584 2.69568483] [ 0.03417274 0.99915517 -0.02282934 0.4299649 ] [ 0.2124699 0.01505749 0.97705159 -0.32476709] [ 0. 0. 0. 1. ]] SLAMing on 38.148001144999995 meters Centerline goodness [0,1] 0.886543101557359 Centerline is valid? [False, False] Translation: X:2.70, Y:0.43, Z:-0.32 [[ 0.97628694 -0.04297931 -0.21217112 2.69621887] [ 0.03807761 0.99890625 -0.0271367 0.42952435] [ 0.21310537 0.01841424 0.97685568 -0.32310322] [ 0. 0. 0. 1. ]] SLAMing on 38.178001144999996 meters Centerline goodness [0,1] 0.8879345715145381 Centerline is valid? [False, False] Translation: X:2.70, Y:0.43, Z:-0.32 [[ 0.97623642 -0.04393706 -0.21220739 2.69513603] [ 0.03907576 0.99887005 -0.02705014 0.425619 ] [ 0.21315611 0.01811517 0.9768502 -0.32268142] [ 0. 0. 0. 1. ]] SLAMing on 38.20800114499999 meters Centerline goodness [0,1] 0.8914994289443628 Centerline is valid? [False, False] Translation: X:2.70, Y:0.42, Z:-0.32 [[ 0.97593676 -0.0482458 -0.21264946 2.69645661] [ 0.04264242 0.99861365 -0.03086117 0.42423644] [ 0.21384357 0.02105066 0.97664108 -0.32173464] [ 0. 0. 0. 1. ]] SLAMing on 38.23800114499999 meters Centerline goodness [0,1] 0.8939446972348617 Centerline is valid? [False, False] Translation: X:2.71, Y:0.42, Z:-0.32 [[ 0.97664733 -0.05333988 -0.20812222 2.71264503] [ 0.04891755 0.9984554 -0.02634172 0.41731451] [ 0.20920582 0.01554574 0.97774805 -0.32208588] [ 0. 0. 0. 1. ]] SLAMing on 38.26800114499999 meters Centerline goodness [0,1] 0.891472037711592 Centerline is valid? [False, False] Translation: X:2.71, Y:0.42, Z:-0.32 [[ 0.97632463 -0.05797575 -0.20839634 2.7131339 ] [ 0.05275598 0.99814083 -0.03052358 0.41648062] [ 0.20977853 0.01880677 0.97756804 -0.32058845] [ 0. 0. 0. 1. ]] SLAMing on 38.29800114499999 meters Centerline goodness [0,1] 0.892992172107141 Centerline is valid? [False, False] Translation: X:2.71, Y:0.41, Z:-0.32 [[ 0.97598565 -0.06221507 -0.20876136 2.71447516] [ 0.05628175 0.99782735 -0.03424829 0.41479473] [ 0.21043855 0.02167639 0.97736674 -0.31974462] [ 0. 0. 0. 1. ]] SLAMing on 38.328001144999995 meters Centerline goodness [0,1] 0.8909786420146637 Centerline is valid? [False, False] Translation: X:2.71, Y:0.41, Z:-0.32 [[ 0.97592087 -0.06324575 -0.20875448 2.71394689] [ 0.05734992 0.9977688 -0.03418201 0.40984603] [ 0.21045057 0.02138689 0.97737053 -0.31982275] [ 0. 0. 0. 1. ]] SLAMing on 38.358001144999996 meters Centerline goodness [0,1] 0.8935777883146304 Centerline is valid? [False, False] Translation: X:2.72, Y:0.41, Z:-0.32 [[ 0.97556464 -0.06728214 -0.20915723 2.71600673] [ 0.06077525 0.99745092 -0.03739029 0.40730229] [ 0.21113977 0.02376506 0.97716694 -0.32000194] [ 0. 0. 0. 1. ]] SLAMing on 38.388001145 meters Centerline goodness [0,1] 0.8930418429713212 Centerline is valid? [False, False] Translation: X:2.72, Y:0.40, Z:-0.32 [[ 0.97522276 -0.07198543 -0.20918574 2.71636064] [ 0.06496342 0.99707531 -0.04025652 0.40219543] [ 0.21147182 0.02566965 0.97704695 -0.32017262] [ 0. 0. 0. 1. ]] SLAMing on 38.41800114499999 meters Centerline goodness [0,1] 0.8929891219486805 Centerline is valid? [False, False] Translation: X:2.72, Y:0.40, Z:-0.32 [[ 0.97516638 -0.07198587 -0.20944825 2.71665798] [ 0.06512451 0.99709574 -0.03948265 0.39905406] [ 0.21168215 0.02486194 0.97702229 -0.32029519] [ 0. 0. 0. 1. ]] SLAMing on 38.44800114499999 meters Centerline goodness [0,1] 0.8968919585594475 Centerline is valid? [False, False] Translation: X:2.72, Y:0.40, Z:-0.32 [[ 0.97507854 -0.07191096 -0.20988249 2.71730611] [ 0.06518948 0.99711913 -0.03877849 0.39599987] [ 0.21206645 0.02412994 0.9769573 -0.32020523] [ 0. 0. 0. 1. ]] SLAMing on 38.47800114499999 meters Centerline goodness [0,1] 0.8940635257023234 Centerline is valid? [False, False] Translation: X:2.72, Y:0.39, Z:-0.32 [[ 0.97500485 -0.07164464 -0.21031546 2.71840694] [ 0.06510981 0.99716031 -0.03784221 0.39255796] [ 0.21242942 0.02320274 0.9769009 -0.32059281] [ 0. 0. 0. 1. ]] SLAMing on 38.508001144999994 meters Centerline goodness [0,1] 0.891765128021119 Centerline is valid? [False, False] Translation: X:2.72, Y:0.39, Z:-0.32 [[ 0.97467047 -0.07580064 -0.21040848 2.71917616] [ 0.06864332 0.99679329 -0.04112455 0.38872918] [ 0.21285103 0.02563975 0.9767482 -0.31975751] [ 0. 0. 0. 1. ]] SLAMing on 38.538001144999996 meters Centerline goodness [0,1] 0.8905079632896183 Centerline is valid? [False, False] Translation: X:2.72, Y:0.39, Z:-0.32 [[ 0.9746453 -0.07560174 -0.21059658 2.71957006] [ 0.06858833 0.99682586 -0.04042075 0.38548061] [ 0.212984 0.02495143 0.97673704 -0.31989343] [ 0. 0. 0. 1. ]] SLAMing on 38.568001145 meters Centerline goodness [0,1] 0.888761438658204 Centerline is valid? [False, False] Translation: X:2.72, Y:0.38, Z:-0.32 [[ 0.97458741 -0.07513643 -0.21103056 2.72078538] [ 0.06825791 0.9968774 -0.03970284 0.38297464] [ 0.21335472 0.02428938 0.97667282 -0.31996088] [ 0. 0. 0. 1. ]] SLAMing on 38.59800114499999 meters Centerline goodness [0,1] 0.8930916866059155 Centerline is valid? [False, False] Translation: X:2.72, Y:0.38, Z:-0.32 [[ 0.97451871 -0.07441957 -0.21160106 2.7226961 ] [ 0.06767362 0.99694669 -0.038956 0.3813902 ] [ 0.21385406 0.02364354 0.97657945 -0.32026729] [ 0. 0. 0. 1. ]] SLAMing on 38.62800114499999 meters Centerline goodness [0,1] 0.8913214439737183 Centerline is valid? [False, False] Translation: X:2.73, Y:0.38, Z:-0.32 [[ 0.97446766 -0.0733074 -0.21222346 2.72511289] [ 0.0668012 0.9970547 -0.03767668 0.37818105] [ 0.21436037 0.02253792 0.97649458 -0.32094396] [ 0. 0. 0. 1. ]] SLAMing on 38.65800114499999 meters Centerline goodness [0,1] 0.8923321715411426 Centerline is valid? [False, False] Translation: X:2.73, Y:0.38, Z:-0.32 [[ 0.97443005 -0.07253878 -0.21265985 2.72675402] [ 0.06620076 0.99712808 -0.03678382 0.37538349] [ 0.21471736 0.02176501 0.97643368 -0.32131722] [ 0. 0. 0. 1. ]] SLAMing on 38.688001144999994 meters Centerline goodness [0,1] 0.8935140855717382 Centerline is valid? [False, False] Translation: X:2.73, Y:0.37, Z:-0.32 [[ 0.97440519 -0.07192799 -0.21298098 2.72778492] [ 0.06571588 0.99718464 -0.03611399 0.37322248] [ 0.21497897 0.02119342 0.97638869 -0.32132347] [ 0. 0. 0. 1. ]] SLAMing on 38.718001144999995 meters Centerline goodness [0,1] 0.8954828621150597 Centerline is valid? [False, False] Translation: X:2.73, Y:0.37, Z:-0.32 [[ 0.97436522 -0.07156319 -0.21328649 2.72827166] [ 0.06537693 0.99721366 -0.03592723 0.37225309] [ 0.21526327 0.02106223 0.97632889 -0.3206568 ] [ 0. 0. 0. 1. ]] SLAMing on 38.748001144999996 meters Centerline goodness [0,1] 0.8971005397263713 Centerline is valid? [False, False] Translation: X:2.73, Y:0.37, Z:-0.32 [[ 0.97431292 -0.07024675 -0.21396199 2.73011583] [ 0.06425405 0.99732508 -0.03484403 0.36975178] [ 0.21583734 0.02020106 0.97622034 -0.32020098] [ 0. 0. 0. 1. ]] SLAMing on 38.77800114499999 meters Centerline goodness [0,1] 0.8973773944438873 Centerline is valid? [False, False] Translation: X:2.73, Y:0.37, Z:-0.32 [[ 0.97427708 -0.06959595 -0.21433751 2.73165503] [ 0.06374873 0.99738385 -0.03408155 0.36783892] [ 0.21614871 0.01954113 0.97616488 -0.3206892 ] [ 0. 0. 0. 1. ]] SLAMing on 38.80800114499999 meters Centerline goodness [0,1] 0.9006853582554517 Centerline is valid? [False, False] Translation: X:2.73, Y:0.37, Z:-0.32 [[ 0.97420074 -0.06877114 -0.21494986 2.73396616] [ 0.06309926 0.99745665 -0.03314675 0.36541132] [ 0.2166827 0.01872841 0.97606242 -0.3213481 ] [ 0. 0. 0. 1. ]] SLAMing on 38.83800114499999 meters Centerline goodness [0,1] 0.898800804429327 Centerline is valid? [False, False] Translation: X:2.74, Y:0.36, Z:-0.32 [[ 0.97416964 -0.06821893 -0.21526654 2.73647205] [ 0.06277044 0.9975131 -0.03205434 0.35919328] [ 0.2169179 0.01771399 0.97602912 -0.32286298] [ 0. 0. 0. 1. ]] SLAMing on 38.868001144999994 meters Centerline goodness [0,1] 0.9009485228732339 Centerline is valid? [False, False] Translation: X:2.74, Y:0.36, Z:-0.32 [[ 0.97411016 -0.06721407 -0.21585104 2.7393008 ] [ 0.06201724 0.99760074 -0.03076742 0.35581729] [ 0.21740116 0.01658437 0.97594144 -0.32413791] [ 0. 0. 0. 1. ]] SLAMing on 38.898001144999995 meters Centerline goodness [0,1] 0.9023192696767827 Centerline is valid? [False, False] Translation: X:2.74, Y:0.35, Z:-0.32 [[ 0.97406147 -0.0667639 -0.21621018 2.7405169 ] [ 0.06171075 0.99764171 -0.03004664 0.35367147] [ 0.21770632 0.01592479 0.9758844 -0.32448884] [ 0. 0. 0. 1. ]] SLAMing on 38.928001144999996 meters Centerline goodness [0,1] 0.9008321264635852 Centerline is valid? [False, False] Translation: X:2.74, Y:0.35, Z:-0.32 [[ 0.97403392 -0.06676238 -0.21633471 2.74009006] [ 0.06182721 0.99765056 -0.02950855 0.35125925] [ 0.2177965 0.01536696 0.97587322 -0.32378132] [ 0. 0. 0. 1. ]] SLAMing on 38.95800114499999 meters Centerline goodness [0,1] 0.9029321063194479 Centerline is valid? [False, False] Translation: X:2.74, Y:0.35, Z:-0.32 [[ 0.97397133 -0.0664978 -0.21669769 2.74107166] [ 0.06170442 0.99767831 -0.02881932 0.34932565] [ 0.218111 0.01469798 0.97581328 -0.32399036] [ 0. 0. 0. 1. ]] SLAMing on 38.98800114499999 meters Centerline goodness [0,1] 0.8988191089640365 Centerline is valid? [False, False] Translation: X:2.74, Y:0.35, Z:-0.32 [[ 0.97389543 -0.06628142 -0.21710471 2.74227117] [ 0.06165775 0.99770425 -0.02800979 0.34663834] [ 0.21846282 0.01389242 0.97574638 -0.32446334] [ 0. 0. 0. 1. ]] SLAMing on 39.01800114499999 meters Centerline goodness [0,1] 0.8988191089640365 Centerline is valid? [False, False] Translation: X:2.74, Y:0.35, Z:-0.32 [[ 0.97389543 -0.06628142 -0.21710471 2.74227117] [ 0.06165775 0.99770425 -0.02800979 0.34663834] [ 0.21846282 0.01389242 0.97574638 -0.32446334] [ 0. 0. 0. 1. ]] SLAMing on 39.04800114499999 meters Centerline goodness [0,1] 0.8986212095421053 Centerline is valid? [False, False] Translation: X:2.74, Y:0.34, Z:-0.33 [[ 0.97385055 -0.0664332 -0.21725962 2.74286048] [ 0.06195011 0.99770338 -0.0273888 0.3436851 ] [ 0.21858018 0.01321334 0.97572953 -0.32507956] [ 0. 0. 0. 1. ]] SLAMing on 39.078001144999995 meters Centerline goodness [0,1] 0.8949509625862695 Centerline is valid? [False, False] Translation: X:2.75, Y:0.34, Z:-0.32 [[ 0.97345403 -0.07042782 -0.2177778 2.74531445] [ 0.06522062 0.99738872 -0.03101618 0.34298071] [ 0.21939353 0.01598923 0.97550542 -0.32488264] [ 0. 0. 0. 1. ]] SLAMing on 39.108001144999996 meters Centerline goodness [0,1] 0.8902392068152284 Centerline is valid? [False, False] Translation: X:2.75, Y:0.34, Z:-0.33 [[ 0.9731064 -0.07424113 -0.21806464 2.74865797] [ 0.06857298 0.99708492 -0.03345753 0.33888888] [ 0.21991289 0.01760439 0.97536066 -0.32692148] [ 0. 0. 0. 1. ]] SLAMing on 39.138001145 meters Centerline goodness [0,1] 0.889075913145935 Centerline is valid? [False, False] Translation: X:2.75, Y:0.34, Z:-0.33 [[ 0.97304797 -0.0734525 -0.21859179 2.7516998 ] [ 0.06802839 0.99716207 -0.03224803 0.33662199] [ 0.22034014 0.01650843 0.97528339 -0.32883905] [ 0. 0. 0. 1. ]] SLAMing on 39.16800114499999 meters Centerline goodness [0,1] 0.8863701992492059 Centerline is valid? [False, False] Translation: X:2.75, Y:0.34, Z:-0.33 [[ 0.97294539 -0.0727778 -0.21927303 2.75495542] [ 0.06750411 0.99722294 -0.03145794 0.33624737] [ 0.22095354 0.01580503 0.97515626 -0.33041646] [ 0. 0. 0. 1. ]] SLAMing on 39.19800114499999 meters Centerline goodness [0,1] 0.889503029132775 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.33 [[ 0.97275938 -0.07193127 -0.22037487 2.75921482] [ 0.06675803 0.99729237 -0.03084292 0.33795503] [ 0.22199675 0.01529094 0.9749275 -0.33176452] [ 0. 0. 0. 1. ]] SLAMing on 39.22800114499999 meters Centerline goodness [0,1] 0.8898869331525555 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.33 [[ 0.97265974 -0.07153272 -0.22094365 2.76125166] [ 0.06635767 0.99732145 -0.03076659 0.3393359 ] [ 0.22255266 0.01526411 0.97480117 -0.33205616] [ 0. 0. 0. 1. ]] SLAMing on 39.258001144999994 meters Centerline goodness [0,1] 0.8890073155370379 Centerline is valid? [False, False] Translation: X:2.76, Y:0.34, Z:-0.33 [[ 0.97254551 -0.07089383 -0.22165129 2.76425148] [ 0.06575382 0.99736985 -0.03049287 0.34045591] [ 0.22323007 0.01508128 0.97464911 -0.33294357] [ 0. 0. 0. 1. ]] SLAMing on 39.288001144999996 meters Centerline goodness [0,1] 0.8890779590149986 Centerline is valid? [False, False] Translation: X:2.77, Y:0.34, Z:-0.33 [[ 0.97245862 -0.07051256 -0.22215358 2.76641973] [ 0.06537414 0.99739738 -0.03040869 0.34161848] [ 0.22371959 0.0150481 0.97453738 -0.33357295] [ 0. 0. 0. 1. ]] SLAMing on 39.318001145 meters Centerline goodness [0,1] 0.8869929797191888 Centerline is valid? [False, False] Translation: X:2.77, Y:0.34, Z:-0.33 [[ 0.97236681 -0.07006811 -0.2226954 2.76886469] [ 0.06494838 0.99743031 -0.03024047 0.34292673] [ 0.22424204 0.01494113 0.97441894 -0.33439894] [ 0. 0. 0. 1. ]] SLAMing on 39.34800114499999 meters Centerline goodness [0,1] 0.8855150477122584 Centerline is valid? [False, False] Translation: X:2.77, Y:0.35, Z:-0.33 [[ 0.97222218 -0.07018775 -0.22328842 2.77129487] [ 0.06489512 0.99741162 -0.03096266 0.34841033] [ 0.22488366 0.01561225 0.97426054 -0.33494101] [ 0. 0. 0. 1. ]] SLAMing on 39.37800114499999 meters Centerline goodness [0,1] 0.8851636812847437 Centerline is valid? [False, False] Translation: X:2.77, Y:0.35, Z:-0.34 [[ 0.97236078 -0.06743669 -0.22353254 2.77195727] [ 0.06272807 0.99763479 -0.0281072 0.34932009] [ 0.2248993 0.01330857 0.97429112 -0.33607644] [ 0. 0. 0. 1. ]] SLAMing on 39.40800114499999 meters Centerline goodness [0,1] 0.8867537221150517 Centerline is valid? [False, False] Translation: X:2.77, Y:0.35, Z:-0.34 [[ 0.97223363 -0.06724178 -0.22414351 2.77446506] [ 0.06251163 0.99764742 -0.02814125 0.35110798] [ 0.22550846 0.01334829 0.97414976 -0.336864 ] [ 0. 0. 0. 1. ]] SLAMing on 39.438001144999994 meters Centerline goodness [0,1] 0.887413092775798 Centerline is valid? [False, False] Translation: X:2.78, Y:0.35, Z:-0.34 [[ 0.97212797 -0.06683141 -0.22472377 2.77843722] [ 0.06207147 0.99767358 -0.02818805 0.35467655] [ 0.22608481 0.01345346 0.97401471 -0.33910722] [ 0. 0. 0. 1. ]] SLAMing on 39.468001144999995 meters Centerline goodness [0,1] 0.8923978065802592 Centerline is valid? [False, False] Translation: X:2.78, Y:0.36, Z:-0.34 [[ 0.97199978 -0.06643701 -0.22539423 2.78131085] [ 0.06165008 0.99769885 -0.02821838 0.35693759] [ 0.22675031 0.01353269 0.9738589 -0.33992803] [ 0. 0. 0. 1. ]] SLAMing on 39.498001144999996 meters Centerline goodness [0,1] 0.8893562683091715 Centerline is valid? [False, False] Translation: X:2.78, Y:0.36, Z:-0.34 [[ 0.97189337 -0.06646123 -0.22584546 2.78272908] [ 0.06153841 0.99768982 -0.02877598 0.36017424] [ 0.22723621 0.01406902 0.97373804 -0.33976471] [ 0. 0. 0. 1. ]] SLAMing on 39.52800114499999 meters Centerline goodness [0,1] 0.8884965572902217 Centerline is valid? [False, False] Translation: X:2.78, Y:0.36, Z:-0.34 [[ 0.97177886 -0.06686789 -0.22621791 2.78321575] [ 0.06169929 0.99764833 -0.02984985 0.36454986] [ 0.22768191 0.01504997 0.97361925 -0.33876089] [ 0. 0. 0. 1. ]] SLAMing on 39.55800114499999 meters Centerline goodness [0,1] 0.8881315562762885 Centerline is valid? [False, False] Translation: X:2.80, Y:0.37, Z:-0.34 [[ 0.97291886 -0.06732612 -0.22112459 2.79740351] [ 0.06372417 0.99769338 -0.02339125 0.36718138] [ 0.22218938 0.00866681 0.97496501 -0.33734822] [ 0. 0. 0. 1. ]] SLAMing on 39.58800114499999 meters Centerline goodness [0,1] 0.8880018306170705 Centerline is valid? [False, False] Translation: X:2.81, Y:0.37, Z:-0.33 [[ 0.97331734 -0.06792541 -0.21917915 2.80518909] [ 0.06246031 0.99754146 -0.03177633 0.37377374] [ 0.22079871 0.01723846 0.97516705 -0.33037315] [ 0. 0. 0. 1. ]] SLAMing on 39.618001144999994 meters Centerline goodness [0,1] 0.88325660655696 Centerline is valid? [False, False] Translation: X:2.81, Y:0.37, Z:-0.33 [[ 0.97327864 -0.06810955 -0.21929381 2.80538191] [ 0.06255927 0.99752286 -0.03216342 0.37448413] [ 0.22094122 0.01758511 0.97512858 -0.32999267] [ 0. 0. 0. 1. ]] SLAMing on 39.648001144999995 meters Centerline goodness [0,1] 0.878508973768983 Centerline is valid? [False, False] Translation: X:2.81, Y:0.38, Z:-0.33 [[ 0.973225 -0.06824032 -0.21949115 2.80591013] [ 0.06260724 0.99750807 -0.03252678 0.37548451] [ 0.22116383 0.01791414 0.97507212 -0.32975774] [ 0. 0. 0. 1. ]] SLAMing on 39.678001144999996 meters Centerline goodness [0,1] 0.8826412770107273 Centerline is valid? [False, False] Translation: X:2.81, Y:0.38, Z:-0.33 [[ 0.97337403 -0.0644718 -0.21996904 2.80556682] [ 0.05940741 0.99779582 -0.02956808 0.37844242] [ 0.2213905 0.01571301 0.97505864 -0.32891424] [ 0. 0. 0. 1. ]] SLAMing on 39.70800114499999 meters Centerline goodness [0,1] 0.8834321051275444 Centerline is valid? [False, False] Translation: X:2.81, Y:0.38, Z:-0.33 [[ 0.97358483 -0.06030665 -0.22021737 2.80529707] [ 0.05603007 0.99810031 -0.02562043 0.37800124] [ 0.22134411 0.01260486 0.9751143 -0.3291978 ] [ 0. 0. 0. 1. ]] SLAMing on 39.73800114499999 meters Centerline goodness [0,1] 0.8789306961291818 Centerline is valid? [False, False] Translation: X:2.81, Y:0.38, Z:-0.33 [[ 0.97355104 -0.06034208 -0.22035699 2.80539704] [ 0.05596393 0.99809255 -0.02606331 0.37901904] [ 0.22150938 0.01304191 0.97507102 -0.32843671] [ 0. 0. 0. 1. ]] SLAMing on 39.76800114499999 meters Centerline goodness [0,1] 0.8789376158122297 Centerline is valid? [False, False] Translation: X:2.81, Y:0.38, Z:-0.33 [[ 0.97348133 -0.06021944 -0.22069823 2.80602063] [ 0.05580287 0.99809804 -0.02619802 0.37902845] [ 0.2218561 0.01318769 0.97499023 -0.32789354] [ 0. 0. 0. 1. ]] SLAMing on 39.79800114499999 meters Centerline goodness [0,1] 0.8752797139844132 Centerline is valid? [False, False] Translation: X:2.81, Y:0.38, Z:-0.33 [[ 0.97342753 -0.05998905 -0.22099809 2.80631989] [ 0.05550564 0.99810804 -0.02644743 0.37911388] [ 0.22216653 0.01347802 0.97491557 -0.32671606] [ 0. 0. 0. 1. ]] SLAMing on 39.828001144999995 meters Centerline goodness [0,1] 0.875661239792512 Centerline is valid? [False, False] Translation: X:2.81, Y:0.38, Z:-0.33 [[ 0.97332234 -0.05968054 -0.22154424 2.80740485] [ 0.05517102 0.99812537 -0.02649349 0.37921033] [ 0.22271007 0.01356388 0.97479036 -0.3259717 ] [ 0. 0. 0. 1. ]] SLAMing on 39.858001144999996 meters Centerline goodness [0,1] 0.8775667549022127 Centerline is valid? [False, False] Translation: X:2.81, Y:0.38, Z:-0.33 [[ 0.97327233 -0.05971444 -0.22175473 2.80741629] [ 0.05516474 0.99812129 -0.0266598 0.37883781] [ 0.22293009 0.01371421 0.97473796 -0.32521635] [ 0. 0. 0. 1. ]] SLAMing on 39.888001145 meters Centerline goodness [0,1] 0.877862010873727 Centerline is valid? [False, False] Translation: X:2.81, Y:0.38, Z:-0.33 [[ 0.97322814 -0.05903288 -0.22213083 2.80894922] [ 0.05465216 0.9981715 -0.02582227 0.37500348] [ 0.22324902 0.01299103 0.97467487 -0.32557946] [ 0. 0. 0. 1. ]] SLAMing on 39.91800114499999 meters Centerline goodness [0,1] 0.8774473704258615 Centerline is valid? [False, False] Translation: X:2.81, Y:0.37, Z:-0.33 [[ 0.97317513 -0.05854277 -0.22249251 2.81037998] [ 0.05426228 0.99820592 -0.02530889 0.37353183] [ 0.22357499 0.01255703 0.97460584 -0.32598408] [ 0. 0. 0. 1. ]] SLAMing on 39.94800114499999 meters Centerline goodness [0,1] 0.8800599319416933 Centerline is valid? [False, False] Translation: X:2.81, Y:0.37, Z:-0.33 [[ 0.97310912 -0.05817966 -0.22287614 2.8114822 ] [ 0.05396537 0.99823085 -0.02495797 0.37236114] [ 0.22393388 0.01225924 0.97452723 -0.32598392] [ 0. 0. 0. 1. ]] SLAMing on 39.97800114499999 meters Centerline goodness [0,1] 0.8833066910253482 Centerline is valid? [False, False] Translation: X:2.81, Y:0.37, Z:-0.33 [[ 0.97303889 -0.05785239 -0.22326759 2.81240061] [ 0.05367646 0.99825204 -0.02473261 0.37146621] [ 0.22430817 0.01208157 0.97444337 -0.32572135] [ 0. 0. 0. 1. ]] SLAMing on 40.008001144999994 meters Centerline goodness [0,1] 0.8810040911157129 Centerline is valid? [False, False] Translation: X:2.82, Y:0.37, Z:-0.33 [[ 0.97287546 -0.05619713 -0.22439968 2.81588798] [ 0.05226077 0.99835816 -0.02344761 0.36792068] [ 0.22534894 0.01108431 0.97421506 -0.32568642] [ 0. 0. 0. 1. ]] SLAMing on 40.038001144999996 meters Centerline goodness [0,1] 0.8865511238931355 Centerline is valid? [False, False] Translation: X:2.82, Y:0.37, Z:-0.33 [[ 0.97277067 -0.05507685 -0.22513053 2.81859733] [ 0.05134812 0.99842982 -0.02238887 0.36543052] [ 0.22601015 0.01021921 0.97407134 -0.32630366] [ 0. 0. 0. 1. ]] SLAMing on 40.068001145 meters Centerline goodness [0,1] 0.8875928958307091 Centerline is valid? [False, False] Translation: X:2.82, Y:0.36, Z:-0.33 [[ 0.97267114 -0.05388605 -0.22584762 2.82144258] [ 0.05037827 0.99850368 -0.02127064 0.36277313] [ 0.22665587 0.00931153 0.97393039 -0.32705809] [ 0. 0. 0. 1. ]] SLAMing on 40.09800114499999 meters Centerline goodness [0,1] 0.894154263196205 Centerline is valid? [False, False] Translation: X:2.82, Y:0.36, Z:-0.33 [[ 0.97255794 -0.052843 -0.22658039 2.8242318 ] [ 0.04952861 0.99856654 -0.02029216 0.36032395] [ 0.2273279 0.00851309 0.97378106 -0.32774514] [ 0. 0. 0. 1. ]] SLAMing on 40.12800114499999 meters Centerline goodness [0,1] 0.9046731295053443 Centerline is valid? [False, False] Translation: X:2.83, Y:0.35, Z:-0.33 [[ 0.97231107 -0.04974966 -0.22833343 2.83141123] [ 0.04697482 0.99874145 -0.0175748 0.3540781 ] [ 0.2289204 0.00636225 0.97342435 -0.32966738] [ 0. 0. 0. 1. ]] SLAMing on 40.15800114499999 meters Centerline goodness [0,1] 0.9102744981559863 Centerline is valid? [False, False] Translation: X:2.83, Y:0.35, Z:-0.33 [[ 0.97217323 -0.04833716 -0.22922201 2.834757 ] [ 0.04578989 0.9988161 -0.01642177 0.35132571] [ 0.22974442 0.00546876 0.97323563 -0.33026874] [ 0. 0. 0. 1. ]] SLAMing on 40.188001144999994 meters Centerline goodness [0,1] 0.9159213322132728 Centerline is valid? [False, False] Translation: X:2.84, Y:0.35, Z:-0.33 [[ 0.97205209 -0.04710664 -0.22999066 2.83724445] [ 0.04472685 0.99887818 -0.01555266 0.34909572] [ 0.23046529 0.00483123 0.97306855 -0.3303055 ] [ 0. 0. 0. 1. ]] SLAMing on 40.218001144999995 meters Centerline goodness [0,1] 0.9159502401773617 Centerline is valid? [False, False] Translation: X:2.84, Y:0.35, Z:-0.33 [[ 0.97195464 -0.0461161 -0.23060246 2.83899957] [ 0.04384227 0.99892619 -0.01497768 0.34732328] [ 0.23104554 0.0044475 0.97293277 -0.32995142] [ 0. 0. 0. 1. ]] SLAMing on 40.248001144999996 meters Centerline goodness [0,1] 0.9150920305463089 Centerline is valid? [False, False] Translation: X:2.84, Y:0.34, Z:-0.33 [[ 0.97185832 -0.04428073 -0.23136686 2.84092361] [ 0.04224643 0.99901271 -0.01374209 0.34328425] [ 0.23174694 0.00358094 0.97276952 -0.32902555] [ 0. 0. 0. 1. ]] SLAMing on 40.27800114499999 meters Centerline goodness [0,1] 0.9168981143107733 Centerline is valid? [False, False] Translation: X:2.84, Y:0.34, Z:-0.33 [[ 0.97178349 -0.04388503 -0.23175622 2.84109673] [ 0.0418978 0.9990308 -0.01349222 0.3414832 ] [ 0.23212371 0.00340145 0.97268032 -0.32791172] [ 0. 0. 0. 1. ]] SLAMing on 40.30800114499999 meters Centerline goodness [0,1] 0.9195587053408344 Centerline is valid? [False, False] Translation: X:2.84, Y:0.34, Z:-0.33 [[ 0.97176001 -0.04406378 -0.23182077 2.83971252] [ 0.04203066 0.99902233 -0.01370447 0.33982899] [ 0.232198 0.00357388 0.97266197 -0.32614885] [ 0. 0. 0. 1. ]] SLAMing on 40.33800114499999 meters Centerline goodness [0,1] 0.9180133252574197 Centerline is valid? [False, False] Translation: X:2.84, Y:0.34, Z:-0.32 [[ 0.97171445 -0.04422676 -0.23198065 2.83870819] [ 0.04219311 0.99901522 -0.01372335 0.33758373] [ 0.23235914 0.00354719 0.97262359 -0.32465532] [ 0. 0. 0. 1. ]] SLAMing on 40.368001144999994 meters Centerline goodness [0,1] 0.9198302059717332 Centerline is valid? [False, False] Translation: X:2.84, Y:0.34, Z:-0.32 [[ 0.97141646 -0.04824978 -0.23242639 2.83985024] [ 0.04540563 0.99881403 -0.01757448 0.3365332 ] [ 0.2329987 0.00651867 0.9724552 -0.32341124] [ 0. 0. 0. 1. ]] SLAMing on 40.398001144999995 meters Centerline goodness [0,1] 0.9276051449085851 Centerline is valid? [False, False] Translation: X:2.84, Y:0.33, Z:-0.32 [[ 0.9711466 -0.05216013 -0.23270928 2.84072722] [ 0.0487941 0.99860454 -0.02020166 0.32771642] [ 0.23343827 0.00826393 0.97233651 -0.32276755] [ 0. 0. 0. 1. ]] SLAMing on 40.428001144999996 meters Centerline goodness [0,1] 0.9314518983458788 Centerline is valid? [False, False] Translation: X:2.84, Y:0.33, Z:-0.32 [[ 0.9708351 -0.05605045 -0.23310417 2.84250061] [ 0.05201857 0.99837162 -0.02341325 0.32530769] [ 0.23403691 0.01060466 0.97216987 -0.3226166 ] [ 0. 0. 0. 1. ]] SLAMing on 40.45800114499999 meters Centerline goodness [0,1] 0.9333709502985846 Centerline is valid? [False, False] Translation: X:2.84, Y:0.32, Z:-0.32 [[ 0.97076225 -0.05630465 -0.2333462 2.84260784] [ 0.05244252 0.99836528 -0.02272755 0.32123386] [ 0.23424441 0.00982579 0.97212808 -0.32263884] [ 0. 0. 0. 1. ]] SLAMing on 40.48800114499999 meters Centerline goodness [0,1] 0.9374063670411985 Centerline is valid? [False, False] Translation: X:2.84, Y:0.32, Z:-0.32 [[ 0.97066913 -0.05645541 -0.23369689 2.84321024] [ 0.05277869 0.9983647 -0.02196197 0.31776027] [ 0.2345546 0.00898359 0.97206144 -0.32284655] [ 0. 0. 0. 1. ]] SLAMing on 40.51800114499999 meters Centerline goodness [0,1] 0.9419911821056762 Centerline is valid? [False, False] Translation: X:2.84, Y:0.31, Z:-0.32 [[ 0.97027994 -0.06088725 -0.23419985 2.84424946] [ 0.05677342 0.99809196 -0.02427399 0.31124958] [ 0.23523097 0.01025624 0.97188539 -0.32257809] [ 0. 0. 0. 1. ]] SLAMing on 40.54800114499999 meters Centerline goodness [0,1] 0.9409615296226502 Centerline is valid? [False, False] Translation: X:2.85, Y:0.31, Z:-0.32 [[ 0.96995992 -0.06497773 -0.23442621 2.84557095] [ 0.06026429 0.99781119 -0.02722203 0.30781672] [ 0.23568192 0.01227674 0.9717527 -0.32263786] [ 0. 0. 0. 1. ]] SLAMing on 40.578001144999995 meters Centerline goodness [0,1] 0.9412874054213719 Centerline is valid? [False, False] Translation: X:2.85, Y:0.30, Z:-0.32 [[ 0.96931761 -0.07373075 -0.2344934 2.84647729] [ 0.06772767 0.99713917 -0.03356253 0.30022077] [ 0.23629715 0.01665105 0.97153816 -0.32197788] [ 0. 0. 0. 1. ]] SLAMing on 40.608001144999996 meters Centerline goodness [0,1] 0.9400688811347261 Centerline is valid? [False, False] Translation: X:2.85, Y:0.29, Z:-0.32 [[ 0.96927031 -0.07387091 -0.23464474 2.84678139] [ 0.06813663 0.99714769 -0.03246352 0.29475143] [ 0.23637357 0.01547802 0.97153897 -0.32251561] [ 0. 0. 0. 1. ]] SLAMing on 40.63800114499999 meters Centerline goodness [0,1] 0.9399069265529102 Centerline is valid? [False, False] Translation: X:2.86, Y:0.29, Z:-0.32 [[ 0.97018889 -0.07582469 -0.23018281 2.86200578] [ 0.07204009 0.99709302 -0.02481412 0.29019937] [ 0.23139519 0.00749199 0.97283099 -0.32447234] [ 0. 0. 0. 1. ]] SLAMing on 40.66800114499999 meters Centerline goodness [0,1] 0.9389624971929037 Centerline is valid? [False, False] Translation: X:2.86, Y:0.29, Z:-0.32 [[ 0.97014745 -0.07583755 -0.23035317 2.86230184] [ 0.0722549 0.99709833 -0.02396142 0.28681247] [ 0.23150194 0.00660197 0.97281204 -0.32472965] [ 0. 0. 0. 1. ]] SLAMing on 40.69800114499999 meters Centerline goodness [0,1] 0.9393216864248151 Centerline is valid? [False, False] Translation: X:2.86, Y:0.28, Z:-0.32 [[ 0.96975681 -0.08019985 -0.23052051 2.86278957] [ 0.0759931 0.99674042 -0.02708481 0.28376483] [ 0.23194131 0.00874771 0.97269045 -0.32392615] [ 0. 0. 0. 1. ]] SLAMing on 40.72800114499999 meters Centerline goodness [0,1] 0.9375957716138489 Centerline is valid? [False, False] Translation: X:2.86, Y:0.28, Z:-0.32 [[ 0.96976031 -0.07978332 -0.2306503 2.86351056] [ 0.07583325 0.99678265 -0.02595513 0.27982245] [ 0.23197901 0.00767929 0.97269048 -0.32454386] [ 0. 0. 0. 1. ]] SLAMing on 40.758001144999994 meters Centerline goodness [0,1] 0.9397483411375691 Centerline is valid? [False, False] Translation: X:2.86, Y:0.28, Z:-0.33 [[ 0.96977881 -0.07926179 -0.23075232 2.86447938] [ 0.07557967 0.99683213 -0.02476739 0.27552617] [ 0.23198443 0.00657871 0.97269725 -0.32539853] [ 0. 0. 0. 1. ]] SLAMing on 40.788001144999996 meters Centerline goodness [0,1] 0.942381562099872 Centerline is valid? [False, False] Translation: X:2.87, Y:0.27, Z:-0.33 [[ 0.96976403 -0.07850033 -0.2310745 2.86623374] [ 0.07507787 0.99689881 -0.02358141 0.27166928] [ 0.23220904 0.00551982 0.97265024 -0.32633562] [ 0. 0. 0. 1. ]] SLAMing on 40.818001145 meters Centerline goodness [0,1] 0.9473245431210373 Centerline is valid? [False, False] Translation: X:2.87, Y:0.27, Z:-0.33 [[ 0.96978898 -0.07725386 -0.23138968 2.86754116] [ 0.07403723 0.99700012 -0.02256635 0.26973453] [ 0.23243887 0.00475315 0.97259939 -0.3264545 ] [ 0. 0. 0. 1. ]] SLAMing on 40.84800114499999 meters Centerline goodness [0,1] 0.9484590394240057 Centerline is valid? [False, False] Translation: X:2.87, Y:0.27, Z:-0.33 [[ 9.70040186e-01 -7.27227270e-02 -2.31804753e-01 2.86758837e+00] [ 7.04046156e-02 9.97351213e-01 -1.82687955e-02 2.68299563e-01] [ 2.32519308e-01 1.40134126e-03 9.72590771e-01 -3.26556478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.87800114499999 meters Centerline goodness [0,1] 0.948925909688733 Centerline is valid? [False, False] Translation: X:2.87, Y:0.27, Z:-0.33 [[ 9.69950015e-01 -7.17850647e-02 -2.32473381e-01 2.86970921e+00] [ 6.95689879e-02 9.97419600e-01 -1.77284366e-02 2.68689693e-01] [ 2.33146144e-01 1.02275948e-03 9.72441170e-01 -3.26648772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.90800114499999 meters Centerline goodness [0,1] 0.948925909688733 Centerline is valid? [False, False] Translation: X:2.87, Y:0.27, Z:-0.33 [[ 9.69950015e-01 -7.17850647e-02 -2.32473381e-01 2.86970921e+00] [ 6.95689879e-02 9.97419600e-01 -1.77284366e-02 2.68689693e-01] [ 2.33146144e-01 1.02275948e-03 9.72441170e-01 -3.26648772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.938001144999994 meters Centerline goodness [0,1] 0.9517468688200396 Centerline is valid? [False, True] Translation: X:2.87, Y:0.27, Z:-0.33 [[ 9.69948071e-01 -7.09044860e-02 -2.32751571e-01 2.87065635e+00] [ 6.87981101e-02 9.97482906e-01 -1.71660221e-02 2.67791741e-01] [ 2.33382861e-01 6.37281826e-04 9.72384715e-01 -3.26541000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.968001144999995 meters Centerline goodness [0,1] 0.9492383561643836 Centerline is valid? [True, False] Translation: X:2.87, Y:0.27, Z:-0.33 [[ 9.69899952e-01 -7.03484424e-02 -2.33120528e-01 2.87246648e+00] [ 6.83843128e-02 9.97522477e-01 -1.65073871e-02 2.65946527e-01] [ 2.33704236e-01 6.87268240e-05 9.72307732e-01 -3.27332570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.998001144999996 meters Centerline goodness [0,1] 0.9523080288777073 Centerline is valid? [False, True] Translation: X:2.87, Y:0.26, Z:-0.33 [[ 9.69848442e-01 -6.94951620e-02 -2.33590285e-01 2.87495914e+00] [ 6.77433119e-02 9.97581993e-01 -1.55245187e-02 2.63693034e-01] [ 2.34104341e-01 -7.67749187e-04 9.72211175e-01 -3.28564022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.02800114499999 meters Centerline goodness [0,1] 0.953585761647182 Centerline is valid? [True, True] Translation: X:2.90, Y:0.27, Z:-0.32 [[ 9.69776382e-01 -6.83810508e-02 -2.34217420e-01 2.90265669e+00] [ 6.65901458e-02 9.97659146e-01 -1.55557603e-02 2.65493138e-01] [ 2.34732871e-01 -5.10963202e-04 9.72059781e-01 -3.20390413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.05800114499999 meters Centerline goodness [0,1] 0.9559599041185444 Centerline is valid? [True, True] Translation: X:2.93, Y:0.27, Z:-0.31 [[ 9.69687160e-01 -6.53414819e-02 -2.35451276e-01 2.92908181e+00] [ 6.34309849e-02 9.97862923e-01 -1.56874518e-02 2.71977604e-01] [ 2.35973140e-01 2.77014262e-04 9.71759538e-01 -3.14257663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.08800114499999 meters Centerline goodness [0,1] 0.9563240501901805 Centerline is valid? [True, True] Translation: X:2.96, Y:0.28, Z:-0.31 [[ 9.69795555e-01 -6.41391088e-02 -2.35335412e-01 2.95632640e+00] [ 6.21899902e-02 9.97940791e-01 -1.57029360e-02 2.75879688e-01] [ 2.35857980e-01 5.93130549e-04 9.71787354e-01 -3.08534036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.118001144999994 meters Centerline goodness [0,1] 0.9564286806298731 Centerline is valid? [True, True] Translation: X:2.98, Y:0.28, Z:-0.30 [[ 9.69600138e-01 -6.30548393e-02 -2.36431090e-01 2.98428506e+00] [ 6.10410778e-02 9.98009638e-01 -1.58350576e-02 2.77871814e-01] [ 2.36958984e-01 9.21665490e-04 9.71519218e-01 -3.03074748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.148001144999995 meters Centerline goodness [0,1] 0.9573536141558979 Centerline is valid? [True, True] Translation: X:3.01, Y:0.28, Z:-0.30 [[ 9.69649461e-01 -6.18701403e-02 -2.36541768e-01 3.01208980e+00] [ 5.98079121e-02 9.98083411e-01 -1.58908549e-02 2.78443083e-01] [ 2.37071584e-01 1.26148962e-03 9.71491365e-01 -2.97687075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.178001144999996 meters Centerline goodness [0,1] 0.9567932122266942 Centerline is valid? [True, True] Translation: X:3.04, Y:0.28, Z:-0.29 [[ 9.69764321e-01 -5.88179859e-02 -2.36849334e-01 3.03918575e+00] [ 5.66558727e-02 9.98266659e-01 -1.59307624e-02 2.79189216e-01] [ 2.37375809e-01 2.03017924e-03 9.71415773e-01 -2.94098706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.20800114499999 meters Centerline goodness [0,1] 0.9559807361241256 Centerline is valid? [True, True] Translation: X:3.07, Y:0.28, Z:-0.29 [[ 9.70031870e-01 -5.69660312e-02 -2.36205508e-01 3.06568991e+00] [ 5.47553073e-02 9.98372978e-01 -1.59139096e-02 2.82991166e-01] [ 2.36727749e-01 2.50349426e-03 9.71572800e-01 -2.87624141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.23800114499999 meters Centerline goodness [0,1] 0.9563953488372093 Centerline is valid? [True, True] Translation: X:3.09, Y:0.29, Z:-0.28 [[ 9.70023406e-01 -5.56280115e-02 -2.36558905e-01 3.09264035e+00] [ 5.33576436e-02 9.98447375e-01 -1.59938130e-02 2.87166405e-01] [ 2.37081322e-01 2.89214720e-03 9.71485503e-01 -2.79451383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.26800114499999 meters Centerline goodness [0,1] 0.9577809861311634 Centerline is valid? [True, True] Translation: X:3.12, Y:0.29, Z:-0.27 [[ 0.97018473 -0.05380784 -0.23631823 3.1202207 ] [ 0.05148137 0.99854564 -0.01600868 0.29258866] [ 0.23683593 0.00336539 0.97154383 -0.27108678] [ 0. 0. 0. 1. ]] SLAMing on 41.29800114499999 meters Centerline goodness [0,1] 0.9573318224411079 Centerline is valid? [True, True] Translation: X:3.15, Y:0.29, Z:-0.27 [[ 0.97025112 -0.05472255 -0.23583512 3.14807272] [ 0.05241933 0.9984965 -0.01602969 0.29240338] [ 0.23635772 0.00319051 0.97166087 -0.26512076] [ 0. 0. 0. 1. ]] SLAMing on 41.328001144999995 meters Centerline goodness [0,1] 0.9558301964794709 Centerline is valid? [True, True] Translation: X:3.18, Y:0.29, Z:-0.26 [[ 9.70236870e-01 -5.62735303e-02 -2.35528565e-01 3.17624099e+00] [ 5.40084085e-02 9.98411282e-01 -1.60625033e-02 2.90412930e-01] [ 2.36058271e-01 2.86390996e-03 9.71734681e-01 -2.59260274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.358001144999996 meters Centerline goodness [0,1] 0.9560539672899223 Centerline is valid? [True, True] Translation: X:3.20, Y:0.29, Z:-0.26 [[ 9.70306551e-01 -5.85324046e-02 -2.34689487e-01 3.20440544e+00] [ 5.63357758e-02 9.98282717e-01 -1.60591585e-02 2.88637610e-01] [ 2.35226440e-01 2.36089240e-03 9.71937729e-01 -2.55310412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.38800114499999 meters Centerline goodness [0,1] 0.9567164179104477 Centerline is valid? [True, True] Translation: X:3.23, Y:0.28, Z:-0.25 [[ 9.69938885e-01 -6.39243324e-02 -2.34802553e-01 3.23352270e+00] [ 6.18688683e-02 9.97954135e-01 -1.61179284e-02 2.83002482e-01] [ 2.35352507e-01 1.10643722e-03 9.71909447e-01 -2.49715365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.41800114499999 meters Centerline goodness [0,1] 0.9560541602781437 Centerline is valid? [True, True] Translation: X:3.26, Y:0.28, Z:-0.24 [[ 9.69904136e-01 -6.74122006e-02 -2.33969150e-01 3.26173763e+00] [ 6.54641792e-02 9.97725168e-01 -1.60913138e-02 2.82645071e-01] [ 2.34521660e-01 2.90433444e-04 9.72110851e-01 -2.42308686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.44800114499999 meters Centerline goodness [0,1] 0.9552467470815441 Centerline is valid? [True, True] Translation: X:3.29, Y:0.28, Z:-0.23 [[ 9.69917802e-01 -7.06726241e-02 -2.32948142e-01 3.28870423e+00] [ 6.88218677e-02 9.97499466e-01 -1.60737497e-02 2.83270672e-01] [ 2.33501621e-01 -4.41710247e-04 9.72356312e-01 -2.33716701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.47800114499999 meters Centerline goodness [0,1] 0.9523368312180827 Centerline is valid? [True, True] Translation: X:3.32, Y:0.28, Z:-0.23 [[ 9.70041385e-01 -7.41682698e-02 -2.31341260e-01 3.31651604e+00] [ 7.24289388e-02 9.97244994e-01 -1.60147293e-02 2.83656032e-01] [ 2.31891698e-01 -1.22085178e-03 9.72740844e-01 -2.26234249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.508001144999994 meters Centerline goodness [0,1] 0.9493474942489196 Centerline is valid? [True, False] Translation: X:3.32, Y:0.28, Z:-0.23 [[ 9.69645831e-01 -7.90610824e-02 -2.31379145e-01 3.31783592e+00] [ 7.66822405e-02 9.96869327e-01 -1.92711972e-02 2.80358475e-01] [ 2.32178374e-01 9.43564796e-04 9.72672767e-01 -2.26970075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.538001144999996 meters Centerline goodness [0,1] 0.9467863508493138 Centerline is valid? [False, False] Translation: X:3.32, Y:0.28, Z:-0.23 [[ 0.96924565 -0.08306773 -0.23165196 3.32053234] [ 0.07999115 0.99653799 -0.02265933 0.27941651] [ 0.23273224 0.00343235 0.97253479 -0.22784103] [ 0. 0. 0. 1. ]] SLAMing on 41.568001145 meters Centerline goodness [0,1] 0.9450254472051023 Centerline is valid? [False, False] Translation: X:3.32, Y:0.28, Z:-0.23 [[ 9.69158885e-01 -8.28064389e-02 -2.32108056e-01 3.32257884e+00] [ 7.99204395e-02 9.96562249e-01 -2.18267604e-02 2.77343671e-01] [ 2.33117522e-01 2.60342095e-03 9.72445085e-01 -2.28985188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.59800114499999 meters Centerline goodness [0,1] 0.9412472600679074 Centerline is valid? [False, False] Translation: X:3.32, Y:0.28, Z:-0.23 [[ 9.69048684e-01 -8.29068597e-02 -2.32531933e-01 3.32402215e+00] [ 8.00603967e-02 9.96554454e-01 -2.16691881e-02 2.77414883e-01] [ 2.33527258e-01 2.38189944e-03 9.72347338e-01 -2.29478090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.62800114499999 meters Centerline goodness [0,1] 0.9382229402261713 Centerline is valid? [False, False] Translation: X:3.33, Y:0.28, Z:-0.23 [[ 9.68918614e-01 -8.29646236e-02 -2.33052765e-01 3.32558274e+00] [ 8.01425818e-02 9.96550017e-01 -2.15691834e-02 2.77984959e-01] [ 2.34038216e-01 2.22133302e-03 9.72224860e-01 -2.29810314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.65800114499999 meters Centerline goodness [0,1] 0.9286793267155805 Centerline is valid? [False, False] Translation: X:3.34, Y:0.28, Z:-0.23 [[ 0.96973879 -0.08432136 -0.22912133 3.33931083] [ 0.08371966 0.99641265 -0.01236318 0.2783325 ] [ 0.22934187 -0.0071929 0.97331936 -0.23260048] [ 0. 0. 0. 1. ]] SLAMing on 41.688001144999994 meters Centerline goodness [0,1] 0.9235341157146253 Centerline is valid? [False, False] Translation: X:3.34, Y:0.28, Z:-0.23 [[ 0.96966699 -0.08472649 -0.22927572 3.3399141 ] [ 0.08412091 0.996378 -0.01243195 0.2783752 ] [ 0.2294986 -0.00723203 0.97328212 -0.23296314] [ 0. 0. 0. 1. ]] SLAMing on 41.718001144999995 meters Centerline goodness [0,1] 0.9280945487544022 Centerline is valid? [False, False] Translation: X:3.34, Y:0.28, Z:-0.23 [[ 0.96957303 -0.0850618 -0.22954875 3.34075452] [ 0.08446663 0.9963487 -0.0124359 0.27780287] [ 0.22976842 -0.0073317 0.97321772 -0.23324467] [ 0. 0. 0. 1. ]] SLAMing on 41.748001144999996 meters Centerline goodness [0,1] 0.9265490356996307 Centerline is valid? [False, False] Translation: X:3.34, Y:0.28, Z:-0.23 [[ 0.96948634 -0.08537104 -0.22979998 3.34162064] [ 0.08478152 0.9963217 -0.0124565 0.27719826] [ 0.23001813 -0.00740639 0.97315816 -0.23356151] [ 0. 0. 0. 1. ]] SLAMing on 41.77800114499999 meters Centerline goodness [0,1] 0.911296256221597 Centerline is valid? [False, False] Translation: X:3.34, Y:0.28, Z:-0.23 [[ 0.96940828 -0.08713194 -0.22946812 3.3398046 ] [ 0.08628813 0.99617563 -0.01372866 0.27863989] [ 0.22978675 -0.0064917 0.97321935 -0.232883 ] [ 0. 0. 0. 1. ]] SLAMing on 41.80800114499999 meters Centerline goodness [0,1] 0.9055429497568882 Centerline is valid? [False, False] Translation: X:3.35, Y:0.28, Z:-0.23 [[ 0.97050951 -0.08869601 -0.22415243 3.35380183] [ 0.089366 0.99597301 -0.00717493 0.27930187] [ 0.22388615 -0.01306827 0.97452769 -0.2333425 ] [ 0. 0. 0. 1. ]] SLAMing on 41.83800114499999 meters Centerline goodness [0,1] 0.9005300162249865 Centerline is valid? [False, False] Translation: X:3.35, Y:0.28, Z:-0.23 [[ 0.97038299 -0.08950068 -0.22438021 3.35353585] [ 0.08998332 0.99591037 -0.00809506 0.28132124] [ 0.22418709 -0.01233516 0.97446806 -0.23249604] [ 0. 0. 0. 1. ]] SLAMing on 41.868001144999994 meters Centerline goodness [0,1] 0.8782595479514514 Centerline is valid? [False, False] Translation: X:3.35, Y:0.28, Z:-0.23 [[ 0.97019659 -0.09097673 -0.22459254 3.35341936] [ 0.09120797 0.99578781 -0.00936746 0.28389215] [ 0.22449874 -0.01139635 0.97440774 -0.23205592] [ 0. 0. 0. 1. ]] SLAMing on 41.898001144999995 meters Centerline goodness [0,1] 0.8712193638101859 Centerline is valid? [False, False] Translation: X:3.35, Y:0.28, Z:-0.23 [[ 0.97012913 -0.09141237 -0.22470702 3.35399221] [ 0.09156092 0.99575143 -0.00978199 0.28488886] [ 0.22464653 -0.01108459 0.97437727 -0.23232591] [ 0. 0. 0. 1. ]] SLAMing on 41.928001144999996 meters Centerline goodness [0,1] 0.8632232032453305 Centerline is valid? [False, False] Translation: X:3.35, Y:0.29, Z:-0.23 [[ 0.97003541 -0.09173938 -0.22497819 3.35474786] [ 0.09178201 0.99572593 -0.010292 0.28668218] [ 0.2249608 -0.01066535 0.97430944 -0.23234993] [ 0. 0. 0. 1. ]] SLAMing on 41.95800114499999 meters Centerline goodness [0,1] 0.8556397856489348 Centerline is valid? [False, False] Translation: X:3.35, Y:0.29, Z:-0.23 [[ 0.96995176 -0.09234691 -0.22509027 3.35479633] [ 0.09217582 0.99567872 -0.01129217 0.29015109] [ 0.22516039 -0.00979502 0.97427248 -0.23201512] [ 0. 0. 0. 1. ]] SLAMing on 41.98800114499999 meters Centerline goodness [0,1] 0.8519199212340006 Centerline is valid? [False, False] Translation: X:3.36, Y:0.30, Z:-0.23 [[ 9.71223657e-01 -9.10530299e-02 -2.20077152e-01 3.36327702e+00] [ 8.95181563e-02 9.95840806e-01 -1.69584688e-02 2.99748044e-01] [ 2.20705929e-01 -3.23043481e-03 9.75335049e-01 -2.30887544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.01800114499999 meters Centerline goodness [0,1] 0.8512758468983722 Centerline is valid? [False, False] Translation: X:3.36, Y:0.30, Z:-0.23 [[ 9.71168568e-01 -9.12764387e-02 -2.20227664e-01 3.36382382e+00] [ 8.96001112e-02 9.95822121e-01 -1.76103445e-02 3.02402090e-01] [ 2.20914989e-01 -2.62981011e-03 9.75289522e-01 -2.30882719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.04800114499999 meters Centerline goodness [0,1] 0.8484407713498623 Centerline is valid? [False, False] Translation: X:3.37, Y:0.30, Z:-0.23 [[ 9.71119202e-01 -9.11290358e-02 -2.20506225e-01 3.36520401e+00] [ 8.94031601e-02 9.95836170e-01 -1.78156626e-02 3.04143684e-01] [ 2.21211598e-01 -2.41282128e-03 9.75222850e-01 -2.31372535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.078001144999995 meters Centerline goodness [0,1] 0.8496308739666681 Centerline is valid? [False, False] Translation: X:3.37, Y:0.31, Z:-0.23 [[ 9.71031417e-01 -9.09633332e-02 -2.20960763e-01 3.36684758e+00] [ 8.91646223e-02 9.95852019e-01 -1.81225362e-02 3.06780496e-01] [ 2.21692708e-01 -2.10433092e-03 9.75114309e-01 -2.31703914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.108001144999996 meters Centerline goodness [0,1] 0.8653464463325974 Centerline is valid? [False, False] Translation: X:3.37, Y:0.31, Z:-0.23 [[ 0.97122609 -0.08754234 -0.22148637 3.36810641] [ 0.08626199 0.99615243 -0.01546652 0.3119404 ] [ 0.22198816 -0.00408437 0.97504081 -0.23270372] [ 0. 0. 0. 1. ]] SLAMing on 42.13800114499999 meters Centerline goodness [0,1] 0.8590238568144792 Centerline is valid? [False, False] Translation: X:3.37, Y:0.31, Z:-0.23 [[ 0.97114399 -0.08739533 -0.22190404 3.37021825] [ 0.08607601 0.99616598 -0.01562861 0.31433782] [ 0.22241912 -0.00392299 0.97494325 -0.23361723] [ 0. 0. 0. 1. ]] SLAMing on 42.16800114499999 meters Centerline goodness [0,1] 0.85810795645831 Centerline is valid? [False, False] Translation: X:3.37, Y:0.32, Z:-0.23 [[ 0.97107485 -0.08757915 -0.22213404 3.37146638] [ 0.08616342 0.99615131 -0.01607569 0.31635587] [ 0.22268701 -0.00352913 0.9748836 -0.23419165] [ 0. 0. 0. 1. ]] SLAMing on 42.19800114499999 meters Centerline goodness [0,1] 0.8591261372571044 Centerline is valid? [False, False] Translation: X:3.37, Y:0.32, Z:-0.23 [[ 9.70998861e-01 -8.75408317e-02 -2.22481043e-01 3.37316731e+00] [ 8.60646266e-02 9.96155531e-01 -1.63412993e-02 3.18593209e-01] [ 2.23056253e-01 -3.28036485e-03 9.74800055e-01 -2.34896433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.22800114499999 meters Centerline goodness [0,1] 0.8822106690777577 Centerline is valid? [False, False] Translation: X:3.37, Y:0.32, Z:-0.24 [[ 0.97118358 -0.08392169 -0.22306861 3.37439399] [ 0.08297726 0.99645836 -0.01362052 0.32345932] [ 0.22342164 -0.0052816 0.97470759 -0.23564042] [ 0. 0. 0. 1. ]] SLAMing on 42.258001144999994 meters Centerline goodness [0,1] 0.8535532533624137 Centerline is valid? [False, False] Translation: X:3.38, Y:0.33, Z:-0.24 [[ 0.9710975 -0.08402594 -0.22340386 3.3754592 ] [ 0.08291293 0.99645312 -0.01437477 0.32681217] [ 0.22381932 -0.00456377 0.97461997 -0.23555176] [ 0. 0. 0. 1. ]] SLAMing on 42.288001144999996 meters Centerline goodness [0,1] 0.8614319232784347 Centerline is valid? [False, False] Translation: X:3.38, Y:0.33, Z:-0.24 [[ 0.971011 -0.08388631 -0.22383191 3.37704775] [ 0.08264897 0.99646721 -0.01490805 0.32980646] [ 0.22429174 -0.00402359 0.97451374 -0.23572812] [ 0. 0. 0. 1. ]] SLAMing on 42.31800114499999 meters Centerline goodness [0,1] 0.8853098071399261 Centerline is valid? [False, False] Translation: X:3.38, Y:0.33, Z:-0.24 [[ 0.97092172 -0.0835192 -0.22435586 3.37915242] [ 0.08219571 0.99649954 -0.01524917 0.332907 ] [ 0.22484411 -0.00363533 0.97438797 -0.23611434] [ 0. 0. 0. 1. ]] SLAMing on 42.34800114499999 meters Centerline goodness [0,1] 0.8742262822430337 Centerline is valid? [False, False] Translation: X:3.38, Y:0.34, Z:-0.24 [[ 0.97113037 -0.07938392 -0.2249533 3.38006115] [ 0.07852577 0.99683024 -0.01277388 0.33879132] [ 0.2252543 -0.00525953 0.97428581 -0.23599935] [ 0. 0. 0. 1. ]] SLAMing on 42.37800114499999 meters Centerline goodness [0,1] 0.8939267886855241 Centerline is valid? [False, False] Translation: X:3.38, Y:0.34, Z:-0.24 [[ 0.97104057 -0.07924693 -0.22538887 3.3814038 ] [ 0.07820746 0.996845 -0.01355122 0.34237329] [ 0.22575166 -0.00446831 0.97417464 -0.23573839] [ 0. 0. 0. 1. ]] SLAMing on 42.40800114499999 meters Centerline goodness [0,1] 0.8969483350338558 Centerline is valid? [False, False] Translation: X:3.38, Y:0.35, Z:-0.24 [[ 0.97097031 -0.07883677 -0.22583495 3.38338762] [ 0.0776991 0.99687945 -0.01393602 0.34541969] [ 0.2262289 -0.00401571 0.97406589 -0.23612934] [ 0. 0. 0. 1. ]] SLAMing on 42.438001144999994 meters Centerline goodness [0,1] 0.9009550430934079 Centerline is valid? [False, False] Translation: X:3.39, Y:0.35, Z:-0.24 [[ 0.97088373 -0.0785988 -0.22628965 3.38515647] [ 0.07731763 0.99690058 -0.01453339 0.34891707] [ 0.22673059 -0.00338595 0.97395163 -0.23627709] [ 0. 0. 0. 1. ]] SLAMing on 42.468001144999995 meters Centerline goodness [0,1] 0.8985595502986298 Centerline is valid? [False, False] Translation: X:3.39, Y:0.35, Z:-0.24 [[ 0.9710469 -0.07389208 -0.22717368 3.38783127] [ 0.07326514 0.99724958 -0.0112027 0.3536294 ] [ 0.22737665 -0.00576556 0.97378982 -0.23733671] [ 0. 0. 0. 1. ]] SLAMing on 42.498001144999996 meters Centerline goodness [0,1] 0.9054791941254001 Centerline is valid? [False, False] Translation: X:3.39, Y:0.36, Z:-0.24 [[ 0.97095572 -0.07405641 -0.22750963 3.3886827 ] [ 0.07319693 0.99724258 -0.01222465 0.3579693 ] [ 0.2277876 -0.00478341 0.97369909 -0.23686695] [ 0. 0. 0. 1. ]] SLAMing on 42.52800114499999 meters Centerline goodness [0,1] 0.9046708678514952 Centerline is valid? [False, False] Translation: X:3.39, Y:0.36, Z:-0.24 [[ 0.97087621 -0.07411173 -0.22783073 3.38970381] [ 0.07306073 0.99724204 -0.01305535 0.36212006] [ 0.22816994 -0.00397035 0.97361323 -0.23659991] [ 0. 0. 0. 1. ]] SLAMing on 42.55800114499999 meters Centerline goodness [0,1] 0.9012987012987013 Centerline is valid? [False, False] Translation: X:3.39, Y:0.37, Z:-0.24 [[ 9.70759525e-01 -7.41538151e-02 -2.28313724e-01 3.39120196e+00] [ 7.29203721e-02 9.97241656e-01 -1.38455436e-02 3.65763131e-01] [ 2.28710656e-01 -3.20802844e-03 9.73489160e-01 -2.36387675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.58800114499999 meters Centerline goodness [0,1] 0.8984165420316692 Centerline is valid? [False, False] Translation: X:3.39, Y:0.37, Z:-0.24 [[ 9.70716818e-01 -7.51141690e-02 -2.28181333e-01 3.39091218e+00] [ 7.35280852e-02 9.97173363e-01 -1.54565652e-02 3.70492146e-01] [ 2.28697354e-01 -1.77378873e-03 9.73495955e-01 -2.36038441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.618001144999994 meters Centerline goodness [0,1] 0.9031904761904762 Centerline is valid? [False, False] Translation: X:3.39, Y:0.37, Z:-0.24 [[ 9.70663624e-01 -7.57032030e-02 -2.28212959e-01 3.39057786e+00] [ 7.39142437e-02 9.97129933e-01 -1.63884735e-02 3.72636928e-01] [ 2.28798633e-01 -9.60493211e-04 9.73473299e-01 -2.35369131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.648001144999995 meters Centerline goodness [0,1] 0.9007485710185827 Centerline is valid? [False, False] Translation: X:3.39, Y:0.37, Z:-0.23 [[ 9.70639793e-01 -7.64005737e-02 -2.28081880e-01 3.38987347e+00] [ 7.44159471e-02 9.97077189e-01 -1.73016363e-02 3.74871246e-01] [ 2.28737094e-01 -1.79272429e-04 9.73488217e-01 -2.34821827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.678001144999996 meters Centerline goodness [0,1] 0.8970870986348779 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:-0.23 [[ 9.70523010e-01 -7.78226895e-02 -2.28098042e-01 3.38826435e+00] [ 7.53539547e-02 9.96965658e-01 -1.95258227e-02 3.80227256e-01] [ 2.28925467e-01 1.76217062e-03 9.73442358e-01 -2.32582994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.70800114499999 meters Centerline goodness [0,1] 0.8991787439613527 Centerline is valid? [False, False] Translation: X:3.39, Y:0.38, Z:-0.23 [[ 9.70395822e-01 -7.84002527e-02 -2.28441128e-01 3.38795070e+00] [ 7.56345730e-02 9.96917583e-01 -2.08505223e-02 3.84183307e-01] [ 2.29371663e-01 2.95521253e-03 9.73334427e-01 -2.30894826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.73800114499999 meters Centerline goodness [0,1] 0.8986248878325613 Centerline is valid? [False, False] Translation: X:3.39, Y:0.39, Z:-0.23 [[ 0.9703472 -0.07877076 -0.22852019 3.38762582] [ 0.07577417 0.9968851 -0.02187179 0.38798258] [ 0.22953123 0.0039073 0.97329345 -0.22993064] [ 0. 0. 0. 1. ]] SLAMing on 42.76800114499999 meters Centerline goodness [0,1] 0.8983874101418302 Centerline is valid? [False, False] Translation: X:3.39, Y:0.39, Z:-0.23 [[ 0.97027509 -0.07889263 -0.2287842 3.38831228] [ 0.07575751 0.99687311 -0.02246796 0.39042078] [ 0.22984138 0.00446798 0.97321785 -0.22959037] [ 0. 0. 0. 1. ]] SLAMing on 42.79800114499999 meters Centerline goodness [0,1] 0.8964198733560643 Centerline is valid? [False, False] Translation: X:3.39, Y:0.39, Z:-0.23 [[ 0.9702558 -0.07877298 -0.22890719 3.39044145] [ 0.07565578 0.99688291 -0.02237577 0.39108376] [ 0.22995627 0.00439206 0.97319105 -0.23133859] [ 0. 0. 0. 1. ]] SLAMing on 42.828001144999995 meters Centerline goodness [0,1] 0.8964198733560643 Centerline is valid? [False, False] Translation: X:3.39, Y:0.39, Z:-0.23 [[ 0.9702558 -0.07877298 -0.22890719 3.39044145] [ 0.07565578 0.99688291 -0.02237577 0.39108376] [ 0.22995627 0.00439206 0.97319105 -0.23133859] [ 0. 0. 0. 1. ]] SLAMing on 42.858001144999996 meters Centerline goodness [0,1] 0.8953590620420127 Centerline is valid? [False, False] Translation: X:3.39, Y:0.39, Z:-0.23 [[ 0.97021855 -0.07897521 -0.22899538 3.3911582 ] [ 0.07580464 0.99686601 -0.02262332 0.39231831] [ 0.23006439 0.00459065 0.97316458 -0.23182099] [ 0. 0. 0. 1. ]] SLAMing on 42.88800114499999 meters Centerline goodness [0,1] 0.8939022596931523 Centerline is valid? [False, False] Translation: X:3.39, Y:0.40, Z:-0.23 [[ 0.97017117 -0.07970701 -0.22894254 3.39058161] [ 0.07636714 0.99680455 -0.02342559 0.39517167] [ 0.23007815 0.00524314 0.97315803 -0.23144305] [ 0. 0. 0. 1. ]] SLAMing on 42.91800114499999 meters Centerline goodness [0,1] 0.8847988590538015 Centerline is valid? [False, False] Translation: X:3.39, Y:0.40, Z:-0.23 [[ 0.97010065 -0.0803751 -0.22900781 3.39015898] [ 0.07687606 0.99674754 -0.02417456 0.39769822] [ 0.230206 0.00584654 0.97312436 -0.23078784] [ 0. 0. 0. 1. ]] SLAMing on 42.94800114499999 meters Centerline goodness [0,1] 0.8658714282186165 Centerline is valid? [False, False] Translation: X:3.39, Y:0.40, Z:-0.23 [[ 0.9700592 -0.08219471 -0.22853705 3.38756488] [ 0.0784121 0.99659232 -0.02559865 0.40009494] [ 0.22986234 0.00691214 0.97319861 -0.22971832] [ 0. 0. 0. 1. ]] SLAMing on 42.97800114499999 meters Centerline goodness [0,1] 0.8584437698970904 Centerline is valid? [False, False] Translation: X:3.39, Y:0.40, Z:-0.23 [[ 0.9700584 -0.08248113 -0.22843722 3.38790822] [ 0.0786768 0.99656816 -0.02572687 0.39992515] [ 0.22977524 0.00698386 0.97321866 -0.23030697] [ 0. 0. 0. 1. ]] SLAMing on 43.008001144999994 meters Centerline goodness [0,1] 0.8480862133036047 Centerline is valid? [False, False] Translation: X:3.39, Y:0.40, Z:-0.23 [[ 0.97008059 -0.0831103 -0.22811474 3.38786914] [ 0.07917728 0.99651209 -0.02635548 0.40182893] [ 0.22950951 0.00750544 0.97327748 -0.23104026] [ 0. 0. 0. 1. ]] SLAMing on 43.038001144999996 meters Centerline goodness [0,1] 0.8620638197328824 Centerline is valid? [False, False] Translation: X:3.39, Y:0.41, Z:-0.23 [[ 0.97003099 -0.08360387 -0.22814531 3.38772131] [ 0.07949396 0.99646524 -0.02716139 0.40517431] [ 0.22960966 0.00821122 0.97324816 -0.23066571] [ 0. 0. 0. 1. ]] SLAMing on 43.06800114499999 meters Centerline goodness [0,1] 0.8601956810049296 Centerline is valid? [False, False] Translation: X:3.39, Y:0.41, Z:-0.23 [[ 0.97036121 -0.08000313 -0.22803207 3.38606682] [ 0.07660481 0.99677912 -0.02372961 0.40611695] [ 0.22919605 0.00555794 0.97336441 -0.23080961] [ 0. 0. 0. 1. ]] SLAMing on 43.09800114499999 meters Centerline goodness [0,1] 0.8297631902764873 Centerline is valid? [False, False] Translation: X:3.39, Y:0.41, Z:-0.23 [[ 0.97031353 -0.08018479 -0.22817111 3.38657352] [ 0.07665479 0.99676139 -0.02430597 0.40913635] [ 0.22938112 0.00609401 0.97331761 -0.23071243] [ 0. 0. 0. 1. ]] SLAMing on 43.12800114499999 meters Centerline goodness [0,1] 0.8504376697856927 Centerline is valid? [False, False] Translation: X:3.39, Y:0.41, Z:-0.23 [[ 0.97030102 -0.08020103 -0.2282186 3.38793008] [ 0.07655522 0.99675692 -0.02479781 0.41206896] [ 0.22946728 0.00659002 0.97329407 -0.23154528] [ 0. 0. 0. 1. ]] SLAMing on 43.15800114499999 meters Centerline goodness [0,1] 0.8221185372005044 Centerline is valid? [False, False] Translation: X:3.39, Y:0.41, Z:-0.23 [[ 0.97024602 -0.08039801 -0.22838306 3.38838643] [ 0.07664283 0.9967381 -0.02527927 0.41367382] [ 0.2296705 0.00702319 0.9732431 -0.231376 ] [ 0. 0. 0. 1. ]] SLAMing on 43.188001144999994 meters Centerline goodness [0,1] 0.8476272299994946 Centerline is valid? [False, False] Translation: X:3.39, Y:0.42, Z:-0.23 [[ 0.97022371 -0.08094263 -0.22828544 3.3877952 ] [ 0.07701708 0.99668895 -0.02606748 0.41604492] [ 0.22963955 0.00770941 0.97324521 -0.23084509] [ 0. 0. 0. 1. ]] SLAMing on 43.218001144999995 meters Centerline goodness [0,1] 0.8370701024652532 Centerline is valid? [False, False] Translation: X:3.39, Y:0.42, Z:-0.23 [[ 0.97016993 -0.08148073 -0.22832258 3.38747344] [ 0.07736661 0.99663901 -0.02692736 0.41910938] [ 0.22974925 0.00845957 0.97321309 -0.23018498] [ 0. 0. 0. 1. ]] SLAMing on 43.248001144999996 meters Centerline goodness [0,1] 0.849801866291704 Centerline is valid? [False, False] Translation: X:3.38, Y:0.42, Z:-0.23 [[ 0.9705058 -0.07858032 -0.22791144 3.38455449] [ 0.07499655 0.9968863 -0.02435618 0.42328003] [ 0.22911571 0.00654525 0.97337719 -0.22981614] [ 0. 0. 0. 1. ]] SLAMing on 43.27800114499999 meters Centerline goodness [0,1] 0.817567740449812 Centerline is valid? [False, False] Translation: X:3.39, Y:0.43, Z:-0.23 [[ 0.97046485 -0.07856845 -0.22808986 3.38539597] [ 0.07488016 0.99688427 -0.02479324 0.42540679] [ 0.22932716 0.00698157 0.97332436 -0.22979887] [ 0. 0. 0. 1. ]] SLAMing on 43.30800114499999 meters Centerline goodness [0,1] 0.8503535560565689 Centerline is valid? [False, False] Translation: X:3.39, Y:0.43, Z:-0.23 [[ 0.97044488 -0.07832422 -0.22825873 3.38680561] [ 0.07460465 0.99690246 -0.02489243 0.42644383] [ 0.22950137 0.00712757 0.97328224 -0.23039489] [ 0. 0. 0. 1. ]] SLAMing on 43.33800114499999 meters Centerline goodness [0,1] 0.8394589600123197 Centerline is valid? [False, False] Translation: X:3.39, Y:0.43, Z:-0.23 [[ 0.97043706 -0.07722554 -0.22866597 3.39039362] [ 0.07348556 0.99698692 -0.02483859 0.43011283] [ 0.22989515 0.00730065 0.97318802 -0.23197608] [ 0. 0. 0. 1. ]] SLAMing on 43.368001144999994 meters Centerline goodness [0,1] 0.8673684752393699 Centerline is valid? [False, False] Translation: X:3.39, Y:0.43, Z:-0.23 [[ 0.97074423 -0.07279359 -0.22881594 3.39052768] [ 0.06984195 0.99733738 -0.02098235 0.43153815] [ 0.22973407 0.00438754 0.97324355 -0.23278509] [ 0. 0. 0. 1. ]] SLAMing on 43.398001144999995 meters Centerline goodness [0,1] 0.8703314931446492 Centerline is valid? [False, False] Translation: X:3.39, Y:0.43, Z:-0.23 [[ 9.71013074e-01 -6.84437792e-02 -2.29017595e-01 3.39041543e+00] [ 6.62344684e-02 9.97653598e-01 -1.73290082e-02 4.33503857e-01] [ 2.29666291e-01 1.65783482e-03 9.73268024e-01 -2.33161527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.428001144999996 meters Centerline goodness [0,1] 0.8787334790300759 Centerline is valid? [False, False] Translation: X:3.39, Y:0.44, Z:-0.23 [[ 9.70893652e-01 -6.78709642e-02 -2.29693379e-01 3.39265849e+00] [ 6.55412059e-02 9.97691694e-01 -1.77661041e-02 4.37455603e-01] [ 2.30368979e-01 2.19461667e-03 9.73100877e-01 -2.32862054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.45800114499999 meters Centerline goodness [0,1] 0.8888888888888888 Centerline is valid? [False, False] Translation: X:3.39, Y:0.44, Z:-0.23 [[ 9.71156349e-01 -6.25796332e-02 -2.30085061e-01 3.39475049e+00] [ 6.10600251e-02 9.98039715e-01 -1.37259159e-02 4.38919684e-01] [ 2.30492992e-01 -7.18989259e-04 9.73073720e-01 -2.34187774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.48800114499999 meters Centerline goodness [0,1] 0.8943949711891043 Centerline is valid? [False, False] Translation: X:3.40, Y:0.44, Z:-0.23 [[ 9.71071706e-01 -6.20789404e-02 -2.30577419e-01 3.39696291e+00] [ 6.04669677e-02 9.98071200e-01 -1.40579290e-02 4.40898734e-01] [ 2.31005383e-01 -2.91060273e-04 9.72952429e-01 -2.34283458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.51800114499999 meters Centerline goodness [0,1] 0.8960772987449457 Centerline is valid? [False, False] Translation: X:3.40, Y:0.44, Z:-0.23 [[ 9.70997700e-01 -6.17538895e-02 -2.30976025e-01 3.39886739e+00] [ 6.00116096e-02 9.98091367e-01 -1.45681314e-02 4.44012459e-01] [ 2.31434816e-01 2.84378973e-04 9.72850371e-01 -2.34410240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.54800114499999 meters Centerline goodness [0,1] 0.8962184430125699 Centerline is valid? [False, False] Translation: X:3.40, Y:0.45, Z:-0.23 [[ 9.70910049e-01 -6.14948985e-02 -2.31413167e-01 3.40028881e+00] [ 5.95861068e-02 9.98106893e-01 -1.52356596e-02 4.47424527e-01] [ 2.31911993e-01 1.00344537e-03 9.72736254e-01 -2.33858574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.578001144999995 meters Centerline goodness [0,1] 0.8972096731331385 Centerline is valid? [False, False] Translation: X:3.40, Y:0.45, Z:-0.23 [[ 9.71135957e-01 -5.73461357e-02 -2.31530503e-01 3.39936942e+00] [ 5.58937619e-02 9.98354242e-01 -1.28333668e-02 4.51816207e-01] [ 2.31885404e-01 -4.78166868e-04 9.72742993e-01 -2.32391724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.608001144999996 meters Centerline goodness [0,1] 0.8978541916566707 Centerline is valid? [False, False] Translation: X:3.40, Y:0.45, Z:-0.23 [[ 9.71035827e-01 -5.66524718e-02 -2.32120487e-01 3.40150676e+00] [ 5.50664787e-02 9.98393949e-01 -1.33118855e-02 4.54646450e-01] [ 2.32501841e-01 1.44259897e-04 9.72595945e-01 -2.31809872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.63800114499999 meters Centerline goodness [0,1] 0.8989915159276453 Centerline is valid? [False, False] Translation: X:3.40, Y:0.46, Z:-0.23 [[ 9.70939447e-01 -5.59287115e-02 -2.32698451e-01 3.40401014e+00] [ 5.42480933e-02 9.98434583e-01 -1.36208301e-02 4.57243838e-01] [ 2.33095977e-01 6.01553922e-04 9.72453548e-01 -2.31776683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.66800114499999 meters Centerline goodness [0,1] 0.8982863906598876 Centerline is valid? [False, False] Translation: X:3.41, Y:0.46, Z:-0.23 [[ 9.71149859e-01 -5.07772884e-02 -2.33001326e-01 3.40571261e+00] [ 4.99200382e-02 9.98707285e-01 -9.57852797e-03 4.59203579e-01] [ 2.33186494e-01 -2.32924903e-03 9.72429244e-01 -2.33086364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.69800114499999 meters Centerline goodness [0,1] 0.8981958415360967 Centerline is valid? [False, False] Translation: X:3.40, Y:0.46, Z:-0.23 [[ 9.71116335e-01 -5.14394614e-02 -2.32995805e-01 3.40479824e+00] [ 5.03134728e-02 9.98675324e-01 -1.07773851e-02 4.62397348e-01] [ 2.33241544e-01 -1.25673338e-03 9.72418019e-01 -2.31751365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.72800114499999 meters Centerline goodness [0,1] 0.8975625556725241 Centerline is valid? [False, False] Translation: X:3.40, Y:0.46, Z:-0.23 [[ 9.71092437e-01 -5.22205540e-02 -2.32921643e-01 3.40351211e+00] [ 5.08323606e-02 9.98635551e-01 -1.19627387e-02 4.64689167e-01] [ 2.33228534e-01 -2.23031917e-04 9.72421925e-01 -2.30229287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.758001144999994 meters Centerline goodness [0,1] 0.8933398073966173 Centerline is valid? [False, False] Translation: X:3.40, Y:0.46, Z:-0.23 [[ 9.71068202e-01 -5.26881490e-02 -2.32917379e-01 3.40346823e+00] [ 5.12244278e-02 9.98611014e-01 -1.23329261e-02 4.64712676e-01] [ 2.33243659e-01 4.50528678e-05 9.72418322e-01 -2.30219549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.788001144999996 meters Centerline goodness [0,1] 0.8954696311486469 Centerline is valid? [False, False] Translation: X:3.40, Y:0.46, Z:-0.23 [[ 9.71066028e-01 -5.30146770e-02 -2.32852342e-01 3.40326482e+00] [ 5.15262411e-02 9.98593727e-01 -1.24746074e-02 4.64082760e-01] [ 2.33186226e-01 1.15661478e-04 9.72432091e-01 -2.30263030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.81800114499999 meters Centerline goodness [0,1] 0.8952609704755222 Centerline is valid? [False, False] Translation: X:3.40, Y:0.46, Z:-0.23 [[ 9.71089139e-01 -5.36866576e-02 -2.32601865e-01 3.40208457e+00] [ 5.20929648e-02 9.98557706e-01 -1.29935042e-02 4.64287998e-01] [ 2.32963963e-01 5.00930063e-04 9.72485240e-01 -2.29785157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.84800114499999 meters Centerline goodness [0,1] 0.895617723156533 Centerline is valid? [False, False] Translation: X:3.40, Y:0.47, Z:-0.23 [[ 9.71083836e-01 -5.45383134e-02 -2.32425807e-01 3.40047407e+00] [ 5.27636364e-02 9.98510974e-01 -1.38503984e-02 4.65161519e-01] [ 2.32835097e-01 1.18626727e-03 9.72515507e-01 -2.28583009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.87800114499999 meters Centerline goodness [0,1] 0.8964807796426638 Centerline is valid? [False, False] Translation: X:3.40, Y:0.47, Z:-0.23 [[ 9.71101290e-01 -5.57831928e-02 -2.32057149e-01 3.39817877e+00] [ 5.37937615e-02 9.98440935e-01 -1.48973302e-02 4.66946884e-01] [ 2.32526377e-01 1.98358968e-03 9.72588068e-01 -2.27491441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.90800114499999 meters Centerline goodness [0,1] 0.8975962319311352 Centerline is valid? [False, False] Translation: X:3.40, Y:0.47, Z:-0.23 [[ 9.71021530e-01 -5.58889569e-02 -2.32365257e-01 3.39876231e+00] [ 5.38473387e-02 9.98434623e-01 -1.51250857e-02 4.67203320e-01] [ 2.32846843e-01 2.17453316e-03 9.72510987e-01 -2.27121859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.938001144999994 meters Centerline goodness [0,1] 0.8969158701361999 Centerline is valid? [False, False] Translation: X:3.40, Y:0.47, Z:-0.23 [[ 9.70976153e-01 -5.59730780e-02 -2.32534566e-01 3.39942557e+00] [ 5.39241985e-02 9.98429889e-01 -1.51636947e-02 4.67450354e-01] [ 2.33018220e-01 2.18434586e-03 9.72469916e-01 -2.27363430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.968001144999995 meters Centerline goodness [0,1] 0.8988037241528635 Centerline is valid? [False, False] Translation: X:3.40, Y:0.47, Z:-0.23 [[ 9.70944306e-01 -5.65178613e-02 -2.32535775e-01 3.39908655e+00] [ 5.43839615e-02 9.98398499e-01 -1.55827642e-02 4.68188390e-01] [ 2.33044073e-01 2.48377949e-03 9.72463002e-01 -2.27160353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.99800114499999 meters Centerline goodness [0,1] 0.8968241086403722 Centerline is valid? [False, False] Translation: X:3.40, Y:0.47, Z:-0.23 [[ 0.97062389 -0.06218764 -0.23242625 3.3983012 ] [ 0.05892783 0.9980424 -0.02094921 0.47111954] [ 0.23327404 0.00663743 0.97238838 -0.22538121] [ 0. 0. 0. 1. ]] SLAMing on 44.02800114499999 meters Centerline goodness [0,1] 0.896795806991949 Centerline is valid? [False, False] Translation: X:3.40, Y:0.47, Z:-0.23 [[ 0.97062596 -0.06267676 -0.2322862 3.39797858] [ 0.05943471 0.99801261 -0.02093677 0.46977831] [ 0.2331368 0.00651591 0.97242212 -0.22579675] [ 0. 0. 0. 1. ]] SLAMing on 44.05800114499999 meters Centerline goodness [0,1] 0.8934762650537345 Centerline is valid? [False, False] Translation: X:3.40, Y:0.47, Z:-0.23 [[ 0.97061137 -0.06290457 -0.23228557 3.3984261 ] [ 0.0597199 0.99800002 -0.02072426 0.46831813] [ 0.23312465 0.00624313 0.97242682 -0.22654422] [ 0. 0. 0. 1. ]] SLAMing on 44.08800114499999 meters Centerline goodness [0,1] 0.8909154777345438 Centerline is valid? [False, False] Translation: X:3.40, Y:0.47, Z:-0.23 [[ 0.97059199 -0.06342096 -0.23222612 3.39819829] [ 0.06018237 0.99796623 -0.02101163 0.46806221] [ 0.23308641 0.0064178 0.97243485 -0.22659664] [ 0. 0. 0. 1. ]] SLAMing on 44.118001144999994 meters Centerline goodness [0,1] 0.8950942987796628 Centerline is valid? [False, False] Translation: X:3.40, Y:0.47, Z:-0.23 [[ 0.97054813 -0.06399076 -0.2322531 3.39734014] [ 0.06053924 0.99792409 -0.02196601 0.47034436] [ 0.23317659 0.00725864 0.97240732 -0.22528766] [ 0. 0. 0. 1. ]] SLAMing on 44.148001144999995 meters Centerline goodness [0,1] 0.8929743214295398 Centerline is valid? [False, False] Translation: X:3.40, Y:0.47, Z:-0.22 [[ 0.97046051 -0.06442813 -0.2324982 3.39680784] [ 0.0606994 0.99788727 -0.02316423 0.47348196] [ 0.23349942 0.00836747 0.97232094 -0.22341365] [ 0. 0. 0. 1. ]] SLAMing on 44.178001144999996 meters Centerline goodness [0,1] 0.8975088775039983 Centerline is valid? [False, False] Translation: X:3.40, Y:0.48, Z:-0.22 [[ 0.97038751 -0.06452734 -0.23277524 3.39684851] [ 0.06059411 0.99787353 -0.02401613 0.4761551 ] [ 0.23382994 0.00920014 0.97223398 -0.22197777] [ 0. 0. 0. 1. ]] SLAMing on 44.20800114499999 meters Centerline goodness [0,1] 0.900518134715026 Centerline is valid? [False, False] Translation: X:3.40, Y:0.48, Z:-0.22 [[ 0.97064521 -0.05973133 -0.2329808 3.39710076] [ 0.05666536 0.99819614 -0.01983693 0.47528932] [ 0.23374542 0.00605268 0.972279 -0.22255417] [ 0. 0. 0. 1. ]] SLAMing on 44.23800114499999 meters Centerline goodness [0,1] 0.9016514262317457 Centerline is valid? [False, False] Translation: X:3.40, Y:0.48, Z:-0.22 [[ 0.97057269 -0.05937424 -0.23337385 3.39855564] [ 0.05627953 0.99821664 -0.01990361 0.47584715] [ 0.23413942 0.00618373 0.97218336 -0.22251767] [ 0. 0. 0. 1. ]] SLAMing on 44.26800114499999 meters Centerline goodness [0,1] 0.9015771665575202 Centerline is valid? [False, False] Translation: X:3.40, Y:0.48, Z:-0.22 [[ 0.97051984 -0.05904158 -0.23367784 3.40023578] [ 0.05593061 0.99823586 -0.01992341 0.476841 ] [ 0.23444191 0.00626632 0.97210993 -0.22301536] [ 0. 0. 0. 1. ]] SLAMing on 44.29800114499999 meters Centerline goodness [0,1] 0.901356822409454 Centerline is valid? [False, False] Translation: X:3.40, Y:0.48, Z:-0.22 [[ 0.97043984 -0.05895896 -0.23403068 3.40144383] [ 0.05575591 0.99823834 -0.02028513 0.47861966] [ 0.23481439 0.0066369 0.97201757 -0.22286564] [ 0. 0. 0. 1. ]] SLAMing on 44.328001144999995 meters Centerline goodness [0,1] 0.9022544018430146 Centerline is valid? [False, False] Translation: X:3.40, Y:0.48, Z:-0.22 [[ 0.97034738 -0.05848409 -0.23453269 3.40356927] [ 0.05517778 0.99826318 -0.02064059 0.48133758] [ 0.23533249 0.00708755 0.97188908 -0.22280332] [ 0. 0. 0. 1. ]] SLAMing on 44.358001144999996 meters Centerline goodness [0,1] 0.8999147625725206 Centerline is valid? [False, False] Translation: X:3.41, Y:0.48, Z:-0.22 [[ 0.97028508 -0.05805351 -0.23489713 3.40521509] [ 0.05477033 0.99828887 -0.02048274 0.48153529] [ 0.23568429 0.0070087 0.9718044 -0.22315905] [ 0. 0. 0. 1. ]] SLAMing on 44.38800114499999 meters Centerline goodness [0,1] 0.8991229276071595 Centerline is valid? [False, False] Translation: X:3.41, Y:0.48, Z:-0.22 [[ 0.97024781 -0.05784 -0.23510365 3.40628304] [ 0.05456053 0.99830132 -0.02043575 0.48164035] [ 0.23588629 0.00700036 0.97175545 -0.22343135] [ 0. 0. 0. 1. ]] SLAMing on 44.41800114499999 meters Centerline goodness [0,1] 0.8962357602773651 Centerline is valid? [False, False] Translation: X:3.41, Y:0.48, Z:-0.22 [[ 0.97021417 -0.0582339 -0.23514521 3.40575188] [ 0.05468499 0.99827019 -0.02159099 0.4848124 ] [ 0.23599578 0.00808897 0.97172041 -0.22195424] [ 0. 0. 0. 1. ]] SLAMing on 44.44800114499999 meters Centerline goodness [0,1] 0.898036836880997 Centerline is valid? [False, False] Translation: X:3.40, Y:0.49, Z:-0.22 [[ 0.97016816 -0.05874989 -0.23520671 3.40495332] [ 0.05498023 0.99823258 -0.02255881 0.48703985] [ 0.23611632 0.00895412 0.97168354 -0.22054518] [ 0. 0. 0. 1. ]] SLAMing on 44.47800114499999 meters Centerline goodness [0,1] 0.8961584136540639 Centerline is valid? [False, False] Translation: X:3.41, Y:0.49, Z:-0.22 [[ 0.97010653 -0.05877781 -0.23545378 3.40548269] [ 0.05492324 0.99822791 -0.02290156 0.48798722] [ 0.23638264 0.00928507 0.97161568 -0.22007322] [ 0. 0. 0. 1. ]] SLAMing on 44.508001144999994 meters Centerline goodness [0,1] 0.8980503543556794 Centerline is valid? [False, False] Translation: X:3.41, Y:0.49, Z:-0.22 [[ 0.97007976 -0.05847142 -0.23564032 3.4066014 ] [ 0.05468946 0.99824854 -0.02255923 0.48723035] [ 0.23654668 0.00899721 0.97157847 -0.22065447] [ 0. 0. 0. 1. ]] SLAMing on 44.538001144999996 meters Centerline goodness [0,1] 0.8969094801558983 Centerline is valid? [False, False] Translation: X:3.41, Y:0.49, Z:-0.22 [[ 0.96972113 -0.06232781 -0.23612747 3.40958836] [ 0.05773962 0.99798511 -0.02630314 0.48724903] [ 0.23729112 0.01187279 0.97136603 -0.2206894 ] [ 0. 0. 0. 1. ]] SLAMing on 44.56800114499999 meters Centerline goodness [0,1] 0.8958762603368224 Centerline is valid? [False, False] Translation: X:3.41, Y:0.49, Z:-0.22 [[ 0.96972273 -0.06287758 -0.23597509 3.40872574] [ 0.05824361 0.99794891 -0.02656409 0.48743806] [ 0.23716137 0.01201576 0.97139596 -0.22049557] [ 0. 0. 0. 1. ]] SLAMing on 44.59800114499999 meters Centerline goodness [0,1] 0.896 Centerline is valid? [False, False] Translation: X:3.41, Y:0.49, Z:-0.22 [[ 0.96968736 -0.0634541 -0.2359661 3.40785116] [ 0.05873164 0.99790873 -0.02699571 0.48832216] [ 0.23718562 0.01231872 0.97138624 -0.21983078] [ 0. 0. 0. 1. ]] SLAMing on 44.62800114499999 meters Centerline goodness [0,1] 0.8977859575870784 Centerline is valid? [False, False] Translation: X:3.41, Y:0.49, Z:-0.22 [[ 0.96962748 -0.06393385 -0.23608264 3.4072606 ] [ 0.05911073 0.99787371 -0.02745869 0.48893299] [ 0.2373362 0.01266968 0.97134495 -0.21895695] [ 0. 0. 0. 1. ]] SLAMing on 44.65800114499999 meters Centerline goodness [0,1] 0.8996762866235049 Centerline is valid? [False, False] Translation: X:3.41, Y:0.49, Z:-0.22 [[ 0.96961277 -0.06432683 -0.23603631 3.40708931] [ 0.05957919 0.99785296 -0.02719909 0.48680202] [ 0.23727917 0.01230973 0.97136351 -0.2194641 ] [ 0. 0. 0. 1. ]] SLAMing on 44.688001144999994 meters Centerline goodness [0,1] 0.8966188075405523 Centerline is valid? [False, False] Translation: X:3.41, Y:0.49, Z:-0.22 [[ 0.96961857 -0.06423374 -0.23603783 3.40770446] [ 0.05958616 0.99786393 -0.02677828 0.48522802] [ 0.23725371 0.01190013 0.97137483 -0.22026221] [ 0. 0. 0. 1. ]] SLAMing on 44.718001144999995 meters Centerline goodness [0,1] 0.8966188075405523 Centerline is valid? [False, False] Translation: X:3.41, Y:0.49, Z:-0.22 [[ 0.96961857 -0.06423374 -0.23603783 3.40770446] [ 0.05958616 0.99786393 -0.02677828 0.48522802] [ 0.23725371 0.01190013 0.97137483 -0.22026221] [ 0. 0. 0. 1. ]] SLAMing on 44.74800114499999 meters Centerline goodness [0,1] 0.895499972694009 Centerline is valid? [False, False] Translation: X:3.41, Y:0.48, Z:-0.22 [[ 0.96961974 -0.06430042 -0.23601488 3.40806379] [ 0.05970135 0.99786211 -0.02658877 0.4842512 ] [ 0.23721997 0.01169059 0.97138562 -0.22081223] [ 0. 0. 0. 1. ]] SLAMing on 44.77800114499999 meters Centerline goodness [0,1] 0.895631466579077 Centerline is valid? [False, False] Translation: X:3.41, Y:0.48, Z:-0.22 [[ 0.96957652 -0.06432268 -0.2361863 3.40860462] [ 0.05974536 0.997862 -0.02649374 0.48383923] [ 0.23738548 0.01157668 0.97134655 -0.22095229] [ 0. 0. 0. 1. ]] SLAMing on 44.80800114499999 meters Centerline goodness [0,1] 0.8963163953297155 Centerline is valid? [False, False] Translation: X:3.41, Y:0.48, Z:-0.22 [[ 0.96949577 -0.06421028 -0.23654809 3.40952466] [ 0.05963211 0.99786952 -0.02646568 0.48444278] [ 0.2377435 0.01155251 0.97125927 -0.22083911] [ 0. 0. 0. 1. ]] SLAMing on 44.83800114499999 meters Centerline goodness [0,1] 0.898935878448796 Centerline is valid? [False, False] Translation: X:3.41, Y:0.49, Z:-0.22 [[ 0.96940402 -0.06422346 -0.23692022 3.40998987] [ 0.0595677 0.99786538 -0.02676514 0.48510893] [ 0.23813344 0.01183345 0.97116036 -0.22001649] [ 0. 0. 0. 1. ]] SLAMing on 44.868001144999994 meters Centerline goodness [0,1] 0.9006384786123366 Centerline is valid? [False, False] Translation: X:3.41, Y:0.49, Z:-0.22 [[ 0.96931812 -0.06408117 -0.23730989 3.4108707 ] [ 0.05936987 0.99787208 -0.0269543 0.48586296] [ 0.23853217 0.01203824 0.97105998 -0.21953946] [ 0. 0. 0. 1. ]] SLAMing on 44.898001144999995 meters Centerline goodness [0,1] 0.9002243993213289 Centerline is valid? [False, False] Translation: X:3.41, Y:0.49, Z:-0.22 [[ 0.96926655 -0.06403211 -0.23753365 3.41158494] [ 0.05924536 0.99787162 -0.02724363 0.48699737] [ 0.23877256 0.01233357 0.97099719 -0.21927801] [ 0. 0. 0. 1. ]] SLAMing on 44.928001144999996 meters Centerline goodness [0,1] 0.8995565837671101 Centerline is valid? [False, False] Translation: X:3.41, Y:0.49, Z:-0.22 [[ 0.96915891 -0.06355045 -0.23810153 3.41364251] [ 0.05870436 0.99789941 -0.02739628 0.488761 ] [ 0.23934243 0.01257375 0.9708538 -0.21918039] [ 0. 0. 0. 1. ]] SLAMing on 44.95800114499999 meters Centerline goodness [0,1] 0.8977463010239095 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:-0.22 [[ 0.96909952 -0.06325668 -0.23842129 3.41509046] [ 0.05844221 0.99791975 -0.02721556 0.48849042] [ 0.23964688 0.01244072 0.97078041 -0.21959749] [ 0. 0. 0. 1. ]] SLAMing on 44.98800114499999 meters Centerline goodness [0,1] 0.8971901008047903 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:-0.22 [[ 0.96906621 -0.06293208 -0.23864247 3.41642898] [ 0.05814308 0.99794141 -0.02706158 0.4882216 ] [ 0.23985424 0.01234906 0.97073037 -0.22002975] [ 0. 0. 0. 1. ]] SLAMing on 45.01800114499999 meters Centerline goodness [0,1] 0.8981836222816351 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:-0.22 [[ 0.96902414 -0.06308053 -0.2387741 3.41591401] [ 0.05803846 0.99791891 -0.02809593 0.49099916] [ 0.24004949 0.01336755 0.97066861 -0.21821999] [ 0. 0. 0. 1. ]] SLAMing on 45.04800114499999 meters Centerline goodness [0,1] 0.8988040986549563 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:-0.22 [[ 0.96894688 -0.0632075 -0.23905386 3.41604858] [ 0.05795634 0.99789957 -0.02893962 0.49361836] [ 0.24038094 0.01418627 0.97057496 -0.21690275] [ 0. 0. 0. 1. ]] SLAMing on 45.078001144999995 meters Centerline goodness [0,1] 0.8935533894550288 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:-0.22 [[ 0.96888936 -0.06326941 -0.23927055 3.41616469] [ 0.05783111 0.99788483 -0.02968873 0.49556936] [ 0.24064284 0.01492781 0.97049894 -0.21567254] [ 0. 0. 0. 1. ]] SLAMing on 45.108001144999996 meters Centerline goodness [0,1] 0.8955190833356398 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:-0.22 [[ 0.96880098 -0.06286607 -0.23973426 3.41740102] [ 0.05736249 0.99790638 -0.02987316 0.49656506] [ 0.24111036 0.0151894 0.97037883 -0.21504249] [ 0. 0. 0. 1. ]] SLAMing on 45.13800114499999 meters Centerline goodness [0,1] 0.8963940242246182 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:-0.21 [[ 0.96874214 -0.0624738 -0.24007436 3.41843899] [ 0.05693651 0.9979288 -0.02993909 0.49748924] [ 0.24144752 0.01533426 0.97029272 -0.21464454] [ 0. 0. 0. 1. ]] SLAMing on 45.16800114499999 meters Centerline goodness [0,1] 0.8920587253920588 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:-0.21 [[ 0.96868416 -0.06222246 -0.24037339 3.41947118] [ 0.05671072 0.99794622 -0.02978654 0.49739026] [ 0.24173311 0.015222 0.97022337 -0.21472732] [ 0. 0. 0. 1. ]] SLAMing on 45.19800114499999 meters Centerline goodness [0,1] 0.8912573456037255 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:-0.21 [[ 0.96865565 -0.06207567 -0.24052617 3.42012594] [ 0.05662194 0.997959 -0.02952612 0.49653403] [ 0.24186811 0.01498158 0.97019347 -0.21499571] [ 0. 0. 0. 1. ]] SLAMing on 45.22800114499999 meters Centerline goodness [0,1] 0.8924073407700612 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:-0.22 [[ 0.9686765 -0.0622563 -0.2403955 3.41953228] [ 0.05685388 0.99795099 -0.02935044 0.49510388] [ 0.24173017 0.01476367 0.97023119 -0.21501893] [ 0. 0. 0. 1. ]] SLAMing on 45.258001144999994 meters Centerline goodness [0,1] 0.8867893253770927 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:-0.21 [[ 0.96860331 -0.06214472 -0.24071904 3.42016675] [ 0.05671451 0.99795664 -0.029428 0.49558714] [ 0.24205596 0.0148518 0.97014862 -0.214599 ] [ 0. 0. 0. 1. ]] SLAMing on 45.288001144999996 meters Centerline goodness [0,1] 0.890314729797002 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:-0.21 [[ 0.96854112 -0.06213131 -0.24097261 3.42041624] [ 0.05662037 0.99795293 -0.02973352 0.49633593] [ 0.2423267 0.01515418 0.97007635 -0.21383011] [ 0. 0. 0. 1. ]] SLAMing on 45.31800114499999 meters Centerline goodness [0,1] 0.89431525264004 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:-0.21 [[ 0.96849565 -0.0620005 -0.24118896 3.42092443] [ 0.0565017 0.99796199 -0.02965517 0.4963097 ] [ 0.24253605 0.01509332 0.97002498 -0.21369318] [ 0. 0. 0. 1. ]] SLAMing on 45.34800114499999 meters Centerline goodness [0,1] 0.8912479293208172 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:-0.21 [[ 0.96849914 -0.06161761 -0.24127306 3.42197448] [ 0.0563141 0.99799699 -0.02882225 0.49288355] [ 0.24256575 0.01432725 0.97002917 -0.21473372] [ 0. 0. 0. 1. ]] SLAMing on 45.37800114499999 meters Centerline goodness [0,1] 0.8951025810721377 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:-0.22 [[ 0.96849599 -0.0614196 -0.24133618 3.42263091] [ 0.05620328 0.99801405 -0.02844566 0.49139845] [ 0.24260402 0.01398562 0.97002458 -0.21522969] [ 0. 0. 0. 1. ]] SLAMing on 45.40800114499999 meters Centerline goodness [0,1] 0.8948961342688128 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:-0.22 [[ 0.96847539 -0.06130637 -0.24144762 3.42304721] [ 0.05612103 0.99802277 -0.02830142 0.4906435 ] [ 0.24270528 0.01385894 0.97000107 -0.21524368] [ 0. 0. 0. 1. ]] SLAMing on 45.438001144999994 meters Centerline goodness [0,1] 0.895887917482556 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:-0.21 [[ 0.96840664 -0.06129398 -0.24172637 3.42319295] [ 0.056022 0.99801898 -0.02862939 0.49103307] [ 0.24300231 0.01418289 0.96992202 -0.21426203] [ 0. 0. 0. 1. ]] SLAMing on 45.468001144999995 meters Centerline goodness [0,1] 0.8944378567686071 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:-0.21 [[ 0.96837116 -0.06083076 -0.24198536 3.42380735] [ 0.05555506 0.99804673 -0.02857206 0.49089378] [ 0.24325076 0.01422485 0.96985913 -0.21361958] [ 0. 0. 0. 1. ]] SLAMing on 45.49800114499999 meters Centerline goodness [0,1] 0.893963211163509 Centerline is valid? [False, False] Translation: X:3.43, Y:0.49, Z:-0.21 [[ 0.9683236 -0.06032272 -0.24230267 3.42509676] [ 0.05514401 0.9980828 -0.02810461 0.48944865] [ 0.24353347 0.01385282 0.96979356 -0.21387826] [ 0. 0. 0. 1. ]] SLAMing on 45.52800114499999 meters Centerline goodness [0,1] 0.8948688271604939 Centerline is valid? [False, False] Translation: X:3.43, Y:0.49, Z:-0.21 [[ 0.9682814 -0.0598949 -0.24257727 3.42633555] [ 0.0548326 0.99811478 -0.02757306 0.48805873] [ 0.24377145 0.01339734 0.96974017 -0.21438188] [ 0. 0. 0. 1. ]] SLAMing on 45.55800114499999 meters Centerline goodness [0,1] 0.8953555598381191 Centerline is valid? [False, False] Translation: X:3.43, Y:0.49, Z:-0.21 [[ 0.96816029 -0.05958885 -0.24313541 3.42758285] [ 0.0545764 0.99813616 -0.02730611 0.48762275] [ 0.24430939 0.01316723 0.96960794 -0.21405264] [ 0. 0. 0. 1. ]] SLAMing on 45.58800114499999 meters Centerline goodness [0,1] 0.8999478895257946 Centerline is valid? [False, False] Translation: X:3.43, Y:0.49, Z:-0.21 [[ 0.9680691 -0.05933895 -0.24355925 3.42874514] [ 0.05434497 0.99815226 -0.0271787 0.48739934] [ 0.24472197 0.01307464 0.96950514 -0.21389104] [ 0. 0. 0. 1. ]] SLAMing on 45.618001144999994 meters Centerline goodness [0,1] 0.899222035901806 Centerline is valid? [False, False] Translation: X:3.43, Y:0.49, Z:-0.21 [[ 0.968052 -0.05898964 -0.24371201 3.42973961] [ 0.05407986 0.99817707 -0.02679385 0.48647772] [ 0.2448483 0.01275793 0.96947746 -0.21437206] [ 0. 0. 0. 1. ]] SLAMing on 45.648001144999995 meters Centerline goodness [0,1] 0.8936585634143659 Centerline is valid? [False, False] Translation: X:3.43, Y:0.49, Z:-0.21 [[ 0.9679863 -0.05843746 -0.24410568 3.43131858] [ 0.05360646 0.99821328 -0.02639322 0.48517775] [ 0.24521188 0.01246263 0.9693894 -0.21457583] [ 0. 0. 0. 1. ]] SLAMing on 45.67800114499999 meters Centerline goodness [0,1] 0.895519531997485 Centerline is valid? [False, False] Translation: X:3.43, Y:0.48, Z:-0.22 [[ 0.96792915 -0.05739095 -0.24458014 3.43399887] [ 0.05271346 0.99828064 -0.02563323 0.48274565] [ 0.24563073 0.01191849 0.9692902 -0.21539461] [ 0. 0. 0. 1. ]] SLAMing on 45.70800114499999 meters Centerline goodness [0,1] 0.8945078400788112 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:-0.22 [[ 0.96783869 -0.05683557 -0.24506732 3.43572665] [ 0.05215785 0.99831218 -0.02554098 0.48313536] [ 0.24610533 0.01193737 0.96916958 -0.21530656] [ 0. 0. 0. 1. ]] SLAMing on 45.73800114499999 meters Centerline goodness [0,1] 0.8960489827297439 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:-0.21 [[ 0.9677097 -0.05641572 -0.24567296 3.43740685] [ 0.05165039 0.99833184 -0.02580271 0.48471893] [ 0.24671882 0.01228043 0.9690093 -0.21470389] [ 0. 0. 0. 1. ]] SLAMing on 45.76800114499999 meters Centerline goodness [0,1] 0.8929776899646003 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:-0.21 [[ 0.96758588 -0.05608967 -0.24623467 3.43874513] [ 0.05121197 0.99834477 -0.02617358 0.4862169 ] [ 0.24729516 0.01271502 0.96885677 -0.21383348] [ 0. 0. 0. 1. ]] SLAMing on 45.79800114499999 meters Centerline goodness [0,1] 0.8949817942891559 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:-0.21 [[ 0.96746559 -0.05498546 -0.24695531 3.44137657] [ 0.05018736 0.99840945 -0.02568664 0.48554954] [ 0.24797491 0.01245691 0.96868636 -0.21375065] [ 0. 0. 0. 1. ]] SLAMing on 45.828001144999995 meters Centerline goodness [0,1] 0.8931849943824843 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:-0.21 [[ 0.96742857 -0.05473686 -0.24715549 3.44201626] [ 0.04995566 0.99842382 -0.02557925 0.48451727] [ 0.24816606 0.01239928 0.96863815 -0.21352798] [ 0. 0. 0. 1. ]] SLAMing on 45.858001144999996 meters Centerline goodness [0,1] 0.8921700101261666 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:-0.21 [[ 0.96740455 -0.05465218 -0.24726824 3.44222251] [ 0.04986313 0.99842809 -0.02559348 0.48395506] [ 0.24827829 0.01242968 0.968609 -0.21321006] [ 0. 0. 0. 1. ]] SLAMing on 45.88800114499999 meters Centerline goodness [0,1] 0.8908137056669764 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:-0.21 [[ 0.96740692 -0.05448284 -0.24729631 3.44206667] [ 0.04973645 0.99843923 -0.02540443 0.48222604] [ 0.24829445 0.01227678 0.96860681 -0.21279474] [ 0. 0. 0. 1. ]] SLAMing on 45.91800114499999 meters Centerline goodness [0,1] 0.8918535494079773 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:-0.21 [[ 0.96737052 -0.05437051 -0.24746336 3.44231025] [ 0.04966439 0.99844737 -0.02522483 0.4806126 ] [ 0.24845063 0.01211164 0.96856884 -0.21252702] [ 0. 0. 0. 1. ]] SLAMing on 45.94800114499999 meters Centerline goodness [0,1] 0.8921840958605665 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:-0.21 [[ 0.96736956 -0.05431204 -0.24747997 3.44219911] [ 0.04965405 0.99845281 -0.02502907 0.47884154] [ 0.24845645 0.01192398 0.96856967 -0.21231069] [ 0. 0. 0. 1. ]] SLAMing on 45.97800114499999 meters Centerline goodness [0,1] 0.8913667895079125 Centerline is valid? [False, False] Translation: X:3.44, Y:0.48, Z:-0.21 [[ 0.96739496 -0.0549713 -0.247235 3.43997015] [ 0.05026339 0.99841503 -0.02531854 0.47596076] [ 0.24823494 0.01206616 0.96862471 -0.21077379] [ 0. 0. 0. 1. ]] SLAMing on 46.008001144999994 meters Centerline goodness [0,1] 0.892559298169609 Centerline is valid? [False, False] Translation: X:3.44, Y:0.47, Z:-0.21 [[ 0.96738131 -0.0552761 -0.24722045 3.43897372] [ 0.05055656 0.99839808 -0.02540278 0.47463982] [ 0.24822859 0.01207556 0.96862622 -0.20992269] [ 0. 0. 0. 1. ]] SLAMing on 46.038001144999996 meters Centerline goodness [0,1] 0.8891354950468251 Centerline is valid? [False, False] Translation: X:3.44, Y:0.47, Z:-0.21 [[ 0.96737429 -0.05579922 -0.2471304 3.43762543] [ 0.05100988 0.99836625 -0.02574515 0.47370963] [ 0.24816321 0.01229911 0.96864016 -0.20885537] [ 0. 0. 0. 1. ]] SLAMing on 46.06800114499999 meters Centerline goodness [0,1] 0.8903225806451613 Centerline is valid? [False, False] Translation: X:3.44, Y:0.47, Z:-0.21 [[ 0.96737265 -0.05621651 -0.24704223 3.43646217] [ 0.05142256 0.99834316 -0.02581985 0.47190408] [ 0.24808442 0.01227387 0.96866066 -0.20812974] [ 0. 0. 0. 1. ]] SLAMing on 46.09800114499999 meters Centerline goodness [0,1] 0.8910470490795906 Centerline is valid? [False, False] Translation: X:3.44, Y:0.47, Z:-0.21 [[ 0.96707664 -0.06049487 -0.24719051 3.43792951] [ 0.05505967 0.99806624 -0.02884805 0.46725477] [ 0.24845767 0.01428804 0.96853737 -0.20859502] [ 0. 0. 0. 1. ]] SLAMing on 46.12800114499999 meters Centerline goodness [0,1] 0.8949341842840048 Centerline is valid? [False, False] Translation: X:3.44, Y:0.47, Z:-0.21 [[ 0.96671145 -0.06444406 -0.24762055 3.44057646] [ 0.05825869 0.997781 -0.03223369 0.46589425] [ 0.24914835 0.01673463 0.96832074 -0.20890796] [ 0. 0. 0. 1. ]] SLAMing on 46.15800114499999 meters Centerline goodness [0,1] 0.8920251252285919 Centerline is valid? [False, False] Translation: X:3.44, Y:0.46, Z:-0.21 [[ 0.96670172 -0.06453433 -0.24763502 3.44085518] [ 0.05849907 0.99778528 -0.03166052 0.46290391] [ 0.24912977 0.01611986 0.96833595 -0.20960526] [ 0. 0. 0. 1. ]] SLAMing on 46.188001144999994 meters Centerline goodness [0,1] 0.8988500290130295 Centerline is valid? [False, False] Translation: X:3.44, Y:0.46, Z:-0.21 [[ 0.96670743 -0.0653224 -0.24740601 3.43873358] [ 0.05933094 0.99773796 -0.03160383 0.46012219] [ 0.2489108 0.01587283 0.96839634 -0.20875613] [ 0. 0. 0. 1. ]] SLAMing on 46.218001144999995 meters Centerline goodness [0,1] 0.8944981941844832 Centerline is valid? [False, False] Translation: X:3.44, Y:0.46, Z:-0.21 [[ 0.96666622 -0.065486 -0.24752375 3.43830557] [ 0.05949797 0.99772803 -0.03160321 0.45906633] [ 0.24903095 0.0158226 0.96836627 -0.2080756 ] [ 0. 0. 0. 1. ]] SLAMing on 46.24800114499999 meters Centerline goodness [0,1] 0.8936606391925989 Centerline is valid? [False, False] Translation: X:3.44, Y:0.46, Z:-0.21 [[ 0.96663803 -0.06530173 -0.24768247 3.43874479] [ 0.05941068 0.99774615 -0.0311929 0.45725267] [ 0.24916119 0.01543726 0.96833899 -0.2081679 ] [ 0. 0. 0. 1. ]] SLAMing on 46.27800114499999 meters Centerline goodness [0,1] 0.8982097052818929 Centerline is valid? [False, False] Translation: X:3.44, Y:0.45, Z:-0.21 [[ 0.96661672 -0.06491563 -0.24786706 3.43967451] [ 0.05915577 0.99777894 -0.03062323 0.45486839] [ 0.24930446 0.01493816 0.96830994 -0.20855587] [ 0. 0. 0. 1. ]] SLAMing on 46.30800114499999 meters Centerline goodness [0,1] 0.8945995984249915 Centerline is valid? [False, False] Translation: X:3.44, Y:0.45, Z:-0.21 [[ 0.96661998 -0.06440824 -0.24798669 3.44039949] [ 0.0588468 0.99782268 -0.02978189 0.45064891] [ 0.24936494 0.01419455 0.96830555 -0.2089449 ] [ 0. 0. 0. 1. ]] SLAMing on 46.33800114499999 meters Centerline goodness [0,1] 0.8963725184492256 Centerline is valid? [False, False] Translation: X:3.44, Y:0.45, Z:-0.21 [[ 0.96657741 -0.06414834 -0.24821988 3.44097656] [ 0.058635 0.99784207 -0.02954897 0.44979472] [ 0.24957976 0.01400699 0.96825294 -0.20876596] [ 0. 0. 0. 1. ]] SLAMing on 46.368001144999994 meters Centerline goodness [0,1] 0.8961130190446457 Centerline is valid? [False, False] Translation: X:3.44, Y:0.45, Z:-0.21 [[ 0.96650039 -0.06388937 -0.2485863 3.44193884] [ 0.05838782 0.9978595 -0.02944958 0.44963878] [ 0.24993572 0.01394862 0.96816196 -0.20853589] [ 0. 0. 0. 1. ]] SLAMing on 46.398001144999995 meters Centerline goodness [0,1] 0.8975723743995846 Centerline is valid? [False, False] Translation: X:3.44, Y:0.45, Z:-0.21 [[ 0.96642713 -0.062818 -0.24914352 3.44379909] [ 0.05746812 0.99793483 -0.02869639 0.44753736] [ 0.25043165 0.01341516 0.96804133 -0.20834272] [ 0. 0. 0. 1. ]] SLAMing on 46.42800114499999 meters Centerline goodness [0,1] 0.8993542698581468 Centerline is valid? [False, False] Translation: X:3.45, Y:0.45, Z:-0.21 [[ 0.96636975 -0.06215881 -0.24953113 3.44523931] [ 0.05689006 0.99797988 -0.02827868 0.44631795] [ 0.25078481 0.01313182 0.96795379 -0.20835567] [ 0. 0. 0. 1. ]] SLAMing on 46.45800114499999 meters Centerline goodness [0,1] 0.8951673439805348 Centerline is valid? [False, False] Translation: X:3.45, Y:0.45, Z:-0.21 [[ 0.96631692 -0.06163102 -0.24986641 3.44648372] [ 0.05641714 0.99801508 -0.02798237 0.44533922] [ 0.25109503 0.01294309 0.9678759 -0.20834657] [ 0. 0. 0. 1. ]] SLAMing on 46.48800114499999 meters Centerline goodness [0,1] 0.897318086781446 Centerline is valid? [False, False] Translation: X:3.45, Y:0.45, Z:-0.21 [[ 0.96625472 -0.0613971 -0.25016438 3.44662466] [ 0.05610823 0.99802564 -0.02822559 0.4452388 ] [ 0.25140343 0.01323683 0.96779187 -0.20708529] [ 0. 0. 0. 1. ]] SLAMing on 46.51800114499999 meters Centerline goodness [0,1] 0.8987073422957601 Centerline is valid? [False, False] Translation: X:3.45, Y:0.44, Z:-0.21 [[ 0.96619437 -0.06128889 -0.25042385 3.44713077] [ 0.05599338 0.99803216 -0.02822331 0.4449224 ] [ 0.25166083 0.01324713 0.96772483 -0.20670276] [ 0. 0. 0. 1. ]] SLAMing on 46.54800114499999 meters Centerline goodness [0,1] 0.8976475443664879 Centerline is valid? [False, False] Translation: X:3.45, Y:0.44, Z:-0.21 [[ 0.96613863 -0.0611704 -0.25066776 3.44780009] [ 0.05592097 0.998042 -0.02801805 0.44336335] [ 0.25189083 0.01305174 0.96766764 -0.20665233] [ 0. 0. 0. 1. ]] SLAMing on 46.578001144999995 meters Centerline goodness [0,1] 0.8972309741540511 Centerline is valid? [False, False] Translation: X:3.45, Y:0.44, Z:-0.21 [[ 0.96583729 -0.06497688 -0.25087117 3.44998887] [ 0.05900893 0.99776831 -0.0312465 0.44028069] [ 0.2523416 0.01537539 0.96751605 -0.20684026] [ 0. 0. 0. 1. ]] SLAMing on 46.608001144999996 meters Centerline goodness [0,1] 0.9016372506449388 Centerline is valid? [False, False] Translation: X:3.45, Y:0.44, Z:-0.21 [[ 0.96581944 -0.06524237 -0.25087097 3.44949049] [ 0.05929792 0.99775294 -0.03119007 0.43822134] [ 0.25234216 0.01524784 0.96751793 -0.2064588 ] [ 0. 0. 0. 1. ]] SLAMing on 46.63800114499999 meters Centerline goodness [0,1] 0.9016372506449388 Centerline is valid? [False, False] Translation: X:3.45, Y:0.44, Z:-0.21 [[ 0.96581944 -0.06524237 -0.25087097 3.44949049] [ 0.05929792 0.99775294 -0.03119007 0.43822134] [ 0.25234216 0.01524784 0.96751793 -0.2064588 ] [ 0. 0. 0. 1. ]] SLAMing on 46.66800114499999 meters Centerline goodness [0,1] 0.9021622724259268 Centerline is valid? [False, False] Translation: X:3.45, Y:0.44, Z:-0.21 [[ 0.96579932 -0.06544528 -0.25089559 3.4490028 ] [ 0.05952632 0.99774164 -0.03111655 0.43658915] [ 0.25236541 0.01511745 0.96751391 -0.20599689] [ 0. 0. 0. 1. ]] SLAMing on 46.69800114499999 meters Centerline goodness [0,1] 0.9039350088855039 Centerline is valid? [False, False] Translation: X:3.45, Y:0.43, Z:-0.20 [[ 0.96577859 -0.06637035 -0.25073231 3.44680403] [ 0.06048081 0.99768378 -0.03113104 0.43290043] [ 0.25221774 0.0149012 0.96755577 -0.20473366] [ 0. 0. 0. 1. ]] SLAMing on 46.72800114499999 meters Centerline goodness [0,1] 0.9015470453969059 Centerline is valid? [False, False] Translation: X:3.45, Y:0.43, Z:-0.20 [[ 0.9657848 -0.06680946 -0.25059172 3.44580145] [ 0.06093057 0.99765569 -0.03115435 0.43105847] [ 0.25208567 0.0148197 0.96759144 -0.20425683] [ 0. 0. 0. 1. ]] SLAMing on 46.758001144999994 meters Centerline goodness [0,1] 0.9037717234575396 Centerline is valid? [False, False] Translation: X:3.45, Y:0.43, Z:-0.20 [[ 0.96579062 -0.06710999 -0.25048899 3.44516874] [ 0.06129026 0.99763935 -0.03097145 0.42890208] [ 0.25197617 0.0145594 0.96762391 -0.20404571] [ 0. 0. 0. 1. ]] SLAMing on 46.788001144999996 meters Centerline goodness [0,1] 0.9036609348999042 Centerline is valid? [False, False] Translation: X:3.44, Y:0.43, Z:-0.20 [[ 0.96576966 -0.06750559 -0.25046349 3.44471629] [ 0.06172361 0.99761553 -0.03087813 0.42656102] [ 0.25195071 0.01436165 0.9676335 -0.20385266] [ 0. 0. 0. 1. ]] SLAMing on 46.81800114499999 meters Centerline goodness [0,1] 0.8999424525233317 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:-0.20 [[ 0.96544328 -0.07191709 -0.2504939 3.44615966] [ 0.06547333 0.99727578 -0.0339744 0.42299992] [ 0.25225484 0.01639968 0.96752186 -0.20440942] [ 0. 0. 0. 1. ]] SLAMing on 46.84800114499999 meters Centerline goodness [0,1] 0.9027808953734879 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:-0.21 [[ 0.96539603 -0.07207104 -0.25063175 3.44692628] [ 0.06576738 0.99727424 -0.03344758 0.4196722 ] [ 0.25235919 0.01580677 0.96750452 -0.20511884] [ 0. 0. 0. 1. ]] SLAMing on 46.87800114499999 meters Centerline goodness [0,1] 0.9005590756615729 Centerline is valid? [False, False] Translation: X:3.45, Y:0.42, Z:-0.21 [[ 0.96536414 -0.07229891 -0.25068894 3.44743332] [ 0.06611606 0.99726578 -0.03300964 0.41650428] [ 0.25239006 0.01529175 0.96750474 -0.2057204 ] [ 0. 0. 0. 1. ]] SLAMing on 46.90800114499999 meters Centerline goodness [0,1] 0.8983113888268988 Centerline is valid? [False, False] Translation: X:3.45, Y:0.41, Z:-0.21 [[ 0.96534599 -0.07254072 -0.25068897 3.44736586] [ 0.06644774 0.99725407 -0.03269579 0.41385298] [ 0.25237237 0.01490503 0.96751539 -0.2058746 ] [ 0. 0. 0. 1. ]] SLAMing on 46.938001144999994 meters Centerline goodness [0,1] 0.8962341231523434 Centerline is valid? [False, False] Translation: X:3.46, Y:0.41, Z:-0.21 [[ 0.96640813 -0.07392533 -0.24615113 3.46291064] [ 0.06972417 0.99723387 -0.02575181 0.41113287] [ 0.24737395 0.00772408 0.9688893 -0.20565989] [ 0. 0. 0. 1. ]] SLAMing on 46.968001144999995 meters Centerline goodness [0,1] 0.8995611656229969 Centerline is valid? [False, False] Translation: X:3.46, Y:0.41, Z:-0.20 [[ 0.96635126 -0.07433538 -0.24625088 3.46221654] [ 0.07005245 0.99720128 -0.02611998 0.4112661 ] [ 0.24750334 0.0079906 0.96885409 -0.20468236] [ 0. 0. 0. 1. ]] SLAMing on 46.99800114499999 meters Centerline goodness [0,1] 0.8986481495161409 Centerline is valid? [False, False] Translation: X:3.46, Y:0.41, Z:-0.20 [[ 0.96627873 -0.07480968 -0.2463918 3.46206674] [ 0.07058312 0.9971682 -0.02595406 0.40942222] [ 0.24763568 0.00768775 0.96882272 -0.20444814] [ 0. 0. 0. 1. ]] SLAMing on 47.02800114499999 meters Centerline goodness [0,1] 0.8990112646957549 Centerline is valid? [False, False] Translation: X:3.46, Y:0.41, Z:-0.20 [[ 0.9662466 -0.07523909 -0.24638709 3.46166976] [ 0.07101459 0.99713637 -0.02599985 0.40787461] [ 0.24763773 0.00762519 0.96882269 -0.204204 ] [ 0. 0. 0. 1. ]] SLAMing on 47.05800114499999 meters Centerline goodness [0,1] 0.8973729437760865 Centerline is valid? [False, False] Translation: X:3.46, Y:0.41, Z:-0.20 [[ 0.96621567 -0.07582745 -0.24632799 3.46100634] [ 0.07155331 0.99709079 -0.02626954 0.4068323 ] [ 0.24760332 0.00775645 0.96883045 -0.20381015] [ 0. 0. 0. 1. ]] SLAMing on 47.08800114499999 meters Centerline goodness [0,1] 0.896899129795318 Centerline is valid? [False, False] Translation: X:3.46, Y:0.41, Z:-0.20 [[ 0.9661922 -0.07622924 -0.24629603 3.46063819] [ 0.07191981 0.99705941 -0.02645888 0.40580912] [ 0.24758872 0.0078508 0.96883342 -0.20351715] [ 0. 0. 0. 1. ]] SLAMing on 47.118001144999994 meters Centerline goodness [0,1] 0.8953724798510571 Centerline is valid? [False, False] Translation: X:3.46, Y:0.40, Z:-0.20 [[ 0.96615815 -0.07638325 -0.24638188 3.4608823 ] [ 0.07207079 0.99704776 -0.02648722 0.40484366] [ 0.24767768 0.0078339 0.96881082 -0.20344686] [ 0. 0. 0. 1. ]] SLAMing on 47.148001144999995 meters Centerline goodness [0,1] 0.8932038834951457 Centerline is valid? [False, False] Translation: X:3.46, Y:0.41, Z:-0.20 [[ 0.96611501 -0.07637271 -0.24655426 3.46181359] [ 0.07202382 0.99704754 -0.02662265 0.40512883] [ 0.24785956 0.00796276 0.96876325 -0.20359469] [ 0. 0. 0. 1. ]] SLAMing on 47.17800114499999 meters Centerline goodness [0,1] 0.8964950980392157 Centerline is valid? [False, False] Translation: X:3.46, Y:0.41, Z:-0.20 [[ 0.96603049 -0.07591723 -0.24702562 3.46389753] [ 0.07160236 0.99708336 -0.02641725 0.40588639] [ 0.24831066 0.00783225 0.96864879 -0.20415524] [ 0. 0. 0. 1. ]] SLAMing on 47.20800114499999 meters Centerline goodness [0,1] 0.8988380376839364 Centerline is valid? [False, False] Translation: X:3.47, Y:0.41, Z:-0.20 [[ 0.96591025 -0.07567369 -0.24756996 3.4656146 ] [ 0.07131601 0.99710074 -0.02653564 0.40704552] [ 0.24886024 0.00797534 0.96850657 -0.20410608] [ 0. 0. 0. 1. ]] SLAMing on 47.23800114499999 meters Centerline goodness [0,1] 0.9025170386044338 Centerline is valid? [False, False] Translation: X:3.47, Y:0.41, Z:-0.20 [[ 0.96582825 -0.07505315 -0.24807825 3.46795049] [ 0.0707003 0.99714761 -0.02642198 0.40878919] [ 0.24935368 0.00797989 0.96837961 -0.204486 ] [ 0. 0. 0. 1. ]] SLAMing on 47.26800114499999 meters Centerline goodness [0,1] 0.9046432448435804 Centerline is valid? [False, False] Translation: X:3.47, Y:0.41, Z:-0.20 [[ 0.96576581 -0.07483304 -0.24838763 3.46912497] [ 0.07045057 0.99716324 -0.02649891 0.40967192] [ 0.249666 0.00809269 0.9682982 -0.20455009] [ 0. 0. 0. 1. ]] SLAMing on 47.29800114499999 meters Centerline goodness [0,1] 0.9063684327859107 Centerline is valid? [False, False] Translation: X:3.47, Y:0.41, Z:-0.20 [[ 0.96572216 -0.07477647 -0.24857431 3.46982955] [ 0.0703219 0.99716522 -0.02676493 0.41106948] [ 0.24987104 0.00836727 0.96824297 -0.20451213] [ 0. 0. 0. 1. ]] SLAMing on 47.328001144999995 meters Centerline goodness [0,1] 0.9079864124370831 Centerline is valid? [False, False] Translation: X:3.47, Y:0.42, Z:-0.20 [[ 0.96564723 -0.07484827 -0.24884366 3.47016938] [ 0.06998867 0.99714537 -0.02833201 0.41556898] [ 0.25025391 0.00994249 0.96812919 -0.20254224] [ 0. 0. 0. 1. ]] SLAMing on 47.358001144999996 meters Centerline goodness [0,1] 0.908889882727092 Centerline is valid? [False, False] Translation: X:3.47, Y:0.42, Z:-0.20 [[ 0.96558553 -0.07490365 -0.24906631 3.47067733] [ 0.06984628 0.9971334 -0.02909415 0.41815427] [ 0.25053159 0.01069653 0.96804933 -0.20183604] [ 0. 0. 0. 1. ]] SLAMing on 47.38800114499999 meters Centerline goodness [0,1] 0.9078678558971548 Centerline is valid? [False, False] Translation: X:3.47, Y:0.42, Z:-0.20 [[ 0.96548748 -0.07451865 -0.24956141 3.47258869] [ 0.06935333 0.99715766 -0.02943993 0.42042287] [ 0.2510459 0.01111597 0.96791136 -0.20179236] [ 0. 0. 0. 1. ]] SLAMing on 47.41800114499999 meters Centerline goodness [0,1] 0.9115568099507955 Centerline is valid? [False, False] Translation: X:3.47, Y:0.42, Z:-0.20 [[ 0.96541458 -0.07394695 -0.25001308 3.47498052] [ 0.06873548 0.99719794 -0.0295245 0.42239036] [ 0.25149577 0.01131861 0.96779221 -0.2023661 ] [ 0. 0. 0. 1. ]] SLAMing on 47.44800114499999 meters Centerline goodness [0,1] 0.9121503277786118 Centerline is valid? [False, False] Translation: X:3.48, Y:0.42, Z:-0.20 [[ 0.96531364 -0.07346856 -0.25054331 3.47730291] [ 0.0681824 0.99722993 -0.02972598 0.42479046] [ 0.25203321 0.01161225 0.96764891 -0.2027254 ] [ 0. 0. 0. 1. ]] SLAMing on 47.47800114499999 meters Centerline goodness [0,1] 0.9134843363769358 Centerline is valid? [False, False] Translation: X:3.48, Y:0.43, Z:-0.20 [[ 0.96556111 -0.06928026 -0.25078275 3.47741946] [ 0.06466832 0.99755237 -0.02659464 0.42838901] [ 0.25201141 0.00946106 0.96767801 -0.20289678] [ 0. 0. 0. 1. ]] SLAMing on 47.508001144999994 meters Centerline goodness [0,1] 0.914829127832083 Centerline is valid? [False, False] Translation: X:3.48, Y:0.43, Z:-0.20 [[ 0.96549019 -0.06962461 -0.25096038 3.47780479] [ 0.06481543 0.99752135 -0.02738828 0.43094933] [ 0.25224523 0.01017701 0.96760982 -0.20238522] [ 0. 0. 0. 1. ]] SLAMing on 47.538001144999996 meters Centerline goodness [0,1] 0.9118368792532066 Centerline is valid? [False, False] Translation: X:3.48, Y:0.43, Z:-0.20 [[ 0.96545072 -0.0700934 -0.25098173 3.47779267] [ 0.06516829 0.99748441 -0.02789167 0.43233144] [ 0.25230538 0.01057198 0.96758991 -0.20226314] [ 0. 0. 0. 1. ]] SLAMing on 47.56800114499999 meters Centerline goodness [0,1] 0.9061352644772491 Centerline is valid? [False, False] Translation: X:3.48, Y:0.44, Z:-0.20 [[ 0.96490257 -0.07550605 -0.25151913 3.47871567] [ 0.06908707 0.99702193 -0.03426736 0.43821936] [ 0.25335748 0.01568795 0.96724551 -0.19881204] [ 0. 0. 0. 1. ]] SLAMing on 47.59800114499999 meters Centerline goodness [0,1] 0.9063237795435506 Centerline is valid? [False, False] Translation: X:3.48, Y:0.44, Z:-0.20 [[ 0.96484593 -0.07588882 -0.25162119 3.47878748] [ 0.06941781 0.99699065 -0.03450807 0.43867039] [ 0.25348275 0.01582798 0.96721041 -0.19866712] [ 0. 0. 0. 1. ]] SLAMing on 47.62800114499999 meters Centerline goodness [0,1] 0.9041910083820168 Centerline is valid? [False, False] Translation: X:3.48, Y:0.44, Z:-0.20 [[ 0.96485641 -0.07664739 -0.25135092 3.47791554] [ 0.07008601 0.99692791 -0.03496699 0.43920596] [ 0.25325888 0.01612194 0.9672642 -0.19865642] [ 0. 0. 0. 1. ]] SLAMing on 47.65800114499999 meters Centerline goodness [0,1] 0.8985518312081647 Centerline is valid? [False, False] Translation: X:3.48, Y:0.44, Z:-0.20 [[ 0.96487056 -0.07791139 -0.25090759 3.47655233] [ 0.07121379 0.99682281 -0.03567752 0.43968511] [ 0.25289009 0.0165561 0.96735335 -0.19878446] [ 0. 0. 0. 1. ]] SLAMing on 47.688001144999994 meters Centerline goodness [0,1] 0.8941425367047309 Centerline is valid? [False, False] Translation: X:3.48, Y:0.44, Z:-0.20 [[ 0.96484542 -0.07813955 -0.25093331 3.47708736] [ 0.0714122 0.99680356 -0.03581848 0.44007173] [ 0.25293006 0.0166396 0.96734146 -0.19924206] [ 0. 0. 0. 1. ]] SLAMing on 47.718001144999995 meters Centerline goodness [0,1] 0.8936099711977162 Centerline is valid? [False, False] Translation: X:3.48, Y:0.44, Z:-0.20 [[ 0.9648046 -0.07812671 -0.2510942 3.4783442 ] [ 0.07139386 0.99680457 -0.03582694 0.44073891] [ 0.25309089 0.01663942 0.9672994 -0.19995456] [ 0. 0. 0. 1. ]] SLAMing on 47.74800114499999 meters Centerline goodness [0,1] 0.8962042752920769 Centerline is valid? [False, False] Translation: X:3.48, Y:0.44, Z:-0.20 [[ 0.96474769 -0.07800889 -0.25134939 3.47975245] [ 0.07122251 0.99681063 -0.03599903 0.44235679] [ 0.25335599 0.01682825 0.96722673 -0.20031047] [ 0. 0. 0. 1. ]] SLAMing on 47.77800114499999 meters Centerline goodness [0,1] 0.8997228779636662 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:-0.20 [[ 0.96503903 -0.07358728 -0.25156429 3.4800913 ] [ 0.06752625 0.997183 -0.03265375 0.44644886] [ 0.25325853 0.01452495 0.96728958 -0.20077191] [ 0. 0. 0. 1. ]] SLAMing on 47.80800114499999 meters Centerline goodness [0,1] 0.9009957178971264 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:-0.20 [[ 0.9653362 -0.06917329 -0.25167654 3.47997609] [ 0.06396179 0.99753555 -0.02883931 0.44701393] [ 0.25305121 0.01174195 0.96738163 -0.20135353] [ 0. 0. 0. 1. ]] SLAMing on 47.83800114499999 meters Centerline goodness [0,1] 0.9015175056971203 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:-0.20 [[ 0.96527804 -0.06882604 -0.25199461 3.48160398] [ 0.06350433 0.99755427 -0.02920052 0.44964936] [ 0.25338806 0.01218387 0.96728798 -0.20143383] [ 0. 0. 0. 1. ]] SLAMing on 47.868001144999994 meters Centerline goodness [0,1] 0.90001559819061 Centerline is valid? [False, False] Translation: X:3.48, Y:0.45, Z:-0.20 [[ 0.96526962 -0.06827286 -0.25217726 3.48376324] [ 0.06278342 0.99758336 -0.02976056 0.45403978] [ 0.25359967 0.01289442 0.96722331 -0.20187394] [ 0. 0. 0. 1. ]] SLAMing on 47.898001144999995 meters Centerline goodness [0,1] 0.8993390286595083 Centerline is valid? [False, False] Translation: X:3.48, Y:0.46, Z:-0.20 [[ 0.96520065 -0.06831939 -0.25242853 3.48482241] [ 0.06268777 0.99757328 -0.030295 0.45682634] [ 0.25388569 0.01341657 0.96714118 -0.20183788] [ 0. 0. 0. 1. ]] SLAMing on 47.92800114499999 meters Centerline goodness [0,1] 0.9006895105261779 Centerline is valid? [False, False] Translation: X:3.49, Y:0.46, Z:-0.20 [[ 0.96511244 -0.06829629 -0.25277183 3.48633363] [ 0.06255864 0.99756973 -0.03067661 0.45912041] [ 0.25425262 0.01379332 0.96703948 -0.2020519 ] [ 0. 0. 0. 1. ]] SLAMing on 47.95800114499999 meters Centerline goodness [0,1] 0.896953475556955 Centerline is valid? [False, False] Translation: X:3.49, Y:0.46, Z:-0.20 [[ 0.96502373 -0.06817353 -0.25314339 3.48809599] [ 0.06240436 0.99757683 -0.03075983 0.46056571] [ 0.25462698 0.01388672 0.96693963 -0.20262226] [ 0. 0. 0. 1. ]] SLAMing on 47.98800114499999 meters Centerline goodness [0,1] 0.895201920286988 Centerline is valid? [False, False] Translation: X:3.49, Y:0.46, Z:-0.20 [[ 0.96493591 -0.06798821 -0.2535277 3.49012724] [ 0.06215077 0.99758606 -0.03097326 0.46341909] [ 0.25502152 0.01413027 0.96683213 -0.20328166] [ 0. 0. 0. 1. ]] SLAMing on 48.01800114499999 meters Centerline goodness [0,1] 0.8958993033565548 Centerline is valid? [False, False] Translation: X:3.49, Y:0.47, Z:-0.20 [[ 0.96485338 -0.06807155 -0.25381925 3.49092273] [ 0.06212144 0.99757473 -0.03139391 0.46531685] [ 0.2553407 0.0145229 0.96674206 -0.20299697] [ 0. 0. 0. 1. ]] SLAMing on 48.04800114499999 meters Centerline goodness [0,1] 0.8916969423744995 Centerline is valid? [False, False] Translation: X:3.49, Y:0.47, Z:-0.20 [[ 0.96477538 -0.06825966 -0.25406513 3.49127936] [ 0.06215112 0.99755354 -0.0320028 0.46761899] [ 0.25562807 0.01508508 0.9666575 -0.20237555] [ 0. 0. 0. 1. ]] SLAMing on 48.078001144999995 meters Centerline goodness [0,1] 0.8907172098463502 Centerline is valid? [False, False] Translation: X:3.49, Y:0.47, Z:-0.20 [[ 0.96478911 -0.06856989 -0.2539294 3.49099284] [ 0.06219555 0.99751641 -0.03305644 0.47154574] [ 0.25556541 0.01609921 0.96665771 -0.20157734] [ 0. 0. 0. 1. ]] SLAMing on 48.10800114499999 meters Centerline goodness [0,1] 0.8919755557334614 Centerline is valid? [False, False] Translation: X:3.49, Y:0.47, Z:-0.20 [[ 0.96475739 -0.06889206 -0.25396273 3.4907866 ] [ 0.06233246 0.99748308 -0.03379614 0.47368442] [ 0.25565181 0.01677496 0.96662338 -0.20084878] [ 0. 0. 0. 1. ]] SLAMing on 48.13800114499999 meters Centerline goodness [0,1] 0.8936050710101902 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:-0.20 [[ 0.96474066 -0.0691103 -0.253967 3.490743 ] [ 0.06241284 0.9974593 -0.03434501 0.47539263] [ 0.25569534 0.01728322 0.96660291 -0.20043566] [ 0. 0. 0. 1. ]] SLAMing on 48.16800114499999 meters Centerline goodness [0,1] 0.894642474844787 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:-0.20 [[ 0.96472629 -0.06916132 -0.25400766 3.49108225] [ 0.06238477 0.99745059 -0.03464768 0.4765174 ] [ 0.25575637 0.01757932 0.96658142 -0.20036988] [ 0. 0. 0. 1. ]] SLAMing on 48.19800114499999 meters Centerline goodness [0,1] 0.894468313641246 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:-0.20 [[ 0.96468093 -0.06932925 -0.25413412 3.49117527] [ 0.06235958 0.99742612 -0.0353896 0.47865537] [ 0.25593354 0.01829198 0.9665213 -0.19952039] [ 0. 0. 0. 1. ]] SLAMing on 48.22800114499999 meters Centerline goodness [0,1] 0.8953385157489846 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:-0.20 [[ 0.96463529 -0.06949423 -0.25426228 3.49131079] [ 0.06238091 0.99740498 -0.03594343 0.48095489] [ 0.25610032 0.01881119 0.96646716 -0.19894203] [ 0. 0. 0. 1. ]] SLAMing on 48.258001144999994 meters Centerline goodness [0,1] 0.8954343434343435 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:-0.20 [[ 0.96485743 -0.06541014 -0.25450274 3.49074115] [ 0.05917241 0.99773162 -0.03209721 0.48059593] [ 0.25602491 0.01590969 0.96653925 -0.19919291] [ 0. 0. 0. 1. ]] SLAMing on 48.288001144999996 meters Centerline goodness [0,1] 0.89246643796764 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:-0.20 [[ 0.9647921 -0.06549147 -0.2547294 3.49143484] [ 0.05914697 0.99772023 -0.03249578 0.48259837] [ 0.25627688 0.0162852 0.96646622 -0.19899679] [ 0. 0. 0. 1. ]] SLAMing on 48.31800114499999 meters Centerline goodness [0,1] 0.890907616189472 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:-0.20 [[ 0.96473281 -0.06499393 -0.25508115 3.49393902] [ 0.05877098 0.99776005 -0.03195083 0.48179939] [ 0.25658639 0.01583265 0.96639161 -0.20051067] [ 0. 0. 0. 1. ]] SLAMing on 48.34800114499999 meters Centerline goodness [0,1] 0.8905971359092137 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:-0.20 [[ 0.96473209 -0.06481273 -0.25512996 3.49494265] [ 0.05868752 0.99777752 -0.03155628 0.48073395] [ 0.25660818 0.01547041 0.96639169 -0.20144851] [ 0. 0. 0. 1. ]] SLAMing on 48.37800114499999 meters Centerline goodness [0,1] 0.8910928548265052 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:-0.20 [[ 0.96471593 -0.06514743 -0.25510583 3.49478091] [ 0.05891001 0.99774952 -0.03202352 0.48253981] [ 0.25661797 0.01586531 0.96638269 -0.20118336] [ 0. 0. 0. 1. ]] SLAMing on 48.40800114499999 meters Centerline goodness [0,1] 0.8934792620486007 Centerline is valid? [False, False] Translation: X:3.50, Y:0.48, Z:-0.20 [[ 0.96463479 -0.06525043 -0.25538617 3.49502123] [ 0.05887652 0.99773504 -0.03253231 0.48444075] [ 0.25693047 0.01634555 0.96629165 -0.20036294] [ 0. 0. 0. 1. ]] SLAMing on 48.438001144999994 meters Centerline goodness [0,1] 0.891805499119599 Centerline is valid? [False, False] Translation: X:3.50, Y:0.49, Z:-0.20 [[ 0.96457042 -0.06518613 -0.25564561 3.49562837] [ 0.05873272 0.99773456 -0.03280559 0.48575649] [ 0.25720493 0.01662854 0.96621381 -0.19996013] [ 0. 0. 0. 1. ]] SLAMing on 48.468001144999995 meters Centerline goodness [0,1] 0.8909672522229451 Centerline is valid? [False, False] Translation: X:3.50, Y:0.49, Z:-0.20 [[ 0.96450011 -0.06484899 -0.2559964 3.49677876] [ 0.05837498 0.99775522 -0.03281589 0.48635057] [ 0.25754982 0.01670715 0.96612057 -0.19982453] [ 0. 0. 0. 1. ]] SLAMing on 48.49800114499999 meters Centerline goodness [0,1] 0.8859346568534261 Centerline is valid? [False, False] Translation: X:3.50, Y:0.49, Z:-0.20 [[ 0.96443829 -0.06468157 -0.25627151 3.49757536] [ 0.05810043 0.9977593 -0.03317716 0.48782948] [ 0.25784323 0.01710784 0.96603529 -0.19926892] [ 0. 0. 0. 1. ]] SLAMing on 48.52800114499999 meters Centerline goodness [0,1] 0.8859346568534261 Centerline is valid? [False, False] Translation: X:3.50, Y:0.49, Z:-0.20 [[ 0.96443829 -0.06468157 -0.25627151 3.49757536] [ 0.05810043 0.9977593 -0.03317716 0.48782948] [ 0.25784323 0.01710784 0.96603529 -0.19926892] [ 0. 0. 0. 1. ]] SLAMing on 48.55800114499999 meters Centerline goodness [0,1] 0.8888617289986148 Centerline is valid? [False, False] Translation: X:3.50, Y:0.49, Z:-0.20 [[ 0.9643952 -0.06488946 -0.25638109 3.49755804] [ 0.05825334 0.99774286 -0.03340246 0.4884094 ] [ 0.25796987 0.01727812 0.96599845 -0.19893273] [ 0. 0. 0. 1. ]] SLAMing on 48.58800114499999 meters Centerline goodness [0,1] 0.8849077090119435 Centerline is valid? [False, False] Translation: X:3.50, Y:0.49, Z:-0.20 [[ 0.96436238 -0.06535839 -0.25638543 3.49753801] [ 0.05878688 0.99771763 -0.03322091 0.48669138] [ 0.25797153 0.01696489 0.96600356 -0.19947755] [ 0. 0. 0. 1. ]] SLAMing on 48.618001144999994 meters Centerline goodness [0,1] 0.8802048058949421 Centerline is valid? [False, False] Translation: X:3.50, Y:0.49, Z:-0.20 [[ 0.96435939 -0.06528592 -0.25641513 3.49842011] [ 0.0588419 0.99773054 -0.03273214 0.48524539] [ 0.25797016 0.01647759 0.96601236 -0.20051171] [ 0. 0. 0. 1. ]] SLAMing on 48.648001144999995 meters Centerline goodness [0,1] 0.8793416172608896 Centerline is valid? [False, False] Translation: X:3.50, Y:0.48, Z:-0.20 [[ 0.96433366 -0.06510957 -0.25655669 3.4996226 ] [ 0.05879268 0.99774998 -0.03222414 0.48422326] [ 0.25807754 0.01599116 0.96599186 -0.20155278] [ 0. 0. 0. 1. ]] SLAMing on 48.67800114499999 meters Centerline goodness [0,1] 0.8805387679882923 Centerline is valid? [False, False] Translation: X:3.50, Y:0.48, Z:-0.20 [[ 0.964274 -0.06498711 -0.25681187 3.50072148] [ 0.0587304 0.99776193 -0.03196685 0.48382367] [ 0.25831454 0.01574214 0.9659326 -0.20203171] [ 0. 0. 0. 1. ]] SLAMing on 48.70800114499999 meters Centerline goodness [0,1] 0.8817716652678885 Centerline is valid? [False, False] Translation: X:3.50, Y:0.48, Z:-0.20 [[ 0.96423141 -0.06514674 -0.25693129 3.50121111] [ 0.05889562 0.99775243 -0.03195919 0.48383363] [ 0.25843586 0.01568392 0.96590109 -0.20229889] [ 0. 0. 0. 1. ]] SLAMing on 48.73800114499999 meters Centerline goodness [0,1] 0.8806530965317763 Centerline is valid? [False, False] Translation: X:3.50, Y:0.48, Z:-0.20 [[ 0.96419231 -0.06514089 -0.25707946 3.50170692] [ 0.05887655 0.9977523 -0.03199852 0.48383898] [ 0.25858603 0.01571677 0.96586037 -0.20228112] [ 0. 0. 0. 1. ]] SLAMing on 48.76800114499999 meters Centerline goodness [0,1] 0.8801809611529501 Centerline is valid? [False, False] Translation: X:3.50, Y:0.48, Z:-0.20 [[ 0.96413174 -0.06515431 -0.25730312 3.50195246] [ 0.05881831 0.99774752 -0.03225358 0.48414329] [ 0.25882501 0.01596256 0.96579232 -0.20165387] [ 0. 0. 0. 1. ]] SLAMing on 48.79800114499999 meters Centerline goodness [0,1] 0.878774735700732 Centerline is valid? [False, False] Translation: X:3.50, Y:0.49, Z:-0.20 [[ 0.96407667 -0.06534195 -0.25746183 3.50156482] [ 0.05882814 0.99772481 -0.0329309 0.48582134] [ 0.25902783 0.01660191 0.96572717 -0.20023756] [ 0. 0. 0. 1. ]] SLAMing on 48.828001144999995 meters Centerline goodness [0,1] 0.8784612878705614 Centerline is valid? [False, False] Translation: X:3.50, Y:0.49, Z:-0.20 [[ 0.96403555 -0.06570699 -0.25752292 3.50087281] [ 0.05901478 0.99769016 -0.03363921 0.48720556] [ 0.25913841 0.01723173 0.96568647 -0.19906153] [ 0. 0. 0. 1. ]] SLAMing on 48.85800114499999 meters Centerline goodness [0,1] 0.8806197336232672 Centerline is valid? [False, False] Translation: X:3.50, Y:0.49, Z:-0.20 [[ 0.96398108 -0.0657491 -0.257716 3.50095783] [ 0.05895875 0.99768135 -0.03399684 0.48803814] [ 0.25935371 0.0175777 0.96562243 -0.19831854] [ 0. 0. 0. 1. ]] SLAMing on 48.88800114499999 meters Centerline goodness [0,1] 0.8798758744589923 Centerline is valid? [False, False] Translation: X:3.50, Y:0.49, Z:-0.20 [[ 0.96390664 -0.06501319 -0.25818072 3.50301262] [ 0.05824856 0.99773068 -0.03377278 0.4883357 ] [ 0.2597905 0.01751516 0.96550615 -0.19852016] [ 0. 0. 0. 1. ]] SLAMing on 48.91800114499999 meters Centerline goodness [0,1] 0.8787977696178431 Centerline is valid? [False, False] Translation: X:3.51, Y:0.49, Z:-0.20 [[ 0.96380664 -0.06434217 -0.25872155 3.50538499] [ 0.05763072 0.99777742 -0.03345021 0.48835447] [ 0.26029878 0.01732923 0.96537259 -0.19899888] [ 0. 0. 0. 1. ]] SLAMing on 48.94800114499999 meters Centerline goodness [0,1] 0.8809089672064226 Centerline is valid? [False, False] Translation: X:3.51, Y:0.49, Z:-0.20 [[ 0.96371605 -0.06384155 -0.2591826 3.50737781] [ 0.05714819 0.99781067 -0.03328601 0.48889897] [ 0.2607402 0.01726645 0.96525459 -0.19935832] [ 0. 0. 0. 1. ]] SLAMing on 48.97800114499999 meters Centerline goodness [0,1] 0.8811287862279363 Centerline is valid? [False, False] Translation: X:3.51, Y:0.49, Z:-0.20 [[ 0.9636291 -0.06367341 -0.25954703 3.50858237] [ 0.05692088 0.99781792 -0.0334577 0.4899339 ] [ 0.26111104 0.01746716 0.96515073 -0.19921508] [ 0. 0. 0. 1. ]] SLAMing on 49.008001144999994 meters Centerline goodness [0,1] 0.8820989341350096 Centerline is valid? [False, False] Translation: X:3.51, Y:0.49, Z:-0.20 [[ 0.96357439 -0.06381387 -0.25971558 3.50842409] [ 0.05695976 0.99780282 -0.03383971 0.49082375] [ 0.26130438 0.01781374 0.96509206 -0.19836142] [ 0. 0. 0. 1. ]] SLAMing on 49.038001144999996 meters Centerline goodness [0,1] 0.8789492367767128 Centerline is valid? [False, False] Translation: X:3.51, Y:0.49, Z:-0.20 [[ 0.96353806 -0.0638596 -0.25983912 3.50849257] [ 0.05703178 0.99780208 -0.03373991 0.48983702] [ 0.26142263 0.0176906 0.9650623 -0.19821102] [ 0. 0. 0. 1. ]] SLAMing on 49.06800114499999 meters Centerline goodness [0,1] 0.8801013458290198 Centerline is valid? [False, False] Translation: X:3.51, Y:0.49, Z:-0.20 [[ 0.96350204 -0.06395888 -0.25994821 3.50848806] [ 0.05714523 0.99779718 -0.03369302 0.48894037] [ 0.26153056 0.01760849 0.96503456 -0.19800112] [ 0. 0. 0. 1. ]] SLAMing on 49.09800114499999 meters Centerline goodness [0,1] 0.882224823718385 Centerline is valid? [False, False] Translation: X:3.51, Y:0.49, Z:-0.20 [[ 0.96346161 -0.06422941 -0.26003137 3.5082886 ] [ 0.05739489 0.99777924 -0.03379978 0.48867964] [ 0.26162485 0.01764032 0.96500842 -0.19774097] [ 0. 0. 0. 1. ]] SLAMing on 49.12800114499999 meters Centerline goodness [0,1] 0.8820626090750436 Centerline is valid? [False, False] Translation: X:3.51, Y:0.49, Z:-0.20 [[ 0.96339003 -0.06468344 -0.26018399 3.50822767] [ 0.05783305 0.99775029 -0.03390729 0.48859684] [ 0.26179189 0.01761871 0.96496352 -0.19765786] [ 0. 0. 0. 1. ]] SLAMing on 49.15800114499999 meters Centerline goodness [0,1] 0.8845975759226474 Centerline is valid? [False, False] Translation: X:3.51, Y:0.49, Z:-0.20 [[ 0.96335601 -0.06446108 -0.26036505 3.50945979] [ 0.0577333 0.99777271 -0.03341383 0.48730634] [ 0.26193903 0.01715768 0.96493189 -0.19858612] [ 0. 0. 0. 1. ]] SLAMing on 49.188001144999994 meters Centerline goodness [0,1] 0.8849778646894266 Centerline is valid? [False, False] Translation: X:3.51, Y:0.49, Z:-0.20 [[ 0.96335662 -0.06433104 -0.26039499 3.5101972 ] [ 0.05771468 0.99778808 -0.03298424 0.48536647] [ 0.26194092 0.01674697 0.96493859 -0.19936693] [ 0. 0. 0. 1. ]] SLAMing on 49.218001144999995 meters Centerline goodness [0,1] 0.885618783629545 Centerline is valid? [False, False] Translation: X:3.51, Y:0.48, Z:-0.20 [[ 0.9633862 -0.06514655 -0.26008261 3.5086091 ] [ 0.05846529 0.99773217 -0.03335152 0.48415036] [ 0.26166552 0.01692458 0.96501021 -0.19894005] [ 0. 0. 0. 1. ]] SLAMing on 49.24800114499999 meters Centerline goodness [0,1] 0.8852427921092565 Centerline is valid? [False, False] Translation: X:3.51, Y:0.48, Z:-0.20 [[ 0.96328657 -0.06543935 -0.26037796 3.50836528] [ 0.05860376 0.99770425 -0.03393875 0.48492016] [ 0.26200112 0.01743361 0.96491009 -0.19761832] [ 0. 0. 0. 1. ]] SLAMing on 49.27800114499999 meters Centerline goodness [0,1] 0.8855545908400261 Centerline is valid? [False, False] Translation: X:3.51, Y:0.49, Z:-0.20 [[ 0.96325023 -0.06577253 -0.26042844 3.50764026] [ 0.05880644 0.99767447 -0.03445959 0.48585553] [ 0.2620893 0.01787834 0.964878 -0.19659878] [ 0. 0. 0. 1. ]] SLAMing on 49.30800114499999 meters Centerline goodness [0,1] 0.8879123263888888 Centerline is valid? [False, False] Translation: X:3.51, Y:0.49, Z:-0.20 [[ 0.96319618 -0.06586195 -0.26060569 3.50772513] [ 0.05882317 0.99766423 -0.03472627 0.48595943] [ 0.26228411 0.01811856 0.96482059 -0.19598981] [ 0. 0. 0. 1. ]] SLAMing on 49.33800114499999 meters Centerline goodness [0,1] 0.8886960765705919 Centerline is valid? [False, False] Translation: X:3.51, Y:0.48, Z:-0.20 [[ 0.96319596 -0.06595807 -0.2605822 3.50742639] [ 0.05894619 0.99765991 -0.03464164 0.48403965] [ 0.26225731 0.01800636 0.96482997 -0.19579476] [ 0. 0. 0. 1. ]] SLAMing on 49.368001144999994 meters Centerline goodness [0,1] 0.8903458760927404 Centerline is valid? [False, False] Translation: X:3.51, Y:0.48, Z:-0.20 [[ 0.96314797 -0.06620652 -0.26069652 3.5070304 ] [ 0.05911989 0.99763919 -0.0349411 0.48385032] [ 0.2623944 0.0182411 0.96478829 -0.19500034] [ 0. 0. 0. 1. ]] SLAMing on 49.398001144999995 meters Centerline goodness [0,1] 0.8910216382048707 Centerline is valid? [False, False] Translation: X:3.51, Y:0.48, Z:-0.19 [[ 0.96307452 -0.06644143 -0.26090804 3.50691103] [ 0.0592707 0.99761882 -0.03526575 0.48409755] [ 0.26262988 0.01849934 0.9647193 -0.19419034] [ 0. 0. 0. 1. ]] SLAMing on 49.42800114499999 meters Centerline goodness [0,1] 0.8938918918918919 Centerline is valid? [False, False] Translation: X:3.51, Y:0.48, Z:-0.20 [[ 0.96300292 -0.06599743 -0.26128474 3.50863778] [ 0.05897616 0.99765849 -0.03463151 0.48302024] [ 0.26295853 0.01794068 0.96464032 -0.19503067] [ 0. 0. 0. 1. ]] SLAMing on 49.45800114499999 meters Centerline goodness [0,1] 0.8927275680944388 Centerline is valid? [False, False] Translation: X:3.51, Y:0.48, Z:-0.20 [[ 0.96295931 -0.06569525 -0.2615215 3.50960888] [ 0.05874345 0.99768298 -0.03432023 0.48223096] [ 0.26317023 0.01768631 0.96458728 -0.1953002 ] [ 0. 0. 0. 1. ]] SLAMing on 49.48800114499999 meters Centerline goodness [0,1] 0.8938532358516111 Centerline is valid? [False, False] Translation: X:3.51, Y:0.48, Z:-0.20 [[ 0.96294236 -0.06563402 -0.26159929 3.51008846] [ 0.0586953 0.99768792 -0.03425882 0.4818635 ] [ 0.26324299 0.01763462 0.96456837 -0.19544381] [ 0. 0. 0. 1. ]] SLAMing on 49.51800114499999 meters Centerline goodness [0,1] 0.8959971891132192 Centerline is valid? [False, False] Translation: X:3.51, Y:0.48, Z:-0.19 [[ 0.9629309 -0.06572977 -0.26161743 3.50975249] [ 0.0587918 0.99768195 -0.03426746 0.48069833] [ 0.26326337 0.01761624 0.96456315 -0.19499456] [ 0. 0. 0. 1. ]] SLAMing on 49.54800114499999 meters Centerline goodness [0,1] 0.900353566705352 Centerline is valid? [False, False] Translation: X:3.51, Y:0.48, Z:-0.19 [[ 0.96292562 -0.06580701 -0.26161743 3.50939059] [ 0.05881186 0.99767319 -0.03448716 0.48042637] [ 0.26327819 0.01782236 0.96455532 -0.19435106] [ 0. 0. 0. 1. ]] SLAMing on 49.578001144999995 meters Centerline goodness [0,1] 0.8990823211875844 Centerline is valid? [False, False] Translation: X:3.51, Y:0.48, Z:-0.19 [[ 0.96288303 -0.06585152 -0.26176295 3.50935278] [ 0.05880144 0.99766698 -0.03468397 0.48003664] [ 0.26343624 0.01800457 0.96450878 -0.19363851] [ 0. 0. 0. 1. ]] SLAMing on 49.60800114499999 meters Centerline goodness [0,1] 0.899937883166338 Centerline is valid? [False, False] Translation: X:3.51, Y:0.48, Z:-0.19 [[ 0.96282209 -0.0656127 -0.26204694 3.51010192] [ 0.05855213 0.99768211 -0.03467064 0.47952332] [ 0.26371438 0.01803825 0.96443214 -0.19329691] [ 0. 0. 0. 1. ]] SLAMing on 49.63800114499999 meters Centerline goodness [0,1] 0.9003904672142184 Centerline is valid? [False, False] Translation: X:3.51, Y:0.48, Z:-0.19 [[ 0.96275856 -0.06489307 -0.26245922 3.51172167] [ 0.05786079 0.99773034 -0.03444272 0.47874849] [ 0.26409862 0.01797393 0.96432819 -0.19306402] [ 0. 0. 0. 1. ]] SLAMing on 49.66800114499999 meters Centerline goodness [0,1] 0.9010500807754442 Centerline is valid? [False, False] Translation: X:3.51, Y:0.48, Z:-0.19 [[ 0.96267572 -0.06444194 -0.26287393 3.51299916] [ 0.05738497 0.99775779 -0.03444363 0.47923891] [ 0.26450412 0.01807304 0.96421519 -0.19269837] [ 0. 0. 0. 1. ]] SLAMing on 49.69800114499999 meters Centerline goodness [0,1] 0.9023721155397773 Centerline is valid? [False, False] Translation: X:3.51, Y:0.48, Z:-0.19 [[ 0.96259259 -0.06408664 -0.26326491 3.51399597] [ 0.05699326 0.99777825 -0.03450122 0.47977374] [ 0.26489107 0.0182063 0.96410645 -0.19220562] [ 0. 0. 0. 1. ]] SLAMing on 49.72800114499999 meters Centerline goodness [0,1] 0.9043286314202649 Centerline is valid? [False, False] Translation: X:3.52, Y:0.48, Z:-0.19 [[ 0.96252982 -0.06297217 -0.26376288 3.51659063] [ 0.05606312 0.99786009 -0.03364763 0.47819426] [ 0.26531731 0.01759948 0.96400051 -0.19296358] [ 0. 0. 0. 1. ]] SLAMing on 49.758001144999994 meters Centerline goodness [0,1] 0.9009497236679723 Centerline is valid? [False, False] Translation: X:3.52, Y:0.48, Z:-0.19 [[ 0.96250441 -0.06268107 -0.26392487 3.51727251] [ 0.05582956 0.99788188 -0.0333887 0.47707821] [ 0.26545868 0.01740196 0.96396518 -0.19302754] [ 0. 0. 0. 1. ]] SLAMing on 49.78800114499999 meters Centerline goodness [0,1] 0.9008726844415891 Centerline is valid? [False, False] Translation: X:3.52, Y:0.48, Z:-0.19 [[ 0.96249935 -0.06297319 -0.26387378 3.51642429] [ 0.05605182 0.99785947 -0.03368488 0.47660809] [ 0.2654302 0.01763107 0.96396886 -0.1921812 ] [ 0. 0. 0. 1. ]] SLAMing on 49.81800114499999 meters Centerline goodness [0,1] 0.9022741241548863 Centerline is valid? [False, False] Translation: X:3.51, Y:0.47, Z:-0.19 [[ 0.96256428 -0.06406372 -0.26337395 3.51322204] [ 0.05704299 0.99778488 -0.03422612 0.47481407] [ 0.2649832 0.01792121 0.96408648 -0.19068566] [ 0. 0. 0. 1. ]] SLAMing on 49.84800114499999 meters Centerline goodness [0,1] 0.9029987516268693 Centerline is valid? [False, False] Translation: X:3.51, Y:0.47, Z:-0.19 [[ 0.96257861 -0.06419616 -0.26328933 3.51319514] [ 0.05729404 0.99778441 -0.03381799 0.47198872] [ 0.26487697 0.01746757 0.96412399 -0.19116995] [ 0. 0. 0. 1. ]] SLAMing on 49.87800114499999 meters Centerline goodness [0,1] 0.9047568626412896 Centerline is valid? [False, False] Translation: X:3.51, Y:0.47, Z:-0.19 [[ 0.96258384 -0.06428577 -0.26324833 3.51363169] [ 0.05757933 0.9977914 -0.03312026 0.46816194] [ 0.26479608 0.01672336 0.96415941 -0.19222949] [ 0. 0. 0. 1. ]] SLAMing on 49.90800114499999 meters Centerline goodness [0,1] 0.90274419093681 Centerline is valid? [False, False] Translation: X:3.52, Y:0.46, Z:-0.19 [[ 0.96227461 -0.06883084 -0.26322974 3.5151839 ] [ 0.06149642 0.99745744 -0.03601183 0.4632962 ] [ 0.26503919 0.01846559 0.96406081 -0.19338479] [ 0. 0. 0. 1. ]] SLAMing on 49.938001144999994 meters Centerline goodness [0,1] 0.9018081761006289 Centerline is valid? [False, False] Translation: X:3.51, Y:0.46, Z:-0.19 [[ 0.96227661 -0.06919025 -0.26312817 3.51471276] [ 0.06194565 0.99743941 -0.03574011 0.46084108] [ 0.26492728 0.01809223 0.96409865 -0.19363851] [ 0. 0. 0. 1. ]] SLAMing on 49.968001144999995 meters Centerline goodness [0,1] 0.9014272620138798 Centerline is valid? [False, False] Translation: X:3.51, Y:0.46, Z:-0.19 [[ 0.96229353 -0.06929492 -0.26303874 3.51450244] [ 0.0621487 0.99743883 -0.03540218 0.45933113] [ 0.26481825 0.01771977 0.96413552 -0.1939486 ] [ 0. 0. 0. 1. ]] SLAMing on 49.99800114499999 meters Centerline goodness [0,1] 0.8983976788561571 Centerline is valid? [False, False] Translation: X:3.51, Y:0.46, Z:-0.19 [[ 0.96229047 -0.06964625 -0.26295714 3.51357277] [ 0.06246503 0.99741267 -0.03558202 0.45886436] [ 0.26475494 0.01781462 0.96415116 -0.19334149] [ 0. 0. 0. 1. ]] SLAMing on 50.02800114499999 meters Centerline goodness [0,1] 0.8942547876769359 Centerline is valid? [False, False] Translation: X:3.51, Y:0.46, Z:-0.19 [[ 0.96227247 -0.06997898 -0.26293467 3.51243104] [ 0.06279124 0.99738971 -0.03565156 0.45653245] [ 0.2647432 0.01779652 0.96415472 -0.19225543] [ 0. 0. 0. 1. ]] SLAMing on 50.05800114499999 meters Centerline goodness [0,1] 0.8923919248533915 Centerline is valid? [False, False] Translation: X:3.51, Y:0.45, Z:-0.19 [[ 0.96231132 -0.07023597 -0.26272388 3.51152628] [ 0.06309001 0.99737455 -0.03554808 0.45415514] [ 0.26453086 0.01763307 0.964216 -0.19208877] [ 0. 0. 0. 1. ]] SLAMing on 50.08800114499999 meters Centerline goodness [0,1] 0.8833354780594518 Centerline is valid? [False, False] Translation: X:3.51, Y:0.45, Z:-0.19 [[ 0.96200308 -0.07477215 -0.26260082 3.51171903] [ 0.06679002 0.99699651 -0.03920537 0.45135188] [ 0.26474357 0.02017657 0.96410775 -0.19141272] [ 0. 0. 0. 1. ]] SLAMing on 50.118001144999994 meters Centerline goodness [0,1] 0.8800020600504712 Centerline is valid? [False, False] Translation: X:3.51, Y:0.45, Z:-0.19 [[ 0.96202042 -0.07479813 -0.2625299 3.51189963] [ 0.06697353 0.99700625 -0.03864051 0.44884363] [ 0.26463418 0.01959041 0.96414987 -0.192134 ] [ 0. 0. 0. 1. ]] SLAMing on 50.148001144999995 meters Centerline goodness [0,1] 0.8720980940409923 Centerline is valid? [False, False] Translation: X:3.51, Y:0.45, Z:-0.19 [[ 0.96202524 -0.07460702 -0.26256661 3.51271518] [ 0.06695784 0.99703294 -0.03797331 0.44691716] [ 0.26462063 0.01895039 0.96416638 -0.19309826] [ 0. 0. 0. 1. ]] SLAMing on 50.17800114499999 meters Centerline goodness [0,1] 0.8629309020130103 Centerline is valid? [False, False] Translation: X:3.51, Y:0.45, Z:-0.19 [[ 0.96200739 -0.07437407 -0.26269806 3.5136411 ] [ 0.06687262 0.99706053 -0.0373946 0.4455953 ] [ 0.26470705 0.01840657 0.96415319 -0.19385927] [ 0. 0. 0. 1. ]] SLAMing on 50.20800114499999 meters Centerline goodness [0,1] 0.8558913934426229 Centerline is valid? [False, False] Translation: X:3.51, Y:0.44, Z:-0.19 [[ 0.961984 -0.07406158 -0.26287197 3.51458551] [ 0.06666148 0.99709044 -0.03697165 0.44441006] [ 0.2648453 0.0180427 0.9641221 -0.19426663] [ 0. 0. 0. 1. ]] SLAMing on 50.23800114499999 meters Centerline goodness [0,1] 0.8845102098188045 Centerline is valid? [False, False] Translation: X:3.52, Y:0.44, Z:-0.19 [[ 0.96198837 -0.07353444 -0.26300391 3.51565523] [ 0.06629454 0.99713924 -0.03630934 0.44248886] [ 0.26492151 0.01749344 0.96411129 -0.19490463] [ 0. 0. 0. 1. ]] SLAMing on 50.26800114499999 meters Centerline goodness [0,1] 0.8810373846075381 Centerline is valid? [False, False] Translation: X:3.52, Y:0.44, Z:-0.19 [[ 0.96197355 -0.07334213 -0.26311181 3.5160884 ] [ 0.06607532 0.99715142 -0.03637428 0.44257127] [ 0.26503008 0.0176059 0.9640794 -0.19466133] [ 0. 0. 0. 1. ]] SLAMing on 50.29800114499999 meters Centerline goodness [0,1] 0.8860975796373282 Centerline is valid? [False, False] Translation: X:3.52, Y:0.44, Z:-0.19 [[ 0.96193916 -0.07300475 -0.26333128 3.51672238] [ 0.0657169 0.99717451 -0.03639071 0.44276266] [ 0.26524394 0.01770034 0.96401885 -0.19428088] [ 0. 0. 0. 1. ]] SLAMing on 50.328001144999995 meters Centerline goodness [0,1] 0.8928334269806406 Centerline is valid? [False, False] Translation: X:3.52, Y:0.44, Z:-0.19 [[ 0.96233167 -0.06817691 -0.26319132 3.51592405] [ 0.06185629 0.99756431 -0.03223733 0.44098248] [ 0.26474811 0.01474297 0.9642049 -0.1945919 ] [ 0. 0. 0. 1. ]] SLAMing on 50.35800114499999 meters Centerline goodness [0,1] 0.8928662680770607 Centerline is valid? [False, False] Translation: X:3.52, Y:0.44, Z:-0.19 [[ 0.96229934 -0.06787327 -0.26338791 3.51680786] [ 0.06151345 0.99758257 -0.03232816 0.44180855] [ 0.2649454 0.01490746 0.96414817 -0.19447916] [ 0. 0. 0. 1. ]] SLAMing on 50.38800114499999 meters Centerline goodness [0,1] 0.8933527935678803 Centerline is valid? [False, False] Translation: X:3.52, Y:0.44, Z:-0.19 [[ 0.96222517 -0.06753744 -0.26374499 3.51800705] [ 0.06115835 0.99760426 -0.03233247 0.44248459] [ 0.26529678 0.01498091 0.96405041 -0.19433783] [ 0. 0. 0. 1. ]] SLAMing on 50.41800114499999 meters Centerline goodness [0,1] 0.894037531041192 Centerline is valid? [False, False] Translation: X:3.52, Y:0.44, Z:-0.20 [[ 0.96218023 -0.06637706 -0.26420311 3.52138636] [ 0.06019291 0.9976914 -0.03144321 0.44181723] [ 0.26568028 0.01435088 0.96395438 -0.19589564] [ 0. 0. 0. 1. ]] SLAMing on 50.44800114499999 meters Centerline goodness [0,1] 0.894037531041192 Centerline is valid? [False, False] Translation: X:3.52, Y:0.44, Z:-0.20 [[ 0.96218023 -0.06637706 -0.26420311 3.52138636] [ 0.06019291 0.9976914 -0.03144321 0.44181723] [ 0.26568028 0.01435088 0.96395438 -0.19589564] [ 0. 0. 0. 1. ]] SLAMing on 50.47800114499999 meters Centerline goodness [0,1] 0.8948298831727813 Centerline is valid? [False, False] Translation: X:3.52, Y:0.44, Z:-0.20 [[ 0.96215223 -0.0657919 -0.26445135 3.52323568] [ 0.05972595 0.99773574 -0.03092243 0.44087379] [ 0.26588701 0.01395748 0.96390315 -0.19682707] [ 0. 0. 0. 1. ]] SLAMing on 50.508001144999994 meters Centerline goodness [0,1] 0.8920977711662263 Centerline is valid? [False, False] Translation: X:3.52, Y:0.44, Z:-0.20 [[ 0.96213291 -0.06549658 -0.26459491 3.52427523] [ 0.05948575 0.99775772 -0.03067524 0.44042488] [ 0.26601074 0.01377403 0.96387165 -0.19728742] [ 0. 0. 0. 1. ]] SLAMing on 50.53800114499999 meters Centerline goodness [0,1] 0.8913088091939869 Centerline is valid? [False, False] Translation: X:3.52, Y:0.44, Z:-0.20 [[ 0.96214854 -0.06565435 -0.26449895 3.52382446] [ 0.05960842 0.99774567 -0.03082879 0.44031315] [ 0.26592673 0.01389551 0.96389309 -0.19699183] [ 0. 0. 0. 1. ]] SLAMing on 50.56800114499999 meters Centerline goodness [0,1] 0.8904859335038363 Centerline is valid? [False, False] Translation: X:3.52, Y:0.44, Z:-0.20 [[ 0.96219835 -0.06627889 -0.26416178 3.52213625] [ 0.0601952 0.99770303 -0.03106778 0.43952678] [ 0.26561414 0.01399209 0.96397788 -0.19634236] [ 0. 0. 0. 1. ]] SLAMing on 50.59800114499999 meters Centerline goodness [0,1] 0.8893210840136141 Centerline is valid? [False, False] Translation: X:3.52, Y:0.44, Z:-0.20 [[ 0.96218308 -0.06674072 -0.2641011 3.52139516] [ 0.06064486 0.99767239 -0.0311771 0.43837278] [ 0.26556716 0.01398171 0.96399097 -0.19600755] [ 0. 0. 0. 1. ]] SLAMing on 50.62800114499999 meters Centerline goodness [0,1] 0.8845319241275433 Centerline is valid? [False, False] Translation: X:3.52, Y:0.44, Z:-0.20 [[ 0.96218242 -0.06688502 -0.264067 3.5214099 ] [ 0.06088274 0.9976678 -0.03085855 0.43644088] [ 0.26551511 0.01361443 0.96401057 -0.19634611] [ 0. 0. 0. 1. ]] SLAMing on 50.65800114499999 meters Centerline goodness [0,1] 0.8578458870926615 Centerline is valid? [False, False] Translation: X:3.52, Y:0.43, Z:-0.20 [[ 0.96219954 -0.06726485 -0.26390809 3.52083094] [ 0.06130984 0.99764512 -0.03074608 0.43497975] [ 0.26535475 0.0134037 0.96405767 -0.1965241 ] [ 0. 0. 0. 1. ]] SLAMing on 50.688001144999994 meters Centerline goodness [0,1] 0.8708603380353285 Centerline is valid? [False, False] Translation: X:3.52, Y:0.43, Z:-0.20 [[ 0.96222817 -0.06780982 -0.26366413 3.52077445] [ 0.06192235 0.9976122 -0.03058615 0.43351056] [ 0.26510859 0.01310415 0.96412951 -0.1976014 ] [ 0. 0. 0. 1. ]] SLAMing on 50.718001144999995 meters Centerline goodness [0,1] 0.8717562705723253 Centerline is valid? [False, False] Translation: X:3.52, Y:0.43, Z:-0.20 [[ 0.96220536 -0.0674355 -0.26384331 3.52228279] [ 0.0616966 0.99764438 -0.02998691 0.4319708 ] [ 0.26524398 0.01257533 0.96409932 -0.19866749] [ 0. 0. 0. 1. ]] SLAMing on 50.74800114499999 meters Centerline goodness [0,1] 0.8700968553778885 Centerline is valid? [False, False] Translation: X:3.52, Y:0.43, Z:-0.20 [[ 0.96220648 -0.06718564 -0.26390299 3.52349877] [ 0.06154452 0.99766547 -0.02959518 0.43075686] [ 0.26527527 0.01223489 0.96409509 -0.19960413] [ 0. 0. 0. 1. ]] SLAMing on 50.77800114499999 meters Centerline goodness [0,1] 0.8690494335213128 Centerline is valid? [False, False] Translation: X:3.52, Y:0.43, Z:-0.20 [[ 0.96219595 -0.0669753 -0.26399481 3.52490453] [ 0.06138171 0.99768157 -0.02938994 0.43107659] [ 0.26535115 0.01207443 0.96407623 -0.20060317] [ 0. 0. 0. 1. ]] SLAMing on 50.80800114499999 meters Centerline goodness [0,1] 0.8725170622389732 Centerline is valid? [False, False] Translation: X:3.53, Y:0.43, Z:-0.20 [[ 0.96210904 -0.06691056 -0.26432777 3.52582545] [ 0.06124148 0.99768281 -0.02963947 0.43277458] [ 0.26569847 0.01232858 0.96397735 -0.20037181] [ 0. 0. 0. 1. ]] SLAMing on 50.83800114499999 meters Centerline goodness [0,1] 0.877783174416524 Centerline is valid? [False, False] Translation: X:3.53, Y:0.43, Z:-0.20 [[ 0.96203206 -0.06688196 -0.26461504 3.52650325] [ 0.06111689 0.99768058 -0.02996965 0.43474066] [ 0.26600572 0.01265931 0.96388832 -0.20000681] [ 0. 0. 0. 1. ]] SLAMing on 50.868001144999994 meters Centerline goodness [0,1] 0.8741757399171906 Centerline is valid? [False, False] Translation: X:3.53, Y:0.44, Z:-0.20 [[ 0.96194069 -0.06691928 -0.26493758 3.52711318] [ 0.06100777 0.99767153 -0.0304887 0.43687011] [ 0.26636097 0.01316507 0.96378344 -0.1993396 ] [ 0. 0. 0. 1. ]] SLAMing on 50.898001144999995 meters Centerline goodness [0,1] 0.8793099021847963 Centerline is valid? [False, False] Translation: X:3.53, Y:0.44, Z:-0.20 [[ 0.96227603 -0.06287508 -0.26471036 3.52565184] [ 0.05774947 0.99796297 -0.02710913 0.43810715] [ 0.26587563 0.01079958 0.96394685 -0.19940848] [ 0. 0. 0. 1. ]] SLAMing on 50.92800114499999 meters Centerline goodness [0,1] 0.875119087468136 Centerline is valid? [False, False] Translation: X:3.53, Y:0.44, Z:-0.20 [[ 0.96224348 -0.06291712 -0.26481864 3.52613571] [ 0.05767202 0.99795556 -0.02754325 0.43983083] [ 0.26601018 0.01123069 0.9639048 -0.19919864] [ 0. 0. 0. 1. ]] SLAMing on 50.95800114499999 meters Centerline goodness [0,1] 0.8828944993166052 Centerline is valid? [False, False] Translation: X:3.53, Y:0.44, Z:-0.20 [[ 0.96220459 -0.06279173 -0.26498968 3.52729257] [ 0.05747105 0.99796025 -0.02779259 0.44108739] [ 0.26619431 0.01151292 0.96385063 -0.19943978] [ 0. 0. 0. 1. ]] SLAMing on 50.98800114499999 meters Centerline goodness [0,1] 0.8880924140064979 Centerline is valid? [False, False] Translation: X:3.53, Y:0.44, Z:-0.20 [[ 0.96216089 -0.06267345 -0.26517628 3.52861228] [ 0.0573011 0.99796548 -0.0279552 0.44239538] [ 0.26638882 0.0117025 0.96379461 -0.19993768] [ 0. 0. 0. 1. ]] SLAMing on 51.01800114499999 meters Centerline goodness [0,1] 0.8873808537090758 Centerline is valid? [False, False] Translation: X:3.53, Y:0.45, Z:-0.20 [[ 0.96208313 -0.06241005 -0.2655203 3.53059738] [ 0.05689382 0.99797554 -0.02842388 0.44585296] [ 0.2667567 0.01223967 0.96368618 -0.20027137] [ 0. 0. 0. 1. ]] SLAMing on 51.04800114499999 meters Centerline goodness [0,1] 0.8870390539909756 Centerline is valid? [False, False] Translation: X:3.53, Y:0.45, Z:-0.20 [[ 0.96199196 -0.06223827 -0.26589072 3.53207307] [ 0.05662043 0.99798176 -0.02874962 0.44804894] [ 0.26714341 0.01260206 0.96357438 -0.20027031] [ 0. 0. 0. 1. ]] SLAMing on 51.078001144999995 meters Centerline goodness [0,1] 0.8879642151253511 Centerline is valid? [False, False] Translation: X:3.53, Y:0.45, Z:-0.20 [[ 0.96186998 -0.06198529 -0.26639062 3.5334945 ] [ 0.05626042 0.99799265 -0.02907633 0.45029759] [ 0.26765819 0.0129804 0.96342649 -0.1998603 ] [ 0. 0. 0. 1. ]] SLAMing on 51.10800114499999 meters Centerline goodness [0,1] 0.8922795079822036 Centerline is valid? [False, False] Translation: X:3.53, Y:0.45, Z:-0.20 [[ 0.96211405 -0.0573118 -0.26655564 3.53367645] [ 0.05245762 0.99830257 -0.02530168 0.45210319] [ 0.26755327 0.01036023 0.96348737 -0.20038367] [ 0. 0. 0. 1. ]] SLAMing on 51.13800114499999 meters Centerline goodness [0,1] 0.8942708196893092 Centerline is valid? [False, False] Translation: X:3.54, Y:0.46, Z:-0.20 [[ 0.96200312 -0.0570507 -0.26701165 3.53504995] [ 0.05203113 0.99831104 -0.02584244 0.45523974] [ 0.268035 0.01096759 0.96334674 -0.19975259] [ 0. 0. 0. 1. ]] SLAMing on 51.16800114499999 meters Centerline goodness [0,1] 0.895356493797245 Centerline is valid? [False, False] Translation: X:3.53, Y:0.46, Z:-0.20 [[ 0.96227276 -0.05261967 -0.26695001 3.53425143] [ 0.04849581 0.99858059 -0.02202203 0.45506282] [ 0.26772989 0.00824524 0.96345873 -0.20001924] [ 0. 0. 0. 1. ]] SLAMing on 51.19800114499999 meters Centerline goodness [0,1] 0.8993542581908643 Centerline is valid? [False, False] Translation: X:3.54, Y:0.46, Z:-0.20 [[ 0.96245643 -0.0475456 -0.26723966 3.53512334] [ 0.04420484 0.99885106 -0.01850677 0.45714048] [ 0.26781253 0.00599867 0.96345237 -0.20003445] [ 0. 0. 0. 1. ]] SLAMing on 51.22800114499999 meters Centerline goodness [0,1] 0.9006224341146868 Centerline is valid? [False, False] Translation: X:3.54, Y:0.46, Z:-0.20 [[ 0.96234587 -0.04720147 -0.26769844 3.53691422] [ 0.04369661 0.99886343 -0.01903848 0.4598141 ] [ 0.26829283 0.00662409 0.96331463 -0.19970416] [ 0. 0. 0. 1. ]] SLAMing on 51.258001144999994 meters Centerline goodness [0,1] 0.9021900519673348 Centerline is valid? [False, False] Translation: X:3.54, Y:0.46, Z:-0.20 [[ 0.96223226 -0.04682372 -0.26817275 3.53885164] [ 0.04320465 0.99887818 -0.0193841 0.46204613] [ 0.26877954 0.0070657 0.96317581 -0.19964212] [ 0. 0. 0. 1. ]] SLAMing on 51.28800114499999 meters Centerline goodness [0,1] 0.901106500691563 Centerline is valid? [False, False] Translation: X:3.54, Y:0.46, Z:-0.20 [[ 0.96209987 -0.04664545 -0.26867831 3.5406282 ] [ 0.04286909 0.99888232 -0.01990845 0.46438987] [ 0.26930666 0.00763592 0.9630242 -0.19931672] [ 0. 0. 0. 1. ]] SLAMing on 51.31800114499999 meters Centerline goodness [0,1] 0.9005306808181551 Centerline is valid? [False, False] Translation: X:3.54, Y:0.47, Z:-0.20 [[ 0.96195695 -0.04625527 -0.26925689 3.54308392] [ 0.04236756 0.99889715 -0.02023527 0.46710417] [ 0.26989593 0.0080577 0.96285578 -0.19951054] [ 0. 0. 0. 1. ]] SLAMing on 51.34800114499999 meters Centerline goodness [0,1] 0.9033197904415695 Centerline is valid? [False, False] Translation: X:3.54, Y:0.47, Z:-0.20 [[ 0.96188516 -0.04611362 -0.26953752 3.5441618 ] [ 0.04219163 0.99890269 -0.02032931 0.46724703] [ 0.27017921 0.00818223 0.96277528 -0.19946226] [ 0. 0. 0. 1. ]] SLAMing on 51.37800114499999 meters Centerline goodness [0,1] 0.8964973262032085 Centerline is valid? [False, False] Translation: X:3.54, Y:0.47, Z:-0.20 [[ 0.96183638 -0.04651793 -0.26964208 3.54407903] [ 0.04243533 0.99887947 -0.02095358 0.46846214] [ 0.27031466 0.00871157 0.96273262 -0.19884848] [ 0. 0. 0. 1. ]] SLAMing on 51.40800114499999 meters Centerline goodness [0,1] 0.8981459121521909 Centerline is valid? [False, False] Translation: X:3.54, Y:0.47, Z:-0.20 [[ 0.96182973 -0.04756914 -0.26948235 3.54208624] [ 0.04308241 0.99881716 -0.02254298 0.47175628] [ 0.27023595 0.01007256 0.96274144 -0.19667688] [ 0. 0. 0. 1. ]] SLAMing on 51.438001144999994 meters Centerline goodness [0,1] 0.8990004836369498 Centerline is valid? [False, False] Translation: X:3.54, Y:0.47, Z:-0.20 [[ 0.96184268 -0.04839139 -0.26928967 3.54051972] [ 0.04371911 0.99877155 -0.02332446 0.47244142] [ 0.27008756 0.01066136 0.96277674 -0.1956668 ] [ 0. 0. 0. 1. ]] SLAMing on 51.46800114499999 meters Centerline goodness [0,1] 0.8994554282801728 Centerline is valid? [False, False] Translation: X:3.54, Y:0.48, Z:-0.19 [[ 0.96150697 -0.05322684 -0.26957605 3.54103343] [ 0.04726723 0.99847404 -0.02855538 0.47601517] [ 0.2706846 0.01471408 0.96255563 -0.19328567] [ 0. 0. 0. 1. ]] SLAMing on 51.49800114499999 meters Centerline goodness [0,1] 0.9017089423903697 Centerline is valid? [False, False] Translation: X:3.54, Y:0.48, Z:-0.19 [[ 0.96154342 -0.05443729 -0.26920408 3.53888718] [ 0.04832383 0.99840219 -0.02928948 0.47620128] [ 0.27036838 0.01515413 0.96263767 -0.19257752] [ 0. 0. 0. 1. ]] SLAMing on 51.52800114499999 meters Centerline goodness [0,1] 0.8971689252649939 Centerline is valid? [False, False] Translation: X:3.54, Y:0.48, Z:-0.19 [[ 0.9615353 -0.05488432 -0.26914231 3.53860203] [ 0.0487418 0.99837693 -0.02945758 0.47560749] [ 0.27032223 0.01520603 0.96264982 -0.19259526] [ 0. 0. 0. 1. ]] SLAMing on 51.55800114499999 meters Centerline goodness [0,1] 0.8971420904333826 Centerline is valid? [False, False] Translation: X:3.54, Y:0.48, Z:-0.19 [[ 0.96152584 -0.05517769 -0.2691161 3.53845734] [ 0.04902765 0.99836091 -0.0295259 0.47521463] [ 0.27030417 0.01519579 0.96265505 -0.19264696] [ 0. 0. 0. 1. ]] SLAMing on 51.58800114499999 meters Centerline goodness [0,1] 0.8963577139472905 Centerline is valid? [False, False] Translation: X:3.54, Y:0.48, Z:-0.19 [[ 0.96155177 -0.05654117 -0.26874019 3.53609167] [ 0.05022145 0.9982772 -0.03033872 0.4761645 ] [ 0.26999259 0.01567573 0.96273479 -0.19195627] [ 0. 0. 0. 1. ]] SLAMing on 51.618001144999994 meters Centerline goodness [0,1] 0.8943633577937263 Centerline is valid? [False, False] Translation: X:3.54, Y:0.48, Z:-0.19 [[ 0.96156854 -0.05685876 -0.26861316 3.53589646] [ 0.05053909 0.99825963 -0.03038947 0.47579223] [ 0.26987358 0.0156461 0.96276864 -0.19222631] [ 0. 0. 0. 1. ]] SLAMing on 51.648001144999995 meters Centerline goodness [0,1] 0.8954732730483173 Centerline is valid? [False, False] Translation: X:3.54, Y:0.48, Z:-0.19 [[ 0.96116422 -0.06031845 -0.2693047 3.54036026] [ 0.05320863 0.99801698 -0.0336296 0.47588308] [ 0.27079915 0.01799424 0.96246768 -0.19313787] [ 0. 0. 0. 1. ]] SLAMing on 51.67800114499999 meters Centerline goodness [0,1] 0.8962440562055884 Centerline is valid? [False, False] Translation: X:3.54, Y:0.48, Z:-0.19 [[ 0.9611071 -0.0599561 -0.26958933 3.5420197 ] [ 0.05291513 0.9980431 -0.0333161 0.47564937] [ 0.27105928 0.01775499 0.96239889 -0.1938218 ] [ 0. 0. 0. 1. ]] SLAMing on 51.70800114499999 meters Centerline goodness [0,1] 0.8973474517353869 Centerline is valid? [False, False] Translation: X:3.54, Y:0.48, Z:-0.19 [[ 0.96099131 -0.05966264 -0.2700668 3.54339751] [ 0.0525852 0.99805864 -0.03337283 0.47661503] [ 0.27153361 0.01786948 0.96226305 -0.19352183] [ 0. 0. 0. 1. ]] SLAMing on 51.73800114499999 meters Centerline goodness [0,1] 0.8965240427069118 Centerline is valid? [False, False] Translation: X:3.54, Y:0.48, Z:-0.19 [[ 0.96087601 -0.05959857 -0.27049086 3.54411355] [ 0.05237606 0.99805363 -0.03384833 0.47826809] [ 0.27198169 0.01835681 0.96212732 -0.19247938] [ 0. 0. 0. 1. ]] SLAMing on 51.76800114499999 meters Centerline goodness [0,1] 0.9010293802273215 Centerline is valid? [False, False] Translation: X:3.54, Y:0.48, Z:-0.19 [[ 0.96080076 -0.05938169 -0.27080566 3.54413225] [ 0.05189832 0.9980487 -0.03471817 0.48087749] [ 0.27233886 0.01930288 0.96200777 -0.19041568] [ 0. 0. 0. 1. ]] SLAMing on 51.79800114499999 meters Centerline goodness [0,1] 0.9041437575432479 Centerline is valid? [False, False] Translation: X:3.55, Y:0.48, Z:-0.19 [[ 0.96069989 -0.05885084 -0.27127899 3.54569664] [ 0.05133662 0.99807771 -0.03471933 0.48154667] [ 0.27280078 0.01942831 0.96187436 -0.19008621] [ 0. 0. 0. 1. ]] SLAMing on 51.828001144999995 meters Centerline goodness [0,1] 0.9012664354279261 Centerline is valid? [False, False] Translation: X:3.55, Y:0.48, Z:-0.19 [[ 0.96059508 -0.05838513 -0.27175039 3.54749721] [ 0.0508233 0.99810159 -0.03478808 0.48249172] [ 0.27326561 0.019606 0.9617388 -0.18997079] [ 0. 0. 0. 1. ]] SLAMing on 51.85800114499999 meters Centerline goodness [0,1] 0.8997175521183591 Centerline is valid? [False, False] Translation: X:3.55, Y:0.48, Z:-0.19 [[ 0.96049873 -0.05803822 -0.27216493 3.54900051] [ 0.05040555 0.99811682 -0.03495843 0.48333597] [ 0.27368132 0.01985891 0.96161539 -0.18971598] [ 0. 0. 0. 1. ]] SLAMing on 51.88800114499999 meters Centerline goodness [0,1] 0.9045286978984474 Centerline is valid? [False, False] Translation: X:3.55, Y:0.48, Z:-0.19 [[ 0.96039864 -0.05778869 -0.27257094 3.55025585] [ 0.05007711 0.99812591 -0.03517028 0.48395774] [ 0.27409256 0.02012792 0.96149266 -0.1892726 ] [ 0. 0. 0. 1. ]] SLAMing on 51.91800114499999 meters Centerline goodness [0,1] 0.9024127531236537 Centerline is valid? [False, False] Translation: X:3.55, Y:0.48, Z:-0.19 [[ 0.96034098 -0.05768727 -0.27279551 3.55148146] [ 0.04993124 0.99812882 -0.03529496 0.48487033] [ 0.27432113 0.02027418 0.9614244 -0.1894086 ] [ 0. 0. 0. 1. ]] SLAMing on 51.94800114499999 meters Centerline goodness [0,1] 0.901636692102354 Centerline is valid? [False, False] Translation: X:3.55, Y:0.48, Z:-0.19 [[ 0.96028496 -0.05753032 -0.27302576 3.55262007] [ 0.04981283 0.99814088 -0.03512069 0.48473846] [ 0.27453867 0.02012569 0.96136542 -0.18980866] [ 0. 0. 0. 1. ]] SLAMing on 51.97800114499999 meters Centerline goodness [0,1] 0.903495563323474 Centerline is valid? [False, False] Translation: X:3.55, Y:0.48, Z:-0.19 [[ 0.96032385 -0.05808887 -0.27277058 3.55148424] [ 0.05034449 0.99810748 -0.03531144 0.48291549] [ 0.27430556 0.02017792 0.96143087 -0.18957524] [ 0. 0. 0. 1. ]] SLAMing on 52.008001144999994 meters Centerline goodness [0,1] 0.9013108413022456 Centerline is valid? [False, False] Translation: X:3.55, Y:0.48, Z:-0.19 [[ 0.96036413 -0.05850894 -0.27253888 3.55035891] [ 0.05073731 0.99808151 -0.03548263 0.48194634] [ 0.27409206 0.02024835 0.96149027 -0.18922942] [ 0. 0. 0. 1. ]] SLAMing on 52.03800114499999 meters Centerline goodness [0,1] 0.9070416487762989 Centerline is valid? [False, False] Translation: X:3.55, Y:0.48, Z:-0.19 [[ 0.96037582 -0.05862722 -0.27247226 3.55014749] [ 0.05087263 0.99807599 -0.03544423 0.48137028] [ 0.27402602 0.0201784 0.96151057 -0.18923893] [ 0. 0. 0. 1. ]] SLAMing on 52.06800114499999 meters Centerline goodness [0,1] 0.9084045088221907 Centerline is valid? [False, False] Translation: X:3.55, Y:0.48, Z:-0.19 [[ 0.96031744 -0.05867464 -0.27266774 3.55060942] [ 0.05093001 0.9980746 -0.03540093 0.48071053] [ 0.27421988 0.02010916 0.96145675 -0.18912462] [ 0. 0. 0. 1. ]] SLAMing on 52.09800114499999 meters Centerline goodness [0,1] 0.9064750120006401 Centerline is valid? [False, False] Translation: X:3.55, Y:0.48, Z:-0.19 [[ 0.96029095 -0.05873455 -0.27274814 3.55124775] [ 0.05112676 0.99808136 -0.0349234 0.47854719] [ 0.27427605 0.0195919 0.96145141 -0.18983405] [ 0. 0. 0. 1. ]] SLAMing on 52.12800114499999 meters Centerline goodness [0,1] 0.9115687783646063 Centerline is valid? [False, False] Translation: X:3.55, Y:0.48, Z:-0.19 [[ 0.96027311 -0.05869039 -0.27282043 3.55147991] [ 0.05112428 0.99808699 -0.03476587 0.47751747] [ 0.27433895 0.01943698 0.9614366 -0.18980477] [ 0. 0. 0. 1. ]] SLAMing on 52.15800114499999 meters Centerline goodness [0,1] 0.9125256454664145 Centerline is valid? [False, False] Translation: X:3.55, Y:0.48, Z:-0.19 [[ 0.96029434 -0.05899174 -0.27268068 3.55058509] [ 0.05140658 0.99806835 -0.03488454 0.4768296 ] [ 0.27421186 0.01948184 0.96147195 -0.18938921] [ 0. 0. 0. 1. ]] SLAMing on 52.188001144999994 meters Centerline goodness [0,1] 0.9116309982719659 Centerline is valid? [False, False] Translation: X:3.55, Y:0.48, Z:-0.19 [[ 0.96029707 -0.05923078 -0.27261923 3.55003149] [ 0.05160772 0.998052 -0.03505496 0.47632301] [ 0.2741645 0.01959392 0.96148318 -0.18893703] [ 0. 0. 0. 1. ]] SLAMing on 52.21800114499999 meters Centerline goodness [0,1] 0.9123416211631236 Centerline is valid? [False, False] Translation: X:3.55, Y:0.48, Z:-0.19 [[ 0.96031307 -0.0594555 -0.27251396 3.54971802] [ 0.05182127 0.99803819 -0.03513295 0.47542173] [ 0.27406819 0.01961661 0.96151018 -0.18887318] [ 0. 0. 0. 1. ]] SLAMing on 52.24800114499999 meters Centerline goodness [0,1] 0.914209756745979 Centerline is valid? [False, False] Translation: X:3.55, Y:0.48, Z:-0.19 [[ 0.96026835 -0.05930768 -0.27270366 3.55047192] [ 0.05163242 0.99804412 -0.03524227 0.47577387] [ 0.27426042 0.01976168 0.96145239 -0.18871063] [ 0. 0. 0. 1. ]] SLAMing on 52.27800114499999 meters Centerline goodness [0,1] 0.913652646941754 Centerline is valid? [False, False] Translation: X:3.55, Y:0.48, Z:-0.19 [[ 0.96020844 -0.05907535 -0.27296495 3.55154018] [ 0.05138861 0.99805711 -0.0352309 0.47657768] [ 0.27451588 0.01980172 0.96137866 -0.18878567] [ 0. 0. 0. 1. ]] SLAMing on 52.30800114499999 meters Centerline goodness [0,1] 0.9117662682602922 Centerline is valid? [False, False] Translation: X:3.55, Y:0.48, Z:-0.19 [[ 0.96017338 -0.05879901 -0.27314786 3.55265704] [ 0.0511424 0.9980753 -0.03507355 0.47603512] [ 0.27468442 0.01970726 0.96133246 -0.18909085] [ 0. 0. 0. 1. ]] SLAMing on 52.33800114499999 meters Centerline goodness [0,1] 0.9117662682602922 Centerline is valid? [False, False] Translation: X:3.55, Y:0.48, Z:-0.19 [[ 0.96017338 -0.05879901 -0.27314786 3.55265704] [ 0.0511424 0.9980753 -0.03507355 0.47603512] [ 0.27468442 0.01970726 0.96133246 -0.18909085] [ 0. 0. 0. 1. ]] SLAMing on 52.368001144999994 meters Centerline goodness [0,1] 0.9106976744186046 Centerline is valid? [False, False] Translation: X:3.55, Y:0.47, Z:-0.19 [[ 0.96017967 -0.05847881 -0.27319449 3.55359584] [ 0.0509225 0.99810047 -0.03467486 0.47469021] [ 0.2747033 0.01938235 0.96133367 -0.1897426 ] [ 0. 0. 0. 1. ]] SLAMing on 52.398001144999995 meters Centerline goodness [0,1] 0.9126790450928381 Centerline is valid? [False, False] Translation: X:3.55, Y:0.47, Z:-0.19 [[ 0.96013988 -0.05847047 -0.27333608 3.55404105] [ 0.05088235 0.99809905 -0.03477456 0.47444723] [ 0.27484976 0.01948046 0.96128982 -0.18958915] [ 0. 0. 0. 1. ]] SLAMing on 52.42800114499999 meters Centerline goodness [0,1] 0.9123942391852107 Centerline is valid? [False, False] Translation: X:3.55, Y:0.48, Z:-0.19 [[ 0.96009354 -0.05843806 -0.27350574 3.55443171] [ 0.05078018 0.99809632 -0.03500145 0.47502497] [ 0.2750305 0.019716 0.96123333 -0.18915179] [ 0. 0. 0. 1. ]] SLAMing on 52.45800114499999 meters Centerline goodness [0,1] 0.9129419258944687 Centerline is valid? [False, False] Translation: X:3.55, Y:0.48, Z:-0.19 [[ 0.96003783 -0.05847142 -0.27369411 3.55465544] [ 0.05074949 0.99809035 -0.03521571 0.4760026 ] [ 0.27523056 0.01991857 0.96117188 -0.18859292] [ 0. 0. 0. 1. ]] SLAMing on 52.48800114499999 meters Centerline goodness [0,1] 0.9147445255474452 Centerline is valid? [False, False] Translation: X:3.55, Y:0.48, Z:-0.19 [[ 0.96005448 -0.05869316 -0.27358821 3.55432845] [ 0.05094791 0.99807599 -0.03533584 0.47559046] [ 0.2751358 0.01998558 0.96119762 -0.18850767] [ 0. 0. 0. 1. ]] SLAMing on 52.51800114499999 meters Centerline goodness [0,1] 0.9134429015213871 Centerline is valid? [False, False] Translation: X:3.55, Y:0.47, Z:-0.19 [[ 0.96007223 -0.05892123 -0.27347687 3.55389798] [ 0.05117416 0.99806278 -0.03538215 0.47480852] [ 0.27503184 0.01997447 0.9612276 -0.18846404] [ 0. 0. 0. 1. ]] SLAMing on 52.54800114499999 meters Centerline goodness [0,1] 0.9151953767032501 Centerline is valid? [False, False] Translation: X:3.55, Y:0.47, Z:-0.19 [[ 0.96008962 -0.05915923 -0.27336441 3.55324115] [ 0.0513911 0.99804755 -0.03549718 0.47428097] [ 0.27493067 0.02003198 0.96125535 -0.18816916] [ 0. 0. 0. 1. ]] SLAMing on 52.578001144999995 meters Centerline goodness [0,1] 0.9155993954339352 Centerline is valid? [False, False] Translation: X:3.55, Y:0.47, Z:-0.19 [[ 0.9600742 -0.05945936 -0.27335346 3.55282409] [ 0.05158795 0.99802296 -0.03590058 0.47447588] [ 0.27494765 0.02036548 0.96124348 -0.18751594] [ 0. 0. 0. 1. ]] SLAMing on 52.60800114499999 meters Centerline goodness [0,1] 0.9147104022044407 Centerline is valid? [False, False] Translation: X:3.55, Y:0.47, Z:-0.19 [[ 0.9600619 -0.05932557 -0.27342574 3.55360337] [ 0.05147312 0.99803214 -0.03581026 0.4746049 ] [ 0.27501214 0.02030599 0.9612263 -0.18792255] [ 0. 0. 0. 1. ]] SLAMing on 52.63800114499999 meters Centerline goodness [0,1] 0.913874456579366 Centerline is valid? [False, False] Translation: X:3.55, Y:0.47, Z:-0.19 [[ 0.96003103 -0.05900238 -0.273604 3.55478066] [ 0.05116269 0.99805179 -0.0357073 0.47455166] [ 0.27517777 0.0202818 0.9611794 -0.18821317] [ 0. 0. 0. 1. ]] SLAMing on 52.66800114499999 meters Centerline goodness [0,1] 0.9138749635288188 Centerline is valid? [False, False] Translation: X:3.56, Y:0.48, Z:-0.19 [[ 0.9599694 -0.05836659 -0.27395636 3.55704054] [ 0.05057445 0.99809178 -0.03542642 0.47515664] [ 0.2755013 0.02015308 0.96108943 -0.18891799] [ 0. 0. 0. 1. ]] SLAMing on 52.69800114499999 meters Centerline goodness [0,1] 0.913776147569306 Centerline is valid? [False, False] Translation: X:3.56, Y:0.48, Z:-0.19 [[ 0.95989821 -0.05806365 -0.27427002 3.55820076] [ 0.05024444 0.99810743 -0.03545488 0.47557437] [ 0.27580959 0.02025254 0.96099891 -0.18878531] [ 0. 0. 0. 1. ]] SLAMing on 52.72800114499999 meters Centerline goodness [0,1] 0.9135102019071972 Centerline is valid? [False, False] Translation: X:3.56, Y:0.48, Z:-0.19 [[ 0.95982421 -0.05807693 -0.27452607 3.55875015] [ 0.0501169 0.99809695 -0.03592733 0.47687378] [ 0.27609018 0.02072553 0.96090825 -0.18806633] [ 0. 0. 0. 1. ]] SLAMing on 52.758001144999994 meters Centerline goodness [0,1] 0.9134777151707747 Centerline is valid? [False, False] Translation: X:3.56, Y:0.48, Z:-0.19 [[ 0.9601036 -0.05450436 -0.27428151 3.55577119] [ 0.04729037 0.99834086 -0.03285047 0.4775117 ] [ 0.27561693 0.01856898 0.96108819 -0.18695094] [ 0. 0. 0. 1. ]] SLAMing on 52.78800114499999 meters Centerline goodness [0,1] 0.9159003421727973 Centerline is valid? [False, False] Translation: X:3.56, Y:0.48, Z:-0.19 [[ 0.9600875 -0.05480527 -0.27427793 3.55532653] [ 0.04743897 0.99831478 -0.03342356 0.47870469] [ 0.2756475 0.01907808 0.96106945 -0.18617535] [ 0. 0. 0. 1. ]] SLAMing on 52.81800114499999 meters Centerline goodness [0,1] 0.9167734700416533 Centerline is valid? [False, False] Translation: X:3.56, Y:0.48, Z:-0.19 [[ 0.96003756 -0.05487772 -0.27443819 3.5554494 ] [ 0.04740878 0.99830423 -0.03377974 0.47915076] [ 0.27582656 0.01941904 0.96101124 -0.18549115] [ 0. 0. 0. 1. ]] SLAMing on 52.84800114499999 meters Centerline goodness [0,1] 0.913856275574336 Centerline is valid? [False, False] Translation: X:3.56, Y:0.48, Z:-0.18 [[ 0.96003397 -0.05492274 -0.27444173 3.5553922 ] [ 0.04735443 0.99829483 -0.03413195 0.47933721] [ 0.27584838 0.01977181 0.96099779 -0.18493946] [ 0. 0. 0. 1. ]] SLAMing on 52.87800114499999 meters Centerline goodness [0,1] 0.9136000857035728 Centerline is valid? [False, False] Translation: X:3.56, Y:0.48, Z:-0.19 [[ 0.96001845 -0.05452359 -0.27457561 3.55673428] [ 0.04697902 0.99831762 -0.03398387 0.47929487] [ 0.27596659 0.01972585 0.96096479 -0.18535648] [ 0. 0. 0. 1. ]] SLAMing on 52.90800114499999 meters Centerline goodness [0,1] 0.9163475699558173 Centerline is valid? [False, False] Translation: X:3.56, Y:0.48, Z:-0.19 [[ 0.95998828 -0.05426561 -0.27473212 3.55781628] [ 0.04676781 0.99833467 -0.0337736 0.47871865] [ 0.27610734 0.01957364 0.96092747 -0.18578294] [ 0. 0. 0. 1. ]] SLAMing on 52.938001144999994 meters Centerline goodness [0,1] 0.9166287868659589 Centerline is valid? [False, False] Translation: X:3.56, Y:0.48, Z:-0.19 [[ 0.95996957 -0.05408701 -0.2748327 3.55876142] [ 0.04663939 0.99834765 -0.03356679 0.47814696] [ 0.27619411 0.01940507 0.96090596 -0.18626833] [ 0. 0. 0. 1. ]] SLAMing on 52.96800114499999 meters Centerline goodness [0,1] 0.9158459680665504 Centerline is valid? [False, False] Translation: X:3.56, Y:0.48, Z:-0.19 [[ 0.9599619 -0.05438218 -0.27480126 3.55832768] [ 0.04689392 0.9983295 -0.03375151 0.47780455] [ 0.27617769 0.01951366 0.96090848 -0.18595202] [ 0. 0. 0. 1. ]] SLAMing on 52.99800114499999 meters Centerline goodness [0,1] 0.9134396355353075 Centerline is valid? [False, False] Translation: X:3.56, Y:0.48, Z:-0.19 [[ 0.96005618 -0.05512878 -0.27432271 3.55614216] [ 0.04759786 0.99828642 -0.03403909 0.4768364 ] [ 0.27572917 0.01962226 0.96103506 -0.18530828] [ 0. 0. 0. 1. ]] SLAMing on 53.02800114499999 meters Centerline goodness [0,1] 0.9156481827400331 Centerline is valid? [False, False] Translation: X:3.56, Y:0.48, Z:-0.18 [[ 0.96003466 -0.05523941 -0.27437577 3.55607848] [ 0.0476637 0.99827756 -0.03420658 0.47657336] [ 0.27579272 0.01976174 0.96101397 -0.18485378] [ 0. 0. 0. 1. ]] SLAMing on 53.05800114499999 meters Centerline goodness [0,1] 0.9162995594713657 Centerline is valid? [False, False] Translation: X:3.56, Y:0.48, Z:-0.18 [[ 0.95996622 -0.05504682 -0.27465379 3.55657869] [ 0.04745981 0.99828755 -0.03419849 0.47641914] [ 0.27606597 0.01979438 0.96093484 -0.18432565] [ 0. 0. 0. 1. ]] SLAMing on 53.08800114499999 meters Centerline goodness [0,1] 0.9199083448790366 Centerline is valid? [False, False] Translation: X:3.56, Y:0.48, Z:-0.18 [[ 0.95990798 -0.05457297 -0.27495174 3.5569681 ] [ 0.0469151 0.99830786 -0.03435675 0.47678373] [ 0.27636143 0.02007993 0.96084398 -0.18307518] [ 0. 0. 0. 1. ]] SLAMing on 53.118001144999994 meters Centerline goodness [0,1] 0.9222228139311961 Centerline is valid? [False, False] Translation: X:3.56, Y:0.48, Z:-0.18 [[ 0.95984621 -0.05421195 -0.27523864 3.55798277] [ 0.04652491 0.99832511 -0.03438615 0.47691409] [ 0.27664179 0.02019996 0.96076078 -0.18274149] [ 0. 0. 0. 1. ]] SLAMing on 53.14800114499999 meters Centerline goodness [0,1] 0.9208991397448532 Centerline is valid? [False, False] Translation: X:3.56, Y:0.48, Z:-0.18 [[ 0.95973495 -0.05357086 -0.27575167 3.56011338] [ 0.04589821 0.99836024 -0.03420794 0.47713826] [ 0.27713205 0.02017405 0.96062003 -0.18283759] [ 0. 0. 0. 1. ]] SLAMing on 53.17800114499999 meters Centerline goodness [0,1] 0.9251410925354062 Centerline is valid? [False, False] Translation: X:3.56, Y:0.48, Z:-0.18 [[ 0.95965189 -0.05213836 -0.27631474 3.56370137] [ 0.04464113 0.99844599 -0.0333583 0.4763255 ] [ 0.27762459 0.01967735 0.9604881 -0.18398912] [ 0. 0. 0. 1. ]] SLAMing on 53.20800114499999 meters Centerline goodness [0,1] 0.9237008669751609 Centerline is valid? [False, False] Translation: X:3.57, Y:0.48, Z:-0.18 [[ 0.95961286 -0.05158668 -0.27655376 3.5653733 ] [ 0.04417192 0.99847948 -0.03297838 0.47534118] [ 0.2778345 0.01943056 0.96043243 -0.1845721 ] [ 0. 0. 0. 1. ]] SLAMing on 53.23800114499999 meters Centerline goodness [0,1] 0.9258904583300083 Centerline is valid? [False, False] Translation: X:3.57, Y:0.47, Z:-0.18 [[ 0.95958077 -0.0513077 -0.27671695 3.56641564] [ 0.04392831 0.99849593 -0.03280526 0.47453981] [ 0.27798391 0.01932359 0.96039135 -0.18483439] [ 0. 0. 0. 1. ]] SLAMing on 53.26800114499999 meters Centerline goodness [0,1] 0.9241536544630312 Centerline is valid? [False, False] Translation: X:3.57, Y:0.47, Z:-0.18 [[ 0.95951657 -0.05134692 -0.27693221 3.5669276 ] [ 0.04393832 0.9984925 -0.03289602 0.47410614] [ 0.27820385 0.01939634 0.96032619 -0.18458407] [ 0. 0. 0. 1. ]] SLAMing on 53.29800114499999 meters Centerline goodness [0,1] 0.9224625182433329 Centerline is valid? [False, False] Translation: X:3.57, Y:0.47, Z:-0.18 [[ 0.95949819 -0.05150785 -0.27696599 3.56692583] [ 0.04410638 0.99848524 -0.03289153 0.47362143] [ 0.27824063 0.0193434 0.96031661 -0.18458164] [ 0. 0. 0. 1. ]] SLAMing on 53.328001144999995 meters Centerline goodness [0,1] 0.9259171222565565 Centerline is valid? [False, False] Translation: X:3.57, Y:0.47, Z:-0.18 [[ 0.95947702 -0.0519827 -0.27695062 3.56621724] [ 0.04461699 0.99846439 -0.03283581 0.47093631] [ 0.27823222 0.0191485 0.96032295 -0.18424872] [ 0. 0. 0. 1. ]] SLAMing on 53.35800114499999 meters Centerline goodness [0,1] 0.9251860452842139 Centerline is valid? [False, False] Translation: X:3.57, Y:0.47, Z:-0.18 [[ 0.95948019 -0.05221679 -0.2768956 3.56569716] [ 0.0448684 0.99845388 -0.03281279 0.46918755] [ 0.27818087 0.01905936 0.9603396 -0.18395383] [ 0. 0. 0. 1. ]] SLAMing on 53.38800114499999 meters Centerline goodness [0,1] 0.9237485906075464 Centerline is valid? [False, False] Translation: X:3.56, Y:0.47, Z:-0.18 [[ 0.95947812 -0.05268646 -0.27681378 3.56488038] [ 0.04537353 0.99843272 -0.03276201 0.46642024] [ 0.27810605 0.01887442 0.96036492 -0.18355872] [ 0. 0. 0. 1. ]] SLAMing on 53.41800114499999 meters Centerline goodness [0,1] 0.9220687490189923 Centerline is valid? [False, False] Translation: X:3.57, Y:0.47, Z:-0.18 [[ 0.95942464 -0.05267126 -0.27700198 3.56535706] [ 0.04539132 0.99843614 -0.03263275 0.4651308 ] [ 0.2782876 0.01873518 0.96031505 -0.18348182] [ 0. 0. 0. 1. ]] SLAMing on 53.44800114499999 meters Centerline goodness [0,1] 0.9245676726049192 Centerline is valid? [False, False] Translation: X:3.57, Y:0.46, Z:-0.18 [[ 0.9594018 -0.05251765 -0.27711025 3.56605417] [ 0.04530683 0.99844869 -0.03236518 0.46312606] [ 0.27838011 0.01849622 0.96029287 -0.18371263] [ 0. 0. 0. 1. ]] SLAMing on 53.47800114499999 meters Centerline goodness [0,1] 0.92288447004248 Centerline is valid? [False, False] Translation: X:3.57, Y:0.46, Z:-0.18 [[ 0.95940627 -0.05223737 -0.27714774 3.56693393] [ 0.04515474 0.99847115 -0.03188106 0.46082089] [ 0.27838941 0.01807235 0.96029825 -0.18438512] [ 0. 0. 0. 1. ]] SLAMing on 53.508001144999994 meters Centerline goodness [0,1] 0.926439342903042 Centerline is valid? [False, False] Translation: X:3.57, Y:0.46, Z:-0.18 [[ 0.95935619 -0.05186906 -0.27739018 3.56792284] [ 0.04490201 0.99849734 -0.03141457 0.45779071] [ 0.2786028 0.01768239 0.96024362 -0.1844908 ] [ 0. 0. 0. 1. ]] SLAMing on 53.53800114499999 meters Centerline goodness [0,1] 0.9230469763820399 Centerline is valid? [False, False] Translation: X:3.57, Y:0.46, Z:-0.18 [[ 0.95930858 -0.05178464 -0.27757054 3.56835156] [ 0.04482573 0.99850239 -0.03136275 0.45725456] [ 0.27877895 0.01764425 0.9601932 -0.18429238] [ 0. 0. 0. 1. ]] SLAMing on 53.56800114499999 meters Centerline goodness [0,1] 0.9247197701208936 Centerline is valid? [False, False] Translation: X:3.57, Y:0.46, Z:-0.18 [[ 0.95926855 -0.0519287 -0.27768193 3.5680761 ] [ 0.04490446 0.99849136 -0.0316006 0.45739433] [ 0.27890399 0.0178443 0.96015319 -0.18355029] [ 0. 0. 0. 1. ]] SLAMing on 53.59800114499999 meters Centerline goodness [0,1] 0.9219470493756801 Centerline is valid? [False, False] Translation: X:3.57, Y:0.46, Z:-0.18 [[ 0.95921301 -0.05205236 -0.27785059 3.56771223] [ 0.04494602 0.99848031 -0.03188928 0.45725884] [ 0.27908826 0.01810034 0.96009485 -0.1824626 ] [ 0. 0. 0. 1. ]] SLAMing on 53.62800114499999 meters Centerline goodness [0,1] 0.9211728570322381 Centerline is valid? [False, False] Translation: X:3.57, Y:0.45, Z:-0.18 [[ 0.95927911 -0.05271414 -0.27749739 3.56537188] [ 0.04556571 0.99844382 -0.0321512 0.45398595] [ 0.27876038 0.01819761 0.96018826 -0.1811398 ] [ 0. 0. 0. 1. ]] SLAMing on 53.65800114499999 meters Centerline goodness [0,1] 0.9214810250089868 Centerline is valid? [False, False] Translation: X:3.57, Y:0.45, Z:-0.18 [[ 0.95930009 -0.05269228 -0.27742901 3.56512437] [ 0.04562104 0.99844977 -0.0318868 0.45104038] [ 0.27867912 0.01793241 0.96021684 -0.18102151] [ 0. 0. 0. 1. ]] SLAMing on 53.688001144999994 meters Centerline goodness [0,1] 0.9233255521637637 Centerline is valid? [False, False] Translation: X:3.56, Y:0.45, Z:-0.18 [[ 0.95932362 -0.05300592 -0.27728787 3.56415849] [ 0.04591022 0.99843211 -0.03202468 0.44929579] [ 0.27855061 0.01799168 0.96025302 -0.18044634] [ 0. 0. 0. 1. ]] SLAMing on 53.71800114499999 meters Centerline goodness [0,1] 0.9201424472227916 Centerline is valid? [False, False] Translation: X:3.56, Y:0.45, Z:-0.18 [[ 0.95931032 -0.052718 -0.27738876 3.56419459] [ 0.04567111 0.99844996 -0.03180918 0.44802034] [ 0.27863572 0.01784622 0.96023104 -0.17986611] [ 0. 0. 0. 1. ]] SLAMing on 53.74800114499999 meters Centerline goodness [0,1] 0.9205959146060513 Centerline is valid? [False, False] Translation: X:3.57, Y:0.45, Z:-0.18 [[ 0.95924565 -0.05228117 -0.27769489 3.56540674] [ 0.04530288 0.99847682 -0.03149121 0.44739573] [ 0.27891831 0.01762743 0.96015303 -0.18001316] [ 0. 0. 0. 1. ]] SLAMing on 53.77800114499999 meters Centerline goodness [0,1] 0.9204356607777465 Centerline is valid? [False, False] Translation: X:3.57, Y:0.45, Z:-0.18 [[ 0.95914088 -0.05172382 -0.27816079 3.56719144] [ 0.04480581 0.99850917 -0.03117488 0.44683479] [ 0.27935858 0.01743788 0.96002849 -0.18016625] [ 0. 0. 0. 1. ]] SLAMing on 53.80800114499999 meters Centerline goodness [0,1] 0.9205160960654062 Centerline is valid? [False, False] Translation: X:3.57, Y:0.45, Z:-0.18 [[ 0.95900806 -0.05090866 -0.27876846 3.56976006] [ 0.04412562 0.99855855 -0.03055743 0.445797 ] [ 0.27992227 0.01700399 0.95987207 -0.18071421] [ 0. 0. 0. 1. ]] SLAMing on 53.83800114499999 meters Centerline goodness [0,1] 0.9191993880673126 Centerline is valid? [False, False] Translation: X:3.57, Y:0.44, Z:-0.18 [[ 0.95889194 -0.04951669 -0.27941788 3.57351133] [ 0.04308116 0.99864681 -0.02913022 0.44204354] [ 0.28048221 0.01589508 0.95972761 -0.18228913] [ 0. 0. 0. 1. ]] SLAMing on 53.868001144999994 meters Centerline goodness [0,1] 0.9191215718170958 Centerline is valid? [False, False] Translation: X:3.57, Y:0.44, Z:-0.18 [[ 0.95884524 -0.04925591 -0.27962414 3.57440519] [ 0.04294362 0.99866634 -0.02865967 0.43992323] [ 0.28066288 0.01547212 0.9596817 -0.18260499] [ 0. 0. 0. 1. ]] SLAMing on 53.89800114499999 meters Centerline goodness [0,1] 0.9181440583527505 Centerline is valid? [False, False] Translation: X:3.57, Y:0.44, Z:-0.18 [[ 0.95881202 -0.04923967 -0.27974089 3.57457178] [ 0.04298492 0.99867045 -0.02845399 0.43836852] [ 0.28077002 0.01525739 0.95965379 -0.1824591 ] [ 0. 0. 0. 1. ]] SLAMing on 53.92800114499999 meters Centerline goodness [0,1] 0.9173928462863512 Centerline is valid? [False, False] Translation: X:3.57, Y:0.44, Z:-0.18 [[ 0.95876586 -0.04918707 -0.27990829 3.57475954] [ 0.04298276 0.99867592 -0.02826476 0.43681216] [ 0.28092793 0.01506805 0.95961057 -0.18217704] [ 0. 0. 0. 1. ]] SLAMing on 53.95800114499999 meters Centerline goodness [0,1] 0.9175872791162121 Centerline is valid? [False, False] Translation: X:3.58, Y:0.44, Z:-0.18 [[ 0.95869015 -0.04893745 -0.2802112 3.57540742] [ 0.0428026 0.9986918 -0.02797533 0.43539174] [ 0.28121367 0.0148259 0.95953065 -0.18194348] [ 0. 0. 0. 1. ]] SLAMing on 53.98800114499999 meters Centerline goodness [0,1] 0.9191942112296094 Centerline is valid? [False, False] Translation: X:3.58, Y:0.43, Z:-0.18 [[ 0.95859395 -0.04819724 -0.28066824 3.57726847] [ 0.04223611 0.9987359 -0.02725294 0.4326573 ] [ 0.28162697 0.01427017 0.95941785 -0.18223578] [ 0. 0. 0. 1. ]] SLAMing on 54.01800114499999 meters Centerline goodness [0,1] 0.9202606813949977 Centerline is valid? [False, False] Translation: X:3.58, Y:0.43, Z:-0.18 [[ 0.95849432 -0.04776994 -0.28108124 3.57890658] [ 0.04187077 0.99875925 -0.02695939 0.43176454] [ 0.28202034 0.01407133 0.95930523 -0.18246337] [ 0. 0. 0. 1. ]] SLAMing on 54.04800114499999 meters Centerline goodness [0,1] 0.9180500791119371 Centerline is valid? [False, False] Translation: X:3.58, Y:0.43, Z:-0.18 [[ 0.95840823 -0.04725798 -0.2814611 3.5807222 ] [ 0.04144872 0.99878752 -0.02656097 0.43066196] [ 0.28237506 0.01379005 0.95920496 -0.18290414] [ 0. 0. 0. 1. ]] SLAMing on 54.078001144999995 meters Centerline goodness [0,1] 0.9173897778000702 Centerline is valid? [False, False] Translation: X:3.58, Y:0.43, Z:-0.18 [[ 0.95830459 -0.0467391 -0.28190028 3.58253591] [ 0.04102026 0.99881586 -0.02615766 0.42917314] [ 0.28278905 0.01350338 0.95908707 -0.18316556] [ 0. 0. 0. 1. ]] SLAMing on 54.10800114499999 meters Centerline goodness [0,1] 0.9162159455128205 Centerline is valid? [False, False] Translation: X:3.58, Y:0.43, Z:-0.18 [[ 0.9582288 -0.04668367 -0.28216697 3.58347304] [ 0.04102978 0.99882175 -0.02591639 0.42730411] [ 0.28304438 0.01325658 0.95901519 -0.18330651] [ 0. 0. 0. 1. ]] SLAMing on 54.13800114499999 meters Centerline goodness [0,1] 0.9161 Centerline is valid? [False, False] Translation: X:3.58, Y:0.43, Z:-0.18 [[ 0.95816616 -0.04662869 -0.2823887 3.5843068 ] [ 0.04103324 0.99882721 -0.02569984 0.42622528] [ 0.28325587 0.01303739 0.95895575 -0.18351028] [ 0. 0. 0. 1. ]] SLAMing on 54.16800114499999 meters Centerline goodness [0,1] 0.9171771502564868 Centerline is valid? [False, False] Translation: X:3.59, Y:0.43, Z:-0.18 [[ 0.95778806 -0.05092482 -0.28292877 3.58629053] [ 0.04429988 0.99857466 -0.02976844 0.42744167] [ 0.28404145 0.01597814 0.95867886 -0.18269646] [ 0. 0. 0. 1. ]] SLAMing on 54.19800114499999 meters Centerline goodness [0,1] 0.9170433659530078 Centerline is valid? [False, False] Translation: X:3.59, Y:0.43, Z:-0.18 [[ 0.95746196 -0.05554342 -0.28316343 3.58724146] [ 0.04786026 0.99827573 -0.03398487 0.42822741] [ 0.28456282 0.01898694 0.95846935 -0.18175881] [ 0. 0. 0. 1. ]] SLAMing on 54.22800114499999 meters Centerline goodness [0,1] 0.9141588309722877 Centerline is valid? [False, False] Translation: X:3.59, Y:0.43, Z:-0.18 [[ 0.95721639 -0.06077391 -0.28291928 3.58612695] [ 0.0520914 0.99791456 -0.03811841 0.42653452] [ 0.28464587 0.02174991 0.95838597 -0.18050828] [ 0. 0. 0. 1. ]] SLAMing on 54.258001144999994 meters Centerline goodness [0,1] 0.9141588309722877 Centerline is valid? [False, False] Translation: X:3.59, Y:0.43, Z:-0.18 [[ 0.95721639 -0.06077391 -0.28291928 3.58612695] [ 0.0520914 0.99791456 -0.03811841 0.42653452] [ 0.28464587 0.02174991 0.95838597 -0.18050828] [ 0. 0. 0. 1. ]] SLAMing on 54.28800114499999 meters Centerline goodness [0,1] 0.9126275983093997 Centerline is valid? [False, False] Translation: X:3.59, Y:0.42, Z:-0.18 [[ 0.9571963 -0.0608158 -0.28297824 3.58654429] [ 0.05226571 0.99792233 -0.03767391 0.42413109] [ 0.28468147 0.02127126 0.95838614 -0.18095828] [ 0. 0. 0. 1. ]] SLAMing on 54.31800114499999 meters Centerline goodness [0,1] 0.9127382887542486 Centerline is valid? [False, False] Translation: X:3.59, Y:0.42, Z:-0.18 [[ 0.95715776 -0.06082848 -0.28310584 3.58707518] [ 0.05239751 0.99793077 -0.03726495 0.42196582] [ 0.2847868 0.0208344 0.95836444 -0.18132545] [ 0. 0. 0. 1. ]] SLAMing on 54.34800114499999 meters Centerline goodness [0,1] 0.9119982246769899 Centerline is valid? [False, False] Translation: X:3.59, Y:0.42, Z:-0.18 [[ 0.95714458 -0.06086364 -0.28314285 3.58763146] [ 0.05256885 0.99793868 -0.03680896 0.42050345] [ 0.28479953 0.02034701 0.95837113 -0.18204527] [ 0. 0. 0. 1. ]] SLAMing on 54.37800114499999 meters Centerline goodness [0,1] 0.9129214174895954 Centerline is valid? [False, False] Translation: X:3.59, Y:0.42, Z:-0.18 [[ 0.95706281 -0.0607859 -0.28343579 3.58851526] [ 0.05247905 0.99794313 -0.03681654 0.42102695] [ 0.28509073 0.02036131 0.95828425 -0.18199754] [ 0. 0. 0. 1. ]] SLAMing on 54.40800114499999 meters Centerline goodness [0,1] 0.9133522377018863 Centerline is valid? [False, False] Translation: X:3.59, Y:0.42, Z:-0.18 [[ 0.95699708 -0.06051715 -0.2837151 3.58979048] [ 0.05227343 0.9979639 -0.03654514 0.42091362] [ 0.28534904 0.02014283 0.95821198 -0.18242378] [ 0. 0. 0. 1. ]] SLAMing on 54.438001144999994 meters Centerline goodness [0,1] 0.9116837136113296 Centerline is valid? [False, False] Translation: X:3.59, Y:0.42, Z:-0.18 [[ 0.95698077 -0.06064317 -0.28374322 3.59020702] [ 0.05247486 0.99796198 -0.03630798 0.41810509] [ 0.28536678 0.01985665 0.95821267 -0.18281827] [ 0. 0. 0. 1. ]] SLAMing on 54.46800114499999 meters Centerline goodness [0,1] 0.9105001103725687 Centerline is valid? [False, False] Translation: X:3.59, Y:0.42, Z:-0.18 [[ 0.95696603 -0.06074123 -0.28377194 3.59030578] [ 0.05259908 0.9979582 -0.03623219 0.4166138 ] [ 0.28539332 0.01974684 0.95820703 -0.18284373] [ 0. 0. 0. 1. ]] SLAMing on 54.49800114499999 meters Centerline goodness [0,1] 0.9096224891737822 Centerline is valid? [False, False] Translation: X:3.59, Y:0.42, Z:-0.18 [[ 0.9568827 -0.06057955 -0.28408734 3.5912101 ] [ 0.05248655 0.99797176 -0.03602136 0.41604354] [ 0.2856933 0.01955745 0.95812152 -0.18284582] [ 0. 0. 0. 1. ]] SLAMing on 54.52800114499999 meters Centerline goodness [0,1] 0.9103016059537798 Centerline is valid? [False, False] Translation: X:3.59, Y:0.42, Z:-0.18 [[ 0.95679613 -0.06067026 -0.28435944 3.59165321] [ 0.05253043 0.997964 -0.03617192 0.41651141] [ 0.28597504 0.01967163 0.95803513 -0.18247324] [ 0. 0. 0. 1. ]] SLAMing on 54.55800114499999 meters Centerline goodness [0,1] 0.909315826862308 Centerline is valid? [False, False] Translation: X:3.59, Y:0.42, Z:-0.18 [[ 0.95672321 -0.06045771 -0.28464989 3.59280662] [ 0.05233353 0.9979781 -0.03606806 0.41692388] [ 0.28625495 0.01961042 0.95795278 -0.18260329] [ 0. 0. 0. 1. ]] SLAMing on 54.58800114499999 meters Centerline goodness [0,1] 0.9064374739832023 Centerline is valid? [False, False] Translation: X:3.59, Y:0.42, Z:-0.18 [[ 0.95666406 -0.05983991 -0.28497904 3.59450409] [ 0.05176247 0.99801757 -0.03579907 0.41720591] [ 0.2865563 0.01949646 0.95786501 -0.1829195 ] [ 0. 0. 0. 1. ]] SLAMing on 54.618001144999994 meters Centerline goodness [0,1] 0.9105838967424709 Centerline is valid? [False, False] Translation: X:3.60, Y:0.42, Z:-0.18 [[ 0.95657023 -0.05934934 -0.28539631 3.59625596] [ 0.05127509 0.99804671 -0.03568786 0.41807032] [ 0.2869569 0.01950422 0.95774492 -0.18312302] [ 0. 0. 0. 1. ]] SLAMing on 54.64800114499999 meters Centerline goodness [0,1] 0.9140368098159509 Centerline is valid? [False, False] Translation: X:3.60, Y:0.42, Z:-0.18 [[ 0.95645758 -0.05876562 -0.28589421 3.59843602] [ 0.05069206 0.99808086 -0.03556572 0.41922205] [ 0.28743558 0.01952453 0.95760095 -0.18343226] [ 0. 0. 0. 1. ]] SLAMing on 54.67800114499999 meters Centerline goodness [0,1] 0.9175027048293498 Centerline is valid? [False, False] Translation: X:3.60, Y:0.42, Z:-0.18 [[ 0.95635819 -0.0571227 -0.28655891 3.60246271] [ 0.0491894 0.99818255 -0.03481377 0.4201881 ] [ 0.28802676 0.01919877 0.95742989 -0.1845641 ] [ 0. 0. 0. 1. ]] SLAMing on 54.70800114499999 meters Centerline goodness [0,1] 0.9132565125326242 Centerline is valid? [False, False] Translation: X:3.60, Y:0.42, Z:-0.18 [[ 0.9562672 -0.05674323 -0.28693771 3.60370332] [ 0.04875755 0.99820051 -0.0349061 0.42097138] [ 0.28840206 0.01938918 0.95731307 -0.18425807] [ 0. 0. 0. 1. ]] SLAMing on 54.73800114499999 meters Centerline goodness [0,1] 0.9132721078358762 Centerline is valid? [False, False] Translation: X:3.60, Y:0.42, Z:-0.18 [[ 0.95620911 -0.05665484 -0.28714868 3.60403298] [ 0.04856205 0.99819853 -0.03523369 0.42221503] [ 0.28862756 0.01974624 0.95723781 -0.18363327] [ 0. 0. 0. 1. ]] SLAMing on 54.76800114499999 meters Centerline goodness [0,1] 0.9105587004676348 Centerline is valid? [False, False] Translation: X:3.60, Y:0.42, Z:-0.18 [[ 0.95605353 -0.05661059 -0.28767498 3.6043555 ] [ 0.0482548 0.99818392 -0.03606017 0.42438392] [ 0.28919392 0.02059376 0.95704899 -0.18156868] [ 0. 0. 0. 1. ]] SLAMing on 54.79800114499999 meters Centerline goodness [0,1] 0.9087946274258061 Centerline is valid? [False, False] Translation: X:3.60, Y:0.42, Z:-0.18 [[ 0.95599518 -0.05658867 -0.28787314 3.60458113] [ 0.04817451 0.99818146 -0.03623529 0.42487712] [ 0.28940014 0.02077261 0.95698279 -0.1810856 ] [ 0. 0. 0. 1. ]] SLAMing on 54.828001144999995 meters Centerline goodness [0,1] 0.9080846016999407 Centerline is valid? [False, False] Translation: X:3.60, Y:0.43, Z:-0.18 [[ 0.95598069 -0.05670967 -0.28789744 3.60461431] [ 0.04823962 0.99817101 -0.03643588 0.42503225] [ 0.28943714 0.02094393 0.95696786 -0.1808866 ] [ 0. 0. 0. 1. ]] SLAMing on 54.85800114499999 meters Centerline goodness [0,1] 0.9059404717796715 Centerline is valid? [False, False] Translation: X:3.61, Y:0.42, Z:-0.18 [[ 0.95592634 -0.05652813 -0.28811354 3.60564471] [ 0.04810639 0.99818481 -0.03623347 0.42426456] [ 0.28963877 0.02077643 0.95691051 -0.18118908] [ 0. 0. 0. 1. ]] SLAMing on 54.88800114499999 meters Centerline goodness [0,1] 0.9078503337685051 Centerline is valid? [False, False] Translation: X:3.61, Y:0.42, Z:-0.18 [[ 0.95588171 -0.05622741 -0.28832037 3.60689499] [ 0.04788935 0.99820737 -0.03589778 0.42319311] [ 0.28982196 0.02050656 0.95686086 -0.18171281] [ 0. 0. 0. 1. ]] SLAMing on 54.91800114499999 meters Centerline goodness [0,1] 0.9060978608310795 Centerline is valid? [False, False] Translation: X:3.61, Y:0.42, Z:-0.18 [[ 0.95587561 -0.0563746 -0.28831183 3.60725477] [ 0.04804858 0.99820035 -0.03588018 0.42253177] [ 0.28981571 0.02044401 0.9568641 -0.18202929] [ 0. 0. 0. 1. ]] SLAMing on 54.94800114499999 meters Centerline goodness [0,1] 0.9067491619010057 Centerline is valid? [False, False] Translation: X:3.61, Y:0.42, Z:-0.18 [[ 0.95585151 -0.05668902 -0.2883301 3.60680383] [ 0.04827746 0.9981775 -0.03620718 0.4230004 ] [ 0.28985717 0.02068884 0.95684628 -0.18153173] [ 0. 0. 0. 1. ]] SLAMing on 54.97800114499999 meters Centerline goodness [0,1] 0.9068908638814348 Centerline is valid? [False, False] Translation: X:3.61, Y:0.42, Z:-0.18 [[ 0.95573877 -0.05656003 -0.28872888 3.60759485] [ 0.0481269 0.99818395 -0.03622975 0.4231017 ] [ 0.29025369 0.02073055 0.95672516 -0.18103935] [ 0. 0. 0. 1. ]] SLAMing on 55.008001144999994 meters Centerline goodness [0,1] 0.9053129154562016 Centerline is valid? [False, False] Translation: X:3.61, Y:0.42, Z:-0.18 [[ 0.95574172 -0.05706927 -0.2886189 3.60679306] [ 0.04862426 0.99815542 -0.03635163 0.42215642] [ 0.29016108 0.02070889 0.95675372 -0.18083994] [ 0. 0. 0. 1. ]] SLAMing on 55.03800114499999 meters Centerline goodness [0,1] 0.9063537746291787 Centerline is valid? [False, False] Translation: X:3.61, Y:0.42, Z:-0.18 [[ 0.95572437 -0.05724776 -0.28864099 3.60677412] [ 0.04885884 0.99814979 -0.03619118 0.42076984] [ 0.29017881 0.02048613 0.95675314 -0.18098577] [ 0. 0. 0. 1. ]] SLAMing on 55.06800114499999 meters Centerline goodness [0,1] 0.9031101946633282 Centerline is valid? [False, False] Translation: X:3.61, Y:0.42, Z:-0.18 [[ 0.95570258 -0.05767064 -0.28862895 3.60657303] [ 0.04930815 0.99812858 -0.0361668 0.41942574] [ 0.29017457 0.02033294 0.9567577 -0.18111687] [ 0. 0. 0. 1. ]] SLAMing on 55.09800114499999 meters Centerline goodness [0,1] 0.9043163000342952 Centerline is valid? [False, False] Translation: X:3.61, Y:0.42, Z:-0.18 [[ 0.95570252 -0.05807114 -0.28854883 3.60625733] [ 0.04975751 0.99810978 -0.03607017 0.4178879 ] [ 0.29009805 0.02011488 0.95678551 -0.18135561] [ 0. 0. 0. 1. ]] SLAMing on 55.12800114499999 meters Centerline goodness [0,1] 0.8976439534656369 Centerline is valid? [False, False] Translation: X:3.61, Y:0.42, Z:-0.18 [[ 0.95535919 -0.06330737 -0.28858446 3.60682224] [ 0.05397799 0.99773338 -0.04018063 0.41847754] [ 0.29047408 0.02280973 0.95661096 -0.18117553] [ 0. 0. 0. 1. ]] SLAMing on 55.15800114499999 meters Centerline goodness [0,1] 0.8942978391297985 Centerline is valid? [False, False] Translation: X:3.61, Y:0.42, Z:-0.18 [[ 0.95532711 -0.06343971 -0.28866159 3.60753632] [ 0.05425925 0.99773723 -0.03970336 0.41686188] [ 0.29052718 0.02226713 0.95660762 -0.18204235] [ 0. 0. 0. 1. ]] SLAMing on 55.188001144999994 meters Centerline goodness [0,1] 0.8905251865216756 Centerline is valid? [False, False] Translation: X:3.61, Y:0.42, Z:-0.18 [[ 0.95532333 -0.06370351 -0.28861601 3.6075474 ] [ 0.05464352 0.9977303 -0.03934882 0.41500019] [ 0.2904676 0.02181985 0.95663602 -0.18263616] [ 0. 0. 0. 1. ]] SLAMing on 55.21800114499999 meters Centerline goodness [0,1] 0.884460596599917 Centerline is valid? [False, False] Translation: X:3.61, Y:0.41, Z:-0.18 [[ 0.95532927 -0.06398188 -0.28853475 3.60756331] [ 0.05499351 0.99771851 -0.03915991 0.41383121] [ 0.29038199 0.02154307 0.95666828 -0.18318352] [ 0. 0. 0. 1. ]] SLAMing on 55.24800114499999 meters Centerline goodness [0,1] 0.8868529769137302 Centerline is valid? [False, False] Translation: X:3.61, Y:0.41, Z:-0.18 [[ 0.95522023 -0.06428277 -0.28882875 3.60847143] [ 0.05534625 0.99770485 -0.03901056 0.41356351] [ 0.29067355 0.02127809 0.95658566 -0.18364018] [ 0. 0. 0. 1. ]] SLAMing on 55.27800114499999 meters Centerline goodness [0,1] 0.8835306152272395 Centerline is valid? [False, False] Translation: X:3.61, Y:0.41, Z:-0.18 [[ 0.95514051 -0.0644026 -0.28906559 3.60905846] [ 0.05544267 0.9976965 -0.03908701 0.41379582] [ 0.29091703 0.02130702 0.956511 -0.1836139 ] [ 0. 0. 0. 1. ]] SLAMing on 55.30800114499999 meters Centerline goodness [0,1] 0.8847903841942626 Centerline is valid? [False, False] Translation: X:3.61, Y:0.41, Z:-0.18 [[ 0.95511252 -0.06444692 -0.28914819 3.60972946] [ 0.05550721 0.99769551 -0.03902074 0.41379506] [ 0.29099662 0.02121939 0.95648874 -0.18407312] [ 0. 0. 0. 1. ]] SLAMing on 55.33800114499999 meters Centerline goodness [0,1] 0.8804007820136852 Centerline is valid? [False, False] Translation: X:3.61, Y:0.42, Z:-0.18 [[ 0.95505521 -0.06487018 -0.28924281 3.60962055] [ 0.05576165 0.9976573 -0.0396302 0.41593709] [ 0.29113602 0.02172037 0.95643507 -0.18358645] [ 0. 0. 0. 1. ]] SLAMing on 55.368001144999994 meters Centerline goodness [0,1] 0.8766784279133588 Centerline is valid? [False, False] Translation: X:3.61, Y:0.42, Z:-0.18 [[ 0.95494481 -0.06497822 -0.28958289 3.61027874] [ 0.05574994 0.99764269 -0.04001249 0.41802538] [ 0.29150019 0.02206549 0.95631624 -0.18314543] [ 0. 0. 0. 1. ]] SLAMing on 55.39800114499999 meters Centerline goodness [0,1] 0.8752666029271163 Centerline is valid? [False, False] Translation: X:3.61, Y:0.42, Z:-0.18 [[ 0.95491092 -0.06518233 -0.28964874 3.61057339] [ 0.05586142 0.99762323 -0.040341 0.41940526] [ 0.29158984 0.02234187 0.95628249 -0.18314702] [ 0. 0. 0. 1. ]] SLAMing on 55.42800114499999 meters Centerline goodness [0,1] 0.8764828687216014 Centerline is valid? [False, False] Translation: X:3.61, Y:0.42, Z:-0.18 [[ 0.95485828 -0.0650767 -0.28984597 3.61174771] [ 0.05576929 0.99763143 -0.04026548 0.42009178] [ 0.29177979 0.02228332 0.95622592 -0.18365259] [ 0. 0. 0. 1. ]] SLAMing on 55.45800114499999 meters Centerline goodness [0,1] 0.8740354174910961 Centerline is valid? [False, False] Translation: X:3.61, Y:0.42, Z:-0.18 [[ 0.95474507 -0.0651683 -0.29019812 3.61342973] [ 0.05571388 0.99761559 -0.04073204 0.42397677] [ 0.2921606 0.02272065 0.95609934 -0.18408588] [ 0. 0. 0. 1. ]] SLAMing on 55.48800114499999 meters Centerline goodness [0,1] 0.8709525462389052 Centerline is valid? [False, False] Translation: X:3.61, Y:0.43, Z:-0.18 [[ 0.95465641 -0.06502683 -0.29052135 3.61477781] [ 0.05552398 0.99762163 -0.04084329 0.42585935] [ 0.29248629 0.0228604 0.95599643 -0.18430674] [ 0. 0. 0. 1. ]] SLAMing on 55.51800114499999 meters Centerline goodness [0,1] 0.8681362327474929 Centerline is valid? [False, False] Translation: X:3.62, Y:0.43, Z:-0.18 [[ 0.9546164 -0.06522675 -0.29060799 3.61528534] [ 0.05563055 0.99760223 -0.04117066 0.42729746] [ 0.2925966 0.02313551 0.95595605 -0.18443515] [ 0. 0. 0. 1. ]] SLAMing on 55.54800114499999 meters Centerline goodness [0,1] 0.8658899355478433 Centerline is valid? [False, False] Translation: X:3.62, Y:0.43, Z:-0.18 [[ 0.95460369 -0.06534852 -0.29062239 3.61578952] [ 0.05570283 0.99759082 -0.04134901 0.42814609] [ 0.29262432 0.02328343 0.95594398 -0.18476551] [ 0. 0. 0. 1. ]] SLAMing on 55.57800114499999 meters Centerline goodness [0,1] 0.8709138927646003 Centerline is valid? [False, False] Translation: X:3.62, Y:0.43, Z:-0.19 [[ 0.95457767 -0.065533 -0.29066631 3.61639465] [ 0.05580725 0.99757313 -0.04163403 0.42949974] [ 0.29268931 0.02352163 0.95591825 -0.18510471] [ 0. 0. 0. 1. ]] SLAMing on 55.60800114499999 meters Centerline goodness [0,1] 0.8691353092461734 Centerline is valid? [False, False] Translation: X:3.62, Y:0.43, Z:-0.18 [[ 0.95444511 -0.06573949 -0.29105473 3.61741275] [ 0.05579484 0.99754387 -0.04234568 0.43388645] [ 0.29312365 0.02417727 0.95576879 -0.1846781 ] [ 0. 0. 0. 1. ]] SLAMing on 55.63800114499999 meters Centerline goodness [0,1] 0.8636784311763676 Centerline is valid? [False, False] Translation: X:3.62, Y:0.44, Z:-0.18 [[ 0.95439137 -0.06579936 -0.29121738 3.61749576] [ 0.05569504 0.99752745 -0.04286077 0.43641573] [ 0.29331754 0.02468658 0.95569629 -0.18396047] [ 0. 0. 0. 1. ]] SLAMing on 55.66800114499999 meters Centerline goodness [0,1] 0.8649218867734968 Centerline is valid? [False, False] Translation: X:3.62, Y:0.44, Z:-0.18 [[ 0.95466878 -0.06151597 -0.29124441 3.61650479] [ 0.05227518 0.9978547 -0.03941198 0.43734716] [ 0.29304407 0.02240053 0.95583649 -0.18382806] [ 0. 0. 0. 1. ]] SLAMing on 55.69800114499999 meters Centerline goodness [0,1] 0.8651244656776464 Centerline is valid? [False, False] Translation: X:3.62, Y:0.44, Z:-0.18 [[ 0.95462852 -0.06125914 -0.29143046 3.61762157] [ 0.05201273 0.99786977 -0.03937755 0.43778857] [ 0.29322188 0.02243284 0.9557812 -0.18411787] [ 0. 0. 0. 1. ]] SLAMing on 55.72800114499999 meters Centerline goodness [0,1] 0.8689714256916796 Centerline is valid? [False, False] Translation: X:3.62, Y:0.44, Z:-0.18 [[ 0.95454825 -0.0609636 -0.29175518 3.61915188] [ 0.05172238 0.99788828 -0.039291 0.43847055] [ 0.2935344 0.02241489 0.95568569 -0.18447957] [ 0. 0. 0. 1. ]] SLAMing on 55.758001144999994 meters Centerline goodness [0,1] 0.8683269540692989 Centerline is valid? [False, False] Translation: X:3.62, Y:0.44, Z:-0.18 [[ 0.95447243 -0.06069706 -0.29205863 3.62056667] [ 0.05143952 0.99790331 -0.03928046 0.43989839] [ 0.29383048 0.02246876 0.95559343 -0.18471852] [ 0. 0. 0. 1. ]] SLAMing on 55.78800114499999 meters Centerline goodness [0,1] 0.8718279569892473 Centerline is valid? [False, False] Translation: X:3.62, Y:0.44, Z:-0.18 [[ 0.95466883 -0.05638908 -0.29228018 3.62026734] [ 0.04803268 0.99820779 -0.03569422 0.44137272] [ 0.29376912 0.02003716 0.95566637 -0.18483646] [ 0. 0. 0. 1. ]] SLAMing on 55.81800114499999 meters Centerline goodness [0,1] 0.8728505752965381 Centerline is valid? [False, False] Translation: X:3.62, Y:0.44, Z:-0.18 [[ 0.95458931 -0.05635156 -0.292547 3.62111049] [ 0.04788493 0.9982029 -0.03602789 0.44305883] [ 0.2940515 0.02038324 0.95557221 -0.18455651] [ 0. 0. 0. 1. ]] SLAMing on 55.84800114499999 meters Centerline goodness [0,1] 0.8731193707979196 Centerline is valid? [False, False] Translation: X:3.62, Y:0.44, Z:-0.18 [[ 0.95449013 -0.05605341 -0.29292765 3.62253686] [ 0.04751875 0.99821501 -0.0361768 0.44411979] [ 0.29443261 0.02061084 0.95544996 -0.18437975] [ 0. 0. 0. 1. ]] SLAMing on 55.87800114499999 meters Centerline goodness [0,1] 0.8727660980756031 Centerline is valid? [False, False] Translation: X:3.62, Y:0.45, Z:-0.18 [[ 0.95442461 -0.05573869 -0.29320105 3.6237931 ] [ 0.04715487 0.99822891 -0.03626933 0.44513512] [ 0.29470337 0.02079049 0.95536259 -0.18442315] [ 0. 0. 0. 1. ]] SLAMing on 55.90800114499999 meters Centerline goodness [0,1] 0.8741656050955414 Centerline is valid? [False, False] Translation: X:3.62, Y:0.45, Z:-0.18 [[ 0.95435378 -0.05548137 -0.29348027 3.62494608] [ 0.04680276 0.99823644 -0.03651739 0.44643913] [ 0.29498874 0.02111482 0.9552674 -0.18424919] [ 0. 0. 0. 1. ]] SLAMing on 55.938001144999994 meters Centerline goodness [0,1] 0.8755435060616912 Centerline is valid? [False, False] Translation: X:3.63, Y:0.45, Z:-0.18 [[ 0.95428407 -0.05455685 -0.29388001 3.62682273] [ 0.04574109 0.99827552 -0.03679316 0.44952322] [ 0.29538053 0.02166873 0.95513392 -0.18370626] [ 0. 0. 0. 1. ]] SLAMing on 55.96800114499999 meters Centerline goodness [0,1] 0.8770112579036653 Centerline is valid? [False, False] Translation: X:3.63, Y:0.45, Z:-0.18 [[ 0.95417268 -0.05437479 -0.29427519 3.62794305] [ 0.04541529 0.99827533 -0.03719982 0.45192376] [ 0.29579039 0.02213046 0.95499648 -0.18317508] [ 0. 0. 0. 1. ]] SLAMing on 55.99800114499999 meters Centerline goodness [0,1] 0.880784799030603 Centerline is valid? [False, False] Translation: X:3.63, Y:0.45, Z:-0.18 [[ 0.95430485 -0.04922795 -0.29475219 3.62920931] [ 0.04128683 0.99859864 -0.03310828 0.45292979] [ 0.29596899 0.01942601 0.95499999 -0.18364273] [ 0. 0. 0. 1. ]] SLAMing on 56.02800114499999 meters Centerline goodness [0,1] 0.8789590426080677 Centerline is valid? [False, False] Translation: X:3.63, Y:0.45, Z:-0.18 [[ 0.95420695 -0.04906091 -0.29509679 3.63031068] [ 0.04100551 0.99859958 -0.03342787 0.4545032 ] [ 0.29632353 0.01979651 0.95488243 -0.18323339] [ 0. 0. 0. 1. ]] SLAMing on 56.05800114499999 meters Centerline goodness [0,1] 0.8802532954251745 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:-0.18 [[ 0.95415321 -0.04917682 -0.29525123 3.63072429] [ 0.04095298 0.99858321 -0.03397693 0.45628334] [ 0.2965038 0.02032778 0.95481531 -0.18272643] [ 0. 0. 0. 1. ]] SLAMing on 56.08800114499999 meters Centerline goodness [0,1] 0.8802061748860339 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:-0.18 [[ 0.95412848 -0.04944507 -0.29528634 3.63071527] [ 0.04108071 0.99856116 -0.03446704 0.45769554] [ 0.2965657 0.02075541 0.95478689 -0.1823314 ] [ 0. 0. 0. 1. ]] SLAMing on 56.118001144999994 meters Centerline goodness [0,1] 0.8806608912175131 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:-0.18 [[ 0.95415676 -0.05006225 -0.29509091 3.6298645 ] [ 0.04152282 0.9985195 -0.03513782 0.45883427] [ 0.2964131 0.02127398 0.95482286 -0.18190232] [ 0. 0. 0. 1. ]] SLAMing on 56.14800114499999 meters Centerline goodness [0,1] 0.8806608912175131 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:-0.18 [[ 0.95415676 -0.05006225 -0.29509091 3.6298645 ] [ 0.04152282 0.9985195 -0.03513782 0.45883427] [ 0.2964131 0.02127398 0.95482286 -0.18190232] [ 0. 0. 0. 1. ]] SLAMing on 56.17800114499999 meters Centerline goodness [0,1] 0.8785764312209801 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:-0.18 [[ 0.95416423 -0.05012117 -0.29505677 3.63025305] [ 0.04155755 0.99851491 -0.03522717 0.45889375] [ 0.29638421 0.02135067 0.95483012 -0.18213873] [ 0. 0. 0. 1. ]] SLAMing on 56.20800114499999 meters Centerline goodness [0,1] 0.8792137745047194 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:-0.18 [[ 0.95416499 -0.05018774 -0.29504298 3.63068817] [ 0.0416218 0.99851158 -0.03524561 0.45915028] [ 0.29637273 0.0213499 0.9548337 -0.18253507] [ 0. 0. 0. 1. ]] SLAMing on 56.23800114499999 meters Centerline goodness [0,1] 0.8760646032405484 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:-0.18 [[ 0.95414488 -0.0506445 -0.29502998 3.63031823] [ 0.04196227 0.99848156 -0.03568964 0.45990087] [ 0.29638948 0.02167296 0.95482122 -0.18211688] [ 0. 0. 0. 1. ]] SLAMing on 56.26800114499999 meters Centerline goodness [0,1] 0.8745189807592304 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:-0.18 [[ 0.9540497 -0.05127383 -0.29522902 3.62991756] [ 0.04248241 0.99844408 -0.03612015 0.46084777] [ 0.29662168 0.02191838 0.95474351 -0.18135148] [ 0. 0. 0. 1. ]] SLAMing on 56.29800114499999 meters Centerline goodness [0,1] 0.8753479176963297 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:-0.18 [[ 0.95405203 -0.05169429 -0.29514815 3.62935771] [ 0.04285896 0.99842035 -0.03633074 0.46061001] [ 0.29656 0.02201168 0.95476052 -0.18113328] [ 0. 0. 0. 1. ]] SLAMing on 56.32800114499999 meters Centerline goodness [0,1] 0.8774987053340239 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:-0.18 [[ 0.95401509 -0.0516686 -0.29527203 3.63006246] [ 0.04289292 0.99842634 -0.03612535 0.4594272 ] [ 0.29667392 0.02179905 0.95473001 -0.18144008] [ 0. 0. 0. 1. ]] SLAMing on 56.35800114499999 meters Centerline goodness [0,1] 0.8762424932698281 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:-0.18 [[ 0.95405797 -0.0522296 -0.29503467 3.63009912] [ 0.04348352 0.99840054 -0.03613221 0.45906142] [ 0.29644994 0.02164308 0.95480313 -0.18241156] [ 0. 0. 0. 1. ]] SLAMing on 56.38800114499999 meters Centerline goodness [0,1] 0.8767368776458977 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:-0.18 [[ 0.95399526 -0.05227922 -0.29522861 3.6311268 ] [ 0.04351947 0.99839765 -0.03616887 0.45992218] [ 0.29664643 0.02165674 0.95474179 -0.18277281] [ 0. 0. 0. 1. ]] SLAMing on 56.41800114499999 meters Centerline goodness [0,1] 0.8753088024964244 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:-0.18 [[ 0.953964 -0.05253621 -0.295284 3.63171478] [ 0.04372633 0.99838151 -0.03636441 0.46077758] [ 0.29671653 0.02177865 0.95471723 -0.18312147] [ 0. 0. 0. 1. ]] SLAMing on 56.44800114499999 meters Centerline goodness [0,1] 0.8742092520761201 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:-0.18 [[ 0.95394551 -0.05241066 -0.29536601 3.63285761] [ 0.04365628 0.99839197 -0.03616081 0.46046093] [ 0.29678627 0.02160086 0.95469959 -0.18384017] [ 0. 0. 0. 1. ]] SLAMing on 56.47800114499999 meters Centerline goodness [0,1] 0.8760845209869467 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:-0.18 [[ 0.95399879 -0.05263933 -0.2951532 3.63364246] [ 0.04386864 0.99837893 -0.03626378 0.460998 ] [ 0.29658364 0.02164763 0.9547615 -0.18496166] [ 0. 0. 0. 1. ]] SLAMing on 56.508001144999994 meters Centerline goodness [0,1] 0.8756417272561436 Centerline is valid? [False, False] Translation: X:3.63, Y:0.46, Z:-0.18 [[ 0.9539583 -0.05289548 -0.29523825 3.63381662] [ 0.04396699 0.99835485 -0.03680344 0.46265402] [ 0.29669928 0.02212821 0.95471455 -0.18449801] [ 0. 0. 0. 1. ]] SLAMing on 56.53800114499999 meters Centerline goodness [0,1] 0.8735547998953701 Centerline is valid? [False, False] Translation: X:3.63, Y:0.47, Z:-0.18 [[ 0.95395109 -0.05338263 -0.29517387 3.63325879] [ 0.04422411 0.998313 -0.03762169 0.46515033] [ 0.29668425 0.02283545 0.95470257 -0.18380316] [ 0. 0. 0. 1. ]] SLAMing on 56.56800114499999 meters Centerline goodness [0,1] 0.8786635096027361 Centerline is valid? [False, False] Translation: X:3.63, Y:0.47, Z:-0.18 [[ 0.95391085 -0.05366443 -0.29525279 3.63313947] [ 0.04429298 0.99828252 -0.0383424 0.46764783] [ 0.29680332 0.0234976 0.95464949 -0.18297855] [ 0. 0. 0. 1. ]] SLAMing on 56.59800114499999 meters Centerline goodness [0,1] 0.8764047921967769 Centerline is valid? [False, False] Translation: X:3.63, Y:0.47, Z:-0.18 [[ 0.95418958 -0.04945653 -0.29508694 3.63258184] [ 0.04102166 0.99855516 -0.03471056 0.46893747] [ 0.29637725 0.0210155 0.95483971 -0.18372061] [ 0. 0. 0. 1. ]] SLAMing on 56.62800114499999 meters Centerline goodness [0,1] 0.8790082820131663 Centerline is valid? [False, False] Translation: X:3.63, Y:0.47, Z:-0.18 [[ 0.95409534 -0.04944144 -0.29539401 3.63373264] [ 0.04087846 0.99854749 -0.03509779 0.47087025] [ 0.29670024 0.02141138 0.9547306 -0.18350366] [ 0. 0. 0. 1. ]] SLAMing on 56.65800114499999 meters Centerline goodness [0,1] 0.8819509081722203 Centerline is valid? [False, False] Translation: X:3.64, Y:0.47, Z:-0.18 [[ 0.95399367 -0.04908778 -0.29578111 3.63574393] [ 0.04049748 0.99856282 -0.03510331 0.4721685 ] [ 0.29707916 0.02150994 0.95461055 -0.18383596] [ 0. 0. 0. 1. ]] SLAMing on 56.688001144999994 meters Centerline goodness [0,1] 0.8843030222340567 Centerline is valid? [False, False] Translation: X:3.64, Y:0.47, Z:-0.18 [[ 0.95392404 -0.04885869 -0.29604349 3.63743355] [ 0.04023362 0.99857147 -0.03516062 0.47328442] [ 0.29733849 0.02162966 0.9545271 -0.18425033] [ 0. 0. 0. 1. ]] SLAMing on 56.71800114499999 meters Centerline goodness [0,1] 0.8837718127968408 Centerline is valid? [False, False] Translation: X:3.64, Y:0.47, Z:-0.18 [[ 0.95389258 -0.0486777 -0.29617466 3.63884967] [ 0.04001448 0.99857727 -0.03524586 0.47455659] [ 0.29746897 0.02176949 0.95448326 -0.18475094] [ 0. 0. 0. 1. ]] SLAMing on 56.74800114499999 meters Centerline goodness [0,1] 0.8905717124519993 Centerline is valid? [False, False] Translation: X:3.64, Y:0.48, Z:-0.19 [[ 0.95408059 -0.0433507 -0.29639659 3.64133487] [ 0.03577213 0.99888068 -0.03094734 0.47604822] [ 0.29740642 0.01892352 0.95456342 -0.1866812 ] [ 0. 0. 0. 1. ]] SLAMing on 56.77800114499999 meters Centerline goodness [0,1] 0.887719298245614 Centerline is valid? [False, False] Translation: X:3.64, Y:0.48, Z:-0.19 [[ 0.9539441 -0.04258064 -0.29694705 3.64427499] [ 0.03494694 0.99890916 -0.03097106 0.47816037] [ 0.29794189 0.01916727 0.95439156 -0.18698072] [ 0. 0. 0. 1. ]] SLAMing on 56.80800114499999 meters Centerline goodness [0,1] 0.8869163424124513 Centerline is valid? [False, False] Translation: X:3.65, Y:0.48, Z:-0.19 [[ 0.95382652 -0.04186868 -0.29742558 3.64684339] [ 0.03412799 0.99893118 -0.03117333 0.48030807] [ 0.29841287 0.01958341 0.95423595 -0.18694509] [ 0. 0. 0. 1. ]] SLAMing on 56.83800114499999 meters Centerline goodness [0,1] 0.886925216822124 Centerline is valid? [False, False] Translation: X:3.65, Y:0.48, Z:-0.19 [[ 0.95398664 -0.03641174 -0.29763011 3.64868418] [ 0.02956032 0.99918491 -0.02749021 0.48356049] [ 0.29838848 0.01742725 0.95428539 -0.1875993 ] [ 0. 0. 0. 1. ]] SLAMing on 56.868001144999994 meters Centerline goodness [0,1] 0.8898627735626832 Centerline is valid? [False, False] Translation: X:3.65, Y:0.48, Z:-0.19 [[ 0.9541832 -0.03143306 -0.29756743 3.64890309] [ 0.02561604 0.99939727 -0.02342905 0.48387665] [ 0.29812452 0.01473311 0.95441328 -0.18834422] [ 0. 0. 0. 1. ]] SLAMing on 56.89800114499999 meters Centerline goodness [0,1] 0.8841781536602779 Centerline is valid? [False, False] Translation: X:3.65, Y:0.49, Z:-0.19 [[ 0.9540377 -0.03122151 -0.29805586 3.650178 ] [ 0.02511082 0.99938905 -0.02431009 0.48742414] [ 0.29863276 0.01570832 0.95423882 -0.18702958] [ 0. 0. 0. 1. ]] SLAMing on 56.92800114499999 meters Centerline goodness [0,1] 0.885476629850993 Centerline is valid? [False, False] Translation: X:3.65, Y:0.49, Z:-0.19 [[ 0.95388427 -0.03063203 -0.29860755 3.65229959] [ 0.02434467 0.99939712 -0.02475345 0.49062101] [ 0.29918578 0.01634243 0.95405492 -0.18633431] [ 0. 0. 0. 1. ]] SLAMing on 56.95800114499999 meters Centerline goodness [0,1] 0.8826336672123415 Centerline is valid? [False, False] Translation: X:3.65, Y:0.49, Z:-0.19 [[ 0.95398929 -0.02545141 -0.29875855 3.65363459] [ 0.02008214 0.99957716 -0.02102869 0.493171 ] [ 0.29916743 0.01406143 0.95409702 -0.18686516] [ 0. 0. 0. 1. ]] SLAMing on 56.98800114499999 meters Centerline goodness [0,1] 0.8838313708064874 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.19 [[ 0.95386883 -0.02527076 -0.29915824 3.65510235] [ 0.01974291 0.99957418 -0.02148645 0.49509654] [ 0.29957383 0.014589 0.95396157 -0.18639493] [ 0. 0. 0. 1. ]] SLAMing on 57.01800114499999 meters Centerline goodness [0,1] 0.8862237258055571 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.19 [[ 0.95379982 -0.0250221 -0.29939907 3.65665141] [ 0.01941796 0.99957639 -0.02167894 0.49605467] [ 0.29981469 0.01486365 0.95388166 -0.18650919] [ 0. 0. 0. 1. ]] SLAMing on 57.04800114499999 meters Centerline goodness [0,1] 0.884181813121051 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.19 [[ 0.95372124 -0.02473216 -0.29967334 3.6581965 ] [ 0.01910766 0.99958224 -0.02168509 0.49655767] [ 0.30008447 0.01495548 0.95379539 -0.1867463 ] [ 0. 0. 0. 1. ]] SLAMing on 57.07800114499999 meters Centerline goodness [0,1] 0.887639511258315 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.19 [[ 0.9536085 -0.02436319 -0.30006211 3.66074139] [ 0.01869819 0.99958886 -0.02173688 0.49819402] [ 0.30046833 0.01511786 0.95367198 -0.18740993] [ 0. 0. 0. 1. ]] SLAMing on 57.10800114499999 meters Centerline goodness [0,1] 0.8868240415201741 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.19 [[ 0.95359276 -0.02431091 -0.30011636 3.66164479] [ 0.01864585 0.99959007 -0.02172626 0.49858454] [ 0.30052152 0.01512208 0.95365515 -0.1879049 ] [ 0. 0. 0. 1. ]] SLAMing on 57.13800114499999 meters Centerline goodness [0,1] 0.8841315444478536 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.19 [[ 0.95357978 -0.02448448 -0.3001435 3.66188387] [ 0.01873094 0.99958178 -0.02203212 0.49895838] [ 0.30055742 0.01538741 0.95363959 -0.18772939] [ 0. 0. 0. 1. ]] SLAMing on 57.16800114499999 meters Centerline goodness [0,1] 0.8847452896022331 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.19 [[ 0.95358892 -0.02507389 -0.30006576 3.66110044] [ 0.01913827 0.99955902 -0.02270431 0.49977683] [ 0.30050273 0.01590784 0.95364829 -0.18701311] [ 0. 0. 0. 1. ]] SLAMing on 57.19800114499999 meters Centerline goodness [0,1] 0.8834074446961434 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.18 [[ 0.95362442 -0.02646828 -0.29983311 3.658739 ] [ 0.02009402 0.99950218 -0.02432337 0.50207957] [ 0.30032764 0.0171705 0.95368154 -0.18496551] [ 0. 0. 0. 1. ]] SLAMing on 57.22800114499999 meters Centerline goodness [0,1] 0.8817186277796402 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.18 [[ 0.95363715 -0.02687168 -0.29975672 3.65815799] [ 0.02039318 0.99948637 -0.02472067 0.50195464] [ 0.30026704 0.01746156 0.95369534 -0.18447354] [ 0. 0. 0. 1. ]] SLAMing on 57.25800114499999 meters Centerline goodness [0,1] 0.8805703602422078 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.19 [[ 0.95370538 -0.02713075 -0.29951624 3.65795887] [ 0.02070233 0.99948261 -0.02461564 0.4999465 ] [ 0.30002911 0.01727538 0.95377361 -0.18504611] [ 0. 0. 0. 1. ]] SLAMing on 57.28800114499999 meters Centerline goodness [0,1] 0.8796273049348621 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.18 [[ 0.95373592 -0.0274375 -0.29939102 3.6576696 ] [ 0.02092916 0.99947024 -0.02492417 0.49977126] [ 0.29991627 0.01750507 0.95380491 -0.18488565] [ 0. 0. 0. 1. ]] SLAMing on 57.31800114499999 meters Centerline goodness [0,1] 0.8771553525167832 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.18 [[ 0.95374015 -0.02777588 -0.29934633 3.65739204] [ 0.02113416 0.99945388 -0.02540273 0.50046852] [ 0.29988843 0.01790117 0.95380631 -0.18444083] [ 0. 0. 0. 1. ]] SLAMing on 57.34800114499999 meters Centerline goodness [0,1] 0.8794332187473799 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.18 [[ 0.95369909 -0.02823807 -0.2994339 3.65679768] [ 0.02138184 0.99942934 -0.02614974 0.50164362] [ 0.30000144 0.01853654 0.95375863 -0.18328439] [ 0. 0. 0. 1. ]] SLAMing on 57.37800114499999 meters Centerline goodness [0,1] 0.8818247930185724 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.18 [[ 0.9536764 -0.02879658 -0.29945297 3.65622157] [ 0.02169932 0.9993999 -0.02699979 0.50336896] [ 0.30005077 0.01925114 0.95372896 -0.18217461] [ 0. 0. 0. 1. ]] SLAMing on 57.40800114499999 meters Centerline goodness [0,1] 0.8775287501049274 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.18 [[ 0.9536562 -0.02890831 -0.29950652 3.65639984] [ 0.02173009 0.99939188 -0.02727051 0.50347015] [ 0.30011273 0.01949838 0.95370444 -0.18184258] [ 0. 0. 0. 1. ]] SLAMing on 57.438001144999994 meters Centerline goodness [0,1] 0.8768550148401187 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.18 [[ 0.953666 -0.02920835 -0.29944621 3.65616881] [ 0.02198665 0.99938112 -0.02745854 0.50305162] [ 0.30006291 0.01960246 0.95371798 -0.18178358] [ 0. 0. 0. 1. ]] SLAMing on 57.46800114499999 meters Centerline goodness [0,1] 0.8750524813166513 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.18 [[ 0.95370136 -0.02941755 -0.29931309 3.65608425] [ 0.02221015 0.9993763 -0.02745403 0.50196915] [ 0.29993403 0.01953516 0.9537599 -0.1820774 ] [ 0. 0. 0. 1. ]] SLAMing on 57.49800114499999 meters Centerline goodness [0,1] 0.8746719526495058 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.18 [[ 0.95372968 -0.02961839 -0.29920303 3.6559599 ] [ 0.02246015 0.99937395 -0.02733573 0.50053414] [ 0.29982536 0.01935075 0.95379783 -0.18242743] [ 0. 0. 0. 1. ]] SLAMing on 57.52800114499999 meters Centerline goodness [0,1] 0.8765886287625418 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.18 [[ 0.95345349 -0.03471493 -0.29953517 3.65660498] [ 0.02630655 0.9991397 -0.03205964 0.50190525] [ 0.30039043 0.02268763 0.95354647 -0.18070763] [ 0. 0. 0. 1. ]] SLAMing on 57.55800114499999 meters Centerline goodness [0,1] 0.8769042248029633 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.18 [[ 0.95347167 -0.03510789 -0.29943147 3.65584595] [ 0.02669739 0.99912694 -0.03213434 0.50108892] [ 0.30029822 0.02264514 0.95357652 -0.18055181] [ 0. 0. 0. 1. ]] SLAMing on 57.58800114499999 meters Centerline goodness [0,1] 0.8779742050255726 Centerline is valid? [False, False] Translation: X:3.65, Y:0.50, Z:-0.18 [[ 0.9535143 -0.0355745 -0.29924061 3.65493506] [ 0.02713381 0.99910931 -0.03231625 0.50048732] [ 0.30012371 0.02269447 0.95363028 -0.18035097] [ 0. 0. 0. 1. ]] SLAMing on 57.618001144999994 meters Centerline goodness [0,1] 0.8807502852531099 Centerline is valid? [False, False] Translation: X:3.65, Y:0.50, Z:-0.18 [[ 0.95360553 -0.0366203 -0.29882344 3.65255169] [ 0.02805719 0.99906483 -0.03289758 0.50020773] [ 0.29974871 0.02298717 0.95374121 -0.17964375] [ 0. 0. 0. 1. ]] SLAMing on 57.64800114499999 meters Centerline goodness [0,1] 0.8786503716488961 Centerline is valid? [False, False] Translation: X:3.65, Y:0.50, Z:-0.18 [[ 0.95363901 -0.03675053 -0.29870058 3.65249328] [ 0.02822004 0.99906269 -0.03282334 0.4994881 ] [ 0.29962688 0.02287227 0.95378225 -0.17995109] [ 0. 0. 0. 1. ]] SLAMing on 57.67800114499999 meters Centerline goodness [0,1] 0.8811831690043049 Centerline is valid? [False, False] Translation: X:3.65, Y:0.50, Z:-0.18 [[ 0.95359732 -0.03663287 -0.2988481 3.65323472] [ 0.02815114 0.99907069 -0.03263858 0.4985596 ] [ 0.29976602 0.02271115 0.95374239 -0.18015248] [ 0. 0. 0. 1. ]] SLAMing on 57.70800114499999 meters Centerline goodness [0,1] 0.8805629728526925 Centerline is valid? [False, False] Translation: X:3.65, Y:0.50, Z:-0.18 [[ 0.95356732 -0.03641454 -0.29897048 3.65411731] [ 0.02799179 0.99908267 -0.03240814 0.49762949] [ 0.29987635 0.02253462 0.95371189 -0.18047227] [ 0. 0. 0. 1. ]] SLAMing on 57.73800114499999 meters Centerline goodness [0,1] 0.8794711203897008 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.18 [[ 0.95352214 -0.03562464 -0.29920964 3.65647269] [ 0.02739252 0.99912315 -0.03166352 0.4959933 ] [ 0.30007528 0.02199577 0.9536619 -0.18168893] [ 0. 0. 0. 1. ]] SLAMing on 57.76800114499999 meters Centerline goodness [0,1] 0.8803483002281199 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.18 [[ 0.95340487 -0.03527778 -0.29962414 3.65790406] [ 0.02699856 0.99913182 -0.03172841 0.49656671] [ 0.30048332 0.0221606 0.95352959 -0.18138426] [ 0. 0. 0. 1. ]] SLAMing on 57.79800114499999 meters Centerline goodness [0,1] 0.8799810246679317 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.18 [[ 0.95325987 -0.03503738 -0.30011332 3.65920692] [ 0.02661492 0.99912999 -0.03210774 0.49821992] [ 0.30097719 0.02261953 0.95336304 -0.18055612] [ 0. 0. 0. 1. ]] SLAMing on 57.82800114499999 meters Centerline goodness [0,1] 0.87400627029448 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.18 [[ 0.95309988 -0.03482809 -0.30064535 3.66025733] [ 0.0262233 0.99912407 -0.03261039 0.50014486] [ 0.30151776 0.02319705 0.95317833 -0.17931573] [ 0. 0. 0. 1. ]] SLAMing on 57.85800114499999 meters Centerline goodness [0,1] 0.8718846261551386 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.18 [[ 0.95298758 -0.03428917 -0.30106301 3.66123314] [ 0.02547304 0.99912534 -0.03316145 0.50204725] [ 0.30193676 0.02393346 0.95302748 -0.17756497] [ 0. 0. 0. 1. ]] SLAMing on 57.88800114499999 meters Centerline goodness [0,1] 0.869910263600673 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.18 [[ 0.9529032 -0.03400043 -0.30136266 3.66230265] [ 0.02515289 0.99913245 -0.03319145 0.50211134] [ 0.30222974 0.02404809 0.95293173 -0.17727919] [ 0. 0. 0. 1. ]] SLAMing on 57.91800114499999 meters Centerline goodness [0,1] 0.8692740873560643 Centerline is valid? [False, False] Translation: X:3.66, Y:0.50, Z:-0.18 [[ 0.95279565 -0.03335913 -0.30177411 3.66436444] [ 0.02457918 0.99915814 -0.0328461 0.50163775] [ 0.30261578 0.02387826 0.95281348 -0.17759407] [ 0. 0. 0. 1. ]] SLAMing on 57.94800114499999 meters Centerline goodness [0,1] 0.8704929064094656 Centerline is valid? [False, False] Translation: X:3.67, Y:0.50, Z:-0.18 [[ 0.95269343 -0.03287122 -0.30215014 3.66607563] [ 0.02413303 0.99917679 -0.03260889 0.50123173] [ 0.3029733 0.02377448 0.95270245 -0.17776721] [ 0. 0. 0. 1. ]] SLAMing on 57.97800114499999 meters Centerline goodness [0,1] 0.8707315710054211 Centerline is valid? [False, False] Translation: X:3.67, Y:0.50, Z:-0.18 [[ 0.95259967 -0.03221451 -0.30251627 3.66765111] [ 0.02344801 0.99919447 -0.03256683 0.5012115 ] [ 0.30332171 0.02392975 0.95258769 -0.17731475] [ 0. 0. 0. 1. ]] SLAMing on 58.00800114499999 meters Centerline goodness [0,1] 0.8715696422077377 Centerline is valid? [False, False] Translation: X:3.67, Y:0.50, Z:-0.18 [[ 0.95253833 -0.03210918 -0.30272053 3.66805947] [ 0.02324638 0.99919037 -0.03283596 0.50157492] [ 0.30352978 0.02424036 0.95251356 -0.17666373] [ 0. 0. 0. 1. ]] SLAMing on 58.03800114499999 meters Centerline goodness [0,1] 0.8710452766908887 Centerline is valid? [False, False] Translation: X:3.67, Y:0.50, Z:-0.18 [[ 0.95243356 -0.03188945 -0.30307323 3.66879311] [ 0.02290931 0.99918811 -0.03314039 0.50216595] [ 0.303884 0.02462082 0.95239085 -0.17574655] [ 0. 0. 0. 1. ]] SLAMing on 58.06800114499999 meters Centerline goodness [0,1] 0.8710452766908887 Centerline is valid? [False, False] Translation: X:3.67, Y:0.50, Z:-0.18 [[ 0.95243356 -0.03188945 -0.30307323 3.66879311] [ 0.02290931 0.99918811 -0.03314039 0.50216595] [ 0.303884 0.02462082 0.95239085 -0.17574655] [ 0. 0. 0. 1. ]] SLAMing on 58.09800114499999 meters Centerline goodness [0,1] 0.8740610426963782 Centerline is valid? [False, False] Translation: X:3.67, Y:0.50, Z:-0.17 [[ 0.95237416 -0.03215299 -0.30323199 3.6678876 ] [ 0.02280605 0.99915078 -0.03431627 0.5040487 ] [ 0.30407785 0.0257664 0.95229867 -0.17318684] [ 0. 0. 0. 1. ]] SLAMing on 58.12800114499999 meters Centerline goodness [0,1] 0.8724045545880776 Centerline is valid? [False, False] Translation: X:3.67, Y:0.50, Z:-0.17 [[ 0.952355 -0.03251496 -0.30325356 3.66715321] [ 0.02303946 0.99912965 -0.03477259 0.50433875] [ 0.30412025 0.02612905 0.95227525 -0.17229519] [ 0. 0. 0. 1. ]] SLAMing on 58.15800114499999 meters Centerline goodness [0,1] 0.871561680522234 Centerline is valid? [False, False] Translation: X:3.67, Y:0.50, Z:-0.17 [[ 0.95233757 -0.03276573 -0.30328133 3.6668835 ] [ 0.02329893 0.99912332 -0.03478146 0.50320434] [ 0.30415509 0.02605756 0.95226608 -0.17213174] [ 0. 0. 0. 1. ]] SLAMing on 58.188001144999994 meters Centerline goodness [0,1] 0.8725776406150082 Centerline is valid? [False, False] Translation: X:3.67, Y:0.50, Z:-0.17 [[ 0.95230871 -0.03305791 -0.30334022 3.66679356] [ 0.02365356 0.9991204 -0.03462561 0.50062088] [ 0.30421805 0.0257992 0.952253 -0.17218876] [ 0. 0. 0. 1. ]] SLAMing on 58.21800114499999 meters Centerline goodness [0,1] 0.8695736060196797 Centerline is valid? [False, False] Translation: X:3.67, Y:0.50, Z:-0.17 [[ 0.95216441 -0.03830137 -0.30317642 3.66691246] [ 0.02802135 0.99887764 -0.03818715 0.49675669] [ 0.30429877 0.02786503 0.952169 -0.17272255] [ 0. 0. 0. 1. ]] SLAMing on 58.24800114499999 meters Centerline goodness [0,1] 0.8665437838730089 Centerline is valid? [False, False] Translation: X:3.67, Y:0.50, Z:-0.17 [[ 0.95185498 -0.04314418 -0.30349742 3.66803915] [ 0.03174368 0.99859631 -0.04239985 0.49671039] [ 0.30490071 0.03072438 0.95188842 -0.17185955] [ 0. 0. 0. 1. ]] SLAMing on 58.27800114499999 meters Centerline goodness [0,1] 0.8660638443622414 Centerline is valid? [False, False] Translation: X:3.67, Y:0.49, Z:-0.17 [[ 0.95187322 -0.04355412 -0.30338162 3.66769877] [ 0.03228261 0.9985929 -0.04207204 0.49386773] [ 0.30478714 0.0302533 0.95193988 -0.17248069] [ 0. 0. 0. 1. ]] SLAMing on 58.30800114499999 meters Centerline goodness [0,1] 0.8690020767296972 Centerline is valid? [False, False] Translation: X:3.67, Y:0.49, Z:-0.17 [[ 0.95191625 -0.04367511 -0.30322918 3.667602 ] [ 0.03262103 0.99860887 -0.04142698 0.49091753] [ 0.30461668 0.02954337 0.95201674 -0.17341772] [ 0. 0. 0. 1. ]] SLAMing on 58.33800114499999 meters Centerline goodness [0,1] 0.8675102040816327 Centerline is valid? [False, False] Translation: X:3.68, Y:0.49, Z:-0.17 [[ 0.9534896 -0.04581596 -0.29792362 3.68137259] [ 0.03703759 0.99869911 -0.03504724 0.48714451] [ 0.29914177 0.02238281 0.95394613 -0.17270161] [ 0. 0. 0. 1. ]] SLAMing on 58.368001144999994 meters Centerline goodness [0,1] 0.8717739300882065 Centerline is valid? [False, False] Translation: X:3.68, Y:0.49, Z:-0.17 [[ 0.95353118 -0.04658954 -0.29767046 3.67924418] [ 0.03769643 0.99865668 -0.03555013 0.48656992] [ 0.29892686 0.02267704 0.95400654 -0.17163815] [ 0. 0. 0. 1. ]] SLAMing on 58.39800114499999 meters Centerline goodness [0,1] 0.8705741691801854 Centerline is valid? [False, False] Translation: X:3.68, Y:0.49, Z:-0.17 [[ 0.95352488 -0.04682602 -0.29765355 3.67862829] [ 0.03791065 0.99864472 -0.03565826 0.4856407 ] [ 0.29891988 0.0227168 0.95400778 -0.17109049] [ 0. 0. 0. 1. ]] SLAMing on 58.42800114499999 meters Centerline goodness [0,1] 0.8713118536413236 Centerline is valid? [False, False] Translation: X:3.68, Y:0.48, Z:-0.17 [[ 0.95352023 -0.04681101 -0.2976708 3.67855184] [ 0.03796555 0.9986507 -0.03543152 0.48391771] [ 0.29892774 0.02248344 0.95401085 -0.17106644] [ 0. 0. 0. 1. ]] SLAMing on 58.45800114499999 meters Centerline goodness [0,1] 0.868138665519189 Centerline is valid? [False, False] Translation: X:3.68, Y:0.48, Z:-0.17 [[ 0.95326843 -0.05135272 -0.2977284 3.6794689 ] [ 0.04154004 0.99836767 -0.03919709 0.48127633] [ 0.29925529 0.0249977 0.95384558 -0.17060452] [ 0. 0. 0. 1. ]] SLAMing on 58.48800114499999 meters Centerline goodness [0,1] 0.8702279815033874 Centerline is valid? [False, False] Translation: X:3.68, Y:0.48, Z:-0.17 [[ 0.95327478 -0.05138753 -0.29770205 3.67955448] [ 0.04172071 0.99837799 -0.03873967 0.47847793] [ 0.29920991 0.02450921 0.95387249 -0.17106388] [ 0. 0. 0. 1. ]] SLAMing on 58.51800114499999 meters Centerline goodness [0,1] 0.8718230858001664 Centerline is valid? [False, False] Translation: X:3.68, Y:0.48, Z:-0.17 [[ 0.95327026 -0.05171843 -0.29765923 3.67925231] [ 0.04209695 0.99836573 -0.03864867 0.47744807] [ 0.29917162 0.02431208 0.95388954 -0.17126118] [ 0. 0. 0. 1. ]] SLAMing on 58.54800114499999 meters Centerline goodness [0,1] 0.8706956568307181 Centerline is valid? [False, False] Translation: X:3.68, Y:0.48, Z:-0.17 [[ 0.95326542 -0.05197973 -0.2976292 3.67901871] [ 0.04246573 0.99836171 -0.03834793 0.47557075] [ 0.29913491 0.02391672 0.95391105 -0.1715446 ] [ 0. 0. 0. 1. ]] SLAMing on 58.57800114499999 meters Centerline goodness [0,1] 0.8688585839716048 Centerline is valid? [False, False] Translation: X:3.68, Y:0.47, Z:-0.17 [[ 0.95326785 -0.05181342 -0.29765044 3.67945516] [ 0.04240785 0.99837841 -0.03797529 0.47359683] [ 0.2991354 0.02357791 0.95391933 -0.17191234] [ 0. 0. 0. 1. ]] SLAMing on 58.60800114499999 meters Centerline goodness [0,1] 0.8694137976870929 Centerline is valid? [False, False] Translation: X:3.68, Y:0.47, Z:-0.17 [[ 0.95325985 -0.05159361 -0.29771421 3.67981907] [ 0.04228694 0.99839693 -0.03762149 0.47140658] [ 0.29917798 0.02327363 0.95391345 -0.17202483] [ 0. 0. 0. 1. ]] SLAMing on 58.63800114499999 meters Centerline goodness [0,1] 0.8715033339531918 Centerline is valid? [False, False] Translation: X:3.68, Y:0.47, Z:-0.17 [[ 0.95326359 -0.05144126 -0.29772861 3.68002199] [ 0.04221421 0.99841045 -0.03734348 0.46986384] [ 0.29917635 0.0230298 0.95391988 -0.17217808] [ 0. 0. 0. 1. ]] SLAMing on 58.66800114499999 meters Centerline goodness [0,1] 0.8718730933496034 Centerline is valid? [False, False] Translation: X:3.68, Y:0.47, Z:-0.17 [[ 0.95317532 -0.05068363 -0.29814088 3.6817081 ] [ 0.04159616 0.99845836 -0.03675128 0.46770909] [ 0.29954394 0.0226289 0.95381411 -0.17226166] [ 0. 0. 0. 1. ]] SLAMing on 58.69800114499999 meters Centerline goodness [0,1] 0.8714179579707069 Centerline is valid? [False, False] Translation: X:3.68, Y:0.47, Z:-0.17 [[ 0.95306793 -0.05003483 -0.29859342 3.68363965] [ 0.04106075 0.99849861 -0.03625672 0.46662928] [ 0.29995921 0.02229465 0.95369147 -0.172555 ] [ 0. 0. 0. 1. ]] SLAMing on 58.72800114499999 meters Centerline goodness [0,1] 0.8719813791096886 Centerline is valid? [False, False] Translation: X:3.69, Y:0.47, Z:-0.17 [[ 0.95293586 -0.04926674 -0.29914216 3.68567546] [ 0.0403964 0.99854332 -0.03576825 0.46528044] [ 0.30046859 0.02200058 0.95353794 -0.17256006] [ 0. 0. 0. 1. ]] SLAMing on 58.75800114499999 meters Centerline goodness [0,1] 0.8735122582007231 Centerline is valid? [False, False] Translation: X:3.69, Y:0.46, Z:-0.17 [[ 0.95286383 -0.04864129 -0.29947379 3.68715505] [ 0.03986425 0.99857953 -0.03535197 0.46414174] [ 0.30076796 0.02174732 0.95344936 -0.17267596] [ 0. 0. 0. 1. ]] SLAMing on 58.78800114499999 meters Centerline goodness [0,1] 0.8734769393418792 Centerline is valid? [False, False] Translation: X:3.69, Y:0.46, Z:-0.17 [[ 0.95270883 -0.04731993 -0.30017778 3.68936111] [ 0.03862527 0.99864633 -0.03483683 0.46300736] [ 0.30141992 0.0215949 0.95324692 -0.1718585 ] [ 0. 0. 0. 1. ]] SLAMing on 58.81800114499999 meters Centerline goodness [0,1] 0.8725573043202703 Centerline is valid? [False, False] Translation: X:3.69, Y:0.46, Z:-0.17 [[ 0.95258333 -0.04695358 -0.30063327 3.69018832] [ 0.03818121 0.99865797 -0.03499207 0.46321344] [ 0.30187282 0.02185432 0.95309768 -0.17083136] [ 0. 0. 0. 1. ]] SLAMing on 58.84800114499999 meters Centerline goodness [0,1] 0.8737351052867975 Centerline is valid? [False, False] Translation: X:3.69, Y:0.46, Z:-0.17 [[ 0.95245429 -0.04641231 -0.30112575 3.69129003] [ 0.03756917 0.99867757 -0.03509502 0.46332616] [ 0.30235637 0.02211336 0.95293842 -0.16979543] [ 0. 0. 0. 1. ]] SLAMing on 58.87800114499999 meters Centerline goodness [0,1] 0.87475358128532 Centerline is valid? [False, False] Translation: X:3.69, Y:0.46, Z:-0.17 [[ 0.95238179 -0.04527535 -0.3015279 3.69270366] [ 0.03648903 0.99873103 -0.03471127 0.4614989 ] [ 0.30271684 0.02205592 0.9528253 -0.16896237] [ 0. 0. 0. 1. ]] SLAMing on 58.90800114499999 meters Centerline goodness [0,1] 0.8801701725360435 Centerline is valid? [False, False] Translation: X:3.69, Y:0.46, Z:-0.17 [[ 0.95233495 -0.04471574 -0.30175925 3.69381096] [ 0.03601684 0.99876125 -0.03433285 0.45978544] [ 0.30292067 0.02182796 0.95276577 -0.16898113] [ 0. 0. 0. 1. ]] SLAMing on 58.93800114499999 meters Centerline goodness [0,1] 0.8784604113245068 Centerline is valid? [False, False] Translation: X:3.69, Y:0.46, Z:-0.17 [[ 0.95224735 -0.0443089 -0.30209552 3.69489977] [ 0.03564446 0.99878133 -0.03413677 0.4586139 ] [ 0.30323993 0.02173861 0.95266625 -0.16871921] [ 0. 0. 0. 1. ]] SLAMing on 58.96800114499999 meters Centerline goodness [0,1] 0.8803780284043442 Centerline is valid? [False, False] Translation: X:3.70, Y:0.46, Z:-0.17 [[ 0.95215618 -0.04388266 -0.30244491 3.69591437] [ 0.03525226 0.99880202 -0.0339382 0.45786452] [ 0.30357189 0.0216526 0.95256248 -0.16840378] [ 0. 0. 0. 1. ]] SLAMing on 58.99800114499999 meters Centerline goodness [0,1] 0.8892793003826033 Centerline is valid? [False, False] Translation: X:3.70, Y:0.46, Z:-0.17 [[ 0.95203246 -0.04289697 -0.30297532 3.69761746] [ 0.03443816 0.99885492 -0.0332093 0.45539392] [ 0.30405296 0.02118242 0.9524196 -0.16813587] [ 0. 0. 0. 1. ]] SLAMing on 59.02800114499999 meters Centerline goodness [0,1] 0.8888773738891623 Centerline is valid? [False, False] Translation: X:3.70, Y:0.45, Z:-0.17 [[ 0.95194603 -0.04224964 -0.30333764 3.69892301] [ 0.03391602 0.99888987 -0.03269135 0.45350436] [ 0.30438209 0.0208324 0.95232219 -0.16811887] [ 0. 0. 0. 1. ]] SLAMing on 59.05800114499999 meters Centerline goodness [0,1] 0.8908634043986219 Centerline is valid? [False, False] Translation: X:3.70, Y:0.45, Z:-0.17 [[ 0.95185944 -0.04162752 -0.30369516 3.70017591] [ 0.03341056 0.9989227 -0.03220505 0.45159432] [ 0.3047086 0.02050805 0.95222481 -0.16804865] [ 0. 0. 0. 1. ]] SLAMing on 59.08800114499999 meters Centerline goodness [0,1] 0.8902948149675292 Centerline is valid? [False, False] Translation: X:3.70, Y:0.45, Z:-0.17 [[ 0.95176124 -0.04094004 -0.30409614 3.70155243] [ 0.03285793 0.99895879 -0.03164955 0.44920251] [ 0.30507524 0.02013084 0.95211546 -0.16793039] [ 0. 0. 0. 1. ]] SLAMing on 59.118001144999994 meters Centerline goodness [0,1] 0.8943312167144613 Centerline is valid? [False, False] Translation: X:3.70, Y:0.45, Z:-0.17 [[ 0.95163767 -0.03987866 -0.30462343 3.7028951 ] [ 0.03201793 0.99901389 -0.03075887 0.44500916] [ 0.30554966 0.01951788 0.95197608 -0.16739697] [ 0. 0. 0. 1. ]] SLAMing on 59.14800114499999 meters Centerline goodness [0,1] 0.8958205443012073 Centerline is valid? [False, False] Translation: X:3.70, Y:0.44, Z:-0.17 [[ 0.95159668 -0.03975929 -0.30476706 3.70283413] [ 0.03189363 0.99901826 -0.03074605 0.44389041] [ 0.30569029 0.01953771 0.95193052 -0.16672959] [ 0. 0. 0. 1. ]] SLAMing on 59.17800114499999 meters Centerline goodness [0,1] 0.8951976178963175 Centerline is valid? [False, False] Translation: X:3.70, Y:0.44, Z:-0.17 [[ 0.95159391 -0.03945353 -0.30481542 3.70235127] [ 0.03175984 0.99904039 -0.03015991 0.43903308] [ 0.30571283 0.0190191 0.95193379 -0.16613656] [ 0. 0. 0. 1. ]] SLAMing on 59.20800114499999 meters Centerline goodness [0,1] 0.8943835026473792 Centerline is valid? [False, False] Translation: X:3.70, Y:0.44, Z:-0.17 [[ 0.95127447 -0.0434527 -0.30526832 3.70443342] [ 0.03483431 0.99882727 -0.03362536 0.4372002 ] [ 0.30637143 0.02135313 0.95167252 -0.16574458] [ 0. 0. 0. 1. ]] SLAMing on 59.23800114499999 meters Centerline goodness [0,1] 0.8943467336683417 Centerline is valid? [False, False] Translation: X:3.71, Y:0.43, Z:-0.17 [[ 0.95094512 -0.04742651 -0.30570265 3.70688503] [ 0.03797877 0.99860136 -0.03678232 0.43434173] [ 0.30701954 0.02336776 0.95141629 -0.16591098] [ 0. 0. 0. 1. ]] SLAMing on 59.26800114499999 meters Centerline goodness [0,1] 0.8984513772485052 Centerline is valid? [False, False] Translation: X:3.71, Y:0.43, Z:-0.17 [[ 0.95059375 -0.05168222 -0.30610532 3.70877032] [ 0.04135174 0.99833795 -0.0401418 0.43206498] [ 0.30767117 0.02550056 0.95115097 -0.16575257] [ 0. 0. 0. 1. ]] SLAMing on 59.29800114499999 meters Centerline goodness [0,1] 0.9011607718636837 Centerline is valid? [False, False] Translation: X:3.71, Y:0.43, Z:-0.17 [[ 0.95032486 -0.05673022 -0.3060463 3.70821075] [ 0.04569168 0.99802459 -0.04311835 0.42711721] [ 0.30788785 0.02699268 0.95103968 -0.16557268] [ 0. 0. 0. 1. ]] SLAMing on 59.32800114499999 meters Centerline goodness [0,1] 0.9013071733919791 Centerline is valid? [False, False] Translation: X:3.71, Y:0.42, Z:-0.17 [[ 0.95029647 -0.05719746 -0.30604748 3.70746653] [ 0.04635589 0.99801697 -0.0425823 0.42331856] [ 0.30787618 0.0262787 0.95106345 -0.16567266] [ 0. 0. 0. 1. ]] SLAMing on 59.35800114499999 meters Centerline goodness [0,1] 0.9008728485264552 Centerline is valid? [False, False] Translation: X:3.71, Y:0.42, Z:-0.17 [[ 0.94986015 -0.06128635 -0.30660997 3.70978996] [ 0.04961649 0.99772138 -0.04571923 0.42146029] [ 0.30871328 0.02821396 0.9507366 -0.1654761 ] [ 0. 0. 0. 1. ]] SLAMing on 59.38800114499999 meters Centerline goodness [0,1] 0.8986995876741406 Centerline is valid? [False, False] Translation: X:3.71, Y:0.42, Z:-0.17 [[ 0.94979533 -0.06160744 -0.30674642 3.70987677] [ 0.05015807 0.99772351 -0.04507726 0.41644218] [ 0.30882521 0.02742836 0.95072324 -0.16584631] [ 0. 0. 0. 1. ]] SLAMing on 59.41800114499999 meters Centerline goodness [0,1] 0.8977991215792268 Centerline is valid? [False, False] Translation: X:3.71, Y:0.41, Z:-0.17 [[ 0.9495456 -0.06628449 -0.30654449 3.7101546 ] [ 0.05415901 0.9973826 -0.04790348 0.40841729] [ 0.3089174 0.02888439 0.95065016 -0.16617776] [ 0. 0. 0. 1. ]] SLAMing on 59.44800114499999 meters Centerline goodness [0,1] 0.8964987272465299 Centerline is valid? [False, False] Translation: X:3.71, Y:0.40, Z:-0.17 [[ 0.94959609 -0.06648396 -0.30634483 3.70987608] [ 0.05454223 0.99738634 -0.04738812 0.40345836] [ 0.30869469 0.02829084 0.95074035 -0.16669001] [ 0. 0. 0. 1. ]] SLAMing on 59.47800114499999 meters Centerline goodness [0,1] 0.8932918809039818 Centerline is valid? [False, False] Translation: X:3.71, Y:0.40, Z:-0.17 [[ 0.94961847 -0.06593729 -0.30639361 3.71046093] [ 0.05432661 0.99745018 -0.04627906 0.3993051 ] [ 0.30866388 0.02730213 0.95077926 -0.16738782] [ 0. 0. 0. 1. ]] SLAMing on 59.50800114499999 meters Centerline goodness [0,1] 0.8990825688073394 Centerline is valid? [False, False] Translation: X:3.71, Y:0.40, Z:-0.17 [[ 0.9495187 -0.06518489 -0.30686343 3.71146588] [ 0.05384687 0.99752205 -0.04527993 0.39617559] [ 0.30905461 0.0264705 0.95067585 -0.16716873] [ 0. 0. 0. 1. ]] SLAMing on 59.53800114499999 meters Centerline goodness [0,1] 0.9004207573632539 Centerline is valid? [False, False] Translation: X:3.71, Y:0.40, Z:-0.17 [[ 0.94945522 -0.0646117 -0.30718092 3.71244986] [ 0.05341048 0.99756979 -0.04474178 0.39502191] [ 0.30932525 0.02607364 0.95059879 -0.16717367] [ 0. 0. 0. 1. ]] SLAMing on 59.56800114499999 meters Centerline goodness [0,1] 0.9017831803992054 Centerline is valid? [False, False] Translation: X:3.71, Y:0.39, Z:-0.17 [[ 0.94939259 -0.06374516 -0.30755531 3.71410003] [ 0.05276191 0.99764151 -0.04390447 0.39308435] [ 0.30962864 0.02545537 0.95051677 -0.16756712] [ 0. 0. 0. 1. ]] SLAMing on 59.59800114499999 meters Centerline goodness [0,1] 0.9016203703703703 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:-0.17 [[ 0.94936647 -0.06281709 -0.30782676 3.71603743] [ 0.05212576 0.9977212 -0.04284062 0.39087114] [ 0.3098164 0.02462574 0.95047744 -0.16860815] [ 0. 0. 0. 1. ]] SLAMing on 59.62800114499999 meters Centerline goodness [0,1] 0.9014440092492095 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:-0.17 [[ 0.94936926 -0.06199901 -0.30798398 3.71715823] [ 0.05156971 0.9977902 -0.04189603 0.38772991] [ 0.30990091 0.02389216 0.95046862 -0.16913924] [ 0. 0. 0. 1. ]] SLAMing on 59.65800114499999 meters Centerline goodness [0,1] 0.9037668731890033 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:-0.17 [[ 0.94935863 -0.0616267 -0.30809144 3.71776071] [ 0.0513456 0.99782351 -0.04137467 0.3864769 ] [ 0.30997067 0.02346026 0.95045663 -0.16942176] [ 0. 0. 0. 1. ]] SLAMing on 59.68800114499999 meters Centerline goodness [0,1] 0.9039843547513018 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:-0.17 [[ 0.94936171 -0.06156428 -0.30809444 3.71752895] [ 0.05135719 0.99783272 -0.0411377 0.38504566] [ 0.30995933 0.02323169 0.95046594 -0.16926084] [ 0. 0. 0. 1. ]] SLAMing on 59.71800114499999 meters Centerline goodness [0,1] 0.9049826730354968 Centerline is valid? [False, False] Translation: X:3.72, Y:0.38, Z:-0.17 [[ 0.94937568 -0.06139853 -0.30808448 3.71758557] [ 0.05140881 0.99785834 -0.04044591 0.3808913 ] [ 0.30990799 0.02256011 0.95049886 -0.16947932] [ 0. 0. 0. 1. ]] SLAMing on 59.74800114499999 meters Centerline goodness [0,1] 0.9076667679861582 Centerline is valid? [False, False] Translation: X:3.72, Y:0.38, Z:-0.17 [[ 0.94937319 -0.0611729 -0.308137 3.71798052] [ 0.05133885 0.99788275 -0.03992915 0.37896157] [ 0.30992718 0.02208826 0.95050368 -0.16980636] [ 0. 0. 0. 1. ]] SLAMing on 59.77800114499999 meters Centerline goodness [0,1] 0.9062142406763036 Centerline is valid? [False, False] Translation: X:3.72, Y:0.38, Z:-0.17 [[ 0.94934112 -0.06102455 -0.30826523 3.71850742] [ 0.05126634 0.99789706 -0.03966381 0.37831012] [ 0.31003743 0.02185085 0.95047322 -0.16994564] [ 0. 0. 0. 1. ]] SLAMing on 59.80800114499999 meters Centerline goodness [0,1] 0.9071943621216718 Centerline is valid? [False, False] Translation: X:3.72, Y:0.38, Z:-0.17 [[ 0.9491681 -0.06057011 -0.308887 3.71959094] [ 0.05078519 0.99792308 -0.03962816 0.37933762] [ 0.31064575 0.0219269 0.95027282 -0.1689422 ] [ 0. 0. 0. 1. ]] SLAMing on 59.83800114499999 meters Centerline goodness [0,1] 0.9109183340329275 Centerline is valid? [False, False] Translation: X:3.72, Y:0.38, Z:-0.17 [[ 0.94909371 -0.06008198 -0.30921074 3.72074139] [ 0.05037088 0.99795698 -0.03930181 0.37907508] [ 0.31094034 0.02172588 0.95018108 -0.16896222] [ 0. 0. 0. 1. ]] SLAMing on 59.868001144999994 meters Centerline goodness [0,1] 0.9112218058238868 Centerline is valid? [False, False] Translation: X:3.72, Y:0.38, Z:-0.17 [[ 0.9490413 -0.05952194 -0.30947979 3.72232377] [ 0.04994919 0.99799892 -0.03877148 0.377882 ] [ 0.31116825 0.02133747 0.95011527 -0.1695521 ] [ 0. 0. 0. 1. ]] SLAMing on 59.89800114499999 meters Centerline goodness [0,1] 0.9098229038188546 Centerline is valid? [False, False] Translation: X:3.72, Y:0.38, Z:-0.17 [[ 0.9489863 -0.05885347 -0.30977615 3.72448236] [ 0.04947724 0.99805038 -0.03804523 0.37592388] [ 0.3114113 0.02077753 0.95004805 -0.17059047] [ 0. 0. 0. 1. ]] SLAMing on 59.92800114499999 meters Centerline goodness [0,1] 0.9123329071254214 Centerline is valid? [False, False] Translation: X:3.73, Y:0.37, Z:-0.17 [[ 0.94892346 -0.05831345 -0.31007064 3.72708334] [ 0.04920357 0.99809847 -0.03712747 0.37324464] [ 0.31164607 0.01997454 0.94998829 -0.17227861] [ 0. 0. 0. 1. ]] SLAMing on 59.95800114499999 meters Centerline goodness [0,1] 0.9123329071254214 Centerline is valid? [False, False] Translation: X:3.73, Y:0.37, Z:-0.17 [[ 0.94892346 -0.05831345 -0.31007064 3.72708334] [ 0.04920357 0.99809847 -0.03712747 0.37324464] [ 0.31164607 0.01997454 0.94998829 -0.17227861] [ 0. 0. 0. 1. ]] SLAMing on 59.98800114499999 meters Centerline goodness [0,1] 0.9101167947616504 Centerline is valid? [False, False] Translation: X:3.73, Y:0.37, Z:-0.17 [[ 0.94883817 -0.05827873 -0.31033806 3.72778123] [ 0.04918573 0.99810213 -0.03705258 0.37327084] [ 0.31190846 0.0198927 0.94990389 -0.17215821] [ 0. 0. 0. 1. ]] SLAMing on 60.01800114499999 meters Centerline goodness [0,1] 0.906693004880316 Centerline is valid? [False, False] Translation: X:3.73, Y:0.37, Z:-0.17 [[ 0.94876279 -0.05830274 -0.31056393 3.72822088] [ 0.04922357 0.99810225 -0.03699917 0.37380748] [ 0.31213171 0.01981637 0.94983215 -0.17202655] [ 0. 0. 0. 1. ]] SLAMing on 60.04800114499999 meters Centerline goodness [0,1] 0.9055833061014892 Centerline is valid? [False, False] Translation: X:3.73, Y:0.37, Z:-0.17 [[ 0.94871559 -0.05874518 -0.31062475 3.7276804 ] [ 0.04958191 0.99807253 -0.037321 0.37429169] [ 0.31221846 0.02000565 0.94979967 -0.17145515] [ 0. 0. 0. 1. ]] SLAMing on 60.07800114499999 meters Centerline goodness [0,1] 0.8989367889630784 Centerline is valid? [False, False] Translation: X:3.74, Y:0.37, Z:-0.17 [[ 0.95043118 -0.06224581 -0.30464083 3.74200607] [ 0.05474746 0.99795135 -0.03310322 0.3727733 ] [ 0.30607726 0.01478402 0.95189188 -0.17115286] [ 0. 0. 0. 1. ]] SLAMing on 60.10800114499999 meters Centerline goodness [0,1] 0.8965069049553209 Centerline is valid? [False, False] Translation: X:3.74, Y:0.37, Z:-0.17 [[ 0.95035652 -0.06232569 -0.30485733 3.74281086] [ 0.05488624 0.99794973 -0.03292166 0.37102563] [ 0.30628415 0.01455484 0.95182886 -0.171364 ] [ 0. 0. 0. 1. ]] SLAMing on 60.13800114499999 meters Centerline goodness [0,1] 0.8984409489068055 Centerline is valid? [False, False] Translation: X:3.74, Y:0.37, Z:-0.17 [[ 0.9503105 -0.06225885 -0.30501442 3.74360137] [ 0.0548674 0.99795627 -0.03275432 0.36993396] [ 0.3064303 0.01439142 0.9517843 -0.17160732] [ 0. 0. 0. 1. ]] SLAMing on 60.16800114499999 meters Centerline goodness [0,1] 0.8965613318163876 Centerline is valid? [False, False] Translation: X:3.74, Y:0.37, Z:-0.17 [[ 0.95022789 -0.0622739 -0.30526859 3.7448585 ] [ 0.05489038 0.99795615 -0.03271954 0.37048447] [ 0.30668224 0.01433471 0.95170401 -0.17206242] [ 0. 0. 0. 1. ]] SLAMing on 60.19800114499999 meters Centerline goodness [0,1] 0.8985085739547221 Centerline is valid? [False, False] Translation: X:3.75, Y:0.37, Z:-0.17 [[ 0.95016821 -0.06230696 -0.30544755 3.7455013 ] [ 0.05491365 0.99795399 -0.03274629 0.37113061] [ 0.30686293 0.01434125 0.95164567 -0.17214217] [ 0. 0. 0. 1. ]] SLAMing on 60.22800114499999 meters Centerline goodness [0,1] 0.8987998325347722 Centerline is valid? [False, False] Translation: X:3.75, Y:0.37, Z:-0.17 [[ 0.94995844 -0.06193926 -0.30617397 3.74786865] [ 0.05454128 0.99797699 -0.03266775 0.37340239] [ 0.30757799 0.01433388 0.9514149 -0.17212677] [ 0. 0. 0. 1. ]] SLAMing on 60.25800114499999 meters Centerline goodness [0,1] 0.8978098788443616 Centerline is valid? [False, False] Translation: X:3.75, Y:0.37, Z:-0.17 [[ 0.94986733 -0.06187561 -0.30646934 3.74896148] [ 0.05446131 0.9979805 -0.03269374 0.37369601] [ 0.30787337 0.01436399 0.95131891 -0.1722145 ] [ 0. 0. 0. 1. ]] SLAMing on 60.28800114499999 meters Centerline goodness [0,1] 0.8980320750752854 Centerline is valid? [False, False] Translation: X:3.75, Y:0.37, Z:-0.17 [[ 0.94983138 -0.06169541 -0.30661708 3.75012653] [ 0.05435652 0.99799497 -0.0324254 0.37291226] [ 0.3080028 0.01413202 0.95128049 -0.17281786] [ 0. 0. 0. 1. ]] SLAMing on 60.31800114499999 meters Centerline goodness [0,1] 0.8954991035462314 Centerline is valid? [False, False] Translation: X:3.75, Y:0.37, Z:-0.17 [[ 0.94979581 -0.06172461 -0.30672135 3.75093739] [ 0.05442942 0.99799539 -0.03229004 0.37186286] [ 0.30809958 0.01397428 0.95125147 -0.17321632] [ 0. 0. 0. 1. ]] SLAMing on 60.34800114499999 meters Centerline goodness [0,1] 0.8932516195181059 Centerline is valid? [False, False] Translation: X:3.77, Y:0.37, Z:-0.17 [[ 0.95138 -0.06342755 -0.30141837 3.76510554] [ 0.05819968 0.99795841 -0.02630245 0.37138527] [ 0.3024713 0.00748117 0.95312913 -0.17233169] [ 0. 0. 0. 1. ]] SLAMing on 60.37800114499999 meters Centerline goodness [0,1] 0.8899626517273576 Centerline is valid? [False, False] Translation: X:3.76, Y:0.37, Z:-0.17 [[ 0.95124275 -0.06409632 -0.30170993 3.76482582] [ 0.05863733 0.99791075 -0.02712563 0.37296385] [ 0.30281824 0.00811159 0.95301381 -0.17116992] [ 0. 0. 0. 1. ]] SLAMing on 60.40800114499999 meters Centerline goodness [0,1] 0.8880424907400937 Centerline is valid? [False, False] Translation: X:3.77, Y:0.38, Z:-0.17 [[ 0.95073203 -0.06840863 -0.30237208 3.76704085] [ 0.06168813 0.99759092 -0.03173226 0.37668046] [ 0.3038144 0.01151611 0.95266163 -0.16961768] [ 0. 0. 0. 1. ]] SLAMing on 60.43800114499999 meters Centerline goodness [0,1] 0.8836232053227501 Centerline is valid? [False, False] Translation: X:3.77, Y:0.38, Z:-0.17 [[ 0.95069812 -0.06940651 -0.30225127 3.76651851] [ 0.06256142 0.99751889 -0.03228203 0.37630203] [ 0.30374193 0.01178119 0.9526815 -0.16963505] [ 0. 0. 0. 1. ]] SLAMing on 60.46800114499999 meters Centerline goodness [0,1] 0.8818744887226831 Centerline is valid? [False, False] Translation: X:3.77, Y:0.38, Z:-0.17 [[ 0.95065956 -0.06955767 -0.30233778 3.76722435] [ 0.06272101 0.99750908 -0.03227543 0.37642486] [ 0.30382969 0.01172002 0.95265427 -0.170063 ] [ 0. 0. 0. 1. ]] SLAMing on 60.49800114499999 meters Centerline goodness [0,1] 0.8767815556590591 Centerline is valid? [False, False] Translation: X:3.77, Y:0.38, Z:-0.17 [[ 0.95051559 -0.06952506 -0.30279757 3.76885089] [ 0.06270321 0.99751246 -0.03220547 0.37679095] [ 0.30428344 0.01162542 0.9525106 -0.17030881] [ 0. 0. 0. 1. ]] SLAMing on 60.52800114499999 meters Centerline goodness [0,1] 0.8724126627329775 Centerline is valid? [False, False] Translation: X:3.77, Y:0.38, Z:-0.17 [[ 0.95045272 -0.07013426 -0.30285445 3.76984111] [ 0.06332211 0.99747137 -0.03226714 0.37666096] [ 0.30435167 0.01149101 0.95249043 -0.17141372] [ 0. 0. 0. 1. ]] SLAMing on 60.55800114499999 meters Centerline goodness [0,1] 0.8675659824046921 Centerline is valid? [False, False] Translation: X:3.77, Y:0.38, Z:-0.17 [[ 0.95040135 -0.07013068 -0.30301642 3.77072784] [ 0.06333075 0.99747229 -0.03222196 0.37630035] [ 0.30451023 0.01143354 0.95244044 -0.1716922 ] [ 0. 0. 0. 1. ]] SLAMing on 60.58800114499999 meters Centerline goodness [0,1] 0.8699733158559992 Centerline is valid? [False, False] Translation: X:3.77, Y:0.38, Z:-0.17 [[ 0.95027092 -0.07022129 -0.30340425 3.77124447] [ 0.06332001 0.99746273 -0.0325373 0.37707822] [ 0.30491924 0.01170769 0.95230625 -0.17090884] [ 0. 0. 0. 1. ]] SLAMing on 60.61800114499999 meters Centerline goodness [0,1] 0.8716823504564335 Centerline is valid? [False, False] Translation: X:3.77, Y:0.38, Z:-0.17 [[ 0.9500649 -0.0705075 -0.30398254 3.77136404] [ 0.06330358 0.99743185 -0.03350164 0.37994526] [ 0.30556398 0.01258555 0.95208837 -0.1690148 ] [ 0. 0. 0. 1. ]] SLAMing on 60.64800114499999 meters Centerline goodness [0,1] 0.8746880738264513 Centerline is valid? [False, False] Translation: X:3.77, Y:0.38, Z:-0.17 [[ 0.94968925 -0.07053353 -0.30514808 3.77255534] [ 0.06279279 0.99740843 -0.03512097 0.38342232] [ 0.30683447 0.01419291 0.95165706 -0.16552724] [ 0. 0. 0. 1. ]] SLAMing on 60.67800114499999 meters Centerline goodness [0,1] 0.8748140978730437 Centerline is valid? [False, False] Translation: X:3.77, Y:0.39, Z:-0.16 [[ 0.94962324 -0.07062985 -0.30533116 3.77229752] [ 0.06257625 0.99738721 -0.03609671 0.38638672] [ 0.3070829 0.0151718 0.95156183 -0.16396438] [ 0. 0. 0. 1. ]] SLAMing on 60.70800114499999 meters Centerline goodness [0,1] 0.8744473080651645 Centerline is valid? [False, False] Translation: X:3.77, Y:0.39, Z:-0.16 [[ 0.94955344 -0.07027389 -0.30563025 3.77379481] [ 0.06222938 0.99741249 -0.03599752 0.38656943] [ 0.30736912 0.01516239 0.95146956 -0.16424786] [ 0. 0. 0. 1. ]] SLAMing on 60.73800114499999 meters Centerline goodness [0,1] 0.8786198107195959 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:-0.16 [[ 0.9495047 -0.06989283 -0.30586894 3.77550774] [ 0.0618682 0.99743976 -0.03586421 0.38702367] [ 0.3075925 0.01512968 0.95139789 -0.16482255] [ 0. 0. 0. 1. ]] SLAMing on 60.76800114499999 meters Centerline goodness [0,1] 0.8819633998718284 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:-0.17 [[ 0.94941774 -0.06921859 -0.30629191 3.77819307] [ 0.06114622 0.99748356 -0.03588441 0.38961378] [ 0.30800501 0.0153407 0.95126104 -0.16548987] [ 0. 0. 0. 1. ]] SLAMing on 60.79800114499999 meters Centerline goodness [0,1] 0.8805651193161581 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:-0.17 [[ 0.94930833 -0.06900229 -0.3066796 3.77952852] [ 0.06083559 0.997494 -0.03612123 0.39156455] [ 0.30840351 0.01563316 0.95112716 -0.16532225] [ 0. 0. 0. 1. ]] SLAMing on 60.82800114499999 meters Centerline goodness [0,1] 0.8829675822344932 Centerline is valid? [False, False] Translation: X:3.78, Y:0.39, Z:-0.16 [[ 0.94920306 -0.06895844 -0.30701512 3.78030557] [ 0.060647 0.99749015 -0.03654231 0.3940466 ] [ 0.30876446 0.01606653 0.95100283 -0.16479839] [ 0. 0. 0. 1. ]] SLAMing on 60.85800114499999 meters Centerline goodness [0,1] 0.8828800841179563 Centerline is valid? [False, False] Translation: X:3.78, Y:0.40, Z:-0.16 [[ 0.94917569 -0.06905036 -0.30707908 3.78021326] [ 0.0604835 0.99747055 -0.0373397 0.39783837] [ 0.30888066 0.01686872 0.9509512 -0.16387207] [ 0. 0. 0. 1. ]] SLAMing on 60.88800114499999 meters Centerline goodness [0,1] 0.8825865409918423 Centerline is valid? [False, False] Translation: X:3.78, Y:0.40, Z:-0.16 [[ 0.94908535 -0.06896888 -0.30737646 3.78118083] [ 0.0603308 0.99747269 -0.03752889 0.39863316] [ 0.30918795 0.01707386 0.95084767 -0.16366259] [ 0. 0. 0. 1. ]] SLAMing on 60.91800114499999 meters Centerline goodness [0,1] 0.8822121712494316 Centerline is valid? [False, False] Translation: X:3.78, Y:0.40, Z:-0.16 [[ 0.94900383 -0.06874465 -0.30767824 3.78270367] [ 0.06008029 0.99748676 -0.03755691 0.39927333] [ 0.30948681 0.01715625 0.95074896 -0.16395344] [ 0. 0. 0. 1. ]] SLAMing on 60.94800114499999 meters Centerline goodness [0,1] 0.8853070594987564 Centerline is valid? [False, False] Translation: X:3.78, Y:0.40, Z:-0.16 [[ 0.94892291 -0.06864455 -0.30795004 3.78382704] [ 0.05991029 0.99749008 -0.03773992 0.40034278] [ 0.30976775 0.0173629 0.95065371 -0.16390866] [ 0. 0. 0. 1. ]] SLAMing on 60.97800114499999 meters Centerline goodness [0,1] 0.8856349225353799 Centerline is valid? [False, False] Translation: X:3.79, Y:0.40, Z:-0.17 [[ 0.95290143 -0.06706267 -0.29577266 3.78977212] [ 0.05889237 0.9975984 -0.036457 0.40287409] [ 0.29750724 0.01732117 0.95456242 -0.1673974 ] [ 0. 0. 0. 1. ]] SLAMing on 61.00800114499999 meters Centerline goodness [0,1] 0.8839814948677173 Centerline is valid? [False, False] Translation: X:3.79, Y:0.40, Z:-0.17 [[ 0.95285152 -0.06732746 -0.29587327 3.78971274] [ 0.05898262 0.99757121 -0.03705049 0.40447197] [ 0.29764917 0.01785224 0.95450839 -0.16673866] [ 0. 0. 0. 1. ]] SLAMing on 61.03800114499999 meters Centerline goodness [0,1] 0.8858492612499699 Centerline is valid? [False, False] Translation: X:3.79, Y:0.41, Z:-0.17 [[ 0.95277579 -0.06719052 -0.29614814 3.79087674] [ 0.05877692 0.99757655 -0.03723293 0.4058798 ] [ 0.29793214 0.01806796 0.95441605 -0.16674466] [ 0. 0. 0. 1. ]] SLAMing on 61.06800114499999 meters Centerline goodness [0,1] 0.8830847580938523 Centerline is valid? [False, False] Translation: X:3.79, Y:0.41, Z:-0.17 [[ 0.95274136 -0.06683019 -0.29634039 3.79230692] [ 0.05832206 0.99759441 -0.03746903 0.40913089] [ 0.29813158 0.01841511 0.95434713 -0.16696234] [ 0. 0. 0. 1. ]] SLAMing on 61.09800114499999 meters Centerline goodness [0,1] 0.8842836665775856 Centerline is valid? [False, False] Translation: X:3.79, Y:0.41, Z:-0.17 [[ 0.95266935 -0.06688455 -0.29655956 3.79281414] [ 0.05827198 0.99758496 -0.0377971 0.41022034] [ 0.2983714 0.01872702 0.95426611 -0.16660466] [ 0. 0. 0. 1. ]] SLAMing on 61.12800114499999 meters Centerline goodness [0,1] 0.8833438669842968 Centerline is valid? [False, False] Translation: X:3.79, Y:0.41, Z:-0.17 [[ 0.95258509 -0.06689983 -0.29682664 3.79346807] [ 0.05823454 0.99758133 -0.03795033 0.41088341] [ 0.29864758 0.01886535 0.95417699 -0.16629627] [ 0. 0. 0. 1. ]] SLAMing on 61.15800114499999 meters Centerline goodness [0,1] 0.8853665646407229 Centerline is valid? [False, False] Translation: X:3.79, Y:0.41, Z:-0.17 [[ 0.9525234 -0.06713425 -0.29697164 3.79359446] [ 0.05837184 0.99756047 -0.03828624 0.41138198] [ 0.29881749 0.01913376 0.95411845 -0.16586406] [ 0. 0. 0. 1. ]] SLAMing on 61.18800114499999 meters Centerline goodness [0,1] 0.8829994164559424 Centerline is valid? [False, False] Translation: X:3.79, Y:0.41, Z:-0.17 [[ 0.95253324 -0.06728372 -0.29690625 3.79379618] [ 0.05847951 0.99754799 -0.0384467 0.41207725] [ 0.29876507 0.01925883 0.95413234 -0.16605925] [ 0. 0. 0. 1. ]] SLAMing on 61.21800114499999 meters Centerline goodness [0,1] 0.8832748366968899 Centerline is valid? [False, False] Translation: X:3.79, Y:0.41, Z:-0.17 [[ 0.95251367 -0.06747124 -0.29692649 3.79364415] [ 0.05853175 0.99752714 -0.03890559 0.41331948] [ 0.29881724 0.01967847 0.95410744 -0.16554399] [ 0. 0. 0. 1. ]] SLAMing on 61.24800114499999 meters Centerline goodness [0,1] 0.8833011748039958 Centerline is valid? [False, False] Translation: X:3.79, Y:0.42, Z:-0.17 [[ 0.95249266 -0.06732691 -0.29702662 3.79414032] [ 0.05829336 0.99753047 -0.03917713 0.41511541] [ 0.29893077 0.02000125 0.95406517 -0.16527037] [ 0. 0. 0. 1. ]] SLAMing on 61.27800114499999 meters Centerline goodness [0,1] 0.8847679200940071 Centerline is valid? [False, False] Translation: X:3.80, Y:0.42, Z:-0.16 [[ 0.95246563 -0.06624253 -0.29735696 3.79578325] [ 0.05708821 0.99759237 -0.03937519 0.41830352] [ 0.29924934 0.02052794 0.9539541 -0.16454864] [ 0. 0. 0. 1. ]] SLAMing on 61.30800114499999 meters Centerline goodness [0,1] 0.8857465785400133 Centerline is valid? [False, False] Translation: X:3.80, Y:0.42, Z:-0.16 [[ 0.95239131 -0.06565007 -0.29772614 3.79744204] [ 0.05648626 0.99763002 -0.03928932 0.41863834] [ 0.29959988 0.02060137 0.95384249 -0.1645586 ] [ 0. 0. 0. 1. ]] SLAMing on 61.33800114499999 meters Centerline goodness [0,1] 0.8843070435656673 Centerline is valid? [False, False] Translation: X:3.80, Y:0.42, Z:-0.16 [[ 0.9523682 -0.06522117 -0.29789429 3.79856615] [ 0.05603983 0.99765603 -0.03926808 0.41890302] [ 0.29975715 0.02070372 0.95379086 -0.16459409] [ 0. 0. 0. 1. ]] SLAMing on 61.36800114499999 meters Centerline goodness [0,1] 0.8844289124603155 Centerline is valid? [False, False] Translation: X:3.80, Y:0.42, Z:-0.16 [[ 0.95267119 -0.06103824 -0.2978119 3.79729138] [ 0.05273455 0.997965 -0.03584588 0.4200935 ] [ 0.29939383 0.01844436 0.95395133 -0.16446988] [ 0. 0. 0. 1. ]] SLAMing on 61.39800114499999 meters Centerline goodness [0,1] 0.885503916191041 Centerline is valid? [False, False] Translation: X:3.80, Y:0.42, Z:-0.16 [[ 0.95256839 -0.06105619 -0.2981369 3.79795397] [ 0.05260202 0.99795534 -0.03630656 0.42231039] [ 0.29974405 0.01890188 0.95383239 -0.16382826] [ 0. 0. 0. 1. ]] SLAMing on 61.42800114499999 meters Centerline goodness [0,1] 0.880391768895924 Centerline is valid? [False, False] Translation: X:3.80, Y:0.42, Z:-0.16 [[ 0.95249459 -0.06107525 -0.29836867 3.79867331] [ 0.05256261 0.99795109 -0.03648009 0.42310186] [ 0.29998537 0.01906406 0.95375329 -0.16364708] [ 0. 0. 0. 1. ]] SLAMing on 61.45800114499999 meters Centerline goodness [0,1] 0.8806173175376549 Centerline is valid? [False, False] Translation: X:3.80, Y:0.42, Z:-0.16 [[ 0.95247424 -0.06102904 -0.2984431 3.79927684] [ 0.05256211 0.99795685 -0.03632282 0.42236809] [ 0.30005008 0.01890976 0.95373601 -0.1639993 ] [ 0. 0. 0. 1. ]] SLAMing on 61.48800114499999 meters Centerline goodness [0,1] 0.8767407407407407 Centerline is valid? [False, False] Translation: X:3.80, Y:0.42, Z:-0.16 [[ 0.95217187 -0.06551448 -0.29845699 3.80045851] [ 0.05597454 0.99761408 -0.04041048 0.4229982 ] [ 0.30039237 0.02177173 0.95356721 -0.16347284] [ 0. 0. 0. 1. ]] SLAMing on 61.51800114499999 meters Centerline goodness [0,1] 0.8789269761358308 Centerline is valid? [False, False] Translation: X:3.80, Y:0.42, Z:-0.16 [[ 0.95218403 -0.06557209 -0.29840554 3.80063236] [ 0.0561356 0.99761777 -0.04009465 0.42184691] [ 0.30032376 0.02142631 0.95359664 -0.163952 ] [ 0. 0. 0. 1. ]] SLAMing on 61.54800114499999 meters Centerline goodness [0,1] 0.8800888230940045 Centerline is valid? [False, False] Translation: X:3.80, Y:0.42, Z:-0.16 [[ 0.95220026 -0.06563907 -0.29833903 3.80067716] [ 0.05628589 0.9976193 -0.03984517 0.42078238] [ 0.30024417 0.0211483 0.95362791 -0.16430253] [ 0. 0. 0. 1. ]] SLAMing on 61.57800114499999 meters Centerline goodness [0,1] 0.8763403666551366 Centerline is valid? [False, False] Translation: X:3.80, Y:0.42, Z:-0.16 [[ 0.95216547 -0.06572783 -0.29843051 3.80111396] [ 0.05641117 0.99761658 -0.03973587 0.42004604] [ 0.30033097 0.02100031 0.95360385 -0.1645111 ] [ 0. 0. 0. 1. ]] SLAMing on 61.60800114499999 meters Centerline goodness [0,1] 0.8765176702376555 Centerline is valid? [False, False] Translation: X:3.80, Y:0.42, Z:-0.17 [[ 0.95209075 -0.06529909 -0.29876283 3.80289721] [ 0.05619391 0.99765883 -0.03897577 0.41861156] [ 0.30060846 0.02031982 0.95353115 -0.16542136] [ 0. 0. 0. 1. ]] SLAMing on 61.63800114499999 meters Centerline goodness [0,1] 0.876222862916143 Centerline is valid? [False, False] Translation: X:3.80, Y:0.42, Z:-0.17 [[ 0.952025 -0.06503723 -0.29902936 3.80413744] [ 0.05595769 0.99767756 -0.03883587 0.41879101] [ 0.30086066 0.02023973 0.95345331 -0.16564488] [ 0. 0. 0. 1. ]] SLAMing on 61.66800114499999 meters Centerline goodness [0,1] 0.8799615166391198 Centerline is valid? [False, False] Translation: X:3.81, Y:0.42, Z:-0.17 [[ 0.95191511 -0.06418633 -0.29956258 3.80636366] [ 0.05515329 0.99773453 -0.0385217 0.41978812] [ 0.30135649 0.02014752 0.95329866 -0.1657127 ] [ 0. 0. 0. 1. ]] SLAMing on 61.69800114499999 meters Centerline goodness [0,1] 0.881222082377039 Centerline is valid? [False, False] Translation: X:3.81, Y:0.42, Z:-0.17 [[ 0.95185548 -0.0638617 -0.29982132 3.80728492] [ 0.0548102 0.99775379 -0.03851249 0.42005621] [ 0.30160733 0.02022506 0.95321769 -0.16548738] [ 0. 0. 0. 1. ]] SLAMing on 61.72800114499999 meters Centerline goodness [0,1] 0.8803730938163155 Centerline is valid? [False, False] Translation: X:3.81, Y:0.42, Z:-0.17 [[ 0.95179243 -0.06333517 -0.30013303 3.80866095] [ 0.05432499 0.99778928 -0.03827983 0.41988988] [ 0.30189398 0.02012973 0.95312896 -0.16553902] [ 0. 0. 0. 1. ]] SLAMing on 61.75800114499999 meters Centerline goodness [0,1] 0.8842022272592884 Centerline is valid? [False, False] Translation: X:3.81, Y:0.42, Z:-0.16 [[ 0.9517281 -0.06277497 -0.30045452 3.80971802] [ 0.05369673 0.99781919 -0.03838645 0.42085859] [ 0.302209 0.02040004 0.95302338 -0.16494556] [ 0. 0. 0. 1. ]] SLAMing on 61.78800114499999 meters Centerline goodness [0,1] 0.8838752652094538 Centerline is valid? [False, False] Translation: X:3.81, Y:0.42, Z:-0.16 [[ 0.95164899 -0.06255555 -0.30075073 3.81056084] [ 0.05337354 0.99782602 -0.03865885 0.42204321] [ 0.30251523 0.02073753 0.95291893 -0.16437771] [ 0. 0. 0. 1. ]] SLAMing on 61.81800114499999 meters Centerline goodness [0,1] 0.8850932444115105 Centerline is valid? [False, False] Translation: X:3.81, Y:0.42, Z:-0.16 [[ 0.95157102 -0.06235303 -0.30103935 3.81149355] [ 0.05310769 0.99783447 -0.03880643 0.42316524] [ 0.30280714 0.02093957 0.95282179 -0.16409054] [ 0. 0. 0. 1. ]] SLAMing on 61.84800114499999 meters Centerline goodness [0,1] 0.8872595083832039 Centerline is valid? [False, False] Translation: X:3.81, Y:0.42, Z:-0.16 [[ 0.95149958 -0.06215941 -0.30130508 3.81224257] [ 0.0528368 0.99784129 -0.03900045 0.42411218] [ 0.3030789 0.02118892 0.95272987 -0.16366722] [ 0. 0. 0. 1. ]] SLAMing on 61.87800114499999 meters Centerline goodness [0,1] 0.8872595083832039 Centerline is valid? [False, False] Translation: X:3.81, Y:0.42, Z:-0.16 [[ 0.95149958 -0.06215941 -0.30130508 3.81224257] [ 0.0528368 0.99784129 -0.03900045 0.42411218] [ 0.3030789 0.02118892 0.95272987 -0.16366722] [ 0. 0. 0. 1. ]] SLAMing on 61.90800114499999 meters Centerline goodness [0,1] 0.8859829780898737 Centerline is valid? [False, False] Translation: X:3.81, Y:0.43, Z:-0.16 [[ 0.95149167 -0.06193257 -0.30137676 3.81241496] [ 0.05241331 0.99784086 -0.03957845 0.42594555] [ 0.30317724 0.02186242 0.95268336 -0.16260373] [ 0. 0. 0. 1. ]] SLAMing on 61.93800114499999 meters Centerline goodness [0,1] 0.8851170402697878 Centerline is valid? [False, False] Translation: X:3.81, Y:0.43, Z:-0.16 [[ 0.95146527 -0.06200624 -0.30144497 3.81222977] [ 0.05233537 0.99782571 -0.04006083 0.42665755] [ 0.30327356 0.02234025 0.95264162 -0.16168816] [ 0. 0. 0. 1. ]] SLAMing on 61.96800114499999 meters Centerline goodness [0,1] 0.8815136476426799 Centerline is valid? [False, False] Translation: X:3.81, Y:0.43, Z:-0.16 [[ 0.95145726 -0.06205644 -0.30145991 3.8121209 ] [ 0.05226231 0.99781365 -0.04045449 0.42708461] [ 0.30331127 0.02273573 0.95262026 -0.16102543] [ 0. 0. 0. 1. ]] SLAMing on 61.99800114499999 meters Centerline goodness [0,1] 0.8835949920508744 Centerline is valid? [False, False] Translation: X:3.81, Y:0.43, Z:-0.16 [[ 0.95141393 -0.06187511 -0.30163388 3.81257233] [ 0.05201981 0.99782021 -0.04060505 0.42718713] [ 0.30348882 0.02294127 0.95255878 -0.16055889] [ 0. 0. 0. 1. ]] SLAMing on 62.02800114499999 meters Centerline goodness [0,1] 0.8840106645404031 Centerline is valid? [False, False] Translation: X:3.81, Y:0.43, Z:-0.16 [[ 0.95131402 -0.06138213 -0.30204946 3.81406427] [ 0.05154759 0.99785176 -0.04043152 0.42784413] [ 0.30388235 0.02289315 0.95243447 -0.16041103] [ 0. 0. 0. 1. ]] SLAMing on 62.05800114499999 meters Centerline goodness [0,1] 0.8844182342987956 Centerline is valid? [False, False] Translation: X:3.81, Y:0.43, Z:-0.16 [[ 0.95123058 -0.06148615 -0.30229098 3.81449902] [ 0.05161445 0.99784371 -0.0405448 0.42819935] [ 0.3041321 0.02296487 0.95235302 -0.16007752] [ 0. 0. 0. 1. ]] SLAMing on 62.08800114499999 meters Centerline goodness [0,1] 0.8821992134999254 Centerline is valid? [False, False] Translation: X:3.82, Y:0.43, Z:-0.16 [[ 0.95116182 -0.06124068 -0.30255704 3.81562015] [ 0.05146953 0.99786629 -0.04017145 0.42738715] [ 0.3043716 0.02263708 0.95228435 -0.1603632 ] [ 0. 0. 0. 1. ]] SLAMing on 62.11800114499999 meters Centerline goodness [0,1] 0.8824494666965018 Centerline is valid? [False, False] Translation: X:3.82, Y:0.43, Z:-0.16 [[ 0.95110461 -0.0612717 -0.30273056 3.81638145] [ 0.05158762 0.99787147 -0.03989043 0.42602745] [ 0.30453035 0.02232282 0.95224102 -0.16071954] [ 0. 0. 0. 1. ]] SLAMing on 62.14800114499999 meters Centerline goodness [0,1] 0.8836770654952473 Centerline is valid? [False, False] Translation: X:3.82, Y:0.42, Z:-0.16 [[ 0.95112726 -0.06141624 -0.3026301 3.81635208] [ 0.05180841 0.99786835 -0.03968185 0.4243804 ] [ 0.30442211 0.0220637 0.95228167 -0.16108439] [ 0. 0. 0. 1. ]] SLAMing on 62.17800114499999 meters Centerline goodness [0,1] 0.8804315476190476 Centerline is valid? [False, False] Translation: X:3.81, Y:0.42, Z:-0.16 [[ 0.95115022 -0.06252915 -0.30232989 3.81449361] [ 0.05281041 0.99779416 -0.04022291 0.42207656] [ 0.3041781 0.02229187 0.95235432 -0.16033075] [ 0. 0. 0. 1. ]] SLAMing on 62.20800114499999 meters Centerline goodness [0,1] 0.8816503531160946 Centerline is valid? [False, False] Translation: X:3.81, Y:0.42, Z:-0.16 [[ 0.9511424 -0.06231513 -0.30239868 3.81497502] [ 0.05266366 0.99781191 -0.03997416 0.421069 ] [ 0.304228 0.02209569 0.95234296 -0.16044965] [ 0. 0. 0. 1. ]] SLAMing on 62.23800114499999 meters Centerline goodness [0,1] 0.8811008811008811 Centerline is valid? [False, False] Translation: X:3.82, Y:0.42, Z:-0.16 [[ 0.95105409 -0.06151773 -0.30283938 3.81711857] [ 0.05202609 0.99787141 -0.03931841 0.42030314] [ 0.30461354 0.02163839 0.95223021 -0.16097884] [ 0. 0. 0. 1. ]] SLAMing on 62.26800114499999 meters Centerline goodness [0,1] 0.8828558683584457 Centerline is valid? [False, False] Translation: X:3.82, Y:0.42, Z:-0.16 [[ 0.95095484 -0.06094744 -0.30326607 3.81905508] [ 0.05149789 0.99790867 -0.03906737 0.42068775] [ 0.30501289 0.02153374 0.95210474 -0.16126245] [ 0. 0. 0. 1. ]] SLAMing on 62.29800114499999 meters Centerline goodness [0,1] 0.8886183507664787 Centerline is valid? [False, False] Translation: X:3.82, Y:0.42, Z:-0.16 [[ 0.95114924 -0.05564146 -0.30367608 3.82053827] [ 0.04728309 0.99827466 -0.03481404 0.42114677] [ 0.30508924 0.01875461 0.95213908 -0.16208222] [ 0. 0. 0. 1. ]] SLAMing on 62.32800114499999 meters Centerline goodness [0,1] 0.8882874382340527 Centerline is valid? [False, False] Translation: X:3.82, Y:0.42, Z:-0.16 [[ 0.95102378 -0.05534531 -0.30412277 3.82165562] [ 0.04684585 0.99828248 -0.03517898 0.42320339] [ 0.30554742 0.01920916 0.95198308 -0.16128378] [ 0. 0. 0. 1. ]] SLAMing on 62.35800114499999 meters Centerline goodness [0,1] 0.8894670019169011 Centerline is valid? [False, False] Translation: X:3.82, Y:0.42, Z:-0.16 [[ 0.95095029 -0.05513825 -0.30439009 3.82227302] [ 0.04652387 0.99828663 -0.03548698 0.42452732] [ 0.30582524 0.01958495 0.95188621 -0.16059627] [ 0. 0. 0. 1. ]] SLAMing on 62.38800114499999 meters Centerline goodness [0,1] 0.8867535179752375 Centerline is valid? [False, False] Translation: X:3.82, Y:0.42, Z:-0.16 [[ 0.95094312 -0.05452455 -0.30452301 3.82357596] [ 0.04593299 0.9983202 -0.03531196 0.42348221] [ 0.30593684 0.01959202 0.9518502 -0.16073633] [ 0. 0. 0. 1. ]] SLAMing on 62.41800114499999 meters Centerline goodness [0,1] 0.8904721711930887 Centerline is valid? [False, False] Translation: X:3.82, Y:0.42, Z:-0.16 [[ 0.95090328 -0.05434279 -0.30467985 3.82416859] [ 0.04570879 0.99832719 -0.03540518 0.42328444] [ 0.3060942 0.01974035 0.95179654 -0.16044875] [ 0. 0. 0. 1. ]] SLAMing on 62.44800114499999 meters Centerline goodness [0,1] 0.8896029492352912 Centerline is valid? [False, False] Translation: X:3.82, Y:0.42, Z:-0.16 [[ 0.95083702 -0.05454798 -0.30484992 3.82415402] [ 0.04578327 0.99830856 -0.03583166 0.42436042] [ 0.30628883 0.02011305 0.95172612 -0.15972713] [ 0. 0. 0. 1. ]] SLAMing on 62.47800114499999 meters Centerline goodness [0,1] 0.8889832625530851 Centerline is valid? [False, False] Translation: X:3.82, Y:0.43, Z:-0.16 [[ 0.95085764 -0.05528129 -0.30465344 3.82227047] [ 0.04629426 0.99825528 -0.03665013 0.42601682] [ 0.30614798 0.02074535 0.95175787 -0.15821133] [ 0. 0. 0. 1. ]] SLAMing on 62.50800114499999 meters Centerline goodness [0,1] 0.888997176200115 Centerline is valid? [False, False] Translation: X:3.82, Y:0.43, Z:-0.16 [[ 0.95081064 -0.0552028 -0.30481432 3.82283151] [ 0.04622829 0.99826063 -0.03658763 0.42528932] [ 0.30630387 0.02069686 0.95170877 -0.1581322 ] [ 0. 0. 0. 1. ]] SLAMing on 62.53800114499999 meters Centerline goodness [0,1] 0.8917669285075072 Centerline is valid? [False, False] Translation: X:3.82, Y:0.42, Z:-0.16 [[ 0.9507096 -0.05477476 -0.30520644 3.82465565] [ 0.04588362 0.99828941 -0.03623471 0.42435475] [ 0.30666911 0.02044471 0.95159659 -0.15854904] [ 0. 0. 0. 1. ]] SLAMing on 62.56800114499999 meters Centerline goodness [0,1] 0.8927623253852071 Centerline is valid? [False, False] Translation: X:3.83, Y:0.42, Z:-0.16 [[ 0.95061907 -0.05417941 -0.30559446 3.82680182] [ 0.04539626 0.99832808 -0.03578035 0.42326389] [ 0.30702208 0.02014064 0.95148925 -0.1591579 ] [ 0. 0. 0. 1. ]] SLAMing on 62.59800114499999 meters Centerline goodness [0,1] 0.890863890615289 Centerline is valid? [False, False] Translation: X:3.83, Y:0.42, Z:-0.16 [[ 0.950586 -0.05429321 -0.30567713 3.82687095] [ 0.04544616 0.99831826 -0.03599033 0.42306791] [ 0.30711709 0.02032005 0.95145477 -0.15876055] [ 0. 0. 0. 1. ]] SLAMing on 62.62800114499999 meters Centerline goodness [0,1] 0.8890819289667667 Centerline is valid? [False, False] Translation: X:3.83, Y:0.42, Z:-0.16 [[ 0.9505068 -0.05435427 -0.30591247 3.82730151] [ 0.04550182 0.99831537 -0.03600022 0.42268284] [ 0.30735388 0.02029888 0.95137876 -0.15845617] [ 0. 0. 0. 1. ]] SLAMing on 62.65800114499999 meters Centerline goodness [0,1] 0.8903382600932447 Centerline is valid? [False, False] Translation: X:3.83, Y:0.42, Z:-0.16 [[ 0.95045397 -0.05469315 -0.30601619 3.82703326] [ 0.04577848 0.9982941 -0.0362383 0.42234351] [ 0.30747614 0.02043388 0.95133636 -0.15787266] [ 0. 0. 0. 1. ]] SLAMing on 62.68800114499999 meters Centerline goodness [0,1] 0.8884130795316716 Centerline is valid? [False, False] Translation: X:3.83, Y:0.42, Z:-0.16 [[ 0.95041778 -0.05488878 -0.30609356 3.82712664] [ 0.04600798 0.99828644 -0.03615862 0.42133583] [ 0.30755375 0.02028305 0.95131451 -0.15785689] [ 0. 0. 0. 1. ]] SLAMing on 62.71800114499999 meters Centerline goodness [0,1] 0.8849782651649871 Centerline is valid? [False, False] Translation: X:3.83, Y:0.42, Z:-0.16 [[ 0.95001166 -0.05922148 -0.30654633 3.82925507] [ 0.04929319 0.99798162 -0.04003586 0.42155774] [ 0.30829859 0.02292388 0.95101339 -0.15717781] [ 0. 0. 0. 1. ]] SLAMing on 62.74800114499999 meters Centerline goodness [0,1] 0.8878618160190325 Centerline is valid? [False, False] Translation: X:3.83, Y:0.42, Z:-0.16 [[ 0.94997072 -0.05927543 -0.30666276 3.82958007] [ 0.04931359 0.99797648 -0.0401386 0.42121675] [ 0.30842145 0.02300785 0.95097153 -0.15696895] [ 0. 0. 0. 1. ]] SLAMing on 62.77800114499999 meters Centerline goodness [0,1] 0.8845057152066649 Centerline is valid? [False, False] Translation: X:3.83, Y:0.42, Z:-0.16 [[ 0.94989401 -0.05904396 -0.30694493 3.8307342 ] [ 0.04906923 0.99798927 -0.04012014 0.42169899] [ 0.3086966 0.02304833 0.95088127 -0.15698221] [ 0. 0. 0. 1. ]] SLAMing on 62.80800114499999 meters Centerline goodness [0,1] 0.8849895760945101 Centerline is valid? [False, False] Translation: X:3.83, Y:0.42, Z:-0.16 [[ 0.94978537 -0.05792069 -0.30749462 3.83381831] [ 0.0479662 0.99805414 -0.03983936 0.42394402] [ 0.3092038 0.02308949 0.95071546 -0.15739196] [ 0. 0. 0. 1. ]] SLAMing on 62.83800114499999 meters Centerline goodness [0,1] 0.886093536782037 Centerline is valid? [False, False] Translation: X:3.84, Y:0.42, Z:-0.16 [[ 0.94968429 -0.05754504 -0.30787713 3.83537858] [ 0.04754411 0.99807219 -0.03989324 0.42491648] [ 0.30957925 0.02324824 0.9505894 -0.15734547] [ 0. 0. 0. 1. ]] SLAMing on 62.86800114499999 meters Centerline goodness [0,1] 0.8864658105859269 Centerline is valid? [False, False] Translation: X:3.84, Y:0.43, Z:-0.16 [[ 0.94961119 -0.05723403 -0.30816045 3.83658299] [ 0.04718425 0.99808611 -0.03997203 0.42576684] [ 0.30985842 0.02341756 0.95049428 -0.15725143] [ 0. 0. 0. 1. ]] SLAMing on 62.89800114499999 meters Centerline goodness [0,1] 0.8871699053313403 Centerline is valid? [False, False] Translation: X:3.84, Y:0.43, Z:-0.16 [[ 0.94954952 -0.05711373 -0.30837272 3.83728096] [ 0.04699949 0.99808833 -0.04013392 0.42665128] [ 0.31007541 0.02361578 0.95041861 -0.15697134] [ 0. 0. 0. 1. ]] SLAMing on 62.92800114499999 meters Centerline goodness [0,1] 0.8843996909349219 Centerline is valid? [False, False] Translation: X:3.84, Y:0.43, Z:-0.16 [[ 0.94940243 -0.0570913 -0.30882943 3.83795406] [ 0.04684748 0.99808108 -0.04049043 0.42785575] [ 0.31054846 0.02397383 0.95025518 -0.15583749] [ 0. 0. 0. 1. ]] SLAMing on 62.95800114499999 meters Centerline goodness [0,1] 0.8801984641468036 Centerline is valid? [False, False] Translation: X:3.84, Y:0.43, Z:-0.16 [[ 0.94926463 -0.05695054 -0.30927869 3.83922201] [ 0.04668959 0.99808873 -0.04048428 0.42808822] [ 0.31099317 0.0239902 0.95010932 -0.15559744] [ 0. 0. 0. 1. ]] SLAMing on 62.98800114499999 meters Centerline goodness [0,1] 0.8812118788121188 Centerline is valid? [False, False] Translation: X:3.84, Y:0.43, Z:-0.16 [[ 0.94921002 -0.05718496 -0.30940299 3.83932363] [ 0.04684405 0.99807046 -0.0407552 0.42831433] [ 0.31113657 0.02419155 0.95005726 -0.15523607] [ 0. 0. 0. 1. ]] SLAMing on 63.01800114499999 meters Centerline goodness [0,1] 0.8807960298761843 Centerline is valid? [False, False] Translation: X:3.84, Y:0.43, Z:-0.16 [[ 0.94916068 -0.05736403 -0.30952119 3.84005574] [ 0.04695867 0.99805627 -0.0409704 0.42897834] [ 0.31126979 0.02435279 0.95000951 -0.1552453 ] [ 0. 0. 0. 1. ]] SLAMing on 63.048001144999986 meters Centerline goodness [0,1] 0.8787650791262258 Centerline is valid? [False, False] Translation: X:3.84, Y:0.43, Z:-0.16 [[ 0.9491338 -0.05737095 -0.30960234 3.84074329] [ 0.04692327 0.99805285 -0.04109394 0.42959007] [ 0.3113571 0.02447609 0.94997772 -0.15535898] [ 0. 0. 0. 1. ]] SLAMing on 63.07800114499999 meters Centerline goodness [0,1] 0.8767281685184254 Centerline is valid? [False, False] Translation: X:3.84, Y:0.43, Z:-0.16 [[ 0.94908885 -0.05706797 -0.30979606 3.84215614] [ 0.04662493 0.99807003 -0.04101612 0.43006178] [ 0.31153888 0.02448372 0.94991793 -0.15574015] [ 0. 0. 0. 1. ]] SLAMing on 63.10800114499999 meters Centerline goodness [0,1] 0.8758227624643785 Centerline is valid? [False, False] Translation: X:3.84, Y:0.43, Z:-0.16 [[ 0.94897373 -0.05637692 -0.3102749 3.84479212] [ 0.04590426 0.99810583 -0.04095786 0.4315593 ] [ 0.31199626 0.024625 0.94976415 -0.15609022] [ 0. 0. 0. 1. ]] SLAMing on 63.13800114499999 meters Centerline goodness [0,1] 0.8768474148802018 Centerline is valid? [False, False] Translation: X:3.85, Y:0.43, Z:-0.16 [[ 0.94882967 -0.0559253 -0.31079675 3.84644599] [ 0.04537623 0.99812514 -0.04107551 0.43289542] [ 0.31251121 0.02487088 0.94958843 -0.1556192 ] [ 0. 0. 0. 1. ]] SLAMing on 63.16800114499999 meters Centerline goodness [0,1] 0.8754717937026624 Centerline is valid? [False, False] Translation: X:3.85, Y:0.43, Z:-0.16 [[ 0.94866125 -0.05521185 -0.31143777 3.84863999] [ 0.0446168 0.99816049 -0.04104851 0.43476962] [ 0.31313124 0.02504578 0.94937955 -0.15524984] [ 0. 0. 0. 1. ]] SLAMing on 63.19800114499999 meters Centerline goodness [0,1] 0.8748380211906395 Centerline is valid? [False, False] Translation: X:3.85, Y:0.44, Z:-0.16 [[ 0.94848985 -0.05458072 -0.31207043 3.85104975] [ 0.04393961 0.9981911 -0.04103472 0.4364177 ] [ 0.31374563 0.02520876 0.94917237 -0.15513779] [ 0. 0. 0. 1. ]] SLAMing on 63.22800114499999 meters Centerline goodness [0,1] 0.8762026285568457 Centerline is valid? [False, False] Translation: X:3.85, Y:0.44, Z:-0.16 [[ 0.94830064 -0.05334308 -0.31285847 3.85488211] [ 0.04273599 0.99825832 -0.0406689 0.43780775] [ 0.31448297 0.02519603 0.94892867 -0.15550062] [ 0. 0. 0. 1. ]] SLAMing on 63.25800114499999 meters Centerline goodness [0,1] 0.874101452969666 Centerline is valid? [False, False] Translation: X:3.86, Y:0.44, Z:-0.16 [[ 0.94820909 -0.05295902 -0.313201 3.85630108] [ 0.04235417 0.99827853 -0.04057219 0.43765456] [ 0.3148105 0.02520555 0.94881981 -0.1553804 ] [ 0. 0. 0. 1. ]] SLAMing on 63.28800114499999 meters Centerline goodness [0,1] 0.8725322872353976 Centerline is valid? [False, False] Translation: X:3.86, Y:0.44, Z:-0.16 [[ 0.94815072 -0.05263548 -0.31343215 3.85758293] [ 0.04206922 0.99829817 -0.04038492 0.43730604] [ 0.31502442 0.02510515 0.94875147 -0.15558444] [ 0. 0. 0. 1. ]] SLAMing on 63.31800114499999 meters Centerline goodness [0,1] 0.8739890292129098 Centerline is valid? [False, False] Translation: X:3.86, Y:0.44, Z:-0.16 [[ 0.94805736 -0.05210387 -0.31380316 3.85941412] [ 0.04162836 0.9983323 -0.03999612 0.43656884] [ 0.31536378 0.0248555 0.94864529 -0.15596502] [ 0. 0. 0. 1. ]] SLAMing on 63.34800114499999 meters Centerline goodness [0,1] 0.875751707267353 Centerline is valid? [False, False] Translation: X:3.86, Y:0.44, Z:-0.16 [[ 0.94790383 -0.05129159 -0.31440023 3.86214012] [ 0.04091579 0.99838082 -0.03951748 0.43558528] [ 0.31591808 0.02459484 0.94846764 -0.15632768] [ 0. 0. 0. 1. ]] SLAMing on 63.37800114499999 meters Centerline goodness [0,1] 0.8763844684914067 Centerline is valid? [False, False] Translation: X:3.87, Y:0.44, Z:-0.16 [[ 0.94773125 -0.04988706 -0.31514563 3.86556891] [ 0.03957726 0.99845381 -0.03903377 0.43582834] [ 0.31660563 0.02452093 0.94824026 -0.15623948] [ 0. 0. 0. 1. ]] SLAMing on 63.40800114499999 meters Centerline goodness [0,1] 0.8770101403257196 Centerline is valid? [False, False] Translation: X:3.87, Y:0.44, Z:-0.16 [[ 0.94758716 -0.04961525 -0.31562146 3.86646867] [ 0.0391741 0.99845753 -0.03934412 0.43727825] [ 0.31708669 0.0249178 0.94806916 -0.15521946] [ 0. 0. 0. 1. ]] SLAMing on 63.43800114499999 meters Centerline goodness [0,1] 0.8822128313484441 Centerline is valid? [False, False] Translation: X:3.87, Y:0.44, Z:-0.15 [[ 0.94742916 -0.04917894 -0.31616358 3.86750702] [ 0.03867421 0.99847406 -0.03941889 0.43793629] [ 0.31761972 0.02511923 0.9478854 -0.1541681 ] [ 0. 0. 0. 1. ]] SLAMing on 63.46800114499999 meters Centerline goodness [0,1] 0.8789988950844104 Centerline is valid? [False, False] Translation: X:3.87, Y:0.44, Z:-0.15 [[ 0.9473332 -0.04880404 -0.31650905 3.8686023 ] [ 0.03833584 0.99849491 -0.0392209 0.43712418] [ 0.31794681 0.02502162 0.94777832 -0.1539338 ] [ 0. 0. 0. 1. ]] SLAMing on 63.49800114499999 meters Centerline goodness [0,1] 0.879397882382957 Centerline is valid? [False, False] Translation: X:3.87, Y:0.43, Z:-0.15 [[ 0.94697407 -0.0524197 -0.31700519 3.87194912] [ 0.04110442 0.99825981 -0.04228214 0.43470271] [ 0.31866996 0.02700977 0.94748083 -0.15422543] [ 0. 0. 0. 1. ]] SLAMing on 63.52800114499999 meters Centerline goodness [0,1] 0.8768267223382046 Centerline is valid? [False, False] Translation: X:3.87, Y:0.43, Z:-0.15 [[ 0.94688092 -0.0521874 -0.31732161 3.87312266] [ 0.04103863 0.99828609 -0.04172189 0.43228621] [ 0.3189551 0.02648322 0.94739975 -0.15457052] [ 0. 0. 0. 1. ]] SLAMing on 63.55800114499999 meters Centerline goodness [0,1] 0.8743799129970236 Centerline is valid? [False, False] Translation: X:3.87, Y:0.43, Z:-0.15 [[ 0.94680265 -0.05208752 -0.31757145 3.87387992] [ 0.04106197 0.99830192 -0.04131821 0.43081084] [ 0.31918435 0.02608008 0.94733372 -0.15472106] [ 0. 0. 0. 1. ]] SLAMing on 63.58800114499999 meters Centerline goodness [0,1] 0.871699837530463 Centerline is valid? [False, False] Translation: X:3.88, Y:0.43, Z:-0.16 [[ 0.94668276 -0.05185226 -0.31796712 3.87524153] [ 0.04097719 0.99832671 -0.04080014 0.42951577] [ 0.31955064 0.02559539 0.94722345 -0.15501982] [ 0. 0. 0. 1. ]] SLAMing on 63.61800114499999 meters Centerline goodness [0,1] 0.8702135726020472 Centerline is valid? [False, False] Translation: X:3.88, Y:0.43, Z:-0.15 [[ 0.94619499 -0.05577314 -0.31875444 3.8784207 ] [ 0.04394537 0.9980564 -0.044184 0.42825579] [ 0.32059919 0.0277989 0.94680694 -0.15434321] [ 0. 0. 0. 1. ]] SLAMing on 63.64800114499999 meters Centerline goodness [0,1] 0.8728444478010221 Centerline is valid? [False, False] Translation: X:3.88, Y:0.43, Z:-0.15 [[ 0.94607211 -0.05534549 -0.31919341 3.88004947] [ 0.04368515 0.99809434 -0.04358083 0.42587214] [ 0.32099714 0.0272866 0.946687 -0.1546032 ] [ 0. 0. 0. 1. ]] SLAMing on 63.67800114499999 meters Centerline goodness [0,1] 0.8709709886017664 Centerline is valid? [False, False] Translation: X:3.88, Y:0.42, Z:-0.15 [[ 0.94593698 -0.0548089 -0.31968612 3.88166257] [ 0.04325739 0.99813259 -0.04312914 0.42403669] [ 0.32145299 0.02696866 0.94654142 -0.15449993] [ 0. 0. 0. 1. ]] SLAMing on 63.70800114499999 meters Centerline goodness [0,1] 0.8702704059855884 Centerline is valid? [False, False] Translation: X:3.88, Y:0.42, Z:-0.15 [[ 0.94581882 -0.05422709 -0.32013464 3.8833192 ] [ 0.0427435 0.99816911 -0.04279511 0.42293644] [ 0.32186917 0.02679275 0.94640498 -0.15437307] [ 0. 0. 0. 1. ]] SLAMing on 63.73800114499999 meters Centerline goodness [0,1] 0.877739794892419 Centerline is valid? [False, False] Translation: X:3.89, Y:0.42, Z:-0.15 [[ 0.94552778 -0.05275811 -0.32123791 3.88719336] [ 0.04131638 0.99824878 -0.04233602 0.42248464] [ 0.32290891 0.0267575 0.94605173 -0.15353012] [ 0. 0. 0. 1. ]] SLAMing on 63.76800114499999 meters Centerline goodness [0,1] 0.877739794892419 Centerline is valid? [False, False] Translation: X:3.89, Y:0.42, Z:-0.15 [[ 0.94552778 -0.05275811 -0.32123791 3.88719336] [ 0.04131638 0.99824878 -0.04233602 0.42248464] [ 0.32290891 0.0267575 0.94605173 -0.15353012] [ 0. 0. 0. 1. ]] SLAMing on 63.798001144999986 meters Centerline goodness [0,1] 0.8804358767867928 Centerline is valid? [False, False] Translation: X:3.89, Y:0.42, Z:-0.15 [[ 0.94535223 -0.0520653 -0.32186699 3.88936341] [ 0.04064413 0.99828603 -0.04210758 0.42283046] [ 0.32350766 0.02672449 0.94584808 -0.15325483] [ 0. 0. 0. 1. ]] SLAMing on 63.82800114499999 meters Centerline goodness [0,1] 0.8789553368660106 Centerline is valid? [False, False] Translation: X:3.89, Y:0.42, Z:-0.15 [[ 0.94513333 -0.05020221 -0.32280447 3.89431797] [ 0.03907283 0.99840022 -0.04086953 0.42191252] [ 0.3243398 0.02601427 0.94558286 -0.15427778] [ 0. 0. 0. 1. ]] SLAMing on 63.85800114499999 meters Centerline goodness [0,1] 0.8801636198363801 Centerline is valid? [False, False] Translation: X:3.90, Y:0.42, Z:-0.16 [[ 0.94500128 -0.04928839 -0.32333147 3.89709882] [ 0.03836584 0.99845994 -0.04007255 0.42042726] [ 0.32480864 0.02546373 0.94543691 -0.15503178] [ 0. 0. 0. 1. ]] SLAMing on 63.88800114499999 meters Centerline goodness [0,1] 0.8804988662131519 Centerline is valid? [False, False] Translation: X:3.90, Y:0.42, Z:-0.16 [[ 0.94489355 -0.04870361 -0.32373468 3.89893342] [ 0.03792474 0.99849861 -0.0395251 0.41897444] [ 0.32517365 0.02506946 0.94532197 -0.15539528] [ 0. 0. 0. 1. ]] SLAMing on 63.91800114499999 meters Centerline goodness [0,1] 0.8771364563143454 Centerline is valid? [False, False] Translation: X:3.90, Y:0.42, Z:-0.16 [[ 0.94479514 -0.04850123 -0.32405211 3.89981337] [ 0.03774784 0.99851058 -0.03939187 0.41796684] [ 0.32548001 0.02498498 0.94521876 -0.15505302] [ 0. 0. 0. 1. ]] SLAMing on 63.94800114499999 meters Centerline goodness [0,1] 0.8793502313417824 Centerline is valid? [False, False] Translation: X:3.90, Y:0.42, Z:-0.15 [[ 0.94473102 -0.04840896 -0.32425278 3.90001799] [ 0.03768223 0.99851735 -0.03928297 0.41686834] [ 0.32567367 0.02489327 0.94515448 -0.15455176] [ 0. 0. 0. 1. ]] SLAMing on 63.97800114499999 meters Centerline goodness [0,1] 0.878539474670732 Centerline is valid? [False, False] Translation: X:3.90, Y:0.41, Z:-0.15 [[ 0.9442093 -0.0522743 -0.32517103 3.90248509] [ 0.04039879 0.99825057 -0.04317092 0.41459454] [ 0.32685889 0.02762586 0.94466929 -0.15210606] [ 0. 0. 0. 1. ]] SLAMing on 64.008001145 meters Centerline goodness [0,1] 0.8748784683269764 Centerline is valid? [False, False] Translation: X:3.90, Y:0.41, Z:-0.15 [[ 0.94412234 -0.05165352 -0.32552254 3.90396483] [ 0.04002042 0.99830153 -0.0423369 0.41149045] [ 0.3271565 0.02694366 0.94458598 -0.1524805 ] [ 0. 0. 0. 1. ]] SLAMing on 64.038001145 meters Centerline goodness [0,1] 0.8779642420766526 Centerline is valid? [False, False] Translation: X:3.91, Y:0.41, Z:-0.15 [[ 0.94397836 -0.05095438 -0.32604984 3.90589887] [ 0.03953373 0.99835346 -0.04156266 0.40929267] [ 0.32763079 0.02634429 0.94443848 -0.15271185] [ 0. 0. 0. 1. ]] SLAMing on 64.068001145 meters Centerline goodness [0,1] 0.8806624330718466 Centerline is valid? [False, False] Translation: X:3.91, Y:0.41, Z:-0.15 [[ 0.94382247 -0.04976741 -0.32668386 3.90860035] [ 0.03868457 0.99843689 -0.04033946 0.40657196] [ 0.32818081 0.02543567 0.94427241 -0.1531725 ] [ 0. 0. 0. 1. ]] SLAMing on 64.09800114499998 meters Centerline goodness [0,1] 0.8833647268761773 Centerline is valid? [False, False] Translation: X:3.91, Y:0.40, Z:-0.15 [[ 0.94368369 -0.04889492 -0.32721612 3.91080338] [ 0.03800572 0.9984928 -0.03959416 0.40498692] [ 0.32865889 0.02492827 0.94411965 -0.15338102] [ 0. 0. 0. 1. ]] SLAMing on 64.12800114499998 meters Centerline goodness [0,1] 0.8837819766721973 Centerline is valid? [False, False] Translation: X:3.91, Y:0.40, Z:-0.15 [[ 0.94357128 -0.04816945 -0.3276476 3.91242647] [ 0.03741012 0.9985361 -0.03906583 0.40362871] [ 0.32904974 0.02460406 0.94399201 -0.15328143] [ 0. 0. 0. 1. ]] SLAMing on 64.15800114499999 meters Centerline goodness [0,1] 0.8852203591037245 Centerline is valid? [False, False] Translation: X:3.91, Y:0.40, Z:-0.15 [[ 0.94347699 -0.04714088 -0.32806844 3.91367221] [ 0.03650552 0.99859135 -0.03850523 0.40083923] [ 0.32942148 0.02435248 0.94386887 -0.152412 ] [ 0. 0. 0. 1. ]] SLAMing on 64.18800114499999 meters Centerline goodness [0,1] 0.8848561009264735 Centerline is valid? [False, False] Translation: X:3.92, Y:0.40, Z:-0.15 [[ 0.94332097 -0.04636771 -0.32862682 3.91534407] [ 0.03585492 0.99863499 -0.03798145 0.3982277 ] [ 0.32993935 0.02404581 0.94369583 -0.15196174] [ 0. 0. 0. 1. ]] SLAMing on 64.21800114499999 meters Centerline goodness [0,1] 0.8842533267619517 Centerline is valid? [False, False] Translation: X:3.92, Y:0.40, Z:-0.15 [[ 0.94289267 -0.0499667 -0.3293277 3.91830911] [ 0.03840324 0.998399 -0.04152876 0.39799775] [ 0.3308755 0.02650991 0.94330198 -0.15101681] [ 0. 0. 0. 1. ]] SLAMing on 64.24800114499999 meters Centerline goodness [0,1] 0.88526401060461 Centerline is valid? [False, False] Translation: X:3.92, Y:0.40, Z:-0.15 [[ 0.94282782 -0.04985568 -0.32953013 3.91848152] [ 0.03835318 0.99840961 -0.04131926 0.39586276] [ 0.33106605 0.02631842 0.94324048 -0.15053894] [ 0. 0. 0. 1. ]] SLAMing on 64.27800114499999 meters Centerline goodness [0,1] 0.8859745793843214 Centerline is valid? [False, False] Translation: X:3.92, Y:0.39, Z:-0.15 [[ 0.94263772 -0.04926398 -0.33016236 3.91991239] [ 0.03791744 0.99845075 -0.04072314 0.39354657] [ 0.33165704 0.02586826 0.9430453 -0.14982565] [ 0. 0. 0. 1. ]] SLAMing on 64.30800114499999 meters Centerline goodness [0,1] 0.8859745793843214 Centerline is valid? [False, False] Translation: X:3.92, Y:0.39, Z:-0.15 [[ 0.94263772 -0.04926398 -0.33016236 3.91991239] [ 0.03791744 0.99845075 -0.04072314 0.39354657] [ 0.33165704 0.02586826 0.9430453 -0.14982565] [ 0. 0. 0. 1. ]] SLAMing on 64.33800114499999 meters Centerline goodness [0,1] 0.8873160373904767 Centerline is valid? [False, False] Translation: X:3.92, Y:0.39, Z:-0.15 [[ 0.9424256 -0.04790926 -0.33096629 3.92334783] [ 0.03697125 0.99854446 -0.0392695 0.38992458] [ 0.33236592 0.02477235 0.94282513 -0.15062574] [ 0. 0. 0. 1. ]] SLAMing on 64.368001145 meters Centerline goodness [0,1] 0.8892053754016944 Centerline is valid? [False, False] Translation: X:3.93, Y:0.39, Z:-0.15 [[ 0.94229572 -0.0470477 -0.33145934 3.92555 ] [ 0.03633771 0.99860003 -0.03843899 0.38771851] [ 0.33280378 0.02417642 0.94268613 -0.15103911] [ 0. 0. 0. 1. ]] SLAMing on 64.398001145 meters Centerline goodness [0,1] 0.8895045077883891 Centerline is valid? [False, False] Translation: X:3.93, Y:0.39, Z:-0.15 [[ 0.94214493 -0.04628822 -0.33199446 3.92752091] [ 0.03576941 0.99864764 -0.0377285 0.38578466] [ 0.33329187 0.02367047 0.94252652 -0.15116067] [ 0. 0. 0. 1. ]] SLAMing on 64.428001145 meters Centerline goodness [0,1] 0.8942917547568711 Centerline is valid? [False, False] Translation: X:3.93, Y:0.38, Z:-0.15 [[ 0.94200431 -0.04556671 -0.33249294 3.92923797] [ 0.03525421 0.99869374 -0.03698597 0.38362968] [ 0.33374394 0.02311917 0.94238022 -0.15128407] [ 0. 0. 0. 1. ]] SLAMing on 64.45800114499998 meters Centerline goodness [0,1] 0.8922704729647998 Centerline is valid? [False, False] Translation: X:3.93, Y:0.38, Z:-0.15 [[ 0.94179571 -0.04453883 -0.33322235 3.93218546] [ 0.03462125 0.99876464 -0.03564485 0.37932646] [ 0.33439828 0.02203359 0.94217425 -0.15208483] [ 0. 0. 0. 1. ]] SLAMing on 64.48800114499998 meters Centerline goodness [0,1] 0.8945337000048246 Centerline is valid? [False, False] Translation: X:3.93, Y:0.38, Z:-0.15 [[ 0.94164175 -0.04389588 -0.33374235 3.93410066] [ 0.03418995 0.99880568 -0.03490348 0.37709845] [ 0.33487588 0.02145594 0.94201793 -0.15235433] [ 0. 0. 0. 1. ]] SLAMing on 64.51800114499999 meters Centerline goodness [0,1] 0.8937842515142774 Centerline is valid? [False, False] Translation: X:3.93, Y:0.37, Z:-0.15 [[ 0.94153038 -0.04352922 -0.33410441 3.93498389] [ 0.03397192 0.99883064 -0.03439859 0.3749101 ] [ 0.33521106 0.02103715 0.94190816 -0.15217596] [ 0. 0. 0. 1. ]] SLAMing on 64.54800114499999 meters Centerline goodness [0,1] 0.8974629767419533 Centerline is valid? [False, False] Translation: X:3.94, Y:0.37, Z:-0.15 [[ 0.9414359 -0.04318678 -0.33441495 3.93576862] [ 0.03378616 0.99885468 -0.03387949 0.3725381 ] [ 0.33549508 0.02059677 0.94181677 -0.15206755] [ 0. 0. 0. 1. ]] SLAMing on 64.57800114499999 meters Centerline goodness [0,1] 0.8943683845841397 Centerline is valid? [False, False] Translation: X:3.94, Y:0.37, Z:-0.15 [[ 0.94126728 -0.04261051 -0.33496305 3.93705623] [ 0.03344947 0.99889302 -0.03307366 0.36828307] [ 0.33600154 0.01992682 0.94165062 -0.15169139] [ 0. 0. 0. 1. ]] SLAMing on 64.60800114499999 meters Centerline goodness [0,1] 0.896851145038168 Centerline is valid? [False, False] Translation: X:3.94, Y:0.37, Z:-0.15 [[ 0.94115744 -0.04213288 -0.33533191 3.93821996] [ 0.03309664 0.99891972 -0.03261909 0.36682388] [ 0.33634399 0.01960134 0.94153519 -0.15157692] [ 0. 0. 0. 1. ]] SLAMing on 64.63800114499999 meters Centerline goodness [0,1] 0.8978324490232934 Centerline is valid? [False, False] Translation: X:3.94, Y:0.37, Z:-0.15 [[ 0.94100866 -0.04151877 -0.33582569 3.93966995] [ 0.03263063 0.99895286 -0.03206899 0.3651499 ] [ 0.3368055 0.01921899 0.94137808 -0.1513743 ] [ 0. 0. 0. 1. ]] SLAMing on 64.66800114499999 meters Centerline goodness [0,1] 0.9007513791135628 Centerline is valid? [False, False] Translation: X:3.94, Y:0.36, Z:-0.15 [[ 0.94084149 -0.04055479 -0.33641135 3.94180476] [ 0.03192157 0.99900466 -0.03115616 0.36199996] [ 0.33734004 0.01857423 0.9411996 -0.15146622] [ 0. 0. 0. 1. ]] SLAMing on 64.69800114499999 meters Centerline goodness [0,1] 0.9013162575595873 Centerline is valid? [False, False] Translation: X:3.94, Y:0.36, Z:-0.15 [[ 0.94072435 -0.03978203 -0.33683095 3.94376944] [ 0.03136667 0.9990458 -0.03039115 0.35975501] [ 0.33771857 0.01802443 0.94107454 -0.15191023] [ 0. 0. 0. 1. ]] SLAMing on 64.728001145 meters Centerline goodness [0,1] 0.9052021754551903 Centerline is valid? [False, False] Translation: X:3.95, Y:0.36, Z:-0.15 [[ 0.94061522 -0.03922536 -0.33720081 3.94521739] [ 0.03094454 0.9990738 -0.02989945 0.35802666] [ 0.33806131 0.01768936 0.94095783 -0.15200975] [ 0. 0. 0. 1. ]] SLAMing on 64.758001145 meters Centerline goodness [0,1] 0.9099069461415547 Centerline is valid? [False, False] Translation: X:3.95, Y:0.36, Z:-0.15 [[ 0.9403718 -0.03827693 -0.3379878 3.94713756] [ 0.0300764 0.99911312 -0.02946849 0.35706357] [ 0.338816 0.01754588 0.94068903 -0.15096222] [ 0. 0. 0. 1. ]] SLAMing on 64.788001145 meters Centerline goodness [0,1] 0.9138869899342307 Centerline is valid? [False, False] Translation: X:3.95, Y:0.36, Z:-0.15 [[ 0.94028514 -0.03839345 -0.33821561 3.94683453] [ 0.03010168 0.99910463 -0.02972927 0.35708969] [ 0.33905419 0.01777313 0.94059894 -0.14994354] [ 0. 0. 0. 1. ]] SLAMing on 64.818001145 meters Centerline goodness [0,1] 0.9111776211910542 Centerline is valid? [False, False] Translation: X:3.95, Y:0.36, Z:-0.15 [[ 0.9401851 -0.0382931 -0.33850498 3.9473503 ] [ 0.03001702 0.99910946 -0.02965228 0.35594211] [ 0.33933901 0.01771772 0.94049727 -0.14946537] [ 0. 0. 0. 1. ]] SLAMing on 64.84800114499998 meters Centerline goodness [0,1] 0.9095840867992767 Centerline is valid? [False, False] Translation: X:3.95, Y:0.35, Z:-0.15 [[ 0.94007653 -0.03793865 -0.33884625 3.94848053] [ 0.02981701 0.9991304 -0.02914415 0.35391237] [ 0.33965728 0.01729435 0.94039026 -0.14953037] [ 0. 0. 0. 1. ]] SLAMing on 64.87800114499998 meters Centerline goodness [0,1] 0.9139717058342103 Centerline is valid? [False, False] Translation: X:3.95, Y:0.35, Z:-0.15 [[ 0.93969716 -0.04241896 -0.33936689 3.95010301] [ 0.03318671 0.99890539 -0.03296452 0.35345713] [ 0.34039374 0.01971419 0.9400763 -0.14851942] [ 0. 0. 0. 1. ]] SLAMing on 64.90800114499999 meters Centerline goodness [0,1] 0.9130465197621546 Centerline is valid? [False, False] Translation: X:3.95, Y:0.35, Z:-0.15 [[ 0.93931401 -0.04644121 -0.33990057 3.95263036] [ 0.03620572 0.99868133 -0.03639718 0.35343599] [ 0.34114268 0.02188204 0.9397568 -0.14825644] [ 0. 0. 0. 1. ]] SLAMing on 64.93800114499999 meters Centerline goodness [0,1] 0.9093403399446601 Centerline is valid? [False, False] Translation: X:3.96, Y:0.35, Z:-0.15 [[ 0.93887517 -0.05045334 -0.34054058 3.95527762] [ 0.03921836 0.99843774 -0.0397996 0.35301259] [ 0.34201659 0.02401141 0.93938709 -0.14778919] [ 0. 0. 0. 1. ]] SLAMing on 64.96800114499999 meters Centerline goodness [0,1] 0.9108253644044193 Centerline is valid? [False, False] Translation: X:3.96, Y:0.35, Z:-0.15 [[ 0.94296001 -0.05137554 -0.32891788 3.96287536] [ 0.04120301 0.99843445 -0.03782804 0.35113902] [ 0.33034638 0.02211792 0.94360059 -0.15147286] [ 0. 0. 0. 1. ]] SLAMing on 64.99800114499999 meters Centerline goodness [0,1] 0.9108876399275396 Centerline is valid? [False, False] Translation: X:3.96, Y:0.35, Z:-0.15 [[ 0.94289938 -0.05120633 -0.32911803 3.96357978] [ 0.04121196 0.99845481 -0.03727681 0.34930779] [ 0.33051829 0.02158468 0.94355273 -0.15170826] [ 0. 0. 0. 1. ]] SLAMing on 65.02800114499999 meters Centerline goodness [0,1] 0.9104899643072359 Centerline is valid? [False, False] Translation: X:3.97, Y:0.35, Z:-0.15 [[ 0.94255058 -0.05273014 -0.32987564 3.96749808] [ 0.04238348 0.99835995 -0.03848445 0.34919235] [ 0.33136392 0.02229227 0.94323963 -0.15228283] [ 0. 0. 0. 1. ]] SLAMing on 65.05800114499999 meters Centerline goodness [0,1] 0.9119480879364493 Centerline is valid? [False, False] Translation: X:3.97, Y:0.35, Z:-0.15 [[ 0.94212873 -0.05615378 -0.33051506 3.97149855] [ 0.04510394 0.99814003 -0.04101361 0.34677984] [ 0.33220338 0.02373257 0.94290916 -0.15314206] [ 0. 0. 0. 1. ]] SLAMing on 65.08800114499999 meters Centerline goodness [0,1] 0.9111736612601804 Centerline is valid? [False, False] Translation: X:3.97, Y:0.34, Z:-0.15 [[ 0.94209301 -0.05555404 -0.33071818 3.97313415] [ 0.0447804 0.99819118 -0.04011347 0.34468737] [ 0.33234843 0.02298093 0.94287666 -0.1541053 ] [ 0. 0. 0. 1. ]] SLAMing on 65.118001145 meters Centerline goodness [0,1] 0.9104993775072624 Centerline is valid? [False, False] Translation: X:3.98, Y:0.34, Z:-0.15 [[ 0.94195784 -0.05494121 -0.33120521 3.97515592] [ 0.04435713 0.99823702 -0.03943719 0.34378029] [ 0.33278803 0.02245686 0.94273422 -0.1545636 ] [ 0. 0. 0. 1. ]] SLAMing on 65.148001145 meters Centerline goodness [0,1] 0.9113772730407596 Centerline is valid? [False, False] Translation: X:3.98, Y:0.34, Z:-0.16 [[ 0.94183643 -0.05429949 -0.331656 3.97717693] [ 0.04391571 0.99828424 -0.03872961 0.34305971] [ 0.33318995 0.02191204 0.94260507 -0.15507937] [ 0. 0. 0. 1. ]] SLAMing on 65.178001145 meters Centerline goodness [0,1] 0.9083293167160137 Centerline is valid? [False, False] Translation: X:3.98, Y:0.34, Z:-0.16 [[ 0.94138315 -0.05785254 -0.33234145 3.98104746] [ 0.04663498 0.99804382 -0.04163787 0.34218853] [ 0.33410019 0.02369846 0.94223959 -0.15547614] [ 0. 0. 0. 1. ]] SLAMing on 65.20800114499998 meters Centerline goodness [0,1] 0.9093348623853211 Centerline is valid? [False, False] Translation: X:3.98, Y:0.34, Z:-0.16 [[ 0.94133734 -0.05751461 -0.33252982 3.98218691] [ 0.0464776 0.99807521 -0.04105738 0.3402627 ] [ 0.33425117 0.02319366 0.9421986 -0.15598109] [ 0. 0. 0. 1. ]] SLAMing on 65.23800114499998 meters Centerline goodness [0,1] 0.9091075556776305 Centerline is valid? [False, False] Translation: X:3.98, Y:0.34, Z:-0.16 [[ 0.94122419 -0.05731803 -0.33288386 3.98291506] [ 0.04636822 0.9980928 -0.04075243 0.33917148] [ 0.33458483 0.02292194 0.94208682 -0.15556597] [ 0. 0. 0. 1. ]] SLAMing on 65.26800114499999 meters Centerline goodness [0,1] 0.9068888939765105 Centerline is valid? [False, False] Translation: X:3.98, Y:0.34, Z:-0.16 [[ 0.94107467 -0.05683802 -0.33338852 3.98435363] [ 0.04599648 0.99812717 -0.04032967 0.33883647] [ 0.3350564 0.02261853 0.94192654 -0.15543851] [ 0. 0. 0. 1. ]] SLAMing on 65.29800114499999 meters Centerline goodness [0,1] 0.9068855616444638 Centerline is valid? [False, False] Translation: X:3.99, Y:0.34, Z:-0.16 [[ 0.94097668 -0.05635137 -0.33374753 3.98563226] [ 0.04566963 0.99816454 -0.03977225 0.33802555] [ 0.33537617 0.02218263 0.9418231 -0.15559379] [ 0. 0. 0. 1. ]] SLAMing on 65.32800114499999 meters Centerline goodness [0,1] 0.9073369689748407 Centerline is valid? [False, False] Translation: X:3.99, Y:0.34, Z:-0.16 [[ 0.94091126 -0.05625048 -0.33394893 3.9863632 ] [ 0.04564265 0.99817526 -0.03953346 0.33745732] [ 0.33556334 0.02195517 0.94176176 -0.15570351] [ 0. 0. 0. 1. ]] SLAMing on 65.35800114499999 meters Centerline goodness [0,1] 0.9056016122383548 Centerline is valid? [False, False] Translation: X:3.99, Y:0.34, Z:-0.16 [[ 0.9408412 -0.05563186 -0.33424982 3.98826406] [ 0.04525262 0.99822313 -0.03876586 0.33632663] [ 0.33581252 0.02134684 0.94168693 -0.15652139] [ 0. 0. 0. 1. ]] SLAMing on 65.38800114499999 meters Centerline goodness [0,1] 0.9067435791786842 Centerline is valid? [False, False] Translation: X:3.99, Y:0.33, Z:-0.16 [[ 0.94076647 -0.05526413 -0.33452104 3.98994314] [ 0.04505898 0.99825382 -0.03819687 0.33487069] [ 0.33604782 0.02086116 0.94161387 -0.15726735] [ 0. 0. 0. 1. ]] SLAMing on 65.41800114499999 meters Centerline goodness [0,1] 0.9093988920935769 Centerline is valid? [False, False] Translation: X:3.99, Y:0.33, Z:-0.16 [[ 0.94070315 -0.05492794 -0.33475439 3.99109925] [ 0.0447995 0.99827647 -0.03790911 0.33446666] [ 0.3362597 0.02066439 0.94154256 -0.15754271] [ 0. 0. 0. 1. ]] SLAMing on 65.44800114499999 meters Centerline goodness [0,1] 0.9084465175835734 Centerline is valid? [False, False] Translation: X:3.99, Y:0.33, Z:-0.16 [[ 0.94063429 -0.05461432 -0.33499911 3.99248463] [ 0.04452665 0.99829564 -0.03772533 0.33486668] [ 0.33648849 0.02056935 0.9414629 -0.15787504] [ 0. 0. 0. 1. ]] SLAMing on 65.478001145 meters Centerline goodness [0,1] 0.9101876060731159 Centerline is valid? [False, False] Translation: X:3.99, Y:0.34, Z:-0.16 [[ 0.94053609 -0.0545494 -0.3352853 3.99328061] [ 0.04438172 0.99829474 -0.03791926 0.33638474] [ 0.33678203 0.02078389 0.94135323 -0.15757068] [ 0. 0. 0. 1. ]] SLAMing on 65.508001145 meters Centerline goodness [0,1] 0.9088676170144389 Centerline is valid? [False, False] Translation: X:4.00, Y:0.34, Z:-0.16 [[ 0.94459967 -0.05303062 -0.32391236 4.00021673] [ 0.04317774 0.99836206 -0.03753508 0.33861477] [ 0.32537232 0.02146982 0.94534221 -0.16033798] [ 0. 0. 0. 1. ]] SLAMing on 65.538001145 meters Centerline goodness [0,1] 0.9080737620001381 Centerline is valid? [False, False] Translation: X:4.00, Y:0.34, Z:-0.16 [[ 0.94459215 -0.05334353 -0.32388292 4.00009228] [ 0.04349567 0.99834678 -0.0375743 0.33808825] [ 0.32535181 0.02140488 0.94535074 -0.16042221] [ 0. 0. 0. 1. ]] SLAMing on 65.56800114499998 meters Centerline goodness [0,1] 0.9064036014516055 Centerline is valid? [False, False] Translation: X:4.00, Y:0.34, Z:-0.16 [[ 0.94457101 -0.05398198 -0.32383876 4.0002391 ] [ 0.04411643 0.99831351 -0.03773433 0.3373222 ] [ 0.32532959 0.02135615 0.9453595 -0.16082631] [ 0. 0. 0. 1. ]] SLAMing on 65.59800114499998 meters Centerline goodness [0,1] 0.9071092224646836 Centerline is valid? [False, False] Translation: X:4.00, Y:0.34, Z:-0.16 [[ 0.94450801 -0.05391581 -0.3240335 4.00127064] [ 0.04408148 0.9983194 -0.03761922 0.3377053 ] [ 0.3255172 0.02124778 0.94529735 -0.16113613] [ 0. 0. 0. 1. ]] SLAMing on 65.62800114499998 meters Centerline goodness [0,1] 0.9075616715758468 Centerline is valid? [False, False] Translation: X:4.00, Y:0.34, Z:-0.16 [[ 0.94439889 -0.05351327 -0.32441806 4.00299224] [ 0.04377961 0.99834712 -0.03723405 0.33785025] [ 0.32587435 0.0209609 0.9451807 -0.16152531] [ 0. 0. 0. 1. ]] SLAMing on 65.65800114499999 meters Centerline goodness [0,1] 0.9063213486773829 Centerline is valid? [False, False] Translation: X:4.00, Y:0.34, Z:-0.16 [[ 0.94439764 -0.05357682 -0.32441119 4.00341375] [ 0.04387258 0.99834581 -0.03715973 0.33795591] [ 0.32586545 0.02086081 0.94518598 -0.16191053] [ 0. 0. 0. 1. ]] SLAMing on 65.68800114499999 meters Centerline goodness [0,1] 0.9063213486773829 Centerline is valid? [False, False] Translation: X:4.00, Y:0.34, Z:-0.16 [[ 0.94439764 -0.05357682 -0.32441119 4.00341375] [ 0.04387258 0.99834581 -0.03715973 0.33795591] [ 0.32586545 0.02086081 0.94518598 -0.16191053] [ 0. 0. 0. 1. ]] SLAMing on 65.71800114499999 meters Centerline goodness [0,1] 0.9095153759459025 Centerline is valid? [False, False] Translation: X:4.01, Y:0.34, Z:-0.16 [[ 0.94428289 -0.05310999 -0.32482172 4.00533808] [ 0.04354022 0.99837865 -0.03666501 0.33754169] [ 0.32624235 0.02047934 0.9450643 -0.16245025] [ 0. 0. 0. 1. ]] SLAMing on 65.74800114499999 meters Centerline goodness [0,1] 0.907196270310192 Centerline is valid? [False, False] Translation: X:4.01, Y:0.34, Z:-0.16 [[ 0.94423265 -0.05329929 -0.32493674 4.00549925] [ 0.04367659 0.99836617 -0.03684208 0.33809162] [ 0.32636951 0.02059537 0.94501787 -0.1622444 ] [ 0. 0. 0. 1. ]] SLAMing on 65.77800114499999 meters Centerline goodness [0,1] 0.909495480538646 Centerline is valid? [False, False] Translation: X:4.01, Y:0.34, Z:-0.16 [[ 0.94402949 -0.05299547 -0.32557612 4.00746149] [ 0.04338659 0.99838372 -0.03670907 0.33939617] [ 0.32699531 0.0205288 0.94480296 -0.16210828] [ 0. 0. 0. 1. ]] SLAMing on 65.80800114499999 meters Centerline goodness [0,1] 0.9094625493683165 Centerline is valid? [False, False] Translation: X:4.01, Y:0.34, Z:-0.16 [[ 0.94392382 -0.05279263 -0.32591526 4.0086988 ] [ 0.04320264 0.99839576 -0.03659827 0.3394606 ] [ 0.32732454 0.02046558 0.94469032 -0.16217324] [ 0. 0. 0. 1. ]] SLAMing on 65.83800114499999 meters Centerline goodness [0,1] 0.9065722392673418 Centerline is valid? [False, False] Translation: X:4.01, Y:0.34, Z:-0.16 [[ 0.94386349 -0.05279128 -0.32609016 4.00937013] [ 0.04317878 0.99839485 -0.0366514 0.33973364] [ 0.32750161 0.02051374 0.94462791 -0.16218743] [ 0. 0. 0. 1. ]] SLAMing on 65.868001145 meters Centerline goodness [0,1] 0.909237800655556 Centerline is valid? [False, False] Translation: X:4.01, Y:0.34, Z:-0.16 [[ 0.94380846 -0.05262047 -0.32627699 4.01022784] [ 0.04303073 0.99840514 -0.03654496 0.339844 ] [ 0.32767964 0.02045151 0.94456752 -0.16230196] [ 0. 0. 0. 1. ]] SLAMing on 65.898001145 meters Centerline goodness [0,1] 0.9084110423783585 Centerline is valid? [False, False] Translation: X:4.01, Y:0.34, Z:-0.16 [[ 0.94369866 -0.05234158 -0.32663924 4.01195871] [ 0.04269788 0.99841632 -0.03662988 0.34183481] [ 0.32803921 0.02062077 0.94443902 -0.16240027] [ 0. 0. 0. 1. ]] SLAMing on 65.928001145 meters Centerline goodness [0,1] 0.9065682281059063 Centerline is valid? [False, False] Translation: X:4.01, Y:0.34, Z:-0.16 [[ 0.94358253 -0.05253377 -0.32694375 4.01243927] [ 0.04272867 0.99839742 -0.03710594 0.34400043] [ 0.32836912 0.02104265 0.94431506 -0.1617755 ] [ 0. 0. 0. 1. ]] SLAMing on 65.95800114499998 meters Centerline goodness [0,1] 0.9055132726935214 Centerline is valid? [False, False] Translation: X:4.01, Y:0.35, Z:-0.16 [[ 0.94350437 -0.0530572 -0.32708476 4.01202165] [ 0.04302339 0.99835717 -0.03784119 0.34649174] [ 0.32855516 0.02163103 0.94423705 -0.16091289] [ 0. 0. 0. 1. ]] SLAMing on 65.98800114499998 meters Centerline goodness [0,1] 0.9032220596092643 Centerline is valid? [False, False] Translation: X:4.01, Y:0.35, Z:-0.16 [[ 0.94337706 -0.05286999 -0.32748205 4.01331975] [ 0.04282212 0.99836652 -0.03782261 0.34749263] [ 0.3289468 0.02165751 0.94410008 -0.16084207] [ 0. 0. 0. 1. ]] SLAMing on 66.01800114499999 meters Centerline goodness [0,1] 0.9003163084938134 Centerline is valid? [False, False] Translation: X:4.01, Y:0.35, Z:-0.16 [[ 0.94335607 -0.05292647 -0.32753337 4.01466811] [ 0.04291064 0.99836598 -0.03773652 0.34715712] [ 0.32899543 0.0215443 0.94408572 -0.16179572] [ 0. 0. 0. 1. ]] SLAMing on 66.04800114499999 meters Centerline goodness [0,1] 0.8968808193668529 Centerline is valid? [False, False] Translation: X:4.02, Y:0.35, Z:-0.16 [[ 0.94328244 -0.05265427 -0.32778921 4.0164293 ] [ 0.04275439 0.99838756 -0.03734078 0.346588 ] [ 0.32922683 0.02120847 0.94401266 -0.16260838] [ 0. 0. 0. 1. ]] SLAMing on 66.07800114499999 meters Centerline goodness [0,1] 0.8951473541637476 Centerline is valid? [False, False] Translation: X:4.02, Y:0.35, Z:-0.16 [[ 0.94322959 -0.05264405 -0.3279429 4.01761593] [ 0.04277792 0.99839062 -0.03723186 0.34674928] [ 0.32937515 0.02108948 0.94396358 -0.16320845] [ 0. 0. 0. 1. ]] SLAMing on 66.10800114499999 meters Centerline goodness [0,1] 0.8919153528528528 Centerline is valid? [False, False] Translation: X:4.02, Y:0.35, Z:-0.16 [[ 0.94319905 -0.0533475 -0.32791706 4.01772067] [ 0.0433265 0.99834579 -0.03779536 0.34948781] [ 0.32939091 0.02144105 0.94395016 -0.16337882] [ 0. 0. 0. 1. ]] SLAMing on 66.13800114499999 meters Centerline goodness [0,1] 0.8873067343390197 Centerline is valid? [False, False] Translation: X:4.02, Y:0.35, Z:-0.16 [[ 0.94311283 -0.05361605 -0.32812119 4.01791995] [ 0.04343386 0.99832236 -0.0382879 0.35163585] [ 0.32962356 0.02185824 0.94385938 -0.16282659] [ 0. 0. 0. 1. ]] SLAMing on 66.16800114499999 meters Centerline goodness [0,1] 0.89234573716439 Centerline is valid? [False, False] Translation: X:4.02, Y:0.35, Z:-0.16 [[ 0.94302507 -0.05344458 -0.32840128 4.01889187] [ 0.04318982 0.99832683 -0.0384471 0.35367219] [ 0.32990659 0.02207299 0.94375549 -0.16262185] [ 0. 0. 0. 1. ]] SLAMing on 66.19800114499999 meters Centerline goodness [0,1] 0.890265194412986 Centerline is valid? [False, False] Translation: X:4.02, Y:0.36, Z:-0.16 [[ 0.94291011 -0.05253876 -0.3288772 4.02178454] [ 0.04224326 0.99837 -0.03837762 0.35622278] [ 0.33035744 0.0222938 0.94359257 -0.16304813] [ 0. 0. 0. 1. ]] SLAMing on 66.228001145 meters Centerline goodness [0,1] 0.8925985518905872 Centerline is valid? [False, False] Translation: X:4.02, Y:0.36, Z:-0.16 [[ 0.94282167 -0.05193547 -0.32922636 4.02396823] [ 0.04161799 0.99839871 -0.03831397 0.35750921] [ 0.33068903 0.0224215 0.94347339 -0.16345131] [ 0. 0. 0. 1. ]] SLAMing on 66.258001145 meters Centerline goodness [0,1] 0.8947455582105088 Centerline is valid? [False, False] Translation: X:4.03, Y:0.36, Z:-0.16 [[ 0.94269259 -0.05109761 -0.32972671 4.02672964] [ 0.04074193 0.99843746 -0.03824576 0.35977391] [ 0.33116577 0.02262029 0.94330141 -0.1637799 ] [ 0. 0. 0. 1. ]] SLAMing on 66.288001145 meters Centerline goodness [0,1] 0.8968971589016324 Centerline is valid? [False, False] Translation: X:4.03, Y:0.36, Z:-0.16 [[ 0.94291537 -0.04608916 -0.32982782 4.0273144 ] [ 0.03686062 0.99873562 -0.03418283 0.36012172] [ 0.33098625 0.02007386 0.94342204 -0.16458536] [ 0. 0. 0. 1. ]] SLAMing on 66.31800114499998 meters Centerline goodness [0,1] 0.89843022005591 Centerline is valid? [False, False] Translation: X:4.03, Y:0.36, Z:-0.16 [[ 0.94308703 -0.04130562 -0.32997075 4.02734442] [ 0.03309864 0.99898801 -0.03045398 0.36105788] [ 0.33089474 0.01779917 0.94349979 -0.1647244 ] [ 0. 0. 0. 1. ]] SLAMing on 66.34800114499998 meters Centerline goodness [0,1] 0.8985019357010604 Centerline is valid? [False, False] Translation: X:4.03, Y:0.36, Z:-0.16 [[ 0.94325204 -0.03661919 -0.33005246 4.02717623] [ 0.02941021 0.9992078 -0.02681072 0.36211449] [ 0.33077278 0.01558235 0.94358177 -0.16479719] [ 0. 0. 0. 1. ]] SLAMing on 66.37800114499998 meters Centerline goodness [0,1] 0.8990952196632476 Centerline is valid? [False, False] Translation: X:4.03, Y:0.37, Z:-0.16 [[ 0.94336001 -0.03203222 -0.33022088 4.02713531] [ 0.02562856 0.99938988 -0.02372872 0.3654227 ] [ 0.33077949 0.01392164 0.94360538 -0.16439078] [ 0. 0. 0. 1. ]] SLAMing on 66.40800114499999 meters Centerline goodness [0,1] 0.8978780162483327 Centerline is valid? [False, False] Translation: X:4.03, Y:0.37, Z:-0.16 [[ 0.94326969 -0.03200273 -0.33048166 4.02803355] [ 0.02544562 0.99938447 -0.02414944 0.36675546] [ 0.33105108 0.01437013 0.94350341 -0.16401727] [ 0. 0. 0. 1. ]] SLAMing on 66.43800114499999 meters Centerline goodness [0,1] 0.8956310679611651 Centerline is valid? [False, False] Translation: X:4.03, Y:0.37, Z:-0.16 [[ 0.94323656 -0.03211973 -0.33056483 4.02841789] [ 0.02540887 0.99937433 -0.0246035 0.36780456] [ 0.33114827 0.01480764 0.94346254 -0.16375 ] [ 0. 0. 0. 1. ]] SLAMing on 66.46800114499999 meters Centerline goodness [0,1] 0.8978350766236926 Centerline is valid? [False, False] Translation: X:4.03, Y:0.37, Z:-0.16 [[ 0.943163 -0.03228181 -0.33075887 4.02884503] [ 0.02537 0.99936061 -0.02519395 0.36940267] [ 0.33136069 0.01537065 0.94337894 -0.16321117] [ 0. 0. 0. 1. ]] SLAMing on 66.49800114499999 meters Centerline goodness [0,1] 0.9010116313165868 Centerline is valid? [False, False] Translation: X:4.03, Y:0.38, Z:-0.16 [[ 0.94315226 -0.03204485 -0.33081256 4.02956979] [ 0.02473808 0.99934861 -0.02627533 0.37577973] [ 0.33143906 0.01659797 0.94333062 -0.1623299 ] [ 0. 0. 0. 1. ]] SLAMing on 66.52800114499999 meters Centerline goodness [0,1] 0.9008331490083314 Centerline is valid? [False, False] Translation: X:4.03, Y:0.38, Z:-0.16 [[ 0.94303585 -0.03203768 -0.33114494 4.03053932] [ 0.02448193 0.99933656 -0.02696429 0.37918803] [ 0.33178911 0.01732122 0.94319455 -0.16166456] [ 0. 0. 0. 1. ]] SLAMing on 66.55800114499999 meters Centerline goodness [0,1] 0.9020372885541424 Centerline is valid? [False, False] Translation: X:4.03, Y:0.38, Z:-0.16 [[ 0.94293363 -0.03233336 -0.3314072 4.03096532] [ 0.02447345 0.99931209 -0.02786384 0.38269644] [ 0.33208015 0.01816307 0.94307628 -0.16084723] [ 0. 0. 0. 1. ]] SLAMing on 66.58800114499999 meters Centerline goodness [0,1] 0.9008168316831683 Centerline is valid? [False, False] Translation: X:4.03, Y:0.39, Z:-0.16 [[ 0.94285033 -0.03259337 -0.33161866 4.03142512] [ 0.02450683 0.99929222 -0.0285389 0.38503722] [ 0.33231413 0.01878099 0.94298176 -0.160296 ] [ 0. 0. 0. 1. ]] SLAMing on 66.618001145 meters Centerline goodness [0,1] 0.8957143566569002 Centerline is valid? [False, False] Translation: X:4.03, Y:0.39, Z:-0.16 [[ 0.94283661 -0.03274534 -0.33164267 4.03268662] [ 0.02465347 0.99928749 -0.02857838 0.38535443] [ 0.33234218 0.0187686 0.94297212 -0.16130293] [ 0. 0. 0. 1. ]] SLAMing on 66.648001145 meters Centerline goodness [0,1] 0.8963379862643492 Centerline is valid? [False, False] Translation: X:4.03, Y:0.39, Z:-0.16 [[ 0.94282323 -0.03315521 -0.33163999 4.03272277] [ 0.02498659 0.99927095 -0.02886595 0.38555826] [ 0.33235526 0.01892893 0.9429643 -0.16130447] [ 0. 0. 0. 1. ]] SLAMing on 66.678001145 meters Centerline goodness [0,1] 0.8941316710954379 Centerline is valid? [False, False] Translation: X:4.03, Y:0.39, Z:-0.16 [[ 0.9428457 -0.03399283 -0.3314913 4.03168243] [ 0.02564519 0.999235 -0.02952529 0.38638331] [ 0.33224135 0.01933664 0.94299617 -0.16086083] [ 0. 0. 0. 1. ]] SLAMing on 66.70800114499998 meters Centerline goodness [0,1] 0.8897849462365591 Centerline is valid? [False, False] Translation: X:4.03, Y:0.39, Z:-0.16 [[ 0.94250748 -0.04020355 -0.33175792 4.03115955] [ 0.03015233 0.99891857 -0.03539111 0.39134978] [ 0.332822 0.02335311 0.94270046 -0.15839297] [ 0. 0. 0. 1. ]] SLAMing on 66.73800114499998 meters Centerline goodness [0,1] 0.888422525358517 Centerline is valid? [False, False] Translation: X:4.03, Y:0.39, Z:-0.16 [[ 0.94252534 -0.04072262 -0.33164386 4.03077735] [ 0.03063737 0.99889696 -0.03558397 0.39137453] [ 0.33272712 0.02337809 0.94273333 -0.158572 ] [ 0. 0. 0. 1. ]] SLAMing on 66.76800114499999 meters Centerline goodness [0,1] 0.8835137967167307 Centerline is valid? [False, False] Translation: X:4.03, Y:0.39, Z:-0.16 [[ 0.94251165 -0.04093257 -0.33165692 4.03134434] [ 0.03088303 0.99889176 -0.0355174 0.39094205] [ 0.33274319 0.023233 0.94273124 -0.1591192 ] [ 0. 0. 0. 1. ]] SLAMing on 66.79800114499999 meters Centerline goodness [0,1] 0.8870122742241293 Centerline is valid? [False, False] Translation: X:4.03, Y:0.39, Z:-0.16 [[ 0.94252618 -0.04118931 -0.33158384 4.03162368] [ 0.03117576 0.99888456 -0.03546432 0.39017682] [ 0.33267472 0.02308867 0.94275895 -0.15965664] [ 0. 0. 0. 1. ]] SLAMing on 66.82800114499999 meters Centerline goodness [0,1] 0.8850006244536031 Centerline is valid? [False, False] Translation: X:4.03, Y:0.39, Z:-0.16 [[ 0.94263494 -0.04205199 -0.33116613 4.03053569] [ 0.03200771 0.99884884 -0.03572828 0.38987071] [ 0.33228735 0.02307885 0.9428958 -0.16018993] [ 0. 0. 0. 1. ]] SLAMing on 66.85800114499999 meters Centerline goodness [0,1] 0.8823043826295778 Centerline is valid? [False, False] Translation: X:4.03, Y:0.39, Z:-0.16 [[ 0.94263737 -0.04241305 -0.33111316 4.03024546] [ 0.03225593 0.998827 -0.03611348 0.39096694] [ 0.33225644 0.02336155 0.94289973 -0.15996548] [ 0. 0. 0. 1. ]] SLAMing on 66.88800114499999 meters Centerline goodness [0,1] 0.8794867305335301 Centerline is valid? [False, False] Translation: X:4.03, Y:0.39, Z:-0.16 [[ 0.94259359 -0.04257484 -0.331217 4.03055315] [ 0.03232352 0.9988144 -0.03640037 0.3922767 ] [ 0.33237405 0.02360466 0.94285222 -0.15978874] [ 0. 0. 0. 1. ]] SLAMing on 66.91800114499999 meters Centerline goodness [0,1] 0.8820197970179176 Centerline is valid? [False, False] Translation: X:4.03, Y:0.39, Z:-0.16 [[ 0.94248362 -0.04258584 -0.33152837 4.03142274] [ 0.03221935 0.99880661 -0.03670518 0.39381217] [ 0.33269585 0.02391241 0.94273096 -0.15943233] [ 0. 0. 0. 1. ]] SLAMing on 66.94800114499999 meters Centerline goodness [0,1] 0.8807468733485996 Centerline is valid? [False, False] Translation: X:4.03, Y:0.40, Z:-0.16 [[ 0.94239149 -0.04219774 -0.33183976 4.03277444] [ 0.03171169 0.99881368 -0.03695413 0.39566274] [ 0.33300547 0.02430206 0.94261167 -0.1590458 ] [ 0. 0. 0. 1. ]] SLAMing on 66.978001145 meters Centerline goodness [0,1] 0.8826053139975412 Centerline is valid? [False, False] Translation: X:4.03, Y:0.40, Z:-0.16 [[ 0.94231389 -0.04185088 -0.33210396 4.03397245] [ 0.03132193 0.99882442 -0.0369962 0.39615502] [ 0.33326187 0.02445989 0.94251697 -0.15893045] [ 0. 0. 0. 1. ]] SLAMing on 67.008001145 meters Centerline goodness [0,1] 0.8856453800934533 Centerline is valid? [False, False] Translation: X:4.03, Y:0.40, Z:-0.16 [[ 0.94221833 -0.04165253 -0.33239989 4.0347379 ] [ 0.03098662 0.99882259 -0.03732652 0.3974587 ] [ 0.33356327 0.02486978 0.94239962 -0.15826632] [ 0. 0. 0. 1. ]] SLAMing on 67.038001145 meters Centerline goodness [0,1] 0.8923115896136795 Centerline is valid? [False, False] Translation: X:4.03, Y:0.40, Z:-0.16 [[ 0.94247148 -0.03746695 -0.33218028 4.03276729] [ 0.02762196 0.9990294 -0.03431171 0.40041482] [ 0.33314342 0.02316234 0.94259162 -0.1575142 ] [ 0. 0. 0. 1. ]] SLAMing on 67.06800114499998 meters Centerline goodness [0,1] 0.8952098088492879 Centerline is valid? [False, False] Translation: X:4.03, Y:0.40, Z:-0.16 [[ 0.94230116 -0.03739184 -0.33267157 4.03362135] [ 0.02728558 0.99901474 -0.0350008 0.4036111 ] [ 0.33365254 0.02390416 0.942393 -0.15624424] [ 0. 0. 0. 1. ]] SLAMing on 67.09800114499998 meters Centerline goodness [0,1] 0.8937123082012265 Centerline is valid? [False, False] Translation: X:4.04, Y:0.41, Z:-0.16 [[ 0.94213861 -0.03690626 -0.33318578 4.0353456 ] [ 0.02666164 0.99902214 -0.03526925 0.40539363] [ 0.33416163 0.02434524 0.94220131 -0.15558427] [ 0. 0. 0. 1. ]] SLAMing on 67.12800114499998 meters Centerline goodness [0,1] 0.89344907231148 Centerline is valid? [False, False] Translation: X:4.04, Y:0.40, Z:-0.16 [[ 0.94199544 -0.03527493 -0.3337668 4.03949802] [ 0.02519403 0.99908759 -0.0344854 0.40398211] [ 0.33467874 0.02407616 0.94202467 -0.15649985] [ 0. 0. 0. 1. ]] SLAMing on 67.15800114499999 meters Centerline goodness [0,1] 0.8962288092579433 Centerline is valid? [False, False] Translation: X:4.04, Y:0.40, Z:-0.16 [[ 0.94191977 -0.03463634 -0.33404712 4.04133798] [ 0.02463132 0.99911343 -0.03414161 0.40352633] [ 0.3349335 0.02393063 0.94193783 -0.15694642] [ 0. 0. 0. 1. ]] SLAMing on 67.18800114499999 meters Centerline goodness [0,1] 0.8973986968030951 Centerline is valid? [False, False] Translation: X:4.04, Y:0.40, Z:-0.16 [[ 0.941841 -0.03442862 -0.33429061 4.04226769] [ 0.02434891 0.99911501 -0.03429756 0.40479624] [ 0.33517558 0.02416323 0.94184578 -0.15671135] [ 0. 0. 0. 1. ]] SLAMing on 67.21800114499999 meters Centerline goodness [0,1] 0.8973424720360792 Centerline is valid? [False, False] Translation: X:4.04, Y:0.41, Z:-0.16 [[ 0.94168534 -0.0344799 -0.33472354 4.04291777] [ 0.02417607 0.99909827 -0.03490212 0.40746891] [ 0.33562513 0.02477452 0.94166979 -0.15560567] [ 0. 0. 0. 1. ]] SLAMing on 67.24800114499999 meters Centerline goodness [0,1] 0.8967185420292823 Centerline is valid? [False, False] Translation: X:4.04, Y:0.41, Z:-0.16 [[ 0.94191398 -0.03032768 -0.33448211 4.0409596 ] [ 0.02105886 0.99928805 -0.03130349 0.40721942] [ 0.33519334 0.02244138 0.94188206 -0.15543132] [ 0. 0. 0. 1. ]] SLAMing on 67.27800114499999 meters Centerline goodness [0,1] 0.8990736475766415 Centerline is valid? [False, False] Translation: X:4.04, Y:0.41, Z:-0.15 [[ 0.94187961 -0.03028164 -0.33458305 4.04061258] [ 0.02074835 0.99927149 -0.03203129 0.40835374] [ 0.33530926 0.02322757 0.94182174 -0.15383567] [ 0. 0. 0. 1. ]] SLAMing on 67.30800114499999 meters Centerline goodness [0,1] 0.8972635989677815 Centerline is valid? [False, False] Translation: X:4.04, Y:0.41, Z:-0.15 [[ 0.94181579 -0.02983796 -0.33480251 4.04168467] [ 0.0204105 0.99929084 -0.03164216 0.4066863 ] [ 0.33550922 0.0229676 0.9417569 -0.15403848] [ 0. 0. 0. 1. ]] SLAMing on 67.33800114499999 meters Centerline goodness [0,1] 0.8973345236576967 Centerline is valid? [False, False] Translation: X:4.04, Y:0.40, Z:-0.15 [[ 0.94177427 -0.02935202 -0.33496221 4.04287066] [ 0.02006218 0.99931301 -0.03116114 0.40455796] [ 0.33564673 0.02262669 0.94171615 -0.15445284] [ 0. 0. 0. 1. ]] SLAMing on 67.368001145 meters Centerline goodness [0,1] 0.8992226328533197 Centerline is valid? [False, False] Translation: X:4.04, Y:0.40, Z:-0.15 [[ 0.94173642 -0.02908294 -0.33509208 4.04371061] [ 0.01989403 0.99932687 -0.03082266 0.40290285] [ 0.33576293 0.02236049 0.94168108 -0.1547475 ] [ 0. 0. 0. 1. ]] SLAMing on 67.398001145 meters Centerline goodness [0,1] 0.9003345164832359 Centerline is valid? [False, False] Translation: X:4.04, Y:0.40, Z:-0.15 [[ 0.9416989 -0.02914037 -0.33519252 4.04383183] [ 0.01990925 0.99932282 -0.03094375 0.40371558] [ 0.33586725 0.02246626 0.94164136 -0.15442683] [ 0. 0. 0. 1. ]] SLAMing on 67.428001145 meters Centerline goodness [0,1] 0.8997235872235873 Centerline is valid? [False, False] Translation: X:4.04, Y:0.40, Z:-0.15 [[ 0.94163565 -0.02923585 -0.33536185 4.04409433] [ 0.01991394 0.99931468 -0.03120253 0.4049004 ] [ 0.33604426 0.02270304 0.94157253 -0.15400011] [ 0. 0. 0. 1. ]] SLAMing on 67.45800114499998 meters Centerline goodness [0,1] 0.89997175793987 Centerline is valid? [False, False] Translation: X:4.04, Y:0.40, Z:-0.15 [[ 0.94155756 -0.02912177 -0.33559094 4.04465814] [ 0.01980028 0.9993181 -0.03116536 0.40466738] [ 0.33626969 0.02269919 0.94149214 -0.15376972] [ 0. 0. 0. 1. ]] SLAMing on 67.48800114499998 meters Centerline goodness [0,1] 0.9040994297112753 Centerline is valid? [False, False] Translation: X:4.05, Y:0.40, Z:-0.15 [[ 0.94150025 -0.02881268 -0.33577837 4.04563016] [ 0.01958564 0.9993326 -0.03083451 0.40300031] [ 0.3364427 0.02245426 0.9414362 -0.15400178] [ 0. 0. 0. 1. ]] SLAMing on 67.51800114499999 meters Centerline goodness [0,1] 0.9050576526586402 Centerline is valid? [False, False] Translation: X:4.05, Y:0.40, Z:-0.15 [[ 0.94124798 -0.03319297 -0.33608104 4.0472664 ] [ 0.02291168 0.99914161 -0.03451223 0.40134976] [ 0.33693811 0.02478438 0.94120053 -0.15369563] [ 0. 0. 0. 1. ]] SLAMing on 67.54800114499999 meters Centerline goodness [0,1] 0.9028279334723565 Centerline is valid? [False, False] Translation: X:4.05, Y:0.40, Z:-0.15 [[ 0.94126554 -0.03343918 -0.33600744 4.04683981] [ 0.02315622 0.99913415 -0.03456496 0.40026662] [ 0.33687233 0.02475414 0.94122487 -0.15355643] [ 0. 0. 0. 1. ]] SLAMing on 67.57800114499999 meters Centerline goodness [0,1] 0.9028279334723565 Centerline is valid? [False, False] Translation: X:4.05, Y:0.40, Z:-0.15 [[ 0.94126554 -0.03343918 -0.33600744 4.04683981] [ 0.02315622 0.99913415 -0.03456496 0.40026662] [ 0.33687233 0.02475414 0.94122487 -0.15355643] [ 0. 0. 0. 1. ]] SLAMing on 67.60800114499999 meters Centerline goodness [0,1] 0.9038354218456699 Centerline is valid? [False, False] Translation: X:4.05, Y:0.40, Z:-0.15 [[ 0.94126032 -0.03363292 -0.33600274 4.04644622] [ 0.02332185 0.99912641 -0.03467711 0.40003165] [ 0.3368755 0.02480398 0.94122243 -0.15321135] [ 0. 0. 0. 1. ]] SLAMing on 67.63800114499999 meters Centerline goodness [0,1] 0.9057235640349097 Centerline is valid? [False, False] Translation: X:4.05, Y:0.40, Z:-0.15 [[ 0.9412184 -0.03401619 -0.33608158 4.04596087] [ 0.02355471 0.99910418 -0.0351569 0.40089769] [ 0.33697641 0.02517402 0.94117648 -0.15242315] [ 0. 0. 0. 1. ]] SLAMing on 67.66800114499999 meters Centerline goodness [0,1] 0.9043992587515548 Centerline is valid? [False, False] Translation: X:4.05, Y:0.40, Z:-0.15 [[ 0.94112619 -0.03360525 -0.33638102 4.04750099] [ 0.02319357 0.99912081 -0.03492356 0.40123497] [ 0.33725889 0.0250656 0.94107819 -0.15269463] [ 0. 0. 0. 1. ]] SLAMing on 67.69800114499999 meters Centerline goodness [0,1] 0.9031178707224334 Centerline is valid? [False, False] Translation: X:4.05, Y:0.40, Z:-0.15 [[ 0.94104487 -0.03307813 -0.33666064 4.04907152] [ 0.02279748 0.99914653 -0.03444551 0.39995772] [ 0.3375127 0.02473975 0.94099581 -0.15312177] [ 0. 0. 0. 1. ]] SLAMing on 67.728001145 meters Centerline goodness [0,1] 0.9021939924589417 Centerline is valid? [False, False] Translation: X:4.05, Y:0.40, Z:-0.15 [[ 0.94096607 -0.03254934 -0.33693233 4.05067755] [ 0.02239033 0.99917118 -0.03399443 0.39887136] [ 0.33775957 0.02444358 0.94091497 -0.15357655] [ 0. 0. 0. 1. ]] SLAMing on 67.758001145 meters Centerline goodness [0,1] 0.902000506457331 Centerline is valid? [False, False] Translation: X:4.05, Y:0.40, Z:-0.15 [[ 0.94088246 -0.03213193 -0.33720577 4.05179017] [ 0.02203267 0.99918792 -0.03373513 0.39806174] [ 0.3380159 0.02431125 0.94082635 -0.15357111] [ 0. 0. 0. 1. ]] SLAMing on 67.788001145 meters Centerline goodness [0,1] 0.9043036823761176 Centerline is valid? [False, False] Translation: X:4.05, Y:0.40, Z:-0.15 [[ 0.94083612 -0.03209664 -0.33733842 4.05179317] [ 0.02185167 0.99917868 -0.0341243 0.3981916 ] [ 0.33815663 0.02473396 0.94076475 -0.15259241] [ 0. 0. 0. 1. ]] SLAMing on 67.81800114499998 meters Centerline goodness [0,1] 0.9041082063187645 Centerline is valid? [False, False] Translation: X:4.05, Y:0.40, Z:-0.15 [[ 0.9407484 -0.03201526 -0.33759067 4.05205263] [ 0.02164241 0.99917219 -0.03444613 0.39911158] [ 0.33841401 0.02509887 0.94066253 -0.15169357] [ 0. 0. 0. 1. ]] SLAMing on 67.84800114499998 meters Centerline goodness [0,1] 0.9034256099102516 Centerline is valid? [False, False] Translation: X:4.05, Y:0.40, Z:-0.15 [[ 0.94062158 -0.03189037 -0.33795568 4.05264478] [ 0.02141548 0.99916902 -0.03467911 0.39982325] [ 0.33878078 0.02538244 0.9405229 -0.15085025] [ 0. 0. 0. 1. ]] SLAMing on 67.87800114499998 meters Centerline goodness [0,1] 0.9026942324217763 Centerline is valid? [False, False] Translation: X:4.05, Y:0.40, Z:-0.15 [[ 0.94052235 -0.03139563 -0.33827802 4.05394603] [ 0.02096903 0.99918697 -0.03443399 0.39919699] [ 0.33908407 0.02529257 0.94041602 -0.15078235] [ 0. 0. 0. 1. ]] SLAMing on 67.90800114499999 meters Centerline goodness [0,1] 0.8991607228369081 Centerline is valid? [False, False] Translation: X:4.06, Y:0.40, Z:-0.15 [[ 0.94042165 -0.03034906 -0.33865329 4.05668686] [ 0.02020376 0.99923637 -0.03344374 0.39601733] [ 0.33940967 0.02460915 0.94031668 -0.15186205] [ 0. 0. 0. 1. ]] SLAMing on 67.93800114499999 meters Centerline goodness [0,1] 0.9030330534755313 Centerline is valid? [False, False] Translation: X:4.06, Y:0.40, Z:-0.15 [[ 0.94032527 -0.03002377 -0.33894979 4.05789589] [ 0.0199243 0.99924886 -0.03323764 0.39561317] [ 0.33969311 0.02450086 0.94021716 -0.15190712] [ 0. 0. 0. 1. ]] SLAMing on 67.96800114499999 meters Centerline goodness [0,1] 0.9045340050377834 Centerline is valid? [False, False] Translation: X:4.06, Y:0.40, Z:-0.15 [[ 0.94020437 -0.03005762 -0.339282 4.05841274] [ 0.01989582 0.99924433 -0.03339042 0.39588274] [ 0.34002925 0.02464352 0.94009191 -0.1513538 ] [ 0. 0. 0. 1. ]] SLAMing on 67.99800114499999 meters Centerline goodness [0,1] 0.9061439026230416 Centerline is valid? [False, False] Translation: X:4.06, Y:0.40, Z:-0.15 [[ 0.94013957 -0.03029302 -0.3394406 4.05803163] [ 0.02002375 0.99923084 -0.03371605 0.39598224] [ 0.34020087 0.02490091 0.94002304 -0.15049036] [ 0. 0. 0. 1. ]] SLAMing on 68.02800114499999 meters Centerline goodness [0,1] 0.901966694295833 Centerline is valid? [False, False] Translation: X:4.06, Y:0.40, Z:-0.15 [[ 0.94013527 -0.03069678 -0.33941623 4.05729125] [ 0.02032171 0.99921247 -0.03408042 0.39573841] [ 0.34019509 0.02514268 0.94001869 -0.14984235] [ 0. 0. 0. 1. ]] SLAMing on 68.05800114499999 meters Centerline goodness [0,1] 0.901380276055211 Centerline is valid? [False, False] Translation: X:4.06, Y:0.39, Z:-0.15 [[ 0.94018505 -0.031623 -0.33919324 4.05517773] [ 0.02117502 0.99918172 -0.03446026 0.39346365] [ 0.34000542 0.0252166 0.94008533 -0.14908472] [ 0. 0. 0. 1. ]] SLAMing on 68.08800114499999 meters Centerline goodness [0,1] 0.9016602490373556 Centerline is valid? [False, False] Translation: X:4.05, Y:0.39, Z:-0.15 [[ 0.94023809 -0.03207793 -0.33900345 4.05398912] [ 0.02162512 0.99916838 -0.03456746 0.39134934] [ 0.33983038 0.02517065 0.94014985 -0.14881289] [ 0. 0. 0. 1. ]] SLAMing on 68.118001145 meters Centerline goodness [0,1] 0.9012742023791748 Centerline is valid? [False, False] Translation: X:4.05, Y:0.39, Z:-0.15 [[ 0.93998174 -0.03710052 -0.33920184 4.05435303] [ 0.02534386 0.99891676 -0.03902563 0.39173083] [ 0.34028227 0.02808669 0.93990378 -0.14757985] [ 0. 0. 0. 1. ]] SLAMing on 68.148001145 meters Centerline goodness [0,1] 0.9033517895985762 Centerline is valid? [False, False] Translation: X:4.05, Y:0.39, Z:-0.15 [[ 0.93981058 -0.04253728 -0.33903782 4.05314558] [ 0.0295559 0.9986221 -0.04336306 0.39060165] [ 0.34041521 0.0307325 0.93977285 -0.14630674] [ 0. 0. 0. 1. ]] SLAMing on 68.178001145 meters Centerline goodness [0,1] 0.9013193655186045 Centerline is valid? [False, False] Translation: X:4.05, Y:0.39, Z:-0.15 [[ 0.93981665 -0.04271473 -0.33899868 4.05276381] [ 0.02978559 0.99862004 -0.04325324 0.39010198] [ 0.34037843 0.03055285 0.93979202 -0.14624833] [ 0. 0. 0. 1. ]] SLAMing on 68.20800114499998 meters Centerline goodness [0,1] 0.9007860002966039 Centerline is valid? [False, False] Translation: X:4.05, Y:0.39, Z:-0.15 [[ 0.93976135 -0.04288299 -0.33913074 4.05255209] [ 0.02994634 0.99861362 -0.04329045 0.3899916 ] [ 0.34051699 0.03052697 0.93974267 -0.14580974] [ 0. 0. 0. 1. ]] SLAMing on 68.23800114499998 meters Centerline goodness [0,1] 0.9021980735984194 Centerline is valid? [False, False] Translation: X:4.05, Y:0.39, Z:-0.15 [[ 0.93974745 -0.04304775 -0.33914837 4.05228152] [ 0.03014111 0.99861018 -0.04323442 0.38967869] [ 0.34053816 0.03040713 0.93973888 -0.14567528] [ 0. 0. 0. 1. ]] SLAMing on 68.26800114499999 meters Centerline goodness [0,1] 0.8979993601889903 Centerline is valid? [False, False] Translation: X:4.05, Y:0.39, Z:-0.15 [[ 0.93973766 -0.04424756 -0.33902106 4.05071409] [ 0.0312559 0.99855615 -0.04368853 0.38608684] [ 0.34046467 0.03045935 0.93976382 -0.14519276] [ 0. 0. 0. 1. ]] SLAMing on 68.29800114499999 meters Centerline goodness [0,1] 0.8952493071395287 Centerline is valid? [False, False] Translation: X:4.05, Y:0.38, Z:-0.15 [[ 0.93975709 -0.04433471 -0.33895582 4.05074215] [ 0.03145422 0.99856238 -0.04340284 0.38345818] [ 0.34039278 0.03012653 0.93980059 -0.14557599] [ 0. 0. 0. 1. ]] SLAMing on 68.32800114499999 meters Centerline goodness [0,1] 0.8939456998065953 Centerline is valid? [False, False] Translation: X:4.05, Y:0.38, Z:-0.15 [[ 0.93981094 -0.04434772 -0.33880477 4.05088121] [ 0.0315874 0.99857184 -0.04308735 0.38178415] [ 0.34023173 0.029792 0.93986957 -0.14623994] [ 0. 0. 0. 1. ]] SLAMing on 68.35800114499999 meters Centerline goodness [0,1] 0.8935607822022076 Centerline is valid? [False, False] Translation: X:4.05, Y:0.38, Z:-0.15 [[ 0.93978346 -0.04431593 -0.33888516 4.05125704] [ 0.03160857 0.99857803 -0.04292813 0.38156144] [ 0.34030568 0.02963147 0.93984787 -0.14640789] [ 0. 0. 0. 1. ]] SLAMing on 68.38800114499999 meters Centerline goodness [0,1] 0.8984881209503239 Centerline is valid? [False, False] Translation: X:4.05, Y:0.38, Z:-0.15 [[ 0.93966716 -0.0444032 -0.33919609 4.05181048] [ 0.03155202 0.99856327 -0.04331123 0.38403435] [ 0.34063192 0.02999582 0.93971812 -0.14574068] [ 0. 0. 0. 1. ]] SLAMing on 68.41800114499999 meters Centerline goodness [0,1] 0.900343137254902 Centerline is valid? [False, False] Translation: X:4.05, Y:0.38, Z:-0.15 [[ 0.93958794 -0.04398194 -0.33947032 4.05315362] [ 0.03117777 0.99858489 -0.04308315 0.38413254] [ 0.34088482 0.02989648 0.93962958 -0.14592558] [ 0. 0. 0. 1. ]] SLAMing on 68.44800114499999 meters Centerline goodness [0,1] 0.8988615497612927 Centerline is valid? [False, False] Translation: X:4.05, Y:0.38, Z:-0.15 [[ 0.93950231 -0.04339216 -0.33978306 4.05493667] [ 0.03069064 0.99861776 -0.04266916 0.3828572 ] [ 0.3411649 0.02965962 0.93953543 -0.14633171] [ 0. 0. 0. 1. ]] SLAMing on 68.478001145 meters Centerline goodness [0,1] 0.8984894407508799 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.15 [[ 0.93952549 -0.04283681 -0.33978943 4.05641329] [ 0.03030626 0.99865359 -0.04210145 0.38011605] [ 0.34113543 0.02925764 0.93955873 -0.14731789] [ 0. 0. 0. 1. ]] SLAMing on 68.508001145 meters Centerline goodness [0,1] 0.8953834880312652 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.15 [[ 0.9394461 -0.04292663 -0.33999754 4.05645001] [ 0.03029289 0.99864213 -0.04238207 0.38071961] [ 0.34135518 0.02951616 0.93947083 -0.1465313 ] [ 0. 0. 0. 1. ]] SLAMing on 68.538001145 meters Centerline goodness [0,1] 0.8982710486359406 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.15 [[ 0.93941777 -0.04352037 -0.34000034 4.05542794] [ 0.03065162 0.99859909 -0.04313151 0.38268241] [ 0.34140113 0.03009694 0.9394357 -0.1454693 ] [ 0. 0. 0. 1. ]] SLAMing on 68.56800114499998 meters Centerline goodness [0,1] 0.8948541477871121 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.14 [[ 0.9393566 -0.04347115 -0.34017561 4.05549195] [ 0.03054061 0.99859622 -0.04327647 0.3838543 ] [ 0.34157935 0.03026287 0.93936559 -0.14483714] [ 0. 0. 0. 1. ]] SLAMing on 68.59800114499998 meters Centerline goodness [0,1] 0.896707284183686 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.15 [[ 0.93926154 -0.04259306 -0.34054896 4.05779519] [ 0.02980988 0.9986438 -0.04268408 0.38318527] [ 0.34190515 0.02993979 0.93925741 -0.14545921] [ 0. 0. 0. 1. ]] SLAMing on 68.62800114499998 meters Centerline goodness [0,1] 0.8974565711353808 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.15 [[ 0.93920015 -0.04175363 -0.34082212 4.06027659] [ 0.02922962 0.99869829 -0.04180131 0.38116021] [ 0.34212383 0.02929769 0.93919802 -0.14670468] [ 0. 0. 0. 1. ]] SLAMing on 68.65800114499999 meters Centerline goodness [0,1] 0.8963107744930369 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.15 [[ 0.939183 -0.04139619 -0.34091295 4.0613601 ] [ 0.02897873 0.99872073 -0.04143845 0.37981746] [ 0.34219223 0.02903906 0.93918114 -0.14723884] [ 0. 0. 0. 1. ]] SLAMing on 68.68800114499999 meters Centerline goodness [0,1] 0.8947227169590358 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.15 [[ 0.93926676 -0.04190534 -0.34061987 4.05997298] [ 0.02940863 0.9986943 -0.04177113 0.37959852] [ 0.34192555 0.02921707 0.93927274 -0.14678846] [ 0. 0. 0. 1. ]] SLAMing on 68.71800114499999 meters Centerline goodness [0,1] 0.891946619824831 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.15 [[ 0.93922503 -0.04202705 -0.34071993 4.05989899] [ 0.02947912 0.99868582 -0.04192385 0.38001976] [ 0.3420341 0.02933181 0.93922964 -0.14637433] [ 0. 0. 0. 1. ]] SLAMing on 68.74800114499999 meters Centerline goodness [0,1] 0.8960519252354693 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.15 [[ 0.93917212 -0.04206099 -0.34086156 4.06006759] [ 0.02947849 0.99868215 -0.04201173 0.38031856] [ 0.34217941 0.02940817 0.93917432 -0.14606148] [ 0. 0. 0. 1. ]] SLAMing on 68.77800114499999 meters Centerline goodness [0,1] 0.8921836167828079 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.15 [[ 0.93913132 -0.04194534 -0.3409882 4.06065099] [ 0.02945135 0.99869446 -0.04173721 0.37849744] [ 0.34229371 0.02915415 0.93914059 -0.14626861] [ 0. 0. 0. 1. ]] SLAMing on 68.80800114499999 meters Centerline goodness [0,1] 0.8928519328956965 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.15 [[ 0.93909817 -0.04193556 -0.34108068 4.0609054 ] [ 0.02949243 0.99869949 -0.04158761 0.37709813] [ 0.3423811 0.02899555 0.93911365 -0.1462747 ] [ 0. 0. 0. 1. ]] SLAMing on 68.83800114499999 meters Centerline goodness [0,1] 0.8958713032490098 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.15 [[ 0.93911389 -0.04208239 -0.34101932 4.06086479] [ 0.02965048 0.99869479 -0.04158793 0.37634575] [ 0.34232434 0.02894441 0.93913592 -0.14639686] [ 0. 0. 0. 1. ]] SLAMing on 68.868001145 meters Centerline goodness [0,1] 0.8937647144486784 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.15 [[ 0.93904759 -0.04202355 -0.34120908 4.06142826] [ 0.02957922 0.99869663 -0.0415947 0.37637129] [ 0.34251231 0.0289667 0.93906669 -0.14624982] [ 0. 0. 0. 1. ]] SLAMing on 68.898001145 meters Centerline goodness [0,1] 0.8927033405513248 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.15 [[ 0.9389781 -0.04217623 -0.34138145 4.06147589] [ 0.02962693 0.99868273 -0.04189341 0.37789047] [ 0.34269866 0.02922291 0.93899076 -0.14566596] [ 0. 0. 0. 1. ]] SLAMing on 68.92800114499998 meters Centerline goodness [0,1] 0.8942286645426466 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.15 [[ 0.93895365 -0.04213614 -0.34145364 4.06191162] [ 0.02961282 0.99868669 -0.0418087 0.37736646] [ 0.34276687 0.02914503 0.93896829 -0.14577801] [ 0. 0. 0. 1. ]] SLAMing on 68.95800114499998 meters Centerline goodness [0,1] 0.8924566396652801 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.15 [[ 0.93892133 -0.04206388 -0.3415514 4.06239383] [ 0.02961648 0.99869616 -0.04157937 0.37549333] [ 0.34285506 0.02892421 0.93894291 -0.1459752 ] [ 0. 0. 0. 1. ]] SLAMing on 68.98800114499998 meters Centerline goodness [0,1] 0.8916460486101004 Centerline is valid? [False, False] Translation: X:4.06, Y:0.37, Z:-0.15 [[ 0.93892421 -0.04189564 -0.34156417 4.06291509] [ 0.02957851 0.99871333 -0.04119213 0.3732068 ] [ 0.34285046 0.02857333 0.93895534 -0.14640692] [ 0. 0. 0. 1. ]] SLAMing on 69.01800114499999 meters Centerline goodness [0,1] 0.891938333454343 Centerline is valid? [False, False] Translation: X:4.06, Y:0.37, Z:-0.15 [[ 0.938962 -0.0425434 -0.34138017 4.06230615] [ 0.03025827 0.99869125 -0.04123366 0.37237013] [ 0.34268761 0.02838726 0.93902043 -0.14678696] [ 0. 0. 0. 1. ]] SLAMing on 69.04800114499999 meters Centerline goodness [0,1] 0.8877644894204232 Centerline is valid? [False, False] Translation: X:4.06, Y:0.37, Z:-0.15 [[ 0.93892232 -0.04309293 -0.34142039 4.06172744] [ 0.03067512 0.99865962 -0.0416894 0.37379798] [ 0.34275928 0.02867 0.93898568 -0.14623256] [ 0. 0. 0. 1. ]] SLAMing on 69.07800114499999 meters Centerline goodness [0,1] 0.8857822435804087 Centerline is valid? [False, False] Translation: X:4.06, Y:0.37, Z:-0.15 [[ 0.93888247 -0.04363359 -0.34146131 4.06107463] [ 0.03108319 0.99862795 -0.04214318 0.37481317] [ 0.34283167 0.02895379 0.93895055 -0.14563362] [ 0. 0. 0. 1. ]] SLAMing on 69.10800114499999 meters Centerline goodness [0,1] 0.8835918565196316 Centerline is valid? [False, False] Translation: X:4.06, Y:0.37, Z:-0.15 [[ 0.93889784 -0.0443848 -0.34132218 4.06029727] [ 0.03179823 0.99859518 -0.04238563 0.37307694] [ 0.34272397 0.02894233 0.93899022 -0.1456432 ] [ 0. 0. 0. 1. ]] SLAMing on 69.13800114499999 meters Centerline goodness [0,1] 0.883203209978004 Centerline is valid? [False, False] Translation: X:4.06, Y:0.37, Z:-0.15 [[ 0.93894092 -0.04467214 -0.34116615 4.05988249] [ 0.03209657 0.99858419 -0.04241953 0.3719378 ] [ 0.3425781 0.02887917 0.93904539 -0.14578853] [ 0. 0. 0. 1. ]] SLAMing on 69.16800114499999 meters Centerline goodness [0,1] 0.8794478305909562 Centerline is valid? [False, False] Translation: X:4.06, Y:0.37, Z:-0.15 [[ 0.93894948 -0.04523759 -0.34106809 4.05904534] [ 0.03254751 0.99855162 -0.04284072 0.37200298] [ 0.3425121 0.02912435 0.93906189 -0.14538117] [ 0. 0. 0. 1. ]] SLAMing on 69.19800114499999 meters Centerline goodness [0,1] 0.8784469020138117 Centerline is valid? [False, False] Translation: X:4.06, Y:0.37, Z:-0.14 [[ 0.93895641 -0.04577222 -0.34097765 4.05806384] [ 0.032948 0.99851825 -0.04330976 0.37248187] [ 0.34245479 0.02943145 0.93907322 -0.14480938] [ 0. 0. 0. 1. ]] SLAMing on 69.228001145 meters Centerline goodness [0,1] 0.8798568630769603 Centerline is valid? [False, False] Translation: X:4.06, Y:0.37, Z:-0.14 [[ 0.9389874 -0.04628414 -0.34082319 4.05752103] [ 0.03337374 0.99848932 -0.04364932 0.37303231] [ 0.34232859 0.02961162 0.93911356 -0.14477221] [ 0. 0. 0. 1. ]] SLAMing on 69.258001145 meters Centerline goodness [0,1] 0.8773703560371517 Centerline is valid? [False, False] Translation: X:4.06, Y:0.37, Z:-0.14 [[ 0.93888437 -0.04619015 -0.34111963 4.0587169 ] [ 0.03324924 0.99849173 -0.04368933 0.37387668] [ 0.34262315 0.02967727 0.93900407 -0.14486756] [ 0. 0. 0. 1. ]] SLAMing on 69.288001145 meters Centerline goodness [0,1] 0.8752456510663076 Centerline is valid? [False, False] Translation: X:4.06, Y:0.37, Z:-0.15 [[ 0.93878904 -0.04598409 -0.34140972 4.0602477 ] [ 0.03304933 0.99850184 -0.04360992 0.37492168] [ 0.34290359 0.02965716 0.93890233 -0.14521565] [ 0. 0. 0. 1. ]] SLAMing on 69.31800114499998 meters Centerline goodness [0,1] 0.8766132567087128 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.15 [[ 0.93869249 -0.04587448 -0.34168984 4.062092 ] [ 0.03293883 0.99850734 -0.04356752 0.37609691] [ 0.34317845 0.02964164 0.93880239 -0.14591443] [ 0. 0. 0. 1. ]] SLAMing on 69.34800114499998 meters Centerline goodness [0,1] 0.8763506278594374 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.15 [[ 0.93866211 -0.04577083 -0.34178717 4.06282632] [ 0.03285556 0.99851369 -0.04348476 0.37607867] [ 0.3432695 0.02958789 0.9387708 -0.1461896 ] [ 0. 0. 0. 1. ]] SLAMing on 69.37800114499998 meters Centerline goodness [0,1] 0.8749787337465063 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.15 [[ 0.93866593 -0.04591684 -0.34175709 4.0628131 ] [ 0.0329484 0.99850305 -0.0436584 0.37620081] [ 0.34325015 0.02972031 0.93877369 -0.14614589] [ 0. 0. 0. 1. ]] SLAMing on 69.40800114499999 meters Centerline goodness [0,1] 0.8769884638737098 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.15 [[ 0.93863588 -0.04598885 -0.34182995 4.06296374] [ 0.0329526 0.99849453 -0.04384966 0.37642056] [ 0.34333194 0.02989468 0.93873824 -0.14590974] [ 0. 0. 0. 1. ]] SLAMing on 69.43800114499999 meters Centerline goodness [0,1] 0.8772203026911285 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.14 [[ 0.93860719 -0.04604535 -0.3419011 4.06259095] [ 0.03273183 0.99846808 -0.04461079 0.3791832 ] [ 0.34343145 0.03068096 0.93867647 -0.14460405] [ 0. 0. 0. 1. ]] SLAMing on 69.46800114499999 meters Centerline goodness [0,1] 0.8757663841324899 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.14 [[ 0.93850228 -0.04611295 -0.34217988 4.06280788] [ 0.03257692 0.99844648 -0.0452037 0.38168245] [ 0.34373277 0.03127661 0.93854651 -0.14359068] [ 0. 0. 0. 1. ]] SLAMing on 69.49800114499999 meters Centerline goodness [0,1] 0.8757663841324899 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.14 [[ 0.93850228 -0.04611295 -0.34217988 4.06280788] [ 0.03257692 0.99844648 -0.0452037 0.38168245] [ 0.34373277 0.03127661 0.93854651 -0.14359068] [ 0. 0. 0. 1. ]] SLAMing on 69.52800114499999 meters Centerline goodness [0,1] 0.8761345565749236 Centerline is valid? [False, False] Translation: X:4.06, Y:0.38, Z:-0.14 [[ 0.93833658 -0.04561204 -0.34270103 4.06436453] [ 0.03199831 0.99846184 -0.04527764 0.38361218] [ 0.34423911 0.03151981 0.93835278 -0.14305289] [ 0. 0. 0. 1. ]] SLAMing on 69.55800114499999 meters Centerline goodness [0,1] 0.8758507161986192 Centerline is valid? [False, False] Translation: X:4.07, Y:0.38, Z:-0.14 [[ 0.93813417 -0.04442237 -0.34341074 4.06801584] [ 0.0309225 0.99852218 -0.0446907 0.3841522 ] [ 0.34488851 0.03130675 0.93812142 -0.14369846] [ 0. 0. 0. 1. ]] SLAMing on 69.58800114499999 meters Centerline goodness [0,1] 0.8780684991915332 Centerline is valid? [False, False] Translation: X:4.07, Y:0.38, Z:-0.14 [[ 0.93802073 -0.04379165 -0.3438014 4.0700116 ] [ 0.03042573 0.99856023 -0.04417852 0.38290603] [ 0.34524105 0.03097996 0.93800259 -0.1441764 ] [ 0. 0. 0. 1. ]] SLAMing on 69.618001145 meters Centerline goodness [0,1] 0.8798029798078808 Centerline is valid? [False, False] Translation: X:4.07, Y:0.38, Z:-0.14 [[ 0.93800639 -0.04373249 -0.34384805 4.07066597] [ 0.0304221 0.99856766 -0.04401281 0.38241928] [ 0.34528033 0.03082371 0.93799328 -0.14462833] [ 0. 0. 0. 1. ]] SLAMing on 69.648001145 meters Centerline goodness [0,1] 0.8780206852605265 Centerline is valid? [False, False] Translation: X:4.07, Y:0.38, Z:-0.14 [[ 0.93796921 -0.04392608 -0.34392479 4.07069588] [ 0.03059798 0.99855898 -0.04408762 0.38229466] [ 0.34536578 0.03082943 0.93796163 -0.14453254] [ 0. 0. 0. 1. ]] SLAMing on 69.67800114499998 meters Centerline goodness [0,1] 0.8797281107117534 Centerline is valid? [False, False] Translation: X:4.07, Y:0.38, Z:-0.14 [[ 0.93792521 -0.04424003 -0.34400453 4.0707418 ] [ 0.03090393 0.9985465 -0.04415684 0.38235861] [ 0.34545802 0.03078473 0.93792913 -0.14456715] [ 0. 0. 0. 1. ]] SLAMing on 69.70800114499998 meters Centerline goodness [0,1] 0.8805874996934997 Centerline is valid? [False, False] Translation: X:4.07, Y:0.38, Z:-0.14 [[ 0.93788602 -0.04418749 -0.34411813 4.07098746] [ 0.03086213 0.99854997 -0.04410768 0.38207539] [ 0.34556816 0.03074776 0.93788977 -0.14445707] [ 0. 0. 0. 1. ]] SLAMing on 69.73800114499998 meters Centerline goodness [0,1] 0.8798333741729968 Centerline is valid? [False, False] Translation: X:4.07, Y:0.38, Z:-0.14 [[ 0.9378616 -0.04418176 -0.3441854 4.07075202] [ 0.03083413 0.99854849 -0.04416074 0.38168125] [ 0.34563691 0.03080401 0.93786259 -0.14398804] [ 0. 0. 0. 1. ]] SLAMing on 69.76800114499999 meters Centerline goodness [0,1] 0.8789787067212271 Centerline is valid? [False, False] Translation: X:4.07, Y:0.38, Z:-0.14 [[ 0.93779608 -0.04412442 -0.34437124 4.07083764] [ 0.03073138 0.99854743 -0.04425619 0.38158202] [ 0.34582379 0.03092028 0.93778987 -0.14344178] [ 0. 0. 0. 1. ]] SLAMing on 69.79800114499999 meters Centerline goodness [0,1] 0.8773580283208389 Centerline is valid? [False, False] Translation: X:4.07, Y:0.38, Z:-0.14 [[ 0.93767291 -0.04371757 -0.34475831 4.07182651] [ 0.03031565 0.99856387 -0.0441719 0.38176028] [ 0.34619428 0.03096722 0.93765161 -0.14299288] [ 0. 0. 0. 1. ]] SLAMing on 69.82800114499999 meters Centerline goodness [0,1] 0.8786995295962368 Centerline is valid? [False, False] Translation: X:4.07, Y:0.38, Z:-0.14 [[ 0.9375806 -0.04357477 -0.34502733 4.07250135] [ 0.03012893 0.99856651 -0.04424 0.38209081] [ 0.34646048 0.03108326 0.93754945 -0.14265211] [ 0. 0. 0. 1. ]] SLAMing on 69.85800114499999 meters Centerline goodness [0,1] 0.88014302507837 Centerline is valid? [False, False] Translation: X:4.07, Y:0.38, Z:-0.14 [[ 0.93746954 -0.04313853 -0.34538373 4.07356827] [ 0.02965601 0.99858119 -0.04422825 0.38285883] [ 0.34680164 0.03121993 0.93741876 -0.14218361] [ 0. 0. 0. 1. ]] SLAMing on 69.88800114499999 meters Centerline goodness [0,1] 0.8790771873849552 Centerline is valid? [False, False] Translation: X:4.07, Y:0.38, Z:-0.14 [[ 0.93735043 -0.04284167 -0.34574379 4.07432453] [ 0.02918324 0.99857785 -0.04461633 0.38477086] [ 0.34716353 0.03173122 0.93726763 -0.14126154] [ 0. 0. 0. 1. ]] SLAMing on 69.91800114499999 meters Centerline goodness [0,1] 0.8798109881500342 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93728724 -0.0425147 -0.34595538 4.07553657] [ 0.02890057 0.99859489 -0.04441853 0.38406314] [ 0.34735771 0.03163461 0.93719895 -0.14147221] [ 0. 0. 0. 1. ]] SLAMing on 69.94800114499999 meters Centerline goodness [0,1] 0.8802475780409043 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93726272 -0.04232885 -0.34604459 4.07617793] [ 0.02877591 0.99860765 -0.044212 0.38297823] [ 0.34743422 0.03148051 0.93717578 -0.1416729 ] [ 0. 0. 0. 1. ]] SLAMing on 69.978001145 meters Centerline goodness [0,1] 0.8775710328258685 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93721592 -0.04282411 -0.3461104 4.07605596] [ 0.02912651 0.99857652 -0.04468319 0.38417437] [ 0.34753124 0.0317968 0.93712913 -0.14137018] [ 0. 0. 0. 1. ]] SLAMing on 70.008001145 meters Centerline goodness [0,1] 0.8804904966278357 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.9371507 -0.04292217 -0.34627481 4.0764834 ] [ 0.02918154 0.99856965 -0.04480049 0.38475483] [ 0.34770245 0.03187998 0.93706279 -0.14121571] [ 0. 0. 0. 1. ]] SLAMing on 70.038001145 meters Centerline goodness [0,1] 0.876247700797057 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93714554 -0.04298922 -0.34628048 4.07680977] [ 0.02925333 0.99856762 -0.04479899 0.38477845] [ 0.34771035 0.03185332 0.93706077 -0.14140353] [ 0. 0. 0. 1. ]] SLAMing on 70.06800114499998 meters Centerline goodness [0,1] 0.8779272423781236 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93713055 -0.04291905 -0.34632974 4.07746679] [ 0.02926105 0.99857756 -0.04457192 0.38408828] [ 0.34775009 0.03163573 0.93705339 -0.14186876] [ 0. 0. 0. 1. ]] SLAMing on 70.09800114499998 meters Centerline goodness [0,1] 0.8765817341949433 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93713689 -0.04294029 -0.34630995 4.0778842 ] [ 0.02932058 0.99858016 -0.04447441 0.38340525] [ 0.34772799 0.0315246 0.93706534 -0.14223694] [ 0. 0. 0. 1. ]] SLAMing on 70.12800114499998 meters Centerline goodness [0,1] 0.8751347907067935 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93717852 -0.04343924 -0.34613502 4.07721586] [ 0.02982302 0.99856102 -0.04457001 0.38235973] [ 0.34757303 0.03144727 0.93712542 -0.14238265] [ 0. 0. 0. 1. ]] SLAMing on 70.15800114499999 meters Centerline goodness [0,1] 0.8741456458671387 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93720898 -0.04369737 -0.34602005 4.07689346] [ 0.03010558 0.99855295 -0.04456076 0.38147606] [ 0.34746653 0.03134561 0.93716832 -0.14253788] [ 0. 0. 0. 1. ]] SLAMing on 70.18800114499999 meters Centerline goodness [0,1] 0.8734757967565445 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93721784 -0.04403668 -0.34595301 4.07623721] [ 0.03046316 0.99854134 -0.0445778 0.38016744] [ 0.34741144 0.03124028 0.93719226 -0.14238885] [ 0. 0. 0. 1. ]] SLAMing on 70.21800114499999 meters Centerline goodness [0,1] 0.8724438689501844 Centerline is valid? [False, False] Translation: X:4.07, Y:0.38, Z:-0.14 [[ 0.93732631 -0.04507627 -0.34552499 4.07350526] [ 0.03144802 0.99849413 -0.04494996 0.37824856] [ 0.34703085 0.0312667 0.93733238 -0.14178084] [ 0. 0. 0. 1. ]] SLAMing on 70.24800114499999 meters Centerline goodness [0,1] 0.8720793821487927 Centerline is valid? [False, False] Translation: X:4.07, Y:0.38, Z:-0.14 [[ 0.93727516 -0.04515001 -0.3456541 4.07352471] [ 0.03147921 0.99848794 -0.04506546 0.3783505 ] [ 0.34716616 0.03135782 0.93727922 -0.14137542] [ 0. 0. 0. 1. ]] SLAMing on 70.27800114499999 meters Centerline goodness [0,1] 0.8728714034057545 Centerline is valid? [False, False] Translation: X:4.07, Y:0.38, Z:-0.14 [[ 0.9371966 -0.04513379 -0.34586916 4.07375263] [ 0.03138687 0.99848262 -0.04524729 0.37886048] [ 0.34738653 0.03154985 0.93719113 -0.1407881 ] [ 0. 0. 0. 1. ]] SLAMing on 70.30800114499999 meters Centerline goodness [0,1] 0.8726649528706084 Centerline is valid? [False, False] Translation: X:4.07, Y:0.38, Z:-0.14 [[ 0.93710325 -0.04480691 -0.34616447 4.0745668 ] [ 0.03107045 0.9984977 -0.04513282 0.3788482 ] [ 0.34766669 0.03153863 0.93708761 -0.14047446] [ 0. 0. 0. 1. ]] SLAMing on 70.33800114499999 meters Centerline goodness [0,1] 0.872322738386308 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93705941 -0.04423194 -0.34635704 4.07594251] [ 0.0305927 0.99852965 -0.04475073 0.37809238] [ 0.34782719 0.0313381 0.93703478 -0.14083969] [ 0. 0. 0. 1. ]] SLAMing on 70.368001145 meters Centerline goodness [0,1] 0.873648417241548 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93697704 -0.04359886 -0.34666 4.07765765] [ 0.0300352 0.99856195 -0.04440626 0.37760801] [ 0.34809755 0.03119565 0.93693913 -0.14111121] [ 0. 0. 0. 1. ]] SLAMing on 70.398001145 meters Centerline goodness [0,1] 0.8721981333137356 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93689786 -0.0430563 -0.34694173 4.07927036] [ 0.02956537 0.99859009 -0.0440877 0.37718043] [ 0.34835082 0.03104821 0.93684989 -0.14143631] [ 0. 0. 0. 1. ]] SLAMing on 70.42800114499998 meters Centerline goodness [0,1] 0.8738194917729529 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93683068 -0.04248242 -0.34719379 4.08076634] [ 0.02905257 0.99861789 -0.04379792 0.37754164] [ 0.34857457 0.03094436 0.9367701 -0.14169617] [ 0. 0. 0. 1. ]] SLAMing on 70.45800114499998 meters Centerline goodness [0,1] 0.8737381162403215 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93674225 -0.04241692 -0.34744029 4.08119333] [ 0.02891607 0.99861501 -0.04395365 0.3782897 ] [ 0.34882347 0.03112663 0.93667141 -0.14121126] [ 0. 0. 0. 1. ]] SLAMing on 70.48800114499998 meters Centerline goodness [0,1] 0.8741224529732639 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93665475 -0.04223514 -0.34769825 4.08199874] [ 0.02871706 0.99862122 -0.04394312 0.37854196] [ 0.34907479 0.03117466 0.93657617 -0.1410238 ] [ 0. 0. 0. 1. ]] SLAMing on 70.51800114499999 meters Centerline goodness [0,1] 0.8730627486393479 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93661009 -0.04160867 -0.34789404 4.08367672] [ 0.02814624 0.99864971 -0.04366396 0.37854577] [ 0.34924108 0.03110419 0.93651652 -0.14143405] [ 0. 0. 0. 1. ]] SLAMing on 70.54800114499999 meters Centerline goodness [0,1] 0.8734171026255317 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93655278 -0.04147294 -0.34806447 4.08415271] [ 0.02790845 0.99864616 -0.04389722 0.3793887 ] [ 0.3494138 0.03139813 0.93644229 -0.14097012] [ 0. 0. 0. 1. ]] SLAMing on 70.57800114499999 meters Centerline goodness [0,1] 0.8703196793430443 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93647311 -0.04125048 -0.34830519 4.08489068] [ 0.02758154 0.99864568 -0.04411431 0.38051515] [ 0.34965321 0.03170507 0.93634258 -0.14047844] [ 0. 0. 0. 1. ]] SLAMing on 70.60800114499999 meters Centerline goodness [0,1] 0.8734796176622356 Centerline is valid? [False, False] Translation: X:4.09, Y:0.38, Z:-0.14 [[ 0.93641975 -0.04119324 -0.3484554 4.08508622] [ 0.02741029 0.99863796 -0.04439476 0.38146243] [ 0.34980956 0.03202086 0.93627343 -0.13992342] [ 0. 0. 0. 1. ]] SLAMing on 70.63800114499999 meters Centerline goodness [0,1] 0.8743388521242835 Centerline is valid? [False, False] Translation: X:4.09, Y:0.38, Z:-0.14 [[ 0.93636827 -0.04112846 -0.34860138 4.08534304] [ 0.027263 0.99863331 -0.04458973 0.38227122] [ 0.34995885 0.03224849 0.93620982 -0.13947714] [ 0. 0. 0. 1. ]] SLAMing on 70.66800114499999 meters Centerline goodness [0,1] 0.8721850722784934 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93640618 -0.04168027 -0.34843395 4.08384621] [ 0.02755343 0.99858865 -0.04540385 0.38393577] [ 0.34983463 0.03291589 0.93623302 -0.13834085] [ 0. 0. 0. 1. ]] SLAMing on 70.69800114499999 meters Centerline goodness [0,1] 0.871818271507498 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93636452 -0.04175908 -0.34853647 4.08378562] [ 0.02761758 0.99858493 -0.04544679 0.38374357] [ 0.34994108 0.03292903 0.93619278 -0.13804085] [ 0. 0. 0. 1. ]] SLAMing on 70.728001145 meters Centerline goodness [0,1] 0.8715453963249421 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93635176 -0.04201864 -0.34853954 4.08349587] [ 0.02786393 0.99857439 -0.04552796 0.38342208] [ 0.34995568 0.0329185 0.93618769 -0.13789342] [ 0. 0. 0. 1. ]] SLAMing on 70.758001145 meters Centerline goodness [0,1] 0.8701078127307635 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93634847 -0.04229526 -0.34851494 4.08314581] [ 0.02815811 0.99856592 -0.04553262 0.38260683] [ 0.34994095 0.03282088 0.93619662 -0.13787566] [ 0. 0. 0. 1. ]] SLAMing on 70.788001145 meters Centerline goodness [0,1] 0.8720581732422739 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93641103 -0.04336544 -0.34821519 4.08177148] [ 0.02921828 0.99852418 -0.04577949 0.37994124] [ 0.34968653 0.03269417 0.93629612 -0.13814541] [ 0. 0. 0. 1. ]] SLAMing on 70.81800114499998 meters Centerline goodness [0,1] 0.8708258593999558 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93645332 -0.04354495 -0.34807905 4.0816772 ] [ 0.02947775 0.99852427 -0.04561077 0.37885616] [ 0.3495515 0.03245176 0.93635497 -0.13865638] [ 0. 0. 0. 1. ]] SLAMing on 70.84800114499998 meters Centerline goodness [0,1] 0.870680975418089 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93645849 -0.04374843 -0.34803961 4.08138838] [ 0.02969751 0.99851792 -0.04560719 0.37817114] [ 0.34951904 0.03237333 0.9363698 -0.13866004] [ 0. 0. 0. 1. ]] SLAMing on 70.87800114499998 meters Centerline goodness [0,1] 0.869358553437546 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.936433 -0.0438916 -0.34809015 4.08133272] [ 0.02984404 0.99851303 -0.04561862 0.37769255] [ 0.34957483 0.03233037 0.93635046 -0.13855785] [ 0. 0. 0. 1. ]] SLAMing on 70.90800114499999 meters Centerline goodness [0,1] 0.8713096695226439 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.9364799 -0.0441107 -0.34793625 4.08014428] [ 0.02997969 0.99849624 -0.04589632 0.3774641 ] [ 0.34943756 0.03254996 0.93639409 -0.13783379] [ 0. 0. 0. 1. ]] SLAMing on 70.93800114499999 meters Centerline goodness [0,1] 0.8702729164116999 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93637971 -0.04373827 -0.34825278 4.08092359] [ 0.02955838 0.99850727 -0.04592959 0.3779105 ] [ 0.34974182 0.03271375 0.93627478 -0.13728611] [ 0. 0. 0. 1. ]] SLAMing on 70.96800114499999 meters Centerline goodness [0,1] 0.8728156292951109 Centerline is valid? [False, False] Translation: X:4.08, Y:0.38, Z:-0.14 [[ 0.93622492 -0.04285314 -0.34877859 4.08311282] [ 0.0287117 0.99854631 -0.04561701 0.37852467] [ 0.35022641 0.03269376 0.93609432 -0.13720578] [ 0. 0. 0. 1. ]] SLAMing on 70.99800114499999 meters Centerline goodness [0,1] 0.8724554707379135 Centerline is valid? [False, False] Translation: X:4.09, Y:0.38, Z:-0.14 [[ 0.93603619 -0.04187892 -0.34940293 4.08537446] [ 0.02775199 0.99858594 -0.0453426 0.37908591] [ 0.35080775 0.03274569 0.9358748 -0.13681871] [ 0. 0. 0. 1. ]] SLAMing on 71.02800114499999 meters Centerline goodness [0,1] 0.8760336644321574 Centerline is valid? [False, False] Translation: X:4.09, Y:0.38, Z:-0.14 [[ 0.93615991 -0.03586227 -0.34974065 4.08743833] [ 0.02314051 0.99891206 -0.04048724 0.37758328] [ 0.35081211 0.02980935 0.93597129 -0.13805593] [ 0. 0. 0. 1. ]] SLAMing on 71.05800114499999 meters Centerline goodness [0,1] 0.8772917533596064 Centerline is valid? [False, False] Translation: X:4.09, Y:0.38, Z:-0.14 [[ 0.93604121 -0.03531807 -0.35011354 4.0887278 ] [ 0.02258205 0.99892861 -0.04039403 0.37831299] [ 0.35116507 0.0299042 0.9358359 -0.13772896] [ 0. 0. 0. 1. ]] SLAMing on 71.08800114499999 meters Centerline goodness [0,1] 0.8754630879069654 Centerline is valid? [False, False] Translation: X:4.09, Y:0.38, Z:-0.14 [[ 0.9359459 -0.03526372 -0.35037372 4.08884356] [ 0.02239593 0.99891991 -0.04071154 0.37913858] [ 0.35143093 0.03025686 0.93572476 -0.136817 ] [ 0. 0. 0. 1. ]] SLAMing on 71.118001145 meters Centerline goodness [0,1] 0.8791233064991164 Centerline is valid? [False, False] Translation: X:4.09, Y:0.38, Z:-0.14 [[ 0.93590574 -0.03519275 -0.35048811 4.08871425] [ 0.0222629 0.99891709 -0.04085349 0.37899705] [ 0.35154631 0.03043213 0.93567573 -0.13619529] [ 0. 0. 0. 1. ]] SLAMing on 71.148001145 meters Centerline goodness [0,1] 0.8782327586206896 Centerline is valid? [False, False] Translation: X:4.09, Y:0.38, Z:-0.14 [[ 0.93591735 -0.03500257 -0.35047614 4.08842662] [ 0.02221655 0.99893504 -0.04043765 0.37598743] [ 0.35151832 0.03005993 0.93569828 -0.13615183] [ 0. 0. 0. 1. ]] SLAMing on 71.17800114499998 meters Centerline goodness [0,1] 0.8785021617528518 Centerline is valid? [False, False] Translation: X:4.09, Y:0.37, Z:-0.14 [[ 0.93592788 -0.03516802 -0.35043147 4.08828231] [ 0.02245434 0.99893614 -0.04027881 0.37409992] [ 0.35147519 0.02982936 0.93572186 -0.13631773] [ 0. 0. 0. 1. ]] SLAMing on 71.20800114499998 meters Centerline goodness [0,1] 0.8748757244356071 Centerline is valid? [False, False] Translation: X:4.09, Y:0.37, Z:-0.14 [[ 0.93570397 -0.04006133 -0.35050417 4.08884685] [ 0.02626057 0.99868453 -0.04404088 0.37322146] [ 0.35180743 0.03200479 0.93552511 -0.1360678 ] [ 0. 0. 0. 1. ]] SLAMing on 71.23800114499998 meters Centerline goodness [0,1] 0.877122538822505 Centerline is valid? [False, False] Translation: X:4.09, Y:0.37, Z:-0.14 [[ 0.93571857 -0.04057776 -0.35040578 4.08807245] [ 0.02680357 0.99866872 -0.04407216 0.37193702] [ 0.35172764 0.03184701 0.93556049 -0.13600864] [ 0. 0. 0. 1. ]] SLAMing on 71.26800114499999 meters Centerline goodness [0,1] 0.8774953532720207 Centerline is valid? [False, False] Translation: X:4.09, Y:0.37, Z:-0.14 [[ 0.93576428 -0.04103624 -0.35023028 4.08697544] [ 0.02729767 0.99865515 -0.04407633 0.37030156] [ 0.351568 0.03168458 0.93562601 -0.13587794] [ 0. 0. 0. 1. ]] SLAMing on 71.29800114499999 meters Centerline goodness [0,1] 0.8740195486907204 Centerline is valid? [False, False] Translation: X:4.09, Y:0.37, Z:-0.14 [[ 0.935798 -0.04144308 -0.35009224 4.08590183] [ 0.02773502 0.99864289 -0.04408113 0.36876737] [ 0.35144399 0.03154122 0.93567744 -0.13564438] [ 0. 0. 0. 1. ]] SLAMing on 71.32800114499999 meters Centerline goodness [0,1] 0.8734679163662581 Centerline is valid? [False, False] Translation: X:4.09, Y:0.37, Z:-0.14 [[ 0.93582025 -0.04160645 -0.35001338 4.08511542] [ 0.02793064 0.99863961 -0.04403199 0.36725328] [ 0.35136924 0.03142993 0.93570926 -0.13530085] [ 0. 0. 0. 1. ]] SLAMing on 71.35800114499999 meters Centerline goodness [0,1] 0.8781342227127672 Centerline is valid? [False, False] Translation: X:4.08, Y:0.37, Z:-0.13 [[ 0.93578935 -0.04149267 -0.35010949 4.08464076] [ 0.02783716 0.9986459 -0.04394846 0.36585961] [ 0.35145894 0.03138045 0.93567723 -0.13461819] [ 0. 0. 0. 1. ]] SLAMing on 71.38800114499999 meters Centerline goodness [0,1] 0.8781342227127672 Centerline is valid? [False, False] Translation: X:4.08, Y:0.37, Z:-0.13 [[ 0.93578935 -0.04149267 -0.35010949 4.08464076] [ 0.02783716 0.9986459 -0.04394846 0.36585961] [ 0.35145894 0.03138045 0.93567723 -0.13461819] [ 0. 0. 0. 1. ]] SLAMing on 71.41800114499999 meters Centerline goodness [0,1] 0.8793111730233452 Centerline is valid? [False, False] Translation: X:4.09, Y:0.37, Z:-0.13 [[ 0.93569514 -0.04114569 -0.35040211 4.08551224] [ 0.027508 0.99866105 -0.0438111 0.36572984] [ 0.35173558 0.03135497 0.93557413 -0.13439157] [ 0. 0. 0. 1. ]] SLAMing on 71.44800114499999 meters Centerline goodness [0,1] 0.8797374347180298 Centerline is valid? [False, False] Translation: X:4.09, Y:0.37, Z:-0.13 [[ 0.93566459 -0.04072907 -0.35053232 4.08619212] [ 0.02711096 0.998678 -0.04367203 0.36588518] [ 0.35184764 0.0313591 0.93553185 -0.13430805] [ 0. 0. 0. 1. ]] SLAMing on 71.478001145 meters Centerline goodness [0,1] 0.8867581220522397 Centerline is valid? [False, False] Translation: X:4.09, Y:0.37, Z:-0.13 [[ 0.93563052 -0.04031247 -0.3506714 4.08649766] [ 0.02664183 0.99868836 -0.04372381 0.36690643] [ 0.35197406 0.03156681 0.93547731 -0.13371458] [ 0. 0. 0. 1. ]] SLAMing on 71.508001145 meters Centerline goodness [0,1] 0.8849092645654251 Centerline is valid? [False, False] Translation: X:4.09, Y:0.37, Z:-0.13 [[ 0.93559716 -0.04012205 -0.35078224 4.08679609] [ 0.0264552 0.99869572 -0.04366899 0.36672202] [ 0.35207681 0.03157657 0.93543832 -0.13350267] [ 0. 0. 0. 1. ]] SLAMing on 71.538001145 meters Centerline goodness [0,1] 0.8849003668800806 Centerline is valid? [False, False] Translation: X:4.09, Y:0.37, Z:-0.13 [[ 0.93553791 -0.03976354 -0.35098101 4.08773192] [ 0.0261781 0.99871607 -0.04336955 0.36570896] [ 0.35225491 0.03138585 0.93537768 -0.13364271] [ 0. 0. 0. 1. ]] SLAMing on 71.56800114499998 meters Centerline goodness [0,1] 0.88767598934551 Centerline is valid? [False, False] Translation: X:4.09, Y:0.36, Z:-0.13 [[ 0.93543474 -0.03862748 -0.35138264 4.08999708] [ 0.02535153 0.99878299 -0.04230651 0.36176402] [ 0.3525892 0.03066689 0.93527557 -0.13432601] [ 0. 0. 0. 1. ]] SLAMing on 71.59800114499998 meters Centerline goodness [0,1] 0.8903933560193228 Centerline is valid? [False, False] Translation: X:4.09, Y:0.36, Z:-0.13 [[ 0.93536351 -0.03801063 -0.35163944 4.09118376] [ 0.02489899 0.99881836 -0.04173625 0.36000315] [ 0.35281036 0.03028309 0.93520468 -0.13455095] [ 0. 0. 0. 1. ]] SLAMing on 71.62800114499998 meters Centerline goodness [0,1] 0.8923468296046219 Centerline is valid? [False, False] Translation: X:4.09, Y:0.36, Z:-0.13 [[ 0.93531642 -0.03783621 -0.35178349 4.09137703] [ 0.02473622 0.99882556 -0.0416608 0.35989424] [ 0.35294662 0.03026424 0.93515387 -0.13423027] [ 0. 0. 0. 1. ]] SLAMing on 71.65800114499999 meters Centerline goodness [0,1] 0.8959788963353772 Centerline is valid? [False, False] Translation: X:4.09, Y:0.36, Z:-0.13 [[ 0.93522142 -0.03783615 -0.35203597 4.09117819] [ 0.02462831 0.99881725 -0.04192321 0.36081344] [ 0.35320581 0.03053743 0.93504712 -0.1332102 ] [ 0. 0. 0. 1. ]] SLAMing on 71.68800114499999 meters Centerline goodness [0,1] 0.8961898188914539 Centerline is valid? [False, False] Translation: X:4.09, Y:0.36, Z:-0.13 [[ 0.93513822 -0.03771648 -0.35226976 4.09066219] [ 0.02450732 0.99882189 -0.04188357 0.36080376] [ 0.35343445 0.03053374 0.93496085 -0.13209891] [ 0. 0. 0. 1. ]] SLAMing on 71.71800114499999 meters Centerline goodness [0,1] 0.896671716693495 Centerline is valid? [False, False] Translation: X:4.09, Y:0.36, Z:-0.13 [[ 0.93508075 -0.03735635 -0.35246063 4.09157971] [ 0.02434057 0.99885069 -0.04128977 0.35793153] [ 0.35359798 0.03003018 0.93491532 -0.13245643] [ 0. 0. 0. 1. ]] SLAMing on 71.74800114499999 meters Centerline goodness [0,1] 0.8958661741524128 Centerline is valid? [False, False] Translation: X:4.09, Y:0.36, Z:-0.13 [[ 0.93476844 -0.04130872 -0.35284777 4.09406744] [ 0.02727469 0.99863005 -0.04465553 0.35659157] [ 0.35420905 0.03211877 0.93461454 -0.13246651] [ 0. 0. 0. 1. ]] SLAMing on 71.77800114499999 meters Centerline goodness [0,1] 0.8997844827586207 Centerline is valid? [False, False] Translation: X:4.09, Y:0.35, Z:-0.13 [[ 0.93478536 -0.04123918 -0.35281109 4.09420842] [ 0.02739116 0.99864909 -0.04415567 0.35270439] [ 0.35415541 0.03161217 0.93465213 -0.13292058] [ 0. 0. 0. 1. ]] SLAMing on 71.80800114499999 meters Centerline goodness [0,1] 0.8996918623651898 Centerline is valid? [False, False] Translation: X:4.09, Y:0.35, Z:-0.13 [[ 0.93482823 -0.04167952 -0.35264572 4.09318938] [ 0.02801924 0.99864929 -0.0437551 0.34868259] [ 0.35399309 0.03102263 0.93473338 -0.1331282 ] [ 0. 0. 0. 1. ]] SLAMing on 71.83800114499999 meters Centerline goodness [0,1] 0.902315181441282 Centerline is valid? [False, False] Translation: X:4.09, Y:0.35, Z:-0.13 [[ 0.93476276 -0.0414732 -0.35284353 4.09357116] [ 0.02793964 0.99866854 -0.04336497 0.347592 ] [ 0.35417222 0.03067764 0.93467691 -0.13305026] [ 0. 0. 0. 1. ]] SLAMing on 71.868001145 meters Centerline goodness [0,1] 0.9008925251022685 Centerline is valid? [False, False] Translation: X:4.09, Y:0.35, Z:-0.13 [[ 0.93468936 -0.04097114 -0.35309654 4.09453787] [ 0.02762902 0.99870387 -0.04274607 0.34627295] [ 0.35439023 0.03019859 0.93460987 -0.1332565 ] [ 0. 0. 0. 1. ]] SLAMing on 71.898001145 meters Centerline goodness [0,1] 0.9024378896436215 Centerline is valid? [False, False] Translation: X:4.10, Y:0.34, Z:-0.13 [[ 0.93467457 -0.04016041 -0.35322882 4.09565659] [ 0.02713576 0.9987595 -0.04175053 0.34262439] [ 0.35446736 0.02943803 0.93460489 -0.13387591] [ 0. 0. 0. 1. ]] SLAMing on 71.92800114499998 meters Centerline goodness [0,1] 0.9030465783868877 Centerline is valid? [False, False] Translation: X:4.10, Y:0.34, Z:-0.13 [[ 0.93462759 -0.03939667 -0.35343907 4.09686028] [ 0.02660983 0.9988061 -0.04096703 0.34025262] [ 0.35463106 0.02888396 0.93456007 -0.13426838] [ 0. 0. 0. 1. ]] SLAMing on 71.95800114499998 meters Centerline goodness [0,1] 0.9070391268152808 Centerline is valid? [False, False] Translation: X:4.10, Y:0.34, Z:-0.13 [[ 0.93458019 -0.03891629 -0.35361757 4.0973479 ] [ 0.02624805 0.9988326 -0.04055217 0.33848563] [ 0.35478289 0.02861749 0.93451064 -0.13413694] [ 0. 0. 0. 1. ]] SLAMing on 71.98800114499998 meters Centerline goodness [0,1] 0.9090552634006828 Centerline is valid? [False, False] Translation: X:4.10, Y:0.34, Z:-0.13 [[ 0.93455816 -0.03857267 -0.35371344 4.09762416] [ 0.02600233 0.9988523 -0.04022384 0.33709195] [ 0.35485902 0.02839414 0.93448855 -0.1340649 ] [ 0. 0. 0. 1. ]] SLAMing on 72.01800114499999 meters Centerline goodness [0,1] 0.9095330290877242 Centerline is valid? [False, False] Translation: X:4.10, Y:0.34, Z:-0.13 [[ 0.93446303 -0.03808568 -0.35401742 4.09850272] [ 0.02570755 0.99888471 -0.03960386 0.33560026] [ 0.35513092 0.02790742 0.93439992 -0.13411004] [ 0. 0. 0. 1. ]] SLAMing on 72.04800114499999 meters Centerline goodness [0,1] 0.9122867601353685 Centerline is valid? [False, False] Translation: X:4.10, Y:0.34, Z:-0.13 [[ 0.93441946 -0.03806533 -0.35413457 4.09883809] [ 0.02575869 0.99889136 -0.03940226 0.33515693] [ 0.35524183 0.0276962 0.93436404 -0.13417224] [ 0. 0. 0. 1. ]] SLAMing on 72.07800114499999 meters Centerline goodness [0,1] 0.9118107697268414 Centerline is valid? [False, False] Translation: X:4.10, Y:0.33, Z:-0.13 [[ 0.93440065 -0.03810574 -0.35417986 4.0991987 ] [ 0.02590561 0.99889843 -0.03912572 0.33420747] [ 0.35528062 0.02738385 0.9343585 -0.13454176] [ 0. 0. 0. 1. ]] SLAMing on 72.10800114499999 meters Centerline goodness [0,1] 0.911566027798768 Centerline is valid? [False, False] Translation: X:4.10, Y:0.33, Z:-0.14 [[ 0.93413879 -0.04274047 -0.3543416 4.10111349] [ 0.02968132 0.99866774 -0.04221083 0.33158037] [ 0.35567363 0.02891345 0.93416288 -0.13546702] [ 0. 0. 0. 1. ]] SLAMing on 72.13800114499999 meters Centerline goodness [0,1] 0.9092837591240875 Centerline is valid? [False, False] Translation: X:4.10, Y:0.33, Z:-0.14 [[ 0.93415068 -0.04292827 -0.35428756 4.10131066] [ 0.03008988 0.99867825 -0.04166967 0.3280188 ] [ 0.35560809 0.02826528 0.93420767 -0.13623524] [ 0. 0. 0. 1. ]] SLAMing on 72.16800114499999 meters Centerline goodness [0,1] 0.9072889880071912 Centerline is valid? [False, False] Translation: X:4.10, Y:0.33, Z:-0.14 [[ 0.93422241 -0.04308684 -0.35407912 4.10119154] [ 0.03042456 0.9986854 -0.04125319 0.32537573] [ 0.35539111 0.02776695 0.93430517 -0.13700852] [ 0. 0. 0. 1. ]] SLAMing on 72.19800114499999 meters Centerline goodness [0,1] 0.9083352259822848 Centerline is valid? [False, False] Translation: X:4.10, Y:0.32, Z:-0.14 [[ 0.93421699 -0.04306886 -0.35409559 4.10134016] [ 0.03050268 0.99869361 -0.04099592 0.32399091] [ 0.35539865 0.02749822 0.93431025 -0.13720008] [ 0. 0. 0. 1. ]] SLAMing on 72.228001145 meters Centerline goodness [0,1] 0.905660805960656 Centerline is valid? [False, False] Translation: X:4.10, Y:0.32, Z:-0.14 [[ 0.93423289 -0.04338667 -0.35401484 4.10061775] [ 0.03076505 0.99867691 -0.04120602 0.32456099] [ 0.35533424 0.02760473 0.93433161 -0.13679043] [ 0. 0. 0. 1. ]] SLAMing on 72.258001145 meters Centerline goodness [0,1] 0.9079659706109822 Centerline is valid? [False, False] Translation: X:4.10, Y:0.32, Z:-0.14 [[ 0.93443904 -0.03933945 -0.35394361 4.09917382] [ 0.02790226 0.99891222 -0.03736103 0.32259042] [ 0.35502836 0.02503578 0.93452024 -0.13695768] [ 0. 0. 0. 1. ]] SLAMing on 72.288001145 meters Centerline goodness [0,1] 0.9079162875341219 Centerline is valid? [False, False] Translation: X:4.10, Y:0.32, Z:-0.14 [[ 0.93439081 -0.03946346 -0.35405713 4.09919727] [ 0.02801808 0.99890765 -0.03739653 0.32253562] [ 0.35514617 0.02502298 0.93447581 -0.13674055] [ 0. 0. 0. 1. ]] SLAMing on 72.31800114499998 meters Centerline goodness [0,1] 0.9090392655880749 Centerline is valid? [False, False] Translation: X:4.10, Y:0.32, Z:-0.14 [[ 0.93441458 -0.03970636 -0.35396722 4.09900389] [ 0.028346 0.99890485 -0.03722368 0.3206571 ] [ 0.35505759 0.02474879 0.93451677 -0.13700346] [ 0. 0. 0. 1. ]] SLAMing on 72.34800114499998 meters Centerline goodness [0,1] 0.9093095546025911 Centerline is valid? [False, False] Translation: X:4.10, Y:0.32, Z:-0.14 [[ 0.93441389 -0.03968329 -0.35397164 4.09925253] [ 0.02842036 0.99891243 -0.0369627 0.31941231] [ 0.35505347 0.02447846 0.93452546 -0.13728582] [ 0. 0. 0. 1. ]] SLAMing on 72.37800114499998 meters Centerline goodness [0,1] 0.9088295873791902 Centerline is valid? [False, False] Translation: X:4.10, Y:0.32, Z:-0.14 [[ 0.93443846 -0.03989717 -0.35388272 4.09896369] [ 0.02868183 0.99890791 -0.03688283 0.31840067] [ 0.35496776 0.02431473 0.93456229 -0.13741244] [ 0. 0. 0. 1. ]] SLAMing on 72.40800114499999 meters Centerline goodness [0,1] 0.9084049038047542 Centerline is valid? [False, False] Translation: X:4.10, Y:0.32, Z:-0.14 [[ 0.93446519 -0.04023611 -0.35377373 4.09833749] [ 0.02901963 0.99889547 -0.03695534 0.31758829] [ 0.35486992 0.0242671 0.93460069 -0.13730163] [ 0. 0. 0. 1. ]] SLAMing on 72.43800114499999 meters Centerline goodness [0,1] 0.9043537414965986 Centerline is valid? [False, False] Translation: X:4.10, Y:0.32, Z:-0.14 [[ 0.93452952 -0.04121925 -0.35349052 4.09688765] [ 0.02986168 0.99884937 -0.03752633 0.31797033] [ 0.35463059 0.02451364 0.93468509 -0.13702868] [ 0. 0. 0. 1. ]] SLAMing on 72.46800114499999 meters Centerline goodness [0,1] 0.9065817409766455 Centerline is valid? [False, False] Translation: X:4.10, Y:0.32, Z:-0.14 [[ 0.93448876 -0.04107731 -0.35361479 4.09748826] [ 0.02976818 0.99885825 -0.03736376 0.31807471] [ 0.35474585 0.02438955 0.9346446 -0.13716806] [ 0. 0. 0. 1. ]] SLAMing on 72.49800114499999 meters Centerline goodness [0,1] 0.9062329885683179 Centerline is valid? [False, False] Translation: X:4.10, Y:0.32, Z:-0.14 [[ 0.9344617 -0.04117825 -0.35367454 4.09757983] [ 0.02982096 0.9988514 -0.03750456 0.3181438 ] [ 0.35481268 0.02449966 0.93461635 -0.13699149] [ 0. 0. 0. 1. ]] SLAMing on 72.52800114499999 meters Centerline goodness [0,1] 0.9098063228557174 Centerline is valid? [False, False] Translation: X:4.10, Y:0.32, Z:-0.14 [[ 0.93443412 -0.04104915 -0.3537624 4.09818954] [ 0.02967729 0.99885536 -0.03751302 0.31810901] [ 0.35489735 0.02455474 0.93458276 -0.13707922] [ 0. 0. 0. 1. ]] SLAMing on 72.55800114499999 meters Centerline goodness [0,1] 0.9159420289855073 Centerline is valid? [False, False] Translation: X:4.10, Y:0.32, Z:-0.14 [[ 0.93439075 -0.04019543 -0.35397493 4.10022163] [ 0.02885825 0.99888917 -0.03725091 0.3190465 ] [ 0.35507904 0.02459181 0.93451277 -0.13759857] [ 0. 0. 0. 1. ]] SLAMing on 72.58800114499999 meters Centerline goodness [0,1] 0.9175496313102666 Centerline is valid? [False, False] Translation: X:4.10, Y:0.32, Z:-0.14 [[ 0.93453782 -0.03544428 -0.3540943 4.1001252 ] [ 0.0252557 0.99912441 -0.03335506 0.31825815] [ 0.3549665 0.02222867 0.93461472 -0.13784193] [ 0. 0. 0. 1. ]] SLAMing on 72.618001145 meters Centerline goodness [0,1] 0.9234124730205612 Centerline is valid? [False, False] Translation: X:4.10, Y:0.32, Z:-0.14 [[ 0.93474798 -0.03068446 -0.353984 4.09939912] [ 0.02145563 0.99932057 -0.02996746 0.32014042] [ 0.35466303 0.02041707 0.93477124 -0.13760372] [ 0. 0. 0. 1. ]] SLAMing on 72.648001145 meters Centerline goodness [0,1] 0.922630122067432 Centerline is valid? [False, False] Translation: X:4.10, Y:0.32, Z:-0.14 [[ 0.93467838 -0.03077664 -0.35415973 4.09987274] [ 0.02142441 0.99931126 -0.03029852 0.32134669] [ 0.3548483 0.02073171 0.934694 -0.13731857] [ 0. 0. 0. 1. ]] SLAMing on 72.67800114499998 meters Centerline goodness [0,1] 0.9230262260806327 Centerline is valid? [False, False] Translation: X:4.10, Y:0.32, Z:-0.14 [[ 0.93464326 -0.03086529 -0.35424471 4.10028463] [ 0.02148603 0.99930745 -0.03038053 0.32156425] [ 0.35493708 0.02078365 0.93465914 -0.1373597 ] [ 0. 0. 0. 1. ]] SLAMing on 72.70800114499998 meters Centerline goodness [0,1] 0.924201914947099 Centerline is valid? [False, False] Translation: X:4.10, Y:0.32, Z:-0.14 [[ 0.93463509 -0.03120687 -0.35423634 4.1002774 ] [ 0.02173455 0.99929267 -0.03068833 0.32200689] [ 0.35494346 0.02098322 0.93465226 -0.13731705] [ 0. 0. 0. 1. ]] SLAMing on 72.73800114499998 meters Centerline goodness [0,1] 0.919419749437257 Centerline is valid? [False, False] Translation: X:4.10, Y:0.32, Z:-0.14 [[ 0.93459414 -0.03131856 -0.35433451 4.10079203] [ 0.02182725 0.99928868 -0.03075245 0.32231305] [ 0.35504559 0.02100691 0.93461293 -0.13742065] [ 0. 0. 0. 1. ]] SLAMing on 72.76800114499999 meters Centerline goodness [0,1] 0.9151947489573125 Centerline is valid? [False, False] Translation: X:4.10, Y:0.32, Z:-0.14 [[ 0.93462631 -0.03204618 -0.35418456 4.1004679 ] [ 0.02248209 0.99926383 -0.03108614 0.32224516] [ 0.35492001 0.02109111 0.93465874 -0.13771888] [ 0. 0. 0. 1. ]] SLAMing on 72.79800114499999 meters Centerline goodness [0,1] 0.9128378532751491 Centerline is valid? [False, False] Translation: X:4.10, Y:0.32, Z:-0.14 [[ 0.93459124 -0.03223489 -0.35425997 4.10083591] [ 0.02265869 0.99925793 -0.03114763 0.32187811] [ 0.35500113 0.02108323 0.93462811 -0.13785132] [ 0. 0. 0. 1. ]] SLAMing on 72.82800114499999 meters Centerline goodness [0,1] 0.9124640591483729 Centerline is valid? [False, False] Translation: X:4.10, Y:0.32, Z:-0.14 [[ 0.93456173 -0.03241314 -0.35432156 4.10111257] [ 0.02280496 0.99925108 -0.03126035 0.32239692] [ 0.35506945 0.02113444 0.934601 -0.13790507] [ 0. 0. 0. 1. ]] SLAMing on 72.85800114499999 meters Centerline goodness [0,1] 0.9168764014094175 Centerline is valid? [False, False] Translation: X:4.10, Y:0.33, Z:-0.14 [[ 0.93451258 -0.03296591 -0.35440018 4.10096065] [ 0.02309247 0.99921933 -0.03205409 0.32558057] [ 0.35518021 0.02177098 0.9345443 -0.13729123] [ 0. 0. 0. 1. ]] SLAMing on 72.88800114499999 meters Centerline goodness [0,1] 0.9123197211840506 Centerline is valid? [False, False] Translation: X:4.10, Y:0.33, Z:-0.14 [[ 0.93441942 -0.03300049 -0.35464252 4.10178362] [ 0.02302368 0.99921247 -0.03231628 0.32685079] [ 0.35542969 0.02203179 0.93444333 -0.13711918] [ 0. 0. 0. 1. ]] SLAMing on 72.91800114499999 meters Centerline goodness [0,1] 0.9176297926985875 Centerline is valid? [False, False] Translation: X:4.10, Y:0.33, Z:-0.14 [[ 0.93435806 -0.03293368 -0.35481035 4.10267833] [ 0.02287082 0.9992094 -0.03251908 0.32794544] [ 0.35560081 0.02226966 0.93437258 -0.13714815] [ 0. 0. 0. 1. ]] SLAMing on 72.94800114499999 meters Centerline goodness [0,1] 0.9191166321601104 Centerline is valid? [False, False] Translation: X:4.10, Y:0.33, Z:-0.14 [[ 0.93430938 -0.03283986 -0.35494723 4.10397867] [ 0.02256464 0.99919893 -0.03305055 0.33083394] [ 0.35574826 0.02287018 0.93430195 -0.13719592] [ 0. 0. 0. 1. ]] SLAMing on 72.978001145 meters Centerline goodness [0,1] 0.9218126916073116 Centerline is valid? [False, False] Translation: X:4.10, Y:0.33, Z:-0.14 [[ 0.93420398 -0.0329495 -0.35521438 4.10476422] [ 0.02250899 0.99918569 -0.03348593 0.33271983] [ 0.35602847 0.02328717 0.9341849 -0.13686834] [ 0. 0. 0. 1. ]] SLAMing on 73.008001145 meters Centerline goodness [0,1] 0.922127365020766 Centerline is valid? [False, False] Translation: X:4.11, Y:0.33, Z:-0.14 [[ 0.93409105 -0.03296537 -0.35550976 4.10557797] [ 0.0223599 0.99917505 -0.0339006 0.33461144] [ 0.35633403 0.02371709 0.93405758 -0.13643804] [ 0. 0. 0. 1. ]] SLAMing on 73.03800114499998 meters Centerline goodness [0,1] 0.9203210287723194 Centerline is valid? [False, False] Translation: X:4.11, Y:0.34, Z:-0.14 [[ 0.93402863 -0.0332032 -0.35565161 4.1057914 ] [ 0.0224264 0.99915708 -0.03438283 0.33631553] [ 0.35649344 0.02413856 0.93398595 -0.1360459 ] [ 0. 0. 0. 1. ]] SLAMing on 73.06800114499998 meters Centerline goodness [0,1] 0.9197188309285979 Centerline is valid? [False, False] Translation: X:4.11, Y:0.34, Z:-0.14 [[ 0.93402865 -0.03366251 -0.35560837 4.10581377] [ 0.02269036 0.99913034 -0.03498169 0.33788686] [ 0.35647668 0.02460502 0.93398017 -0.13586851] [ 0. 0. 0. 1. ]] SLAMing on 73.09800114499998 meters Centerline goodness [0,1] 0.9180832119151692 Centerline is valid? [False, False] Translation: X:4.11, Y:0.34, Z:-0.14 [[ 0.93396806 -0.03394836 -0.35574032 4.10604859] [ 0.02291947 0.9991184 -0.03517279 0.33791963] [ 0.35662075 0.02469688 0.93392275 -0.13573782] [ 0. 0. 0. 1. ]] SLAMing on 73.12800114499998 meters Centerline goodness [0,1] 0.915834719911259 Centerline is valid? [False, False] Translation: X:4.11, Y:0.34, Z:-0.14 [[ 0.93398069 -0.03431176 -0.35567229 4.1057625 ] [ 0.02327222 0.99910674 -0.0352721 0.3376118 ] [ 0.35656484 0.02466618 0.93394491 -0.13583273] [ 0. 0. 0. 1. ]] SLAMing on 73.15800114499999 meters Centerline goodness [0,1] 0.914713436220181 Centerline is valid? [False, False] Translation: X:4.11, Y:0.34, Z:-0.14 [[ 0.93397613 -0.03475002 -0.35564172 4.10553679] [ 0.02367052 0.99909077 -0.03545908 0.3373841 ] [ 0.35655056 0.02469971 0.93394948 -0.13585549] [ 0. 0. 0. 1. ]] SLAMing on 73.18800114499999 meters Centerline goodness [0,1] 0.915475638051044 Centerline is valid? [False, False] Translation: X:4.10, Y:0.34, Z:-0.14 [[ 0.93406109 -0.03571563 -0.35532278 4.10413641] [ 0.02448965 0.99905013 -0.03604293 0.33802756] [ 0.35627256 0.02496456 0.93404852 -0.13568516] [ 0. 0. 0. 1. ]] SLAMing on 73.21800114499999 meters Centerline goodness [0,1] 0.9079252457800037 Centerline is valid? [False, False] Translation: X:4.10, Y:0.34, Z:-0.14 [[ 0.93403439 -0.03598476 -0.3553658 4.10406768] [ 0.02465941 0.99903486 -0.03634926 0.33891528] [ 0.35633084 0.02518835 0.93402028 -0.13540151] [ 0. 0. 0. 1. ]] SLAMing on 73.24800114499999 meters Centerline goodness [0,1] 0.908403869407497 Centerline is valid? [False, False] Translation: X:4.10, Y:0.34, Z:-0.13 [[ 0.93402033 -0.03649596 -0.35535064 4.10342082] [ 0.02501487 0.9990076 -0.0368519 0.33974149] [ 0.35634293 0.02553137 0.93400635 -0.13487071] [ 0. 0. 0. 1. ]] SLAMing on 73.27800114499999 meters Centerline goodness [0,1] 0.9087932755938422 Centerline is valid? [False, False] Translation: X:4.10, Y:0.34, Z:-0.14 [[ 0.93399719 -0.03661855 -0.35539884 4.10424516] [ 0.0251509 0.9990048 -0.03683533 0.33831087] [ 0.35639401 0.0254655 0.93398866 -0.13541484] [ 0. 0. 0. 1. ]] SLAMing on 73.30800114499999 meters Centerline goodness [0,1] 0.9087932755938422 Centerline is valid? [False, False] Translation: X:4.10, Y:0.34, Z:-0.14 [[ 0.93399719 -0.03661855 -0.35539884 4.10424516] [ 0.0251509 0.9990048 -0.03683533 0.33831087] [ 0.35639401 0.0254655 0.93398866 -0.13541484] [ 0. 0. 0. 1. ]] SLAMing on 73.33800114499999 meters Centerline goodness [0,1] 0.911340206185567 Centerline is valid? [False, False] Translation: X:4.11, Y:0.34, Z:-0.14 [[ 0.9339211 -0.03638433 -0.35562278 4.10574155] [ 0.02493608 0.99901426 -0.03672467 0.33854281] [ 0.35660843 0.0254301 0.93390778 -0.13587285] [ 0. 0. 0. 1. ]] SLAMing on 73.368001145 meters Centerline goodness [0,1] 0.910951417474825 Centerline is valid? [False, False] Translation: X:4.11, Y:0.34, Z:-0.14 [[ 0.93381122 -0.03640722 -0.35590887 4.10679434] [ 0.02480991 0.99900364 -0.03709706 0.34052871] [ 0.35690485 0.02581159 0.93378407 -0.13569616] [ 0. 0. 0. 1. ]] SLAMing on 73.398001145 meters Centerline goodness [0,1] 0.9100851677758645 Centerline is valid? [False, False] Translation: X:4.11, Y:0.34, Z:-0.14 [[ 0.93366968 -0.03590186 -0.35633128 4.10867102] [ 0.02429441 0.99901997 -0.03699849 0.34260215] [ 0.35731038 0.02588751 0.93362687 -0.13575039] [ 0. 0. 0. 1. ]] SLAMing on 73.42800114499998 meters Centerline goodness [0,1] 0.9086625927135327 Centerline is valid? [False, False] Translation: X:4.11, Y:0.35, Z:-0.14 [[ 0.93356243 -0.03559813 -0.35664263 4.11019003] [ 0.02381351 0.9990173 -0.03738125 0.34629548] [ 0.35762286 0.02640482 0.93349273 -0.1354954 ] [ 0. 0. 0. 1. ]] SLAMing on 73.45800114499998 meters Centerline goodness [0,1] 0.9082002478546543 Centerline is valid? [False, False] Translation: X:4.11, Y:0.35, Z:-0.14 [[ 0.93350419 -0.03579069 -0.35677577 4.11051605] [ 0.02385316 0.99900041 -0.03780494 0.34758672] [ 0.35777221 0.02678084 0.93342479 -0.13518455] [ 0. 0. 0. 1. ]] SLAMing on 73.48800114499998 meters Centerline goodness [0,1] 0.9078235197638183 Centerline is valid? [False, False] Translation: X:4.11, Y:0.35, Z:-0.14 [[ 0.93348806 -0.03596098 -0.35680086 4.11074929] [ 0.02394573 0.99898939 -0.03803687 0.34827414] [ 0.35780812 0.02696311 0.93340578 -0.13517779] [ 0. 0. 0. 1. ]] SLAMing on 73.51800114499999 meters Centerline goodness [0,1] 0.908384074941452 Centerline is valid? [False, False] Translation: X:4.11, Y:0.35, Z:-0.13 [[ 0.93351558 -0.03647868 -0.35667627 4.11017102] [ 0.02431428 0.99896156 -0.03853083 0.34930392] [ 0.35771144 0.0272968 0.93343313 -0.13498956] [ 0. 0. 0. 1. ]] SLAMing on 73.54800114499999 meters Centerline goodness [0,1] 0.9034403346336419 Centerline is valid? [False, False] Translation: X:4.11, Y:0.35, Z:-0.13 [[ 0.93362262 -0.0378996 -0.35624769 4.10808515] [ 0.0253504 0.99888481 -0.0398308 0.35263372] [ 0.35735997 0.02815591 0.93354223 -0.13434904] [ 0. 0. 0. 1. ]] SLAMing on 73.57800114499999 meters Centerline goodness [0,1] 0.9006075162475276 Centerline is valid? [False, False] Translation: X:4.11, Y:0.35, Z:-0.13 [[ 0.93359562 -0.03859201 -0.35624413 4.10759593] [ 0.02583349 0.99884535 -0.0405043 0.35429035] [ 0.35739593 0.0286116 0.93351461 -0.13394501] [ 0. 0. 0. 1. ]] SLAMing on 73.60800114499999 meters Centerline goodness [0,1] 0.8981805293005671 Centerline is valid? [False, False] Translation: X:4.11, Y:0.36, Z:-0.13 [[ 0.9335634 -0.03916154 -0.3562664 4.10750456] [ 0.02624707 0.99881378 -0.04101364 0.35555588] [ 0.35744995 0.02893788 0.93348387 -0.13381774] [ 0. 0. 0. 1. ]] SLAMing on 73.63800114499999 meters Centerline goodness [0,1] 0.8925472905703313 Centerline is valid? [False, False] Translation: X:4.11, Y:0.36, Z:-0.13 [[ 0.93358084 -0.03995342 -0.35613276 4.10729866] [ 0.02683208 0.9987694 -0.04171012 0.35697813] [ 0.35736096 0.02938399 0.933504 -0.13393687] [ 0. 0. 0. 1. ]] SLAMing on 73.66800114499999 meters Centerline goodness [0,1] 0.8943388175050969 Centerline is valid? [False, False] Translation: X:4.11, Y:0.36, Z:-0.13 [[ 0.93355713 -0.03995651 -0.35619456 4.10788952] [ 0.02679198 0.99876596 -0.04181806 0.35734283] [ 0.3574259 0.02949639 0.93347559 -0.13410372] [ 0. 0. 0. 1. ]] SLAMing on 73.69800114499999 meters Centerline goodness [0,1] 0.8950413811093457 Centerline is valid? [False, False] Translation: X:4.11, Y:0.36, Z:-0.13 [[ 0.93346889 -0.0398347 -0.35643936 4.1089747 ] [ 0.02661177 0.99876623 -0.04192661 0.35793819] [ 0.35766973 0.02965171 0.93337728 -0.13412818] [ 0. 0. 0. 1. ]] SLAMing on 73.728001145 meters Centerline goodness [0,1] 0.8945003209929382 Centerline is valid? [False, False] Translation: X:4.11, Y:0.36, Z:-0.13 [[ 0.93337029 -0.03931441 -0.3567552 4.11074099] [ 0.02598279 0.99877604 -0.04208692 0.36092327] [ 0.35797317 0.03001319 0.93324939 -0.13409157] [ 0. 0. 0. 1. ]] SLAMing on 73.758001145 meters Centerline goodness [0,1] 0.8945424213536701 Centerline is valid? [False, False] Translation: X:4.11, Y:0.36, Z:-0.13 [[ 0.93357314 -0.03485297 -0.3566882 4.10957762] [ 0.02258758 0.99900343 -0.03849602 0.36136865] [ 0.35767443 0.02788212 0.93343001 -0.13392176] [ 0. 0. 0. 1. ]] SLAMing on 73.78800114499998 meters Centerline goodness [0,1] 0.898118074130684 Centerline is valid? [False, False] Translation: X:4.11, Y:0.36, Z:-0.13 [[ 0.93377182 -0.03059878 -0.35655841 4.10778219] [ 0.01930452 0.9991941 -0.03519227 0.36243467] [ 0.3573479 0.02597836 0.93360998 -0.13333924] [ 0. 0. 0. 1. ]] SLAMing on 73.81800114499998 meters Centerline goodness [0,1] 0.8998853375376237 Centerline is valid? [False, False] Translation: X:4.11, Y:0.37, Z:-0.13 [[ 0.93368554 -0.03097102 -0.35675215 4.10726862] [ 0.01932692 0.99915915 -0.03615877 0.36523867] [ 0.35757205 0.026866 0.93349903 -0.13189119] [ 0. 0. 0. 1. ]] SLAMing on 73.84800114499998 meters Centerline goodness [0,1] 0.8961591811355049 Centerline is valid? [False, False] Translation: X:4.11, Y:0.37, Z:-0.13 [[ 0.93364228 -0.03062788 -0.35689497 4.10822695] [ 0.0188679 0.99915965 -0.03638681 0.36611318] [ 0.35770951 0.02723841 0.93343558 -0.13171315] [ 0. 0. 0. 1. ]] SLAMing on 73.87800114499998 meters Centerline goodness [0,1] 0.8947305389221557 Centerline is valid? [False, False] Translation: X:4.11, Y:0.37, Z:-0.13 [[ 0.93362195 -0.03038723 -0.35696873 4.10933138] [ 0.01869752 0.99917132 -0.03615339 0.36541334] [ 0.35777152 0.02707917 0.93341644 -0.13231131] [ 0. 0. 0. 1. ]] SLAMing on 73.90800114499999 meters Centerline goodness [0,1] 0.8914973556369206 Centerline is valid? [False, False] Translation: X:4.11, Y:0.37, Z:-0.13 [[ 0.93356624 -0.03039789 -0.35711348 4.11024442] [ 0.01868298 0.99916957 -0.03620935 0.36530668] [ 0.35791761 0.02713188 0.9333589 -0.13254878] [ 0. 0. 0. 1. ]] SLAMing on 73.93800114499999 meters Centerline goodness [0,1] 0.8960905349794239 Centerline is valid? [False, False] Translation: X:4.11, Y:0.37, Z:-0.13 [[ 0.93348386 -0.03043812 -0.35732535 4.11128992] [ 0.01865326 0.99916386 -0.03638183 0.36637713] [ 0.35813397 0.02729657 0.9332711 -0.132688 ] [ 0. 0. 0. 1. ]] SLAMing on 73.96800114499999 meters Centerline goodness [0,1] 0.8966131478227379 Centerline is valid? [False, False] Translation: X:4.11, Y:0.37, Z:-0.13 [[ 0.93334034 -0.03041775 -0.35770178 4.11299555] [ 0.01845275 0.99915167 -0.03681627 0.37041502] [ 0.3585182 0.02776153 0.93310985 -0.13263369] [ 0. 0. 0. 1. ]] SLAMing on 73.99800114499999 meters Centerline goodness [0,1] 0.8930563941552953 Centerline is valid? [False, False] Translation: X:4.11, Y:0.37, Z:-0.13 [[ 0.93324307 -0.03076426 -0.35792589 4.11315676] [ 0.01858418 0.99912678 -0.03742071 0.37229279] [ 0.35876456 0.02827086 0.93299987 -0.13193489] [ 0. 0. 0. 1. ]] SLAMing on 74.02800114499999 meters Centerline goodness [0,1] 0.8934636412017998 Centerline is valid? [False, False] Translation: X:4.11, Y:0.37, Z:-0.13 [[ 0.93320457 -0.03087564 -0.35801667 4.11365812] [ 0.01861337 0.99911773 -0.03764717 0.3732319 ] [ 0.35886318 0.02846861 0.93295592 -0.13192737] [ 0. 0. 0. 1. ]] SLAMing on 74.05800114499999 meters Centerline goodness [0,1] 0.8948653483537204 Centerline is valid? [False, False] Translation: X:4.12, Y:0.37, Z:-0.13 [[ 0.93313159 -0.03058741 -0.35823155 4.11521783] [ 0.0183163 0.99912503 -0.03759897 0.37308444] [ 0.35906816 0.02852331 0.93287538 -0.13229066] [ 0. 0. 0. 1. ]] SLAMing on 74.08800114499999 meters Centerline goodness [0,1] 0.8951971395438733 Centerline is valid? [False, False] Translation: X:4.12, Y:0.37, Z:-0.13 [[ 0.93313635 -0.03079349 -0.3582015 4.11522543] [ 0.01841845 0.99911142 -0.0379094 0.37363354] [ 0.35905058 0.02877712 0.93287435 -0.13220718] [ 0. 0. 0. 1. ]] SLAMing on 74.118001145 meters Centerline goodness [0,1] 0.8928217402867435 Centerline is valid? [False, False] Translation: X:4.11, Y:0.38, Z:-0.13 [[ 0.93314043 -0.03146931 -0.35813213 4.11433453] [ 0.0188322 0.99907261 -0.03872044 0.37519643] [ 0.35901851 0.0293872 0.93286768 -0.13143198] [ 0. 0. 0. 1. ]] SLAMing on 74.148001145 meters Centerline goodness [0,1] 0.8931214363702535 Centerline is valid? [False, False] Translation: X:4.11, Y:0.38, Z:-0.13 [[ 0.93312529 -0.03238153 -0.35809025 4.11293592] [ 0.01940702 0.99902045 -0.03976828 0.37770122] [ 0.35902724 0.03015932 0.93283967 -0.13024316] [ 0. 0. 0. 1. ]] SLAMing on 74.17800114499998 meters Centerline goodness [0,1] 0.8874496889864618 Centerline is valid? [False, False] Translation: X:4.11, Y:0.38, Z:-0.13 [[ 0.93319961 -0.0334876 -0.35779473 4.11160091] [ 0.02026881 0.99896854 -0.04063283 0.38049838] [ 0.35878638 0.03066647 0.93291581 -0.12997877] [ 0. 0. 0. 1. ]] SLAMing on 74.20800114499998 meters Centerline goodness [0,1] 0.8855021302495435 Centerline is valid? [False, False] Translation: X:4.11, Y:0.38, Z:-0.13 [[ 0.93319507 -0.03392047 -0.35776581 4.11136918] [ 0.02065027 0.99895194 -0.04084847 0.38024694] [ 0.35877644 0.03073163 0.93291748 -0.12992675] [ 0. 0. 0. 1. ]] SLAMing on 74.23800114499998 meters Centerline goodness [0,1] 0.8842069368667186 Centerline is valid? [False, False] Translation: X:4.11, Y:0.38, Z:-0.13 [[ 0.93324628 -0.03437676 -0.35758863 4.11081789] [ 0.02106284 0.99893457 -0.04106202 0.37983893] [ 0.35861922 0.03078914 0.93297604 -0.13002152] [ 0. 0. 0. 1. ]] SLAMing on 74.26800114499999 meters Centerline goodness [0,1] 0.8838252138522653 Centerline is valid? [False, False] Translation: X:4.11, Y:0.38, Z:-0.13 [[ 0.93322745 -0.03453147 -0.35762285 4.11101256] [ 0.02116387 0.99892564 -0.04122685 0.37984012] [ 0.35866226 0.03090535 0.93295565 -0.12995401] [ 0. 0. 0. 1. ]] SLAMing on 74.29800114499999 meters Centerline goodness [0,1] 0.8825834578363418 Centerline is valid? [False, False] Translation: X:4.11, Y:0.38, Z:-0.13 [[ 0.93318991 -0.03502359 -0.35767296 4.11074648] [ 0.02129426 0.99887999 -0.04225307 0.38366933] [ 0.35875222 0.03181376 0.93289053 -0.12894843] [ 0. 0. 0. 1. ]] SLAMing on 74.32800114499999 meters Centerline goodness [0,1] 0.884740857023719 Centerline is valid? [False, False] Translation: X:4.11, Y:0.39, Z:-0.13 [[ 0.93310525 -0.03527602 -0.35786897 4.11090404] [ 0.02129983 0.99885134 -0.04292219 0.38634527] [ 0.35897202 0.03242837 0.9327848 -0.12816084] [ 0. 0. 0. 1. ]] SLAMing on 74.35800114499999 meters Centerline goodness [0,1] 0.8833882306671255 Centerline is valid? [False, False] Translation: X:4.11, Y:0.39, Z:-0.13 [[ 0.93302088 -0.03526051 -0.35809041 4.11162655] [ 0.02109569 0.99883556 -0.04338773 0.38847276] [ 0.35920331 0.03292749 0.93267827 -0.12763694] [ 0. 0. 0. 1. ]] SLAMing on 74.38800114499999 meters Centerline goodness [0,1] 0.8866070987806685 Centerline is valid? [False, False] Translation: X:4.11, Y:0.39, Z:-0.13 [[ 0.93292852 -0.03435927 -0.35841851 4.11426133] [ 0.02014045 0.99885777 -0.04333043 0.39104467] [ 0.35949791 0.03320548 0.9325549 -0.12792827] [ 0. 0. 0. 1. ]] SLAMing on 74.41800114499999 meters Centerline goodness [0,1] 0.8879278388731002 Centerline is valid? [False, False] Translation: X:4.12, Y:0.39, Z:-0.13 [[ 0.93280486 -0.03402542 -0.35877202 4.11584702] [ 0.01975893 0.9988642 -0.04335775 0.39198839] [ 0.35983979 0.03335537 0.93241769 -0.12792317] [ 0. 0. 0. 1. ]] SLAMing on 74.44800114499999 meters Centerline goodness [0,1] 0.8894189179169035 Centerline is valid? [False, False] Translation: X:4.12, Y:0.39, Z:-0.13 [[ 0.93276042 -0.03367985 -0.35892013 4.1171991 ] [ 0.0194037 0.99887347 -0.04330463 0.3926231 ] [ 0.35997429 0.03342847 0.93236315 -0.12827822] [ 0. 0. 0. 1. ]] SLAMing on 74.478001145 meters Centerline goodness [0,1] 0.8905760723694021 Centerline is valid? [False, False] Translation: X:4.12, Y:0.39, Z:-0.13 [[ 0.93292918 -0.02867258 -0.35891648 4.11771096] [ 0.0155732 0.99910469 -0.03933565 0.3930236 ] [ 0.35972299 0.0311079 0.93254044 -0.12901602] [ 0. 0. 0. 1. ]] SLAMing on 74.508001145 meters Centerline goodness [0,1] 0.8932633203095837 Centerline is valid? [False, False] Translation: X:4.12, Y:0.40, Z:-0.13 [[ 0.93279964 -0.02850167 -0.35926661 4.1186934 ] [ 0.01520993 0.99909309 -0.03976993 0.39563995] [ 0.36007429 0.03163295 0.93238718 -0.12828543] [ 0. 0. 0. 1. ]] SLAMing on 74.53800114499998 meters Centerline goodness [0,1] 0.8955268538373311 Centerline is valid? [False, False] Translation: X:4.12, Y:0.40, Z:-0.13 [[ 0.93269245 -0.02845304 -0.35954863 4.11931279] [ 0.01501475 0.99908231 -0.04011358 0.39753635] [ 0.36036003 0.0320151 0.93226374 -0.12766303] [ 0. 0. 0. 1. ]] SLAMing on 74.56800114499998 meters Centerline goodness [0,1] 0.895944797239862 Centerline is valid? [False, False] Translation: X:4.12, Y:0.40, Z:-0.13 [[ 0.93256845 -0.02833586 -0.35987937 4.12029578] [ 0.01479686 0.99907722 -0.04032082 0.39862888] [ 0.36068981 0.03227684 0.93212717 -0.12727174] [ 0. 0. 0. 1. ]] SLAMing on 74.59800114499998 meters Centerline goodness [0,1] 0.8959172945505519 Centerline is valid? [False, False] Translation: X:4.12, Y:0.40, Z:-0.13 [[ 0.93250711 -0.02811068 -0.36005594 4.12186556] [ 0.01456575 0.99908235 -0.04027767 0.39973079] [ 0.36085776 0.03231473 0.93206085 -0.12782803] [ 0. 0. 0. 1. ]] SLAMing on 74.62800114499998 meters Centerline goodness [0,1] 0.8959961916215674 Centerline is valid? [False, False] Translation: X:4.12, Y:0.40, Z:-0.13 [[ 0.93247754 -0.02821973 -0.36012399 4.12213599] [ 0.01460737 0.99907416 -0.04046537 0.40031815] [ 0.3609325 0.03247258 0.93202643 -0.12773406] [ 0. 0. 0. 1. ]] SLAMing on 74.65800114499999 meters Centerline goodness [0,1] 0.8976512170054897 Centerline is valid? [False, False] Translation: X:4.12, Y:0.40, Z:-0.13 [[ 0.93246243 -0.02855465 -0.36013672 4.1219157 ] [ 0.01480505 0.99905436 -0.04088031 0.40107026] [ 0.36096348 0.03278752 0.9320034 -0.1273541 ] [ 0. 0. 0. 1. ]] SLAMing on 74.68800114499999 meters Centerline goodness [0,1] 0.8952034153691613 Centerline is valid? [False, False] Translation: X:4.12, Y:0.40, Z:-0.13 [[ 0.93250419 -0.02927343 -0.35997084 4.1209618 ] [ 0.01530108 0.999017 -0.04160428 0.40242368] [ 0.36083489 0.03328822 0.93203545 -0.126872 ] [ 0. 0. 0. 1. ]] SLAMing on 74.71800114499999 meters Centerline goodness [0,1] 0.8966521837406133 Centerline is valid? [False, False] Translation: X:4.12, Y:0.40, Z:-0.13 [[ 0.93243283 -0.02950424 -0.36013679 4.12119459] [ 0.01542572 0.99900253 -0.04190451 0.40333576] [ 0.36101393 0.03351777 0.93195789 -0.12654286] [ 0. 0. 0. 1. ]] SLAMing on 74.74800114499999 meters Centerline goodness [0,1] 0.8928167065039627 Centerline is valid? [False, False] Translation: X:4.12, Y:0.40, Z:-0.13 [[ 0.93234308 -0.02973827 -0.36034984 4.1218019 ] [ 0.0155402 0.99898684 -0.04223491 0.4046878 ] [ 0.36124074 0.03377751 0.93186061 -0.12634793] [ 0. 0. 0. 1. ]] SLAMing on 74.77800114499999 meters Centerline goodness [0,1] 0.8947288929164778 Centerline is valid? [False, False] Translation: X:4.12, Y:0.41, Z:-0.13 [[ 0.93228409 -0.02981467 -0.36049613 4.12257469] [ 0.0155846 0.99898268 -0.04231687 0.40567488] [ 0.36139105 0.03383316 0.93180031 -0.12653673] [ 0. 0. 0. 1. ]] SLAMing on 74.80800114499999 meters Centerline goodness [0,1] 0.8928056279575879 Centerline is valid? [False, False] Translation: X:4.12, Y:0.41, Z:-0.13 [[ 0.93227268 -0.03039878 -0.36047685 4.12236581] [ 0.01602708 0.99895546 -0.0427917 0.40689468] [ 0.36140113 0.03411614 0.93178609 -0.12644039] [ 0. 0. 0. 1. ]] SLAMing on 74.83800114499999 meters Centerline goodness [0,1] 0.8911850259263944 Centerline is valid? [False, False] Translation: X:4.12, Y:0.41, Z:-0.13 [[ 0.93222691 -0.03059387 -0.3605787 4.12278676] [ 0.01615055 0.99894444 -0.04300199 0.40754303] [ 0.36151368 0.03426407 0.931737 -0.12641326] [ 0. 0. 0. 1. ]] SLAMing on 74.868001145 meters Centerline goodness [0,1] 0.8935960341949517 Centerline is valid? [False, False] Translation: X:4.12, Y:0.41, Z:-0.13 [[ 0.93222988 -0.0308772 -0.36054688 4.12287696] [ 0.01639407 0.99893365 -0.04316008 0.40820302] [ 0.36149508 0.03432428 0.931742 -0.12661552] [ 0. 0. 0. 1. ]] SLAMing on 74.898001145 meters Centerline goodness [0,1] 0.8906692993114621 Centerline is valid? [False, False] Translation: X:4.12, Y:0.41, Z:-0.13 [[ 0.93221013 -0.0311164 -0.36057736 4.12320536] [ 0.01660077 0.99892484 -0.04328485 0.40900815] [ 0.36153655 0.03436472 0.93172442 -0.12681456] [ 0. 0. 0. 1. ]] SLAMing on 74.92800114499998 meters Centerline goodness [0,1] 0.88782694898452 Centerline is valid? [False, False] Translation: X:4.12, Y:0.41, Z:-0.13 [[ 0.93223448 -0.03193335 -0.36044297 4.12270361] [ 0.01722248 0.99888516 -0.04395249 0.41091376] [ 0.36144468 0.03476631 0.93174516 -0.1267745 ] [ 0. 0. 0. 1. ]] SLAMing on 74.95800114499998 meters Centerline goodness [0,1] 0.8880475658095335 Centerline is valid? [False, False] Translation: X:4.12, Y:0.41, Z:-0.13 [[ 0.93215348 -0.03205802 -0.36064133 4.12330402] [ 0.01726733 0.99887521 -0.04416066 0.41185049] [ 0.36165138 0.0349372 0.93165856 -0.1266111 ] [ 0. 0. 0. 1. ]] SLAMing on 74.98800114499998 meters Centerline goodness [0,1] 0.8892123069066769 Centerline is valid? [False, False] Translation: X:4.12, Y:0.41, Z:-0.13 [[ 0.93207745 -0.0321714 -0.3608277 4.12403871] [ 0.01726693 0.99886214 -0.04445524 0.41328428] [ 0.36184731 0.03520534 0.93157238 -0.12648187] [ 0. 0. 0. 1. ]] SLAMing on 75.01800114499999 meters Centerline goodness [0,1] 0.8909608577438055 Centerline is valid? [False, False] Translation: X:4.12, Y:0.42, Z:-0.13 [[ 0.9320177 -0.0325172 -0.36095101 4.12431912] [ 0.01726973 0.99882011 -0.04538883 0.41734948] [ 0.36200104 0.03606966 0.93147959 -0.12562928] [ 0. 0. 0. 1. ]] SLAMing on 75.04800114499999 meters Centerline goodness [0,1] 0.892249236219866 Centerline is valid? [False, False] Translation: X:4.12, Y:0.42, Z:-0.13 [[ 0.93192952 -0.03273086 -0.36115933 4.12474477] [ 0.01732981 0.99880026 -0.04580092 0.41912762] [ 0.36222514 0.03642441 0.93137866 -0.12521799] [ 0. 0. 0. 1. ]] SLAMing on 75.07800114499999 meters Centerline goodness [0,1] 0.8912396015199754 Centerline is valid? [False, False] Translation: X:4.13, Y:0.42, Z:-0.13 [[ 0.93189991 -0.03295261 -0.36121557 4.12501256] [ 0.01747075 0.99878665 -0.04604351 0.4204307 ] [ 0.36229454 0.03659723 0.93134489 -0.12518286] [ 0. 0. 0. 1. ]] SLAMing on 75.10800114499999 meters Centerline goodness [0,1] 0.8861176955580748 Centerline is valid? [False, False] Translation: X:4.12, Y:0.42, Z:-0.13 [[ 0.93197794 -0.03367258 -0.36094775 4.12474004] [ 0.01812027 0.9987592 -0.0463865 0.42211426] [ 0.36206184 0.03669072 0.9314317 -0.125902 ] [ 0. 0. 0. 1. ]] SLAMing on 75.13800114499999 meters Centerline goodness [0,1] 0.8823727148139529 Centerline is valid? [False, False] Translation: X:4.12, Y:0.42, Z:-0.13 [[ 0.93203346 -0.0339749 -0.36077603 4.12475911] [ 0.01840476 0.99874841 -0.04650678 0.42247262] [ 0.36190455 0.03670588 0.93149223 -0.126397 ] [ 0. 0. 0. 1. ]] SLAMing on 75.16800114499999 meters Centerline goodness [0,1] 0.8848481713310227 Centerline is valid? [False, False] Translation: X:4.13, Y:0.42, Z:-0.13 [[ 0.93204755 -0.03414921 -0.36072317 4.1251888 ] [ 0.01862027 0.99874759 -0.04643856 0.42279294] [ 0.36185723 0.03656618 0.93151611 -0.12702171] [ 0. 0. 0. 1. ]] SLAMing on 75.19800114499999 meters Centerline goodness [0,1] 0.8848481713310227 Centerline is valid? [False, False] Translation: X:4.13, Y:0.42, Z:-0.13 [[ 0.93204755 -0.03414921 -0.36072317 4.1251888 ] [ 0.01862027 0.99874759 -0.04643856 0.42279294] [ 0.36185723 0.03656618 0.93151611 -0.12702171] [ 0. 0. 0. 1. ]] SLAMing on 75.228001145 meters Centerline goodness [0,1] 0.8791285651374245 Centerline is valid? [False, False] Translation: X:4.13, Y:0.42, Z:-0.13 [[ 0.93204227 -0.03437844 -0.36071502 4.12562299] [ 0.01885453 0.99874179 -0.04646872 0.42311654] [ 0.36185869 0.0365097 0.93151776 -0.127478 ] [ 0. 0. 0. 1. ]] SLAMing on 75.258001145 meters Centerline goodness [0,1] 0.8772043400574876 Centerline is valid? [False, False] Translation: X:4.13, Y:0.42, Z:-0.13 [[ 0.93204103 -0.03454047 -0.36070276 4.12619304] [ 0.01904308 0.99873994 -0.04643163 0.42335268] [ 0.36185202 0.03640729 0.93152436 -0.12805457] [ 0. 0. 0. 1. ]] SLAMing on 75.28800114499998 meters Centerline goodness [0,1] 0.8691465060741356 Centerline is valid? [False, False] Translation: X:4.13, Y:0.42, Z:-0.13 [[ 0.93202931 -0.03475704 -0.36071222 4.12730192] [ 0.01925744 0.99873376 -0.04647618 0.42437569] [ 0.36187085 0.03637077 0.93151847 -0.12897744] [ 0. 0. 0. 1. ]] SLAMing on 75.31800114499998 meters Centerline goodness [0,1] 0.8760334875981488 Centerline is valid? [False, False] Translation: X:4.13, Y:0.43, Z:-0.13 [[ 0.93195225 -0.03467537 -0.36091914 4.12828899] [ 0.01911176 0.99873062 -0.04660353 0.42546073] [ 0.36207699 0.03653446 0.93143196 -0.12890841] [ 0. 0. 0. 1. ]] SLAMing on 75.34800114499998 meters Centerline goodness [0,1] 0.874589694159329 Centerline is valid? [False, False] Translation: X:4.13, Y:0.43, Z:-0.13 [[ 0.93183305 -0.03450546 -0.36124306 4.1297312 ] [ 0.01884503 0.99872716 -0.04678598 0.42754586] [ 0.36239762 0.03678909 0.93129723 -0.12880011] [ 0. 0. 0. 1. ]] SLAMing on 75.37800114499998 meters Centerline goodness [0,1] 0.8831090475066237 Centerline is valid? [False, False] Translation: X:4.13, Y:0.43, Z:-0.13 [[ 0.93193456 -0.02937416 -0.36143484 4.13090842] [ 0.01483359 0.99896754 -0.04293967 0.43030503] [ 0.36232299 0.03465559 0.9314081 -0.12943374] [ 0. 0. 0. 1. ]] SLAMing on 75.40800114499999 meters Centerline goodness [0,1] 0.8857172951337687 Centerline is valid? [False, False] Translation: X:4.13, Y:0.43, Z:-0.13 [[ 0.93210419 -0.02413127 -0.36138548 4.13152491] [ 0.01088833 0.999194 -0.03863673 0.43009054] [ 0.36202655 0.03207857 0.93161566 -0.13047463] [ 0. 0. 0. 1. ]] SLAMing on 75.43800114499999 meters Centerline goodness [0,1] 0.8947104735787365 Centerline is valid? [False, False] Translation: X:4.13, Y:0.43, Z:-0.13 [[ 0.93191279 -0.02368067 -0.36190853 4.133517 ] [ 0.0102638 0.99918843 -0.03895041 0.43276986] [ 0.36253718 0.03258383 0.93139953 -0.12988848] [ 0. 0. 0. 1. ]] SLAMing on 75.46800114499999 meters Centerline goodness [0,1] 0.8985415009281358 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:-0.13 [[ 0.93209218 -0.01877917 -0.36173402 4.13387157] [ 0.0063492 0.99934879 -0.03552031 0.43524356] [ 0.3621655 0.03081148 0.93160443 -0.13031691] [ 0. 0. 0. 1. ]] SLAMing on 75.49800114499999 meters Centerline goodness [0,1] 0.8998188212725141 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:-0.13 [[ 0.93202496 -0.01900772 -0.36189525 4.13418938] [ 0.00629108 0.99932168 -0.03628504 0.43811093] [ 0.36233947 0.03154185 0.93151233 -0.12953102] [ 0. 0. 0. 1. ]] SLAMing on 75.52800114499999 meters Centerline goodness [0,1] 0.9028345489033154 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:-0.13 [[ 0.93192647 -0.01934389 -0.362131 4.13446111] [ 0.00630064 0.9992893 -0.03716447 0.44100422] [ 0.36259254 0.0323529 0.93138603 -0.12851744] [ 0. 0. 0. 1. ]] SLAMing on 75.55800114499999 meters Centerline goodness [0,1] 0.9015506574894883 Centerline is valid? [False, False] Translation: X:4.13, Y:0.44, Z:-0.13 [[ 0.93186723 -0.01978137 -0.36225981 4.13449964] [ 0.00648444 0.99926108 -0.03788474 0.44328429] [ 0.36274154 0.03295449 0.93130692 -0.12785951] [ 0. 0. 0. 1. ]] SLAMing on 75.58800114499999 meters Centerline goodness [0,1] 0.9010790882914884 Centerline is valid? [False, False] Translation: X:4.13, Y:0.45, Z:-0.13 [[ 0.93191342 -0.02062712 -0.36209378 4.13415277] [ 0.00707868 0.99922565 -0.03870387 0.44601089] [ 0.36261174 0.03350551 0.9313378 -0.12790288] [ 0. 0. 0. 1. ]] SLAMing on 75.618001145 meters Centerline goodness [0,1] 0.8984701724091412 Centerline is valid? [False, False] Translation: X:4.13, Y:0.45, Z:-0.13 [[ 0.93191317 -0.02079006 -0.36208509 4.13486097] [ 0.00722648 0.99922188 -0.03877384 0.44653905] [ 0.36260945 0.03351725 0.93133827 -0.12847115] [ 0. 0. 0. 1. ]] SLAMing on 75.648001145 meters Centerline goodness [0,1] 0.8985784802956329 Centerline is valid? [False, False] Translation: X:4.14, Y:0.45, Z:-0.13 [[ 0.93191735 -0.02091427 -0.36206719 4.13574996] [ 0.00737663 0.9992224 -0.03873204 0.44721699] [ 0.3625957 0.03342423 0.93134697 -0.12929188] [ 0. 0. 0. 1. ]] SLAMing on 75.67800114499998 meters Centerline goodness [0,1] 0.8964253966543652 Centerline is valid? [False, False] Translation: X:4.14, Y:0.45, Z:-0.13 [[ 0.9318962 -0.02119686 -0.36210517 4.13642197] [ 0.00760607 0.99921349 -0.03891718 0.44865413] [ 0.3626453 0.03351258 0.93132448 -0.12974573] [ 0. 0. 0. 1. ]] SLAMing on 75.70800114499998 meters Centerline goodness [0,1] 0.8937313432835821 Centerline is valid? [False, False] Translation: X:4.14, Y:0.45, Z:-0.13 [[ 0.93189841 -0.02195595 -0.36205425 4.13689209] [ 0.0082218 0.99918846 -0.03943125 0.45184611] [ 0.36262618 0.03376918 0.93132266 -0.13038019] [ 0. 0. 0. 1. ]] SLAMing on 75.73800114499998 meters Centerline goodness [0,1] 0.8873680200283008 Centerline is valid? [False, False] Translation: X:4.14, Y:0.45, Z:-0.13 [[ 0.93192124 -0.02210427 -0.36198646 4.13741851] [ 0.00840106 0.99918875 -0.03938604 0.45222966] [ 0.3625634 0.03366362 0.93135092 -0.13107971] [ 0. 0. 0. 1. ]] SLAMing on 75.76800114499999 meters Centerline goodness [0,1] 0.8856138821542401 Centerline is valid? [False, False] Translation: X:4.14, Y:0.45, Z:-0.13 [[ 0.93196685 -0.02243778 -0.36184849 4.1373652 ] [ 0.00870432 0.9991801 -0.03953933 0.45267423] [ 0.36243899 0.0336997 0.93139804 -0.1315034 ] [ 0. 0. 0. 1. ]] SLAMing on 75.79800114499999 meters Centerline goodness [0,1] 0.8946096603234753 Centerline is valid? [False, False] Translation: X:4.14, Y:0.46, Z:-0.13 [[ 0.9320497 -0.01716429 -0.36192368 4.13827249] [ 0.00444665 0.99934396 -0.03594273 0.45598942] [ 0.36230318 0.03189106 0.93151456 -0.13159335] [ 0. 0. 0. 1. ]] SLAMing on 75.82800114499999 meters Centerline goodness [0,1] 0.8970733854109363 Centerline is valid? [False, False] Translation: X:4.14, Y:0.46, Z:-0.13 [[ 9.32219367e-01 -1.23147555e-02 -3.61684113e-01 4.13788578e+00] [ 7.90723024e-04 9.99487784e-01 -3.19928909e-02 4.56770359e-01] [ 3.61892838e-01 2.95384006e-02 9.31751607e-01 -1.32342838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.85800114499999 meters Centerline goodness [0,1] 0.8983645505276534 Centerline is valid? [False, False] Translation: X:4.14, Y:0.46, Z:-0.13 [[ 9.32335441e-01 -7.06245528e-03 -3.61525582e-01 4.13822870e+00] [-3.15026276e-03 9.99612653e-01 -2.76517673e-02 4.56790817e-01] [ 3.61580836e-01 2.69196233e-02 9.31952055e-01 -1.33420895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88800114499999 meters Centerline goodness [0,1] 0.8948420409749598 Centerline is valid? [False, False] Translation: X:4.14, Y:0.46, Z:-0.13 [[ 9.32283415e-01 -1.38639189e-03 -3.61726017e-01 4.14077060e+00] [-7.62965042e-03 9.99694826e-01 -2.34955877e-02 4.58500027e-01] [ 3.61648202e-01 2.46643898e-02 9.31988329e-01 -1.34456448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91800114499999 meters Centerline goodness [0,1] 0.8930948998635135 Centerline is valid? [False, False] Translation: X:4.14, Y:0.46, Z:-0.13 [[ 9.32077606e-01 -9.38006558e-04 -3.62257446e-01 4.14290718e+00] [-8.26163920e-03 9.99681519e-01 -2.38454635e-02 4.60726001e-01] [ 3.62164441e-01 2.52186629e-02 9.31773007e-01 -1.33813563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94800114499999 meters Centerline goodness [0,1] 0.8905769123160427 Centerline is valid? [False, False] Translation: X:4.14, Y:0.46, Z:-0.13 [[ 9.31932927e-01 -7.36414720e-04 -3.62629944e-01 4.14435985e+00] [-8.67883179e-03 9.99666210e-01 -2.43340578e-02 4.62965640e-01] [ 3.62526822e-01 2.58249140e-02 9.31615466e-01 -1.33146011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.978001145 meters Centerline goodness [0,1] 0.8900566111765036 Centerline is valid? [False, False] Translation: X:4.15, Y:0.46, Z:-0.13 [[ 9.31820350e-01 -4.32269318e-04 -3.62919618e-01 4.14557823e+00] [-9.09853164e-03 9.99657155e-01 -2.45517674e-02 4.64197480e-01] [ 3.62805806e-01 2.61798721e-02 9.31496947e-01 -1.32695477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.008001145 meters Centerline goodness [0,1] 0.8870086571596671 Centerline is valid? [False, False] Translation: X:4.15, Y:0.46, Z:-0.13 [[ 9.31770228e-01 -7.02069979e-04 -3.63047861e-01 4.14530970e+00] [-8.97478075e-03 9.99647986e-01 -2.49671113e-02 4.64883240e-01] [ 3.62937592e-01 2.65218859e-02 9.31435931e-01 -1.31990096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03800114499998 meters Centerline goodness [0,1] 0.8900296536675432 Centerline is valid? [False, False] Translation: X:4.14, Y:0.47, Z:-0.13 [[ 9.31817029e-01 -1.30064440e-03 -3.62926072e-01 4.14368959e+00] [-8.61184820e-03 9.99632773e-01 -2.56934794e-02 4.65131769e-01] [ 3.62826214e-01 2.70670859e-02 9.31463639e-01 -1.30698268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06800114499998 meters Centerline goodness [0,1] 0.8886127555009494 Centerline is valid? [False, False] Translation: X:4.14, Y:0.46, Z:-0.13 [[ 9.31810594e-01 -1.45923319e-03 -3.62941989e-01 4.14321275e+00] [-8.52589816e-03 9.99627965e-01 -2.59083071e-02 4.64587046e-01] [ 3.62844768e-01 2.72360415e-02 9.31451487e-01 -1.30179666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09800114499998 meters Centerline goodness [0,1] 0.8876169202847969 Centerline is valid? [False, False] Translation: X:4.14, Y:0.46, Z:-0.13 [[ 9.31812106e-01 -1.48173406e-03 -3.62938017e-01 4.14315992e+00] [-8.49817519e-03 9.99628431e-01 -2.58994252e-02 4.63779806e-01] [ 3.62841536e-01 2.72177088e-02 9.31453282e-01 -1.30128812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.12800114499998 meters Centerline goodness [0,1] 0.884024855797364 Centerline is valid? [False, False] Translation: X:4.14, Y:0.46, Z:-0.13 [[ 9.31888018e-01 -1.82613452e-03 -3.62741488e-01 4.14198632e+00] [-8.23704712e-03 9.99622956e-01 -2.61934513e-02 4.62579502e-01] [ 3.62652551e-01 2.73972822e-02 9.31521613e-01 -1.29589278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.15800114499999 meters Centerline goodness [0,1] 0.8842383737120579 Centerline is valid? [False, False] Translation: X:4.14, Y:0.46, Z:-0.13 [[ 9.31880994e-01 -2.12378477e-03 -3.62757911e-01 4.14134742e+00] [-8.06690189e-03 9.99614268e-01 -2.65751837e-02 4.62613933e-01] [ 3.62674424e-01 2.76912411e-02 9.31504406e-01 -1.28867558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.18800114499999 meters Centerline goodness [0,1] 0.8810401653538908 Centerline is valid? [False, False] Translation: X:4.14, Y:0.46, Z:-0.13 [[ 9.31848903e-01 -2.29419156e-03 -3.62839302e-01 4.14127839e+00] [-7.98673152e-03 9.99608050e-01 -2.68320419e-02 4.62702383e-01] [ 3.62758645e-01 2.79013089e-02 9.31465341e-01 -1.28444553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.21800114499999 meters Centerline goodness [0,1] 0.8816053511705686 Centerline is valid? [False, False] Translation: X:4.14, Y:0.46, Z:-0.13 [[ 9.31741775e-01 -1.74475448e-03 -3.63117365e-01 4.14304312e+00] [-8.39340262e-03 9.99617800e-01 -2.63401655e-02 4.61358074e-01] [ 3.63024539e-01 2.75900228e-02 9.31371019e-01 -1.28915350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.24800114499999 meters Centerline goodness [0,1] 0.8808122507043039 Centerline is valid? [False, False] Translation: X:4.14, Y:0.46, Z:-0.13 [[ 9.31688954e-01 -1.63247519e-03 -3.63253392e-01 4.14362000e+00] [-8.51370578e-03 9.99617086e-01 -2.63286618e-02 4.61151682e-01] [ 3.63157279e-01 2.76227559e-02 9.31318299e-01 -1.28817199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27800114499999 meters Centerline goodness [0,1] 0.8792579160273399 Centerline is valid? [False, False] Translation: X:4.14, Y:0.46, Z:-0.13 [[ 9.31591279e-01 -1.38146811e-03 -3.63504856e-01 4.14458188e+00] [-8.79340681e-03 9.99614505e-01 -2.63347146e-02 4.61111314e-01] [ 3.63401108e-01 2.77296366e-02 9.31220007e-01 -1.28520919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30800114499999 meters Centerline goodness [0,1] 0.8780317814329524 Centerline is valid? [False, False] Translation: X:4.15, Y:0.46, Z:-0.13 [[ 9.31486843e-01 -1.35694263e-03 -3.63772483e-01 4.14514971e+00] [-8.90639032e-03 9.99608216e-01 -2.65347074e-02 4.61590505e-01] [ 3.63665969e-01 2.79566306e-02 9.31109816e-01 -1.27969540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33800114499999 meters Centerline goodness [0,1] 0.8750906959870514 Centerline is valid? [False, False] Translation: X:4.15, Y:0.46, Z:-0.13 [[ 9.31407847e-01 -1.34446281e-03 -3.63974745e-01 4.14509119e+00] [-9.16042342e-03 9.99589839e-01 -2.71337551e-02 4.62560109e-01] [ 3.63861937e-01 2.86067552e-02 9.31013504e-01 -1.26550543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.368001145 meters Centerline goodness [0,1] 0.8766079749979072 Centerline is valid? [False, False] Translation: X:4.15, Y:0.46, Z:-0.13 [[ 9.31301215e-01 -1.27653747e-03 -3.64247743e-01 4.14532446e+00] [-9.41799201e-03 9.99575154e-01 -2.75828272e-02 4.63277655e-01] [ 3.64128204e-01 2.91184028e-02 9.30893533e-01 -1.25399781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39800114499998 meters Centerline goodness [0,1] 0.8787100376937038 Centerline is valid? [False, False] Translation: X:4.15, Y:0.46, Z:-0.12 [[ 9.31157304e-01 -8.95029257e-04 -3.64616611e-01 4.14625019e+00] [-9.88283044e-03 9.99567637e-01 -2.76924082e-02 4.63611536e-01] [ 3.64483750e-01 2.93894323e-02 9.30745861e-01 -1.24598869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42800114499998 meters Centerline goodness [0,1] 0.8785398045276084 Centerline is valid? [False, False] Translation: X:4.15, Y:0.46, Z:-0.12 [[ 9.31053754e-01 -1.71606454e-05 -3.64882044e-01 4.14797259e+00] [-1.06319990e-02 9.99574116e-01 -2.71762234e-02 4.61697737e-01] [ 3.64727113e-01 2.91819504e-02 9.30657051e-01 -1.24725281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45800114499998 meters Centerline goodness [0,1] 0.8785202466255624 Centerline is valid? [False, False] Translation: X:4.15, Y:0.46, Z:-0.12 [[ 9.31029949e-01 2.20861405e-04 -3.64942715e-01 4.14824825e+00] [-1.07872722e-02 9.99579515e-01 -2.69151966e-02 4.60062614e-01] [ 3.64783318e-01 2.89955905e-02 9.30640847e-01 -1.24736391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48800114499998 meters Centerline goodness [0,1] 0.8784836804303818 Centerline is valid? [False, False] Translation: X:4.15, Y:0.46, Z:-0.12 [[ 9.31018697e-01 2.26875193e-04 -3.64971415e-01 4.14805145e+00] [-1.07569311e-02 9.99582431e-01 -2.68188771e-02 4.58668672e-01] [ 3.64812930e-01 2.88948484e-02 9.30632373e-01 -1.24541670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.51800114499999 meters Centerline goodness [0,1] 0.8764596566166477 Centerline is valid? [False, False] Translation: X:4.15, Y:0.46, Z:-0.12 [[ 9.31031333e-01 1.41925250e-04 -3.64939224e-01 4.14753171e+00] [-1.06369032e-02 9.99585612e-01 -2.67480804e-02 4.57373274e-01] [ 3.64784201e-01 2.87851241e-02 9.30647035e-01 -1.24321714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.54800114499999 meters Centerline goodness [0,1] 0.8741169977924945 Centerline is valid? [False, False] Translation: X:4.15, Y:0.45, Z:-0.12 [[ 9.31103416e-01 -4.76790893e-04 -3.64754987e-01 4.14538367e+00] [-1.00024831e-02 9.99589704e-01 -2.68397741e-02 4.53755211e-01] [ 3.64618127e-01 2.86390610e-02 9.30716619e-01 -1.23564646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.57800114499999 meters Centerline goodness [0,1] 0.8747834217980803 Centerline is valid? [False, False] Translation: X:4.14, Y:0.45, Z:-0.12 [[ 9.31197968e-01 -6.04693003e-04 -3.64513346e-01 4.14439098e+00] [-9.72784268e-03 9.99601233e-01 -2.65093152e-02 4.50935460e-01] [ 3.64384020e-01 2.82313490e-02 9.30820754e-01 -1.23808199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.60800114499999 meters Centerline goodness [0,1] 0.8736073761044948 Centerline is valid? [False, False] Translation: X:4.14, Y:0.45, Z:-0.12 [[ 9.31248821e-01 -7.34792643e-04 -3.64383167e-01 4.14362532e+00] [-9.47863723e-03 9.99610729e-01 -2.62401703e-02 4.48039777e-01] [ 3.64260605e-01 2.78899835e-02 9.30879348e-01 -1.23908155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63800114499999 meters Centerline goodness [0,1] 0.8713758710206312 Centerline is valid? [False, False] Translation: X:4.14, Y:0.45, Z:-0.12 [[ 9.31306430e-01 -7.20645531e-04 -3.64235931e-01 4.14320203e+00] [-9.34961062e-03 9.99621241e-01 -2.58835669e-02 4.45621013e-01] [ 3.64116626e-01 2.75109964e-02 9.30946952e-01 -1.24196227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66800114499999 meters Centerline goodness [0,1] 0.8721006385417235 Centerline is valid? [False, False] Translation: X:4.14, Y:0.44, Z:-0.12 [[ 0.93106718 -0.00554718 -0.36480562 4.14379401] [-0.00577017 0.99953547 -0.02992558 0.44454196] [ 0.36480216 0.02996771 0.93060267 -0.12255111] [ 0. 0. 0. 1. ]] SLAMing on 76.69800114499999 meters Centerline goodness [0,1] 0.8732382869891713 Centerline is valid? [False, False] Translation: X:4.14, Y:0.44, Z:-0.12 [[ 0.93112544 -0.00579529 -0.36465301 4.14274818] [-0.00541697 0.99954366 -0.02971734 0.44200741] [ 0.36465883 0.02964589 0.93066915 -0.12254099] [ 0. 0. 0. 1. ]] SLAMing on 76.728001145 meters Centerline goodness [0,1] 0.8726104286992598 Centerline is valid? [False, False] Translation: X:4.14, Y:0.44, Z:-0.12 [[ 0.9311464 -0.00601998 -0.36459586 4.14180078] [-0.00508656 0.999552 -0.02949461 0.43952458] [ 0.36461008 0.02931834 0.93069862 -0.12239929] [ 0. 0. 0. 1. ]] SLAMing on 76.758001145 meters Centerline goodness [0,1] 0.8706438115805102 Centerline is valid? [False, False] Translation: X:4.14, Y:0.44, Z:-0.12 [[ 9.30890425e-01 -1.04441582e-02 -3.65149197e-01 4.14338910e+00] [-1.66594498e-03 9.99459429e-01 -3.28340435e-02 4.36731974e-01] [ 3.65294732e-01 3.11732152e-02 9.30369813e-01 -1.21913203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78800114499998 meters Centerline goodness [0,1] 0.8705669936401854 Centerline is valid? [False, False] Translation: X:4.14, Y:0.43, Z:-0.12 [[ 9.30874237e-01 -9.92694803e-03 -3.65204887e-01 4.14441068e+00] [-1.91156681e-03 9.99484751e-01 -3.20402653e-02 4.33631365e-01] [ 3.65334778e-01 3.05235710e-02 9.30375629e-01 -1.22755025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81800114499998 meters Centerline goodness [0,1] 0.8710805141720002 Centerline is valid? [False, False] Translation: X:4.15, Y:0.43, Z:-0.12 [[ 9.30809528e-01 -9.32730136e-03 -3.65385583e-01 4.14557797e+00] [-2.27375547e-03 9.99507228e-01 -3.13070327e-02 4.30764119e-01] [ 3.65497541e-01 2.99716818e-02 9.30329644e-01 -1.23278470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84800114499998 meters Centerline goodness [0,1] 0.869857690349208 Centerline is valid? [False, False] Translation: X:4.15, Y:0.43, Z:-0.12 [[ 9.30673701e-01 -8.00001613e-03 -3.65762850e-01 4.14784324e+00] [-3.19012026e-03 9.99545427e-01 -2.99793721e-02 4.26177557e-01] [ 3.65836419e-01 2.90678406e-02 9.30225121e-01 -1.24046523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.87800114499998 meters Centerline goodness [0,1] 0.8697699304440878 Centerline is valid? [False, False] Translation: X:4.15, Y:0.42, Z:-0.12 [[ 9.30624920e-01 -7.65492472e-03 -3.65894330e-01 4.14807299e+00] [-3.49078408e-03 9.99550076e-01 -2.97902709e-02 4.24856150e-01] [ 3.65957748e-01 2.90008266e-02 9.30179487e-01 -1.23656787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.90800114499999 meters Centerline goodness [0,1] 0.8688288480516363 Centerline is valid? [False, False] Translation: X:4.15, Y:0.42, Z:-0.12 [[ 9.30542921e-01 -7.57398278e-03 -3.66104503e-01 4.14760563e+00] [-3.68733514e-03 9.99541571e-01 -3.00508029e-02 4.24226105e-01] [ 3.66164275e-01 2.93135119e-02 9.30088406e-01 -1.22320736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.93800114499999 meters Centerline goodness [0,1] 0.8694862272569398 Centerline is valid? [False, False] Translation: X:4.15, Y:0.42, Z:-0.12 [[ 9.30482783e-01 -7.58681648e-03 -3.66257056e-01 4.14700264e+00] [-3.78417266e-03 9.99533124e-01 -3.03185473e-02 4.23863520e-01] [ 3.66316081e-01 2.95968662e-02 9.30019653e-01 -1.21105784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.96800114499999 meters Centerline goodness [0,1] 0.8703639699040225 Centerline is valid? [False, False] Translation: X:4.15, Y:0.42, Z:-0.12 [[ 0.93035099 -0.00702268 -0.36660295 4.14702419] [-0.00425496 0.99954248 -0.02994541 0.42125816] [ 0.36664552 0.02941962 0.92989545 -0.12002312] [ 0. 0. 0. 1. ]] SLAMing on 76.99800114499999 meters Centerline goodness [0,1] 0.8712359967160147 Centerline is valid? [False, False] Translation: X:4.15, Y:0.42, Z:-0.12 [[ 0.9302376 -0.00621171 -0.3669052 4.14847391] [-0.00488 0.99955889 -0.02929511 0.41902204] [ 0.36692533 0.02904191 0.92979695 -0.12011115] [ 0. 0. 0. 1. ]] SLAMing on 77.02800114499999 meters Centerline goodness [0,1] 0.8725882973115445 Centerline is valid? [False, False] Translation: X:4.15, Y:0.42, Z:-0.12 [[ 0.9300855 -0.00532658 -0.36730449 4.15022871] [-0.00556574 0.99957575 -0.02858917 0.4165747 ] [ 0.36730094 0.02863469 0.92966127 -0.12019396] [ 0. 0. 0. 1. ]] SLAMing on 77.05800114499999 meters Centerline goodness [0,1] 0.8730321427632789 Centerline is valid? [False, False] Translation: X:4.15, Y:0.41, Z:-0.12 [[ 0.92997128 -0.00437303 -0.36760617 4.15234023] [-0.0062261 0.9995985 -0.02764198 0.41405387] [ 0.36757945 0.027995 0.92957067 -0.12096137] [ 0. 0. 0. 1. ]] SLAMing on 77.08800114499999 meters Centerline goodness [0,1] 0.8752715755307174 Centerline is valid? [False, False] Translation: X:4.16, Y:0.41, Z:-0.12 [[ 9.29733546e-01 -2.86735206e-03 -3.68221825e-01 4.15549398e+00] [-7.28738842e-03 9.99630571e-01 -2.61842770e-02 4.09970718e-01] [ 3.68160872e-01 2.70277762e-02 9.29369179e-01 -1.21769200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.118001145 meters Centerline goodness [0,1] 0.8752715755307174 Centerline is valid? [False, False] Translation: X:4.16, Y:0.41, Z:-0.12 [[ 9.29733546e-01 -2.86735206e-03 -3.68221825e-01 4.15549398e+00] [-7.28738842e-03 9.99630571e-01 -2.61842770e-02 4.09970718e-01] [ 3.68160872e-01 2.70277762e-02 9.29369179e-01 -1.21769200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14800114499998 meters Centerline goodness [0,1] 0.8719384550973415 Centerline is valid? [False, False] Translation: X:4.16, Y:0.41, Z:-0.12 [[ 9.29630904e-01 -2.23752012e-03 -3.68485244e-01 4.15670160e+00] [-7.76648166e-03 9.99640465e-01 -2.56636519e-02 4.07913154e-01] [ 3.68410183e-01 2.67195578e-02 9.29279292e-01 -1.21842714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17800114499998 meters Centerline goodness [0,1] 0.8723293246028226 Centerline is valid? [False, False] Translation: X:4.16, Y:0.41, Z:-0.12 [[ 9.29549514e-01 -1.82236261e-03 -3.68692799e-01 4.15724382e+00] [-8.07763033e-03 9.99647107e-01 -2.53063713e-02 4.05973258e-01] [ 3.68608807e-01 2.65016893e-02 9.29206763e-01 -1.21620033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20800114499998 meters Centerline goodness [0,1] 0.8711728074727556 Centerline is valid? [False, False] Translation: X:4.16, Y:0.40, Z:-0.12 [[ 9.29559784e-01 -1.57927414e-03 -3.68668027e-01 4.15632885e+00] [-8.15980986e-03 9.99657730e-01 -2.48564129e-02 4.01857050e-01] [ 3.68581098e-01 2.61137828e-02 9.29228737e-01 -1.21084126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23800114499998 meters Centerline goodness [0,1] 0.8742355136311807 Centerline is valid? [False, False] Translation: X:4.16, Y:0.40, Z:-0.12 [[ 9.29509848e-01 -1.35622952e-03 -3.68794798e-01 4.15626903e+00] [-8.31198342e-03 9.99662185e-01 -2.46257319e-02 3.99742001e-01] [ 3.68703612e-01 2.59552766e-02 9.29184573e-01 -1.20634951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.26800114499999 meters Centerline goodness [0,1] 0.8742430099214019 Centerline is valid? [False, False] Translation: X:4.16, Y:0.40, Z:-0.12 [[ 9.29420231e-01 -9.02482577e-04 -3.69021976e-01 4.15691365e+00] [-8.59887915e-03 9.99672523e-01 -2.41019773e-02 3.97247568e-01] [ 3.68922882e-01 2.55740407e-02 9.29108108e-01 -1.20572790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.29800114499999 meters Centerline goodness [0,1] 0.8770172652287515 Centerline is valid? [False, False] Translation: X:4.16, Y:0.39, Z:-0.12 [[ 0.92917687 -0.00482145 -0.36960399 4.15878794] [-0.0056098 0.99961582 -0.02714282 0.39377382] [ 0.36959286 0.02729388 0.92879285 -0.12005683] [ 0. 0. 0. 1. ]] SLAMing on 77.32800114499999 meters Centerline goodness [0,1] 0.8789901780233272 Centerline is valid? [False, False] Translation: X:4.16, Y:0.39, Z:-0.12 [[ 0.92912144 -0.00449676 -0.3697474 4.15872729] [-0.0057369 0.99963041 -0.02657323 0.39075168] [ 0.36973023 0.02681096 0.92875224 -0.1198525 ] [ 0. 0. 0. 1. ]] SLAMing on 77.35800114499999 meters Centerline goodness [0,1] 0.8776361647459869 Centerline is valid? [False, False] Translation: X:4.16, Y:0.39, Z:-0.12 [[ 0.92908922 -0.00429644 -0.36983073 4.15828024] [-0.00581536 0.99963922 -0.02622247 0.38803414] [ 0.36980996 0.02651371 0.92872903 -0.11939524] [ 0. 0. 0. 1. ]] SLAMing on 77.38800114499999 meters Centerline goodness [0,1] 0.876557938824724 Centerline is valid? [False, False] Translation: X:4.16, Y:0.38, Z:-0.12 [[ 0.92909805 -0.00417042 -0.36980997 4.15747821] [-0.00575326 0.99965244 -0.02572758 0.38432108] [ 0.36978874 0.02603106 0.92875114 -0.11913901] [ 0. 0. 0. 1. ]] SLAMing on 77.41800114499999 meters Centerline goodness [0,1] 0.8744026960414466 Centerline is valid? [False, False] Translation: X:4.16, Y:0.38, Z:-0.12 [[ 9.28912718e-01 -8.17512001e-03 -3.70208494e-01 4.15808025e+00] [-2.59560240e-03 9.99587962e-01 -2.85861611e-02 3.78373289e-01] [ 3.70289649e-01 2.75149626e-02 9.28508752e-01 -1.18347435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44800114499999 meters Centerline goodness [0,1] 0.8796860503021641 Centerline is valid? [False, False] Translation: X:4.16, Y:0.37, Z:-0.12 [[ 9.28883555e-01 -7.76696262e-03 -3.70290447e-01 4.15791667e+00] [-2.75063563e-03 9.99607851e-01 -2.78671435e-02 3.74484650e-01] [ 3.70361681e-01 2.69038654e-02 9.28497931e-01 -1.18288144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.478001145 meters Centerline goodness [0,1] 0.8783544272198507 Centerline is valid? [False, False] Translation: X:4.16, Y:0.37, Z:-0.12 [[ 9.28853847e-01 -7.13882163e-03 -3.70377602e-01 4.15825596e+00] [-3.06696272e-03 9.99631839e-01 -2.69588481e-02 3.70658711e-01] [ 3.70433698e-01 2.61767641e-02 9.28489985e-01 -1.18546271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.508001145 meters Centerline goodness [0,1] 0.8820431676020472 Centerline is valid? [False, False] Translation: X:4.16, Y:0.36, Z:-0.12 [[ 9.28705851e-01 -5.91578316e-03 -3.70770072e-01 4.15928341e+00] [-3.74440638e-03 9.99672153e-01 -2.53291635e-02 3.63656907e-01] [ 3.70798358e-01 2.49116562e-02 9.28379226e-01 -1.18735062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53800114499998 meters Centerline goodness [0,1] 0.8858557737317992 Centerline is valid? [False, False] Translation: X:4.16, Y:0.36, Z:-0.12 [[ 0.9285603 -0.00506107 -0.37114709 4.16063265] [-0.00430038 0.99969324 -0.0243911 0.36059931] [ 0.37115668 0.02424468 0.92825369 -0.1188904 ] [ 0. 0. 0. 1. ]] SLAMing on 77.56800114499998 meters Centerline goodness [0,1] 0.8891209790381638 Centerline is valid? [False, False] Translation: X:4.16, Y:0.36, Z:-0.12 [[ 0.92841329 -0.00437039 -0.37152343 4.16148468] [-0.00475352 0.99970926 -0.02363875 0.35776735] [ 0.37151873 0.02371258 0.92812259 -0.11867468] [ 0. 0. 0. 1. ]] SLAMing on 77.59800114499998 meters Centerline goodness [0,1] 0.8907078456764483 Centerline is valid? [False, False] Translation: X:4.16, Y:0.35, Z:-0.12 [[ 9.28272743e-01 -3.27070197e-03 -3.71885758e-01 4.16315948e+00] [-5.48856575e-03 9.99731941e-01 -2.24926904e-02 3.54150790e-01] [ 3.71859637e-01 2.29204709e-02 9.28005960e-01 -1.19074079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.62800114499998 meters Centerline goodness [0,1] 0.8964975085869092 Centerline is valid? [False, False] Translation: X:4.17, Y:0.35, Z:-0.12 [[ 9.27770730e-01 -5.19356346e-03 -3.73114594e-01 4.16807909e+00] [-4.04462598e-03 9.99704435e-01 -2.39725655e-02 3.46614366e-01] [ 3.73128817e-01 2.37501535e-02 9.27475507e-01 -1.18946520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.65800114499999 meters Centerline goodness [0,1] 0.9004397664191479 Centerline is valid? [False, False] Translation: X:4.17, Y:0.34, Z:-0.12 [[ 0.92768659 -0.00431338 -0.37333495 4.16876405] [-0.0045843 0.99972629 -0.02294185 0.3420308 ] [ 0.37333172 0.02299432 0.9274129 -0.11903212] [ 0. 0. 0. 1. ]] SLAMing on 77.68800114499999 meters Centerline goodness [0,1] 0.8997120921305183 Centerline is valid? [False, False] Translation: X:4.17, Y:0.34, Z:-0.12 [[ 9.27653078e-01 -3.73602914e-03 -3.73424435e-01 4.16882562e+00] [-4.89672772e-03 9.99742300e-01 -2.21665487e-02 3.38775442e-01] [ 3.73411018e-01 2.23914249e-02 9.27395728e-01 -1.18977344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.71800114499999 meters Centerline goodness [0,1] 0.9030949483379865 Centerline is valid? [False, False] Translation: X:4.17, Y:0.34, Z:-0.12 [[ 9.27581462e-01 -3.39820483e-03 -3.73605519e-01 4.16863399e+00] [-5.10533976e-03 9.99749994e-01 -2.17688801e-02 3.36718661e-01] [ 3.73586091e-01 2.20997928e-02 9.27332212e-01 -1.18381642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.74800114499999 meters Centerline goodness [0,1] 0.9052791348479818 Centerline is valid? [False, False] Translation: X:4.17, Y:0.33, Z:-0.12 [[ 9.27527624e-01 -2.55510489e-03 -3.73745873e-01 4.16762177e+00] [-5.65644250e-03 9.99766144e-01 -2.08725089e-02 3.32126227e-01] [ 3.73711801e-01 2.14739006e-02 9.27296264e-01 -1.17263316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77800114499999 meters Centerline goodness [0,1] 0.908663611885304 Centerline is valid? [False, False] Translation: X:4.17, Y:0.33, Z:-0.12 [[ 9.27512135e-01 -2.16224704e-03 -3.73786790e-01 4.16679297e+00] [-5.89001224e-03 9.99774572e-01 -2.03988414e-02 3.28607517e-01] [ 3.73746635e-01 2.11217817e-02 9.27290312e-01 -1.16615433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80800114499999 meters Centerline goodness [0,1] 0.9091976424730551 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:-0.12 [[ 9.27532316e-01 -1.77004791e-03 -3.73738772e-01 4.16578809e+00] [-6.09957426e-03 9.99783911e-01 -1.98727513e-02 3.24552237e-01] [ 3.73693187e-01 2.07122664e-02 9.27321090e-01 -1.16052418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83800114499999 meters Centerline goodness [0,1] 0.9154880431748394 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:-0.11 [[ 9.27690735e-01 -3.15641674e-03 -3.73336225e-01 4.16319955e+00] [-4.94350377e-03 9.99772751e-01 -2.07366486e-02 3.17138403e-01] [ 3.73316838e-01 2.10827858e-02 9.27464314e-01 -1.14971523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.868001145 meters Centerline goodness [0,1] 0.9169619080699317 Centerline is valid? [False, False] Translation: X:4.16, Y:0.31, Z:-0.11 [[ 9.27653660e-01 -2.95070843e-03 -3.73430021e-01 4.16277529e+00] [-4.96222415e-03 9.99783103e-01 -2.02267986e-02 3.14131212e-01] [ 3.73408709e-01 2.06165072e-02 9.27437812e-01 -1.14613904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89800114499998 meters Centerline goodness [0,1] 0.9196230598669624 Centerline is valid? [False, False] Translation: X:4.16, Y:0.31, Z:-0.11 [[ 9.27622035e-01 -2.93875436e-03 -3.73508666e-01 4.16192980e+00] [-4.84553232e-03 9.99790226e-01 -1.99003694e-02 3.11697866e-01] [ 3.73488796e-01 2.02698695e-02 9.27413204e-01 -1.14030831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92800114499998 meters Centerline goodness [0,1] 0.9207318472945983 Centerline is valid? [False, False] Translation: X:4.16, Y:0.31, Z:-0.11 [[ 9.27613418e-01 -3.11214328e-03 -3.73528661e-01 4.16075440e+00] [-4.56535258e-03 9.99796152e-01 -1.96675435e-02 3.09133171e-01] [ 3.73513726e-01 1.99491673e-02 9.27410118e-01 -1.13367986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95800114499998 meters Centerline goodness [0,1] 0.9224508355121064 Centerline is valid? [False, False] Translation: X:4.16, Y:0.30, Z:-0.11 [[ 9.27526192e-01 -7.84960301e-03 -3.73675724e-01 4.15986229e+00] [-6.90282708e-04 9.99741756e-01 -2.27144303e-02 3.03222761e-01] [ 3.73757523e-01 2.13261710e-02 9.27281246e-01 -1.12548142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98800114499998 meters Centerline goodness [0,1] 0.9244418357902341 Centerline is valid? [False, False] Translation: X:4.16, Y:0.30, Z:-0.11 [[ 9.27394363e-01 -1.25100912e-02 -3.73875905e-01 4.16037541e+00] [ 2.97098871e-03 9.99655457e-01 -2.60795163e-02 3.00284113e-01] [ 3.74073346e-01 2.30752153e-02 9.27112003e-01 -1.12312388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.01800114499999 meters Centerline goodness [0,1] 0.9224612756008184 Centerline is valid? [False, False] Translation: X:4.16, Y:0.30, Z:-0.11 [[ 0.92722541 -0.01710367 -0.37411295 4.16120726] [ 0.00659003 0.99954706 -0.02936407 0.29731162] [ 0.37444573 0.02476169 0.92691815 -0.11220568] [ 0. 0. 0. 1. ]] SLAMing on 78.04800114499999 meters Centerline goodness [0,1] 0.9244378751231748 Centerline is valid? [False, False] Translation: X:4.16, Y:0.30, Z:-0.11 [[ 0.92700038 -0.02154309 -0.37444118 4.16258423] [ 0.01004385 0.99941687 -0.03263498 0.29529563] [ 0.37492589 0.0264918 0.92667619 -0.11213326] [ 0. 0. 0. 1. ]] SLAMing on 78.07800114499999 meters Centerline goodness [0,1] 0.926051877042075 Centerline is valid? [False, False] Translation: X:4.16, Y:0.29, Z:-0.11 [[ 0.92698687 -0.02313233 -0.37437979 4.16104475] [ 0.0116101 0.99938781 -0.03300326 0.28962644] [ 0.37491404 0.026247 0.92668795 -0.11184051] [ 0. 0. 0. 1. ]] SLAMing on 78.10800114499999 meters Centerline goodness [0,1] 0.9232052308513478 Centerline is valid? [False, False] Translation: X:4.16, Y:0.29, Z:-0.11 [[ 0.92698687 -0.02286522 -0.37439622 4.16110511] [ 0.01159108 0.9994098 -0.03233725 0.28690598] [ 0.37491465 0.02563655 0.92670479 -0.11209127] [ 0. 0. 0. 1. ]] SLAMing on 78.13800114499999 meters Centerline goodness [0,1] 0.9253863525660895 Centerline is valid? [False, False] Translation: X:4.16, Y:0.28, Z:-0.11 [[ 0.9269577 -0.02246386 -0.37449272 4.16148607] [ 0.01144337 0.99943427 -0.03162581 0.2841244 ] [ 0.37499129 0.02503034 0.92669035 -0.11233226] [ 0. 0. 0. 1. ]] SLAMing on 78.16800114499999 meters Centerline goodness [0,1] 0.9251461988304094 Centerline is valid? [False, False] Translation: X:4.16, Y:0.28, Z:-0.11 [[ 0.92666526 -0.0261663 -0.37497575 4.1637067 ] [ 0.01435951 0.99931024 -0.03424699 0.28020583] [ 0.37561322 0.02635103 0.92640182 -0.11245293] [ 0. 0. 0. 1. ]] SLAMing on 78.19800114499999 meters Centerline goodness [0,1] 0.9260914554941547 Centerline is valid? [False, False] Translation: X:4.16, Y:0.28, Z:-0.11 [[ 0.92673322 -0.02626407 -0.37480094 4.1629448 ] [ 0.01459622 0.99931741 -0.03393626 0.27761218] [ 0.37543641 0.02597919 0.92648399 -0.11250979] [ 0. 0. 0. 1. ]] SLAMing on 78.228001145 meters Centerline goodness [0,1] 0.9247493844530426 Centerline is valid? [False, False] Translation: X:4.16, Y:0.28, Z:-0.11 [[ 0.92679686 -0.0266256 -0.37461802 4.16168426] [ 0.01502448 0.99931382 -0.03385499 0.27556167] [ 0.37526238 0.02574826 0.92656094 -0.11226191] [ 0. 0. 0. 1. ]] SLAMing on 78.258001145 meters Centerline goodness [0,1] 0.9201886210391785 Centerline is valid? [False, False] Translation: X:4.16, Y:0.27, Z:-0.11 [[ 0.92685838 -0.02708625 -0.37443273 4.16034575] [ 0.01552334 0.99930591 -0.03386327 0.27404459] [ 0.37509007 0.02557401 0.92663553 -0.1119695 ] [ 0. 0. 0. 1. ]] SLAMing on 78.28800114499998 meters Centerline goodness [0,1] 0.9192528798925134 Centerline is valid? [False, False] Translation: X:4.16, Y:0.27, Z:-0.11 [[ 0.92695423 -0.02870838 -0.37407443 4.15711401] [ 0.01708821 0.99926397 -0.03434412 0.27163861] [ 0.37478506 0.02544317 0.92676254 -0.11118343] [ 0. 0. 0. 1. ]] SLAMing on 78.31800114499998 meters Centerline goodness [0,1] 0.9157292239955972 Centerline is valid? [False, False] Translation: X:4.16, Y:0.27, Z:-0.11 [[ 0.92700878 -0.02914266 -0.37390563 4.15607733] [ 0.01759474 0.99925801 -0.03426148 0.26979854] [ 0.37462667 0.02518192 0.92683371 -0.11106371] [ 0. 0. 0. 1. ]] SLAMing on 78.34800114499998 meters Centerline goodness [0,1] 0.9145126607276078 Centerline is valid? [False, False] Translation: X:4.16, Y:0.27, Z:-0.11 [[ 0.92705552 -0.02951853 -0.37376024 4.15522133] [ 0.01807339 0.99925533 -0.03409006 0.26761613] [ 0.3744882 0.02484827 0.92689867 -0.1110857 ] [ 0. 0. 0. 1. ]] SLAMing on 78.37800114499998 meters Centerline goodness [0,1] 0.9077575038974156 Centerline is valid? [False, False] Translation: X:4.15, Y:0.26, Z:-0.11 [[ 0.92712527 -0.03175872 -0.37340341 4.15281716] [ 0.02006381 0.99918007 -0.03516578 0.26433372] [ 0.37421407 0.02511119 0.9270023 -0.11081274] [ 0. 0. 0. 1. ]] SLAMing on 78.40800114499999 meters Centerline goodness [0,1] 0.905420789911551 Centerline is valid? [False, False] Translation: X:4.15, Y:0.26, Z:-0.11 [[ 0.92708922 -0.03180979 -0.37348856 4.15326881] [ 0.02021041 0.99918529 -0.03493286 0.26314262] [ 0.37429548 0.02483753 0.9269768 -0.11107485] [ 0. 0. 0. 1. ]] SLAMing on 78.43800114499999 meters Centerline goodness [0,1] 0.9041602802715131 Centerline is valid? [False, False] Translation: X:4.15, Y:0.26, Z:-0.11 [[ 0.92702917 -0.03192043 -0.37362817 4.15378022] [ 0.02035796 0.99918509 -0.03485282 0.26292226] [ 0.37443622 0.02470328 0.92692355 -0.11118902] [ 0. 0. 0. 1. ]] SLAMing on 78.46800114499999 meters Centerline goodness [0,1] 0.9020634364321388 Centerline is valid? [False, False] Translation: X:4.15, Y:0.26, Z:-0.11 [[ 0.92694925 -0.03205095 -0.37381522 4.15441887] [ 0.0204912 0.99918218 -0.03485795 0.26384489] [ 0.37462674 0.02465163 0.92684794 -0.11121143] [ 0. 0. 0. 1. ]] SLAMing on 78.49800114499999 meters Centerline goodness [0,1] 0.895897807335221 Centerline is valid? [False, False] Translation: X:4.15, Y:0.26, Z:-0.11 [[ 0.92692237 -0.03250075 -0.37384304 4.15376756] [ 0.02078209 0.99915939 -0.03533581 0.26473355] [ 0.37467722 0.02498431 0.92681862 -0.11061012] [ 0. 0. 0. 1. ]] SLAMing on 78.52800114499999 meters Centerline goodness [0,1] 0.8983325664453647 Centerline is valid? [False, False] Translation: X:4.15, Y:0.26, Z:-0.11 [[ 0.92689534 -0.03235512 -0.37392269 4.1541141 ] [ 0.02065868 0.99916508 -0.03524705 0.2644796 ] [ 0.37475092 0.02494557 0.92678987 -0.11059787] [ 0. 0. 0. 1. ]] SLAMing on 78.55800114499999 meters Centerline goodness [0,1] 0.9007385977600981 Centerline is valid? [False, False] Translation: X:4.15, Y:0.26, Z:-0.11 [[ 0.92686987 -0.03212285 -0.37400585 4.15465217] [ 0.0204804 0.99917524 -0.0350628 0.26380267] [ 0.3748237 0.02483886 0.92676331 -0.11074092] [ 0. 0. 0. 1. ]] SLAMing on 78.58800114499999 meters Centerline goodness [0,1] 0.9050396947234528 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:-0.11 [[ 0.926799 -0.03166075 -0.37422082 4.15600742] [ 0.02000171 0.99918716 -0.03499923 0.2646296 ] [ 0.37502474 0.02495219 0.92667893 -0.11089233] [ 0. 0. 0. 1. ]] SLAMing on 78.618001145 meters Centerline goodness [0,1] 0.905822595540701 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:-0.11 [[ 0.92695321 -0.02697607 -0.37420588 4.15533386] [ 0.01653265 0.99937983 -0.03109078 0.26451224] [ 0.37481252 0.02263308 0.92682432 -0.11100861] [ 0. 0. 0. 1. ]] SLAMing on 78.64800114499998 meters Centerline goodness [0,1] 0.9085261070720423 Centerline is valid? [False, False] Translation: X:4.15, Y:0.27, Z:-0.11 [[ 0.9270848 -0.02259992 -0.37416977 4.15415841] [ 0.01320982 0.99953061 -0.0276417 0.26579919] [ 0.37461884 0.02068348 0.92694817 -0.11065926] [ 0. 0. 0. 1. ]] SLAMing on 78.67800114499998 meters Centerline goodness [0,1] 0.9079961996508982 Centerline is valid? [False, False] Translation: X:4.15, Y:0.27, Z:-0.11 [[ 0.92725483 -0.01833517 -0.37398168 4.15265757] [ 0.00996578 0.99965502 -0.02430073 0.26696265] [ 0.37429822 0.01880595 0.92711767 -0.11035778] [ 0. 0. 0. 1. ]] SLAMing on 78.70800114499998 meters Centerline goodness [0,1] 0.9061147486405504 Centerline is valid? [False, False] Translation: X:4.15, Y:0.27, Z:-0.11 [[ 0.92747219 -0.01458176 -0.37360769 4.14997573] [ 0.00701371 0.99974191 -0.02160815 0.26853934] [ 0.37382635 0.01742058 0.9273351 -0.1095251 ] [ 0. 0. 0. 1. ]] SLAMing on 78.73800114499998 meters Centerline goodness [0,1] 0.9083800367720355 Centerline is valid? [False, False] Translation: X:4.15, Y:0.27, Z:-0.11 [[ 0.92746828 -0.01457203 -0.37361777 4.14988616] [ 0.00694673 0.99973935 -0.02174779 0.26803732] [ 0.3738373 0.01757496 0.92732777 -0.10929777] [ 0. 0. 0. 1. ]] SLAMing on 78.76800114499999 meters Centerline goodness [0,1] 0.9093304985272297 Centerline is valid? [False, False] Translation: X:4.15, Y:0.27, Z:-0.11 [[ 0.92744563 -0.0144841 -0.37367741 4.15029793] [ 0.00682719 0.99973891 -0.02180617 0.26734803] [ 0.37389569 0.01767287 0.92730237 -0.10930887] [ 0. 0. 0. 1. ]] SLAMing on 78.79800114499999 meters Centerline goodness [0,1] 0.9085669954560568 Centerline is valid? [False, False] Translation: X:4.15, Y:0.27, Z:-0.11 [[ 0.92746372 -0.01479081 -0.3736205 4.15048881] [ 0.00697528 0.99972784 -0.02226181 0.26879437] [ 0.37384809 0.01804091 0.92731447 -0.10942877] [ 0. 0. 0. 1. ]] SLAMing on 78.82800114499999 meters Centerline goodness [0,1] 0.9062625094515856 Centerline is valid? [False, False] Translation: X:4.15, Y:0.27, Z:-0.11 [[ 0.92738621 -0.01546473 -0.37378558 4.15017232] [ 0.0073591 0.99970601 -0.02310271 0.27157611] [ 0.37403297 0.01867441 0.92722738 -0.10868079] [ 0. 0. 0. 1. ]] SLAMing on 78.85800114499999 meters Centerline goodness [0,1] 0.9087221095334685 Centerline is valid? [False, False] Translation: X:4.15, Y:0.27, Z:-0.11 [[ 0.92730827 -0.01627818 -0.37394437 4.14956039] [ 0.00783199 0.99967899 -0.02409524 0.27487378] [ 0.37421656 0.01941499 0.92713808 -0.10766193] [ 0. 0. 0. 1. ]] SLAMing on 78.88800114499999 meters Centerline goodness [0,1] 0.9049816115011702 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:-0.11 [[ 0.9272257 -0.01694183 -0.3741196 4.14896846] [ 0.00821287 0.99965586 -0.02491399 0.27734771] [ 0.37441294 0.02002829 0.92704575 -0.10664266] [ 0. 0. 0. 1. ]] SLAMing on 78.91800114499999 meters Centerline goodness [0,1] 0.9071470023659658 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:-0.11 [[ 0.92714541 -0.01716816 -0.37430823 4.14927326] [ 0.00832021 0.99964676 -0.02524137 0.27828807] [ 0.37460936 0.0202881 0.92696074 -0.10630807] [ 0. 0. 0. 1. ]] SLAMing on 78.94800114499999 meters Centerline goodness [0,1] 0.9064171122994652 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:-0.11 [[ 0.92692305 -0.02104293 -0.37466099 4.15247777] [ 0.01109959 0.99952707 -0.02867797 0.27846671] [ 0.37508727 0.02242368 0.92671825 -0.10694103] [ 0. 0. 0. 1. ]] SLAMing on 78.978001145 meters Centerline goodness [0,1] 0.9042465539893558 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:-0.11 [[ 0.92692439 -0.02113583 -0.37465244 4.15272937] [ 0.01123086 0.99952779 -0.02860168 0.27666782] [ 0.37508005 0.02230393 0.92672406 -0.10723111] [ 0. 0. 0. 1. ]] SLAMing on 79.008001145 meters Centerline goodness [0,1] 0.9042465539893558 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:-0.11 [[ 0.92692439 -0.02113583 -0.37465244 4.15272937] [ 0.01123086 0.99952779 -0.02860168 0.27666782] [ 0.37508005 0.02230393 0.92672406 -0.10723111] [ 0. 0. 0. 1. ]] SLAMing on 79.03800114499998 meters Centerline goodness [0,1] 0.9036195473342523 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:-0.11 [[ 0.92691507 -0.02102761 -0.37468158 4.15334074] [ 0.01118135 0.99953314 -0.02843381 0.2758521 ] [ 0.37510455 0.02216628 0.92671745 -0.10759876] [ 0. 0. 0. 1. ]] SLAMing on 79.06800114499998 meters Centerline goodness [0,1] 0.906230557283797 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:-0.11 [[ 0.92711055 -0.01767692 -0.37437088 4.15007221] [ 0.00864677 0.99963007 -0.02578692 0.27799793] [ 0.37468822 0.02067023 0.92692043 -0.10642735] [ 0. 0. 0. 1. ]] SLAMing on 79.09800114499998 meters Centerline goodness [0,1] 0.9068520091181335 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:-0.11 [[ 0.92727841 -0.0138382 -0.37411664 4.14780522] [ 0.00580223 0.9997278 -0.02259763 0.27860253] [ 0.37432752 0.01878359 0.9271063 -0.10590502] [ 0. 0. 0. 1. ]] SLAMing on 79.12800114499998 meters Centerline goodness [0,1] 0.9046756557322063 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:-0.11 [[ 0.92717569 -0.01388765 -0.3743693 4.14810599] [ 0.0057126 0.99972057 -0.02293776 0.27993749] [ 0.37458324 0.01912871 0.92699595 -0.10528055] [ 0. 0. 0. 1. ]] SLAMing on 79.15800114499999 meters Centerline goodness [0,1] 0.9045758056231716 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:-0.11 [[ 0.92714411 -0.01382839 -0.37444969 4.1483212 ] [ 0.0056295 0.99972006 -0.02298081 0.27944316] [ 0.37466266 0.01919856 0.92696241 -0.10511764] [ 0. 0. 0. 1. ]] SLAMing on 79.18800114499999 meters Centerline goodness [0,1] 0.9039584540632104 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:-0.11 [[ 0.92742241 -0.01551798 -0.37369354 4.14754686] [ 0.00679319 0.99967298 -0.02465323 0.27611116] [ 0.37395391 0.02032538 0.92722454 -0.10549393] [ 0. 0. 0. 1. ]] SLAMing on 79.21800114499999 meters Centerline goodness [0,1] 0.9051453740573487 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:-0.11 [[ 0.92744225 -0.01568406 -0.37363738 4.14723768] [ 0.00690649 0.99966809 -0.02481948 0.27595454] [ 0.37390263 0.02043811 0.92724274 -0.10534105] [ 0. 0. 0. 1. ]] SLAMing on 79.24800114499999 meters Centerline goodness [0,1] 0.9035538642989074 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:-0.10 [[ 0.92744235 -0.01589436 -0.37362823 4.14676682] [ 0.00697602 0.99965784 -0.02520974 0.27708945] [ 0.37390109 0.02077414 0.9272359 -0.10478937] [ 0. 0. 0. 1. ]] SLAMing on 79.27800114499999 meters Centerline goodness [0,1] 0.9041316042052633 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:-0.10 [[ 0.92738725 -0.01639352 -0.37374342 4.14617957] [ 0.00722325 0.99963783 -0.02592374 0.27916554] [ 0.37403304 0.0213417 0.92716979 -0.10387818] [ 0. 0. 0. 1. ]] SLAMing on 79.30800114499999 meters Centerline goodness [0,1] 0.9030842920453019 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:-0.10 [[ 0.92734661 -0.01690795 -0.37382134 4.1456633 ] [ 0.00746335 0.99961568 -0.02669815 0.28174117] [ 0.37412908 0.02196848 0.9271164 -0.10295013] [ 0. 0. 0. 1. ]] SLAMing on 79.33800114499999 meters Centerline goodness [0,1] 0.9023091381007786 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:-0.10 [[ 0.9273302 -0.01703757 -0.37385615 4.14571301] [ 0.00756956 0.99961272 -0.02677898 0.28135305] [ 0.37416761 0.02200303 0.92710003 -0.10289852] [ 0. 0. 0. 1. ]] SLAMing on 79.368001145 meters Centerline goodness [0,1] 0.9003204625417386 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:-0.10 [[ 0.92730504 -0.01693333 -0.3739233 4.14622833] [ 0.00754715 0.99961895 -0.02655187 0.27991896] [ 0.37423043 0.02179963 0.92707948 -0.10317643] [ 0. 0. 0. 1. ]] SLAMing on 79.39800114499998 meters Centerline goodness [0,1] 0.8998524282264556 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:-0.10 [[ 0.92735562 -0.01739828 -0.37377648 4.14613195] [ 0.00799279 0.99961157 -0.02669873 0.27834095] [ 0.3740958 0.0217717 0.92713447 -0.1036076 ] [ 0. 0. 0. 1. ]] SLAMing on 79.42800114499998 meters Centerline goodness [0,1] 0.8986095017381228 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:-0.10 [[ 0.92737076 -0.01781416 -0.37371931 4.14582223] [ 0.00831111 0.99960022 -0.02702445 0.27873585] [ 0.37405133 0.02195567 0.92714808 -0.10350019] [ 0. 0. 0. 1. ]] SLAMing on 79.45800114499998 meters Centerline goodness [0,1] 0.8982876559216704 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:-0.10 [[ 0.9273921 -0.01835254 -0.37364031 4.14531438] [ 0.0087258 0.99958537 -0.02744001 0.27931826] [ 0.37398898 0.02218734 0.92716771 -0.10333543] [ 0. 0. 0. 1. ]] SLAMing on 79.48800114499998 meters Centerline goodness [0,1] 0.8992836355495859 Centerline is valid? [False, False] Translation: X:4.15, Y:0.28, Z:-0.10 [[ 0.92735484 -0.01881226 -0.37370991 4.14513574] [ 0.00910374 0.99957408 -0.02772698 0.27981681] [ 0.37407234 0.02231059 0.92713112 -0.10311641] [ 0. 0. 0. 1. ]] SLAMing on 79.51800114499999 meters Centerline goodness [0,1] 0.8965061294009548 Centerline is valid? [False, False] Translation: X:4.14, Y:0.28, Z:-0.10 [[ 0.92740696 -0.01973709 -0.37353283 4.14465043] [ 0.01000779 0.99955871 -0.02796831 0.27990937] [ 0.37392 0.02219977 0.92719523 -0.10361347] [ 0. 0. 0. 1. ]] SLAMing on 79.54800114499999 meters Centerline goodness [0,1] 0.8923418673009177 Centerline is valid? [False, False] Translation: X:4.14, Y:0.28, Z:-0.10 [[ 0.92741595 -0.0202756 -0.37348167 4.14414819] [ 0.01047804 0.99954612 -0.02824476 0.27975075] [ 0.37388483 0.02228128 0.92720746 -0.1035033 ] [ 0. 0. 0. 1. ]] SLAMing on 79.57800114499999 meters Centerline goodness [0,1] 0.8895157498824635 Centerline is valid? [False, False] Translation: X:4.14, Y:0.28, Z:-0.10 [[ 0.9274645 -0.02054901 -0.37334614 4.14365316] [ 0.01078796 0.99954365 -0.0282156 0.27865006] [ 0.37375557 0.02214133 0.92726293 -0.10362074] [ 0. 0. 0. 1. ]] SLAMing on 79.60800114499999 meters Centerline goodness [0,1] 0.8909913339454061 Centerline is valid? [False, False] Translation: X:4.14, Y:0.28, Z:-0.10 [[ 0.92753549 -0.02076703 -0.37315766 4.14349067] [ 0.01105942 0.99954289 -0.028137 0.27728091] [ 0.37357141 0.02197116 0.92734118 -0.10408716] [ 0. 0. 0. 1. ]] SLAMing on 79.63800114499999 meters Centerline goodness [0,1] 0.8890009186439919 Centerline is valid? [False, False] Translation: X:4.14, Y:0.28, Z:-0.10 [[ 0.92764109 -0.02143962 -0.37285701 4.14263547] [ 0.01161321 0.99952402 -0.02858074 0.27760857] [ 0.3732923 0.02218261 0.92744854 -0.10419973] [ 0. 0. 0. 1. ]] SLAMing on 79.66800114499999 meters Centerline goodness [0,1] 0.8903193970931276 Centerline is valid? [False, False] Translation: X:4.14, Y:0.28, Z:-0.10 [[ 0.92760931 -0.02195037 -0.37290636 4.14206245] [ 0.0118676 0.99949984 -0.02931272 0.27996223] [ 0.37336327 0.02276525 0.92740585 -0.10339873] [ 0. 0. 0. 1. ]] SLAMing on 79.69800114499999 meters Centerline goodness [0,1] 0.8866633658909844 Centerline is valid? [False, False] Translation: X:4.14, Y:0.28, Z:-0.10 [[ 0.92783286 -0.01804299 -0.37255958 4.13997797] [ 0.00900968 0.99962203 -0.02597353 0.28001472] [ 0.3728874 0.02074245 0.92764472 -0.10335052] [ 0. 0. 0. 1. ]] SLAMing on 79.728001145 meters Centerline goodness [0,1] 0.8887188604091185 Centerline is valid? [False, False] Translation: X:4.14, Y:0.28, Z:-0.10 [[ 0.92774051 -0.01816861 -0.37278337 4.14053079] [ 0.00896901 0.99961128 -0.02639772 0.28184249] [ 0.37311807 0.02114674 0.92754284 -0.10292972] [ 0. 0. 0. 1. ]] SLAMing on 79.758001145 meters Centerline goodness [0,1] 0.8859423623325666 Centerline is valid? [False, False] Translation: X:4.14, Y:0.28, Z:-0.10 [[ 0.92771208 -0.01812922 -0.37285604 4.14148905] [ 0.00880634 0.99960491 -0.02669208 0.28322415] [ 0.37319264 0.02147906 0.9275052 -0.10314932] [ 0. 0. 0. 1. ]] SLAMing on 79.78800114499998 meters Centerline goodness [0,1] 0.886071388357167 Centerline is valid? [False, False] Translation: X:4.14, Y:0.28, Z:-0.10 [[ 0.92769481 -0.01809301 -0.37290077 4.14220992] [ 0.00877049 0.99960551 -0.02668146 0.28320066] [ 0.37323641 0.02148173 0.92748753 -0.10352274] [ 0. 0. 0. 1. ]] SLAMing on 79.81800114499998 meters Centerline goodness [0,1] 0.8870577596925512 Centerline is valid? [False, False] Translation: X:4.14, Y:0.28, Z:-0.10 [[ 0.92765282 -0.01802687 -0.37300842 4.14319759] [ 0.00870851 0.99960685 -0.02665169 0.28319224] [ 0.37334221 0.02147516 0.9274451 -0.10390894] [ 0. 0. 0. 1. ]] SLAMing on 79.84800114499998 meters Centerline goodness [0,1] 0.8877839303876144 Centerline is valid? [False, False] Translation: X:4.14, Y:0.28, Z:-0.10 [[ 0.92760717 -0.01816456 -0.37311525 4.14391408] [ 0.00874493 0.99959926 -0.0269231 0.28433146] [ 0.37345477 0.02171119 0.92739428 -0.10402369] [ 0. 0. 0. 1. ]] SLAMing on 79.87800114499998 meters Centerline goodness [0,1] 0.8873754228245817 Centerline is valid? [False, False] Translation: X:4.14, Y:0.29, Z:-0.10 [[ 0.92780583 -0.01461056 -0.37277725 4.14198786] [ 0.00606774 0.99969163 -0.02407972 0.28653542] [ 0.37301411 0.02007939 0.92760837 -0.10391929] [ 0. 0. 0. 1. ]] SLAMing on 79.90800114499999 meters Centerline goodness [0,1] 0.8854626553183742 Centerline is valid? [False, False] Translation: X:4.14, Y:0.29, Z:-0.10 [[ 0.92774519 -0.01516325 -0.37290607 4.14178879] [ 0.00634959 0.99967098 -0.02485199 0.28869009] [ 0.37316021 0.02068851 0.92753622 -0.10323273] [ 0. 0. 0. 1. ]] SLAMing on 79.93800114499999 meters Centerline goodness [0,1] 0.887200400984234 Centerline is valid? [False, False] Translation: X:4.14, Y:0.29, Z:-0.10 [[ 0.92774763 -0.01555939 -0.37288368 4.14187724] [ 0.00644725 0.99964964 -0.0256716 0.29138395] [ 0.37315247 0.02141269 0.9275229 -0.10289618] [ 0. 0. 0. 1. ]] SLAMing on 79.96800114499999 meters Centerline goodness [0,1] 0.8885445388874963 Centerline is valid? [False, False] Translation: X:4.14, Y:0.29, Z:-0.10 [[ 0.92769408 -0.01578819 -0.37300727 4.14217262] [ 0.00653856 0.99963927 -0.02604964 0.29239489] [ 0.37328399 0.02172716 0.92746266 -0.10266414] [ 0. 0. 0. 1. ]] SLAMing on 79.99800114499999 meters Centerline goodness [0,1] 0.8855903174240695 Centerline is valid? [False, False] Translation: X:4.14, Y:0.29, Z:-0.10 [[ 0.92764273 -0.01611422 -0.37312103 4.14240279] [ 0.00669616 0.99962576 -0.02652369 0.29381285] [ 0.3734088 0.02210603 0.92740347 -0.10242011] [ 0. 0. 0. 1. ]] SLAMing on 80.02800114499999 meters Centerline goodness [0,1] 0.8877180149495966 Centerline is valid? [False, False] Translation: X:4.14, Y:0.30, Z:-0.10 [[ 0.92760915 -0.01672191 -0.37317777 4.14197443] [ 0.00700116 0.99960034 -0.02738881 0.29635103] [ 0.37348662 0.02279343 0.92735549 -0.10169879] [ 0. 0. 0. 1. ]] SLAMing on 80.05800114499999 meters Centerline goodness [0,1] 0.8881376201646658 Centerline is valid? [False, False] Translation: X:4.14, Y:0.30, Z:-0.10 [[ 0.92786358 -0.01395185 -0.37265872 4.1385742 ] [ 0.00487669 0.99966841 -0.02528404 0.30068462] [ 0.37288791 0.0216428 0.92762395 -0.10096288] [ 0. 0. 0. 1. ]] SLAMing on 80.08800114499999 meters Centerline goodness [0,1] 0.8856005339102018 Centerline is valid? [False, False] Translation: X:4.14, Y:0.30, Z:-0.10 [[ 0.92779749 -0.01439998 -0.37280619 4.13901279] [ 0.00513 0.99965279 -0.02584552 0.30266165] [ 0.37304892 0.02206691 0.92754922 -0.10076225] [ 0. 0. 0. 1. ]] SLAMing on 80.118001145 meters Centerline goodness [0,1] 0.8843121888253734 Centerline is valid? [False, False] Translation: X:4.14, Y:0.30, Z:-0.10 [[ 0.92781558 -0.01477405 -0.37274654 4.13933007] [ 0.00541517 0.99964356 -0.02614245 0.30314139] [ 0.37299991 0.02223688 0.92756487 -0.10110309] [ 0. 0. 0. 1. ]] SLAMing on 80.14800114499998 meters Centerline goodness [0,1] 0.8843733431686683 Centerline is valid? [False, False] Translation: X:4.14, Y:0.30, Z:-0.10 [[ 0.92779838 -0.01516602 -0.3727736 4.13986185] [ 0.00571644 0.99963401 -0.02644168 0.30327333] [ 0.37303818 0.02240161 0.92754552 -0.1014062 ] [ 0. 0. 0. 1. ]] SLAMing on 80.17800114499998 meters Centerline goodness [0,1] 0.8791681109185442 Centerline is valid? [False, False] Translation: X:4.14, Y:0.30, Z:-0.10 [[ 0.92778805 -0.01576409 -0.37277451 4.13970535] [ 0.00614479 0.99961712 -0.02697876 0.30413017] [ 0.37305708 0.02273995 0.92752968 -0.10125892] [ 0. 0. 0. 1. ]] SLAMing on 80.20800114499998 meters Centerline goodness [0,1] 0.8771637508099602 Centerline is valid? [False, False] Translation: X:4.14, Y:0.31, Z:-0.10 [[ 0.92775726 -0.01711649 -0.37279148 4.13894969] [ 0.00703688 0.99957237 -0.02838224 0.308209 ] [ 0.37311787 0.02370854 0.92748098 -0.10039706] [ 0. 0. 0. 1. ]] SLAMing on 80.23800114499998 meters Centerline goodness [0,1] 0.8763661677688827 Centerline is valid? [False, False] Translation: X:4.14, Y:0.31, Z:-0.10 [[ 0.9277461 -0.01784348 -0.37278518 4.13844244] [ 0.0074759 0.99954451 -0.02923833 0.31040847] [ 0.37313709 0.02433884 0.92745692 -0.09981414] [ 0. 0. 0. 1. ]] SLAMing on 80.26800114499999 meters Centerline goodness [0,1] 0.8770146754424727 Centerline is valid? [False, False] Translation: X:4.14, Y:0.31, Z:-0.10 [[ 0.9277106 -0.01826982 -0.37285287 4.13850464] [ 0.00768658 0.99952479 -0.0298515 0.3124449 ] [ 0.37322107 0.02482759 0.92741017 -0.09945228] [ 0. 0. 0. 1. ]] SLAMing on 80.29800114499999 meters Centerline goodness [0,1] 0.8764778296518245 Centerline is valid? [False, False] Translation: X:4.14, Y:0.31, Z:-0.10 [[ 0.92761854 -0.01845551 -0.37307269 4.13913754] [ 0.00769017 0.99951055 -0.03032367 0.31427024] [ 0.37344973 0.0252598 0.92730645 -0.09911183] [ 0. 0. 0. 1. ]] SLAMing on 80.32800114499999 meters Centerline goodness [0,1] 0.8769947119659319 Centerline is valid? [False, False] Translation: X:4.14, Y:0.32, Z:-0.10 [[ 9.27716451e-01 -1.37609889e-02 -3.73031932e-01 4.13958581e+00] [ 3.99140786e-03 9.99628830e-01 -2.69493993e-02 3.15872593e-01] [ 3.73264324e-01 2.35124785e-02 9.27427036e-01 -9.95268457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.35800114499999 meters Centerline goodness [0,1] 0.8821941601727538 Centerline is valid? [False, False] Translation: X:4.14, Y:0.32, Z:-0.10 [[ 9.27640604e-01 -1.38832312e-02 -3.73215977e-01 4.14031323e+00] [ 3.84034389e-03 9.99610589e-01 -2.76391329e-02 3.18874773e-01] [ 3.73454364e-01 2.42059042e-02 9.27332687e-01 -9.91026425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38800114499999 meters Centerline goodness [0,1] 0.8805068409422163 Centerline is valid? [False, False] Translation: X:4.14, Y:0.32, Z:-0.10 [[ 9.27525278e-01 -1.41555765e-02 -3.73492274e-01 4.14078785e+00] [ 3.74564778e-03 9.99584406e-01 -2.85829488e-02 3.22623460e-01] [ 3.73741661e-01 2.51124370e-02 9.27192826e-01 -9.81565933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41800114499999 meters Centerline goodness [0,1] 0.8824290317269926 Centerline is valid? [False, False] Translation: X:4.14, Y:0.33, Z:-0.10 [[ 9.27444304e-01 -1.46125638e-02 -3.73675708e-01 4.14070372e+00] [ 3.81270785e-03 9.99553825e-01 -2.96245369e-02 3.26193395e-01] [ 3.73941874e-01 2.60503917e-02 9.27086216e-01 -9.71151152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44800114499999 meters Centerline goodness [0,1] 0.8838018995286706 Centerline is valid? [False, False] Translation: X:4.14, Y:0.33, Z:-0.10 [[ 9.27389121e-01 -1.53119698e-02 -3.73784647e-01 4.14052274e+00] [ 3.92937649e-03 9.99505583e-01 -3.11953378e-02 3.31982806e-01] [ 3.74077504e-01 2.74614763e-02 9.26990770e-01 -9.57493436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.478001145 meters Centerline goodness [0,1] 0.8801130695044895 Centerline is valid? [False, False] Translation: X:4.14, Y:0.33, Z:-0.10 [[ 9.27372783e-01 -1.57008505e-02 -3.73809049e-01 4.14081952e+00] [ 4.09739895e-03 9.99485357e-01 -3.18155858e-02 3.34074075e-01] [ 3.74116203e-01 2.79732635e-02 9.26959850e-01 -9.56303363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50800114499998 meters Centerline goodness [0,1] 0.8828910381628472 Centerline is valid? [False, False] Translation: X:4.14, Y:0.34, Z:-0.10 [[ 0.92731048 -0.01592355 -0.37395417 4.14155931] [ 0.00418803 0.99947351 -0.0321739 0.3352898 ] [ 0.37426961 0.02826907 0.92688895 -0.09563313] [ 0. 0. 0. 1. ]] SLAMing on 80.53800114499998 meters Centerline goodness [0,1] 0.8803722706120988 Centerline is valid? [False, False] Translation: X:4.14, Y:0.34, Z:-0.10 [[ 0.92728924 -0.01673947 -0.37397119 4.14245613] [ 0.00470684 0.9994421 -0.03306546 0.33840296] [ 0.37431605 0.02890102 0.9268507 -0.09597267] [ 0. 0. 0. 1. ]] SLAMing on 80.56800114499998 meters Centerline goodness [0,1] 0.8793909603165089 Centerline is valid? [False, False] Translation: X:4.14, Y:0.34, Z:-0.10 [[ 0.92726762 -0.0176063 -0.37398499 4.14200296] [ 0.0052613 0.99940783 -0.03400467 0.34100845] [ 0.37436222 0.02956378 0.92681115 -0.09544515] [ 0. 0. 0. 1. ]] SLAMing on 80.59800114499998 meters Centerline goodness [0,1] 0.8718102888477357 Centerline is valid? [False, False] Translation: X:4.14, Y:0.34, Z:-0.09 [[ 0.92725944 -0.01857934 -0.3739582 4.1410474 ] [ 0.00587035 0.99936672 -0.03509545 0.34392897] [ 0.37437343 0.03034732 0.9267813 -0.09460309] [ 0. 0. 0. 1. ]] SLAMing on 80.62800114499998 meters Centerline goodness [0,1] 0.8762238607518433 Centerline is valid? [False, False] Translation: X:4.14, Y:0.35, Z:-0.09 [[ 0.92736051 -0.0198839 -0.37364036 4.13959871] [ 0.0066612 0.99930607 -0.03664693 0.34825599] [ 0.37410977 0.03149602 0.92684944 -0.09379535] [ 0. 0. 0. 1. ]] SLAMing on 80.65800114499999 meters Centerline goodness [0,1] 0.8769569530815206 Centerline is valid? [False, False] Translation: X:4.14, Y:0.35, Z:-0.09 [[ 0.92731103 -0.02011866 -0.37375058 4.14002455] [ 0.0067236 0.99928861 -0.03710891 0.34976874] [ 0.37423127 0.03189855 0.92678662 -0.09354768] [ 0. 0. 0. 1. ]] SLAMing on 80.68800114499999 meters Centerline goodness [0,1] 0.8712220443409499 Centerline is valid? [False, False] Translation: X:4.14, Y:0.35, Z:-0.09 [[ 0.92728494 -0.02042738 -0.37379855 4.14033474] [ 0.00683823 0.9992678 -0.03764443 0.35155659] [ 0.37429384 0.03235099 0.92674567 -0.09334721] [ 0. 0. 0. 1. ]] SLAMing on 80.71800114499999 meters Centerline goodness [0,1] 0.8788587578880687 Centerline is valid? [False, False] Translation: X:4.14, Y:0.35, Z:-0.09 [[ 0.92725643 -0.0208789 -0.37384433 4.14057812] [ 0.00702093 0.99923807 -0.0383924 0.35417706] [ 0.37436108 0.03297487 0.92669652 -0.09302585] [ 0. 0. 0. 1. ]] SLAMing on 80.74800114499999 meters Centerline goodness [0,1] 0.8712902830535474 Centerline is valid? [False, False] Translation: X:4.14, Y:0.36, Z:-0.09 [[ 0.9273048 -0.01845026 -0.3738521 4.14222965] [ 0.00499683 0.99930561 -0.03692331 0.35922612] [ 0.37427375 0.03237109 0.92675308 -0.09344277] [ 0. 0. 0. 1. ]] SLAMing on 80.77800114499999 meters Centerline goodness [0,1] 0.8782435129740519 Centerline is valid? [False, False] Translation: X:4.14, Y:0.36, Z:-0.09 [[ 0.92726214 -0.01895727 -0.37393254 4.14247818] [ 0.00516467 0.99926998 -0.03785288 0.36264128] [ 0.37437715 0.03316831 0.92668312 -0.09289737] [ 0. 0. 0. 1. ]] SLAMing on 80.80800114499999 meters Centerline goodness [0,1] 0.8769871589480689 Centerline is valid? [False, False] Translation: X:4.14, Y:0.36, Z:-0.09 [[ 0.92721565 -0.01921118 -0.37403485 4.14306917] [ 0.00520823 0.9992484 -0.03841244 0.36483259] [ 0.37449167 0.03366856 0.92661881 -0.09267505] [ 0. 0. 0. 1. ]] SLAMing on 80.83800114499999 meters Centerline goodness [0,1] 0.8777777777777778 Centerline is valid? [False, False] Translation: X:4.14, Y:0.37, Z:-0.09 [[ 0.92725496 -0.02007435 -0.37389204 4.14294195] [ 0.00569147 0.99920208 -0.03953248 0.36833294] [ 0.3743873 0.0345287 0.92662933 -0.09241626] [ 0. 0. 0. 1. ]] SLAMing on 80.868001145 meters Centerline goodness [0,1] 0.8731757042341066 Centerline is valid? [False, False] Translation: X:4.14, Y:0.37, Z:-0.09 [[ 0.92723743 -0.02057107 -0.37390852 4.14305116] [ 0.00595097 0.9991734 -0.04021331 0.37015332] [ 0.37442668 0.03506217 0.92659339 -0.0921262 ] [ 0. 0. 0. 1. ]] SLAMing on 80.89800114499998 meters Centerline goodness [0,1] 0.8748009554140127 Centerline is valid? [False, False] Translation: X:4.14, Y:0.37, Z:-0.09 [[ 0.92724001 -0.02106328 -0.37387473 4.14296288] [ 0.00621412 0.99914482 -0.04087808 0.37204583] [ 0.37441602 0.03558049 0.92657794 -0.09184816] [ 0. 0. 0. 1. ]] SLAMing on 80.92800114499998 meters Centerline goodness [0,1] 0.8748009554140127 Centerline is valid? [False, False] Translation: X:4.14, Y:0.37, Z:-0.09 [[ 0.92724001 -0.02106328 -0.37387473 4.14296288] [ 0.00621412 0.99914482 -0.04087808 0.37204583] [ 0.37441602 0.03558049 0.92657794 -0.09184816] [ 0. 0. 0. 1. ]] SLAMing on 80.95800114499998 meters Centerline goodness [0,1] 0.8737927401349622 Centerline is valid? [False, False] Translation: X:4.14, Y:0.38, Z:-0.09 [[ 0.92727911 -0.02190026 -0.37372962 4.14267556] [ 0.00669392 0.9990978 -0.04193773 0.37621742] [ 0.37431089 0.03638626 0.92658912 -0.09149878] [ 0. 0. 0. 1. ]] SLAMing on 80.98800114499998 meters Centerline goodness [0,1] 0.8652348656116553 Centerline is valid? [False, False] Translation: X:4.14, Y:0.38, Z:-0.09 [[ 0.92726527 -0.02242193 -0.37373303 4.14257514] [ 0.00696072 0.99906505 -0.04266826 0.37879236] [ 0.37434032 0.03696335 0.92655439 -0.09108694] [ 0. 0. 0. 1. ]] SLAMing on 81.01800114499999 meters Centerline goodness [0,1] 0.8673002463921154 Centerline is valid? [False, False] Translation: X:4.14, Y:0.38, Z:-0.09 [[ 0.92721041 -0.02278408 -0.37384721 4.14281182] [ 0.00708553 0.99903644 -0.04331276 0.38108723] [ 0.37447382 0.03751113 0.92647843 -0.09057122] [ 0. 0. 0. 1. ]] SLAMing on 81.04800114499999 meters Centerline goodness [0,1] 0.8732451165721486 Centerline is valid? [False, False] Translation: X:4.14, Y:0.38, Z:-0.09 [[ 0.92711236 -0.02295179 -0.37408005 4.14348993] [ 0.00703759 0.99901321 -0.04385292 0.3832386 ] [ 0.37471742 0.03802396 0.92635902 -0.09004025] [ 0. 0. 0. 1. ]] SLAMing on 81.07800114499999 meters Centerline goodness [0,1] 0.8633879781420765 Centerline is valid? [False, False] Translation: X:4.14, Y:0.39, Z:-0.09 [[ 0.92703581 -0.02304945 -0.3742637 4.1443964 ] [ 0.00693143 0.99899178 -0.04435518 0.38546362] [ 0.37490873 0.03852466 0.92626092 -0.08972281] [ 0. 0. 0. 1. ]] SLAMing on 81.10800114499999 meters Centerline goodness [0,1] 0.8760089344636783 Centerline is valid? [False, False] Translation: X:4.14, Y:0.39, Z:-0.09 [[ 9.27258525e-01 -1.85448912e-02 -3.73962183e-01 4.14417990e+00] [ 3.42141416e-03 9.99150636e-01 -4.10645918e-02 3.88114094e-01] [ 3.74406091e-01 3.67980133e-02 9.26534395e-01 -9.02287045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13800114499999 meters Centerline goodness [0,1] 0.8765020366598778 Centerline is valid? [False, False] Translation: X:4.15, Y:0.39, Z:-0.09 [[ 9.27110520e-01 -1.83358589e-02 -3.74339258e-01 4.14601788e+00] [ 3.04311697e-03 9.99137896e-01 -4.14029397e-02 3.90876009e-01] [ 3.74775697e-01 3.72459428e-02 9.26367053e-01 -9.00505247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16800114499999 meters Centerline goodness [0,1] 0.8821759967370246 Centerline is valid? [False, False] Translation: X:4.15, Y:0.39, Z:-0.09 [[ 9.26934607e-01 -1.78237924e-02 -3.74799341e-01 4.14852897e+00] [ 2.44303583e-03 9.99136659e-01 -4.14725114e-02 3.92983027e-01] [ 3.75214959e-01 3.75266578e-02 9.26177890e-01 -9.01198003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19800114499999 meters Centerline goodness [0,1] 0.8817689762204037 Centerline is valid? [False, False] Translation: X:4.15, Y:0.40, Z:-0.09 [[ 9.26824518e-01 -1.75139071e-02 -3.75086092e-01 4.15039568e+00] [ 1.99678916e-03 9.99127418e-01 -4.17182934e-02 3.95226053e-01] [ 3.75489449e-01 3.79165693e-02 9.26050759e-01 -9.01120589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.228001145 meters Centerline goodness [0,1] 0.8814135586235319 Centerline is valid? [False, False] Translation: X:4.15, Y:0.40, Z:-0.09 [[ 9.27001598e-01 -1.25358278e-02 -3.74847822e-01 4.15116733e+00] [-1.87140093e-03 9.99274230e-01 -3.80461630e-02 3.96598837e-01] [ 3.75052709e-01 3.59703445e-02 9.26305349e-01 -9.10210279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25800114499998 meters Centerline goodness [0,1] 0.8812692178496679 Centerline is valid? [False, False] Translation: X:4.15, Y:0.40, Z:-0.09 [[ 9.26943466e-01 -1.25568752e-02 -3.74990848e-01 4.15177865e+00] [-2.06339340e-03 9.99254104e-01 -3.85613627e-02 3.98787933e-01] [ 3.75195353e-01 3.65179568e-02 9.26226152e-01 -9.05432165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28800114499998 meters Centerline goodness [0,1] 0.8827782081074103 Centerline is valid? [False, False] Translation: X:4.15, Y:0.40, Z:-0.09 [[ 9.26847417e-01 -1.25303226e-02 -3.75229073e-01 4.15269992e+00] [-2.31731455e-03 9.99232923e-01 -3.90921413e-02 4.01111599e-01] [ 3.75431080e-01 3.71019740e-02 9.26107417e-01 -8.99579039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31800114499998 meters Centerline goodness [0,1] 0.8808412426741352 Centerline is valid? [False, False] Translation: X:4.15, Y:0.40, Z:-0.09 [[ 9.26682816e-01 -1.23582221e-02 -3.75641097e-01 4.15387989e+00] [-2.69500354e-03 9.99215082e-01 -3.95215953e-02 4.03345128e-01] [ 3.75834666e-01 3.76363373e-02 9.25922140e-01 -8.91566379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34800114499998 meters Centerline goodness [0,1] 0.8771372804163956 Centerline is valid? [False, False] Translation: X:4.15, Y:0.40, Z:-0.09 [[ 0.92682466 -0.00730238 -0.37542339 4.15448584] [-0.00655579 0.9993438 -0.03562286 0.40398187] [ 0.37543717 0.03547734 0.92616861 -0.09008703] [ 0. 0. 0. 1. ]] SLAMing on 81.37800114499998 meters Centerline goodness [0,1] 0.8804670802272846 Centerline is valid? [False, False] Translation: X:4.16, Y:0.41, Z:-0.09 [[ 0.92670523 -0.00718604 -0.37572035 4.15554127] [-0.00682716 0.99933019 -0.03595226 0.40561603] [ 0.37572704 0.03588225 0.92603545 -0.08959226] [ 0. 0. 0. 1. ]] SLAMing on 81.40800114499999 meters Centerline goodness [0,1] 0.8806114449960805 Centerline is valid? [False, False] Translation: X:4.16, Y:0.41, Z:-0.09 [[ 0.92663426 -0.00724596 -0.3758942 4.15600875] [-0.00699038 0.99930937 -0.03649557 0.40777458] [ 0.37589904 0.03644569 0.92594364 -0.08891872] [ 0. 0. 0. 1. ]] SLAMing on 81.43800114499999 meters Centerline goodness [0,1] 0.8781822943949712 Centerline is valid? [False, False] Translation: X:4.16, Y:0.41, Z:-0.09 [[ 0.92654626 -0.00746722 -0.37610672 4.15642717] [-0.00708119 0.99927961 -0.03728432 0.41038983] [ 0.37611419 0.03720893 0.92582591 -0.08799241] [ 0. 0. 0. 1. ]] SLAMing on 81.46800114499999 meters Centerline goodness [0,1] 0.8850043340075123 Centerline is valid? [False, False] Translation: X:4.16, Y:0.41, Z:-0.09 [[ 9.26589052e-01 -1.97029863e-03 -3.76070267e-01 4.15764692e+00] [-1.13514843e-02 9.99384111e-01 -3.32045560e-02 4.10487711e-01] [ 3.75904073e-01 3.50359338e-02 9.25996011e-01 -8.87008127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.49800114499999 meters Centerline goodness [0,1] 0.8785981160869336 Centerline is valid? [False, False] Translation: X:4.16, Y:0.41, Z:-0.09 [[ 9.26475899e-01 -1.55181538e-03 -3.76350900e-01 4.15933744e+00] [-1.18679908e-02 9.99373716e-01 -3.33365775e-02 4.11725670e-01] [ 3.76166929e-01 3.53520646e-02 9.25877245e-01 -8.86181907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52800114499999 meters Centerline goodness [0,1] 0.880931041754534 Centerline is valid? [False, False] Translation: X:4.16, Y:0.41, Z:-0.09 [[ 9.26319238e-01 -5.85229788e-04 -3.76739069e-01 4.16222500e+00] [-1.29235203e-02 9.99360891e-01 -3.33285349e-02 4.13837725e-01] [ 3.76517797e-01 3.57416580e-02 9.25719656e-01 -8.86444852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55800114499999 meters Centerline goodness [0,1] 0.8814580031695721 Centerline is valid? [False, False] Translation: X:4.16, Y:0.42, Z:-0.09 [[ 9.26215312e-01 -5.72085186e-04 -3.76994520e-01 4.16320811e+00] [-1.30868580e-02 9.99347359e-01 -3.36688186e-02 4.15181029e-01] [ 3.76767739e-01 3.61182491e-02 9.25603340e-01 -8.82984342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58800114499999 meters Centerline goodness [0,1] 0.8806836248012718 Centerline is valid? [False, False] Translation: X:4.16, Y:0.42, Z:-0.09 [[ 9.26130129e-01 -6.84956455e-04 -3.77203546e-01 4.16348937e+00] [-1.31285478e-02 9.99333946e-01 -3.40485767e-02 4.15873625e-01] [ 3.76975630e-01 3.64855476e-02 9.25504284e-01 -8.76297352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.618001145 meters Centerline goodness [0,1] 0.8801100732939963 Centerline is valid? [False, False] Translation: X:4.16, Y:0.42, Z:-0.09 [[ 9.26106938e-01 -8.10502408e-04 -3.77260231e-01 4.16351962e+00] [-1.30950768e-02 9.99326026e-01 -3.42930332e-02 4.15642400e-01] [ 3.77033762e-01 3.66992676e-02 9.25472153e-01 -8.72526230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64800114499998 meters Centerline goodness [0,1] 0.8809291276230699 Centerline is valid? [False, False] Translation: X:4.16, Y:0.41, Z:-0.09 [[ 9.26084515e-01 -1.12260322e-03 -3.77314473e-01 4.16270456e+00] [-1.28770491e-02 9.99319013e-01 -3.45787810e-02 4.13975443e-01] [ 3.77096345e-01 3.68815706e-02 9.25439407e-01 -8.63550292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67800114499998 meters Centerline goodness [0,1] 0.8776820632068492 Centerline is valid? [False, False] Translation: X:4.16, Y:0.41, Z:-0.09 [[ 9.26105705e-01 -1.43995590e-03 -3.77261380e-01 4.16200953e+00] [-1.26616232e-02 9.99310734e-01 -3.48961371e-02 4.13807878e-01] [ 3.77051596e-01 3.70942531e-02 9.25449140e-01 -8.58384089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70800114499998 meters Centerline goodness [0,1] 0.8799176759281248 Centerline is valid? [False, False] Translation: X:4.16, Y:0.41, Z:-0.09 [[ 9.26129143e-01 -1.76527747e-03 -3.77202457e-01 4.16131784e+00] [-1.23896929e-02 9.99307123e-01 -3.50965635e-02 4.13110904e-01] [ 3.77003058e-01 3.71773729e-02 9.25465579e-01 -8.54928265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73800114499998 meters Centerline goodness [0,1] 0.8804176309699138 Centerline is valid? [False, False] Translation: X:4.16, Y:0.41, Z:-0.09 [[ 9.26157891e-01 -2.03326616e-03 -3.77130517e-01 4.16080549e+00] [-1.20774976e-02 9.99312662e-01 -3.50476500e-02 4.11184611e-01] [ 3.76942562e-01 3.70144505e-02 9.25496751e-01 -8.55028048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.76800114499999 meters Centerline goodness [0,1] 0.8812599910899133 Centerline is valid? [False, False] Translation: X:4.16, Y:0.41, Z:-0.09 [[ 9.26209004e-01 -2.14870418e-03 -3.77004329e-01 4.16060522e+00] [-1.18303324e-02 9.99325671e-01 -3.47598546e-02 4.08433142e-01] [ 3.76824793e-01 3.66549768e-02 9.25559014e-01 -8.59852298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.79800114499999 meters Centerline goodness [0,1] 0.882342220370756 Centerline is valid? [False, False] Translation: X:4.16, Y:0.41, Z:-0.09 [[ 0.92603115 -0.00682148 -0.37738544 4.16165715] [-0.00826876 0.99923009 -0.03835167 0.40623715] [ 0.3773565 0.03863535 0.92526179 -0.08548893] [ 0. 0. 0. 1. ]] SLAMing on 81.82800114499999 meters Centerline goodness [0,1] 0.8858771702513605 Centerline is valid? [False, False] Translation: X:4.16, Y:0.40, Z:-0.09 [[ 0.92604159 -0.00696178 -0.37735726 4.16138369] [-0.0080624 0.99923682 -0.03821998 0.4048951 ] [ 0.37733535 0.0384357 0.92527873 -0.08552549] [ 0. 0. 0. 1. ]] SLAMing on 81.85800114499999 meters Centerline goodness [0,1] 0.8890615288999378 Centerline is valid? [False, False] Translation: X:4.16, Y:0.40, Z:-0.08 [[ 0.92612255 -0.00774219 -0.37714331 4.15891694] [-0.00733363 0.99923087 -0.03852136 0.40219415] [ 0.37715147 0.03844133 0.92535346 -0.08460043] [ 0. 0. 0. 1. ]] SLAMing on 81.88800114499999 meters Centerline goodness [0,1] 0.8876867594023699 Centerline is valid? [False, False] Translation: X:4.16, Y:0.40, Z:-0.08 [[ 0.92609659 -0.00752934 -0.37721137 4.15912426] [-0.00739001 0.99924703 -0.03808883 0.3996522 ] [ 0.37721412 0.03806153 0.92534363 -0.08468378] [ 0. 0. 0. 1. ]] SLAMing on 81.91800114499999 meters Centerline goodness [0,1] 0.8897613469608423 Centerline is valid? [False, False] Translation: X:4.16, Y:0.40, Z:-0.08 [[ 0.92605951 -0.00728295 -0.37730724 4.15940834] [-0.00751348 0.99925975 -0.03772916 0.39726195] [ 0.37730272 0.03777434 0.92531927 -0.08469384] [ 0. 0. 0. 1. ]] SLAMing on 81.94800114499999 meters Centerline goodness [0,1] 0.8873275618465333 Centerline is valid? [False, False] Translation: X:4.16, Y:0.40, Z:-0.08 [[ 0.92598806 -0.00695927 -0.37748866 4.16008048] [-0.00773721 0.99927035 -0.03740181 0.39546816] [ 0.37747352 0.03755434 0.92525857 -0.08468351] [ 0. 0. 0. 1. ]] SLAMing on 81.978001145 meters Centerline goodness [0,1] 0.889652519553789 Centerline is valid? [False, False] Translation: X:4.16, Y:0.39, Z:-0.08 [[ 0.92582084 -0.00574979 -0.37791892 4.16198096] [-0.00870847 0.99929434 -0.03653751 0.39300442] [ 0.37786232 0.03711828 0.92511745 -0.08463084] [ 0. 0. 0. 1. ]] SLAMing on 82.00800114499998 meters Centerline goodness [0,1] 0.8883748274628086 Centerline is valid? [False, False] Translation: X:4.16, Y:0.39, Z:-0.08 [[ 0.92574437 -0.00534084 -0.3781122 4.16283187] [-0.00907476 0.99929853 -0.03633314 0.39228613] [ 0.37804102 0.03706648 0.92504652 -0.08448087] [ 0. 0. 0. 1. ]] SLAMing on 82.03800114499998 meters Centerline goodness [0,1] 0.8907734750178808 Centerline is valid? [False, False] Translation: X:4.16, Y:0.39, Z:-0.08 [[ 0.9256589 -0.00498656 -0.37832624 4.16332469] [-0.00940577 0.99930086 -0.03618467 0.3911133 ] [ 0.37824217 0.03705311 0.92496482 -0.08407359] [ 0. 0. 0. 1. ]] SLAMing on 82.06800114499998 meters Centerline goodness [0,1] 0.8860681905248372 Centerline is valid? [False, False] Translation: X:4.16, Y:0.39, Z:-0.08 [[ 0.92552184 -0.00427964 -0.37867005 4.16465394] [-0.00995472 0.99931566 -0.03562473 0.38901315] [ 0.37856337 0.03674102 0.92484586 -0.0840513 ] [ 0. 0. 0. 1. ]] SLAMing on 82.09800114499998 meters Centerline goodness [0,1] 0.8921834249107436 Centerline is valid? [False, False] Translation: X:4.17, Y:0.38, Z:-0.08 [[ 9.25400687e-01 -3.13099061e-03 -3.78977263e-01 4.16619200e+00] [-1.07589597e-02 9.99345820e-01 -3.45279053e-02 3.84038782e-01] [ 3.78837450e-01 3.60295483e-02 9.24761622e-01 -8.43727115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.12800114499998 meters Centerline goodness [0,1] 0.8945374649594666 Centerline is valid? [False, False] Translation: X:4.17, Y:0.38, Z:-0.08 [[ 9.25353401e-01 -2.84511926e-03 -3.79094960e-01 4.16639023e+00] [-1.09505721e-02 9.99353986e-01 -3.42300261e-02 3.82011337e-01] [ 3.78947448e-01 3.58261778e-02 9.24724454e-01 -8.42019380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.15800114499999 meters Centerline goodness [0,1] 0.8948081603974806 Centerline is valid? [False, False] Translation: X:4.16, Y:0.38, Z:-0.08 [[ 9.25352123e-01 -3.33345298e-03 -3.79094101e-01 4.16441122e+00] [-1.03898788e-02 9.99362750e-01 -3.41488436e-02 3.77945315e-01] [ 3.78966357e-01 3.55384467e-02 9.24727808e-01 -8.32272689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.18800114499999 meters Centerline goodness [0,1] 0.893184028730329 Centerline is valid? [False, False] Translation: X:4.16, Y:0.38, Z:-0.08 [[ 9.25364359e-01 -3.76742591e-03 -3.79060166e-01 4.16312859e+00] [-9.90175289e-03 9.99369209e-01 -3.41048199e-02 3.75087650e-01] [ 3.78949545e-01 3.53127449e-02 9.24743344e-01 -8.27617937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.21800114499999 meters Centerline goodness [0,1] 0.8933719016507905 Centerline is valid? [False, False] Translation: X:4.16, Y:0.37, Z:-0.08 [[ 9.25392900e-01 -4.08839523e-03 -3.78987157e-01 4.16219056e+00] [-9.43213989e-03 9.99383702e-01 -3.38119923e-02 3.71650915e-01] [ 3.78891825e-01 3.48640375e-02 9.24784020e-01 -8.27781834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.24800114499999 meters Centerline goodness [0,1] 0.8918557416030912 Centerline is valid? [False, False] Translation: X:4.16, Y:0.37, Z:-0.08 [[ 0.92513844 -0.00876742 -0.37952865 4.1635925 ] [-0.00595137 0.99927548 -0.03759113 0.37061944] [ 0.37958325 0.03703571 0.92441599 -0.08202632] [ 0. 0. 0. 1. ]] SLAMing on 82.27800114499999 meters Centerline goodness [0,1] 0.8927129492860659 Centerline is valid? [False, False] Translation: X:4.17, Y:0.37, Z:-0.08 [[ 9.24849900e-01 -1.34523941e-02 -3.80094325e-01 4.16515535e+00] [-2.47034479e-03 9.99140729e-01 -4.13727118e-02 3.69472356e-01] [ 3.80324283e-01 3.92025124e-02 9.24021971e-01 -8.13343752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30800114499999 meters Centerline goodness [0,1] 0.8917330992954484 Centerline is valid? [False, False] Translation: X:4.17, Y:0.36, Z:-0.08 [[ 9.24722458e-01 -1.81039031e-02 -3.80211288e-01 4.16595895e+00] [ 1.31823469e-03 9.99014637e-01 -4.43623414e-02 3.63463022e-01] [ 3.80639774e-01 4.05216456e-02 9.23835136e-01 -8.17421715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33800114499999 meters Centerline goodness [0,1] 0.8934691198988892 Centerline is valid? [False, False] Translation: X:4.17, Y:0.36, Z:-0.08 [[ 9.24767721e-01 -1.83654982e-02 -3.80088635e-01 4.16532946e+00] [ 1.73127669e-03 9.99027398e-01 -4.40597415e-02 3.59973887e-01] [ 3.80528139e-01 4.00869882e-02 9.23900086e-01 -8.20081742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.368001145 meters Centerline goodness [0,1] 0.89671714112659 Centerline is valid? [False, False] Translation: X:4.17, Y:0.36, Z:-0.08 [[ 9.24765679e-01 -1.81826333e-02 -3.80102394e-01 4.16567371e+00] [ 1.75417679e-03 9.99050888e-01 -4.35229393e-02 3.57461078e-01] [ 3.80532996e-01 3.95817537e-02 9.23919869e-01 -8.24469295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39800114499998 meters Centerline goodness [0,1] 0.8965467278435161 Centerline is valid? [False, False] Translation: X:4.17, Y:0.36, Z:-0.08 [[ 9.24716965e-01 -1.80948760e-02 -3.80225078e-01 4.16571119e+00] [ 1.77765607e-03 9.99063909e-01 -4.32220540e-02 3.55799227e-01] [ 3.80651250e-01 3.92922572e-02 9.23883512e-01 -8.23333673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42800114499998 meters Centerline goodness [0,1] 0.9007756405638403 Centerline is valid? [False, False] Translation: X:4.16, Y:0.35, Z:-0.08 [[ 9.24724359e-01 -1.81835501e-02 -3.80202865e-01 4.16414370e+00] [ 1.95345716e-03 9.99071856e-01 -4.30303535e-02 3.52713728e-01] [ 3.80632426e-01 3.90485060e-02 9.23901602e-01 -8.14062720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45800114499998 meters Centerline goodness [0,1] 0.8968533563400196 Centerline is valid? [False, False] Translation: X:4.16, Y:0.35, Z:-0.08 [[ 9.24707501e-01 -1.80669134e-02 -3.80249425e-01 4.16383921e+00] [ 1.91390785e-03 9.99081170e-01 -4.28153389e-02 3.50594129e-01] [ 3.80673581e-01 3.88639027e-02 9.23892430e-01 -8.10930934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48800114499998 meters Centerline goodness [0,1] 0.9004750650528779 Centerline is valid? [False, False] Translation: X:4.16, Y:0.35, Z:-0.08 [[ 9.24660147e-01 -1.79748963e-02 -3.80368920e-01 4.16378080e+00] [ 1.96482997e-03 9.99097196e-01 -4.24374013e-02 3.47613205e-01] [ 3.80788329e-01 3.84928135e-02 9.23860678e-01 -8.10015906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.51800114499999 meters Centerline goodness [0,1] 0.8987911827447262 Centerline is valid? [False, False] Translation: X:4.16, Y:0.34, Z:-0.08 [[ 0.92447956 -0.02240976 -0.38057239 4.16459581] [ 0.00544924 0.9989456 -0.04558506 0.34407477] [ 0.38119267 0.04006863 0.9236269 -0.0808066 ] [ 0. 0. 0. 1. ]] SLAMing on 82.54800114499999 meters Centerline goodness [0,1] 0.8997300241557334 Centerline is valid? [False, False] Translation: X:4.16, Y:0.34, Z:-0.08 [[ 0.92457161 -0.02265968 -0.38033391 4.16387336] [ 0.00581632 0.99895301 -0.04537683 0.34210249] [ 0.38096393 0.03974199 0.92373539 -0.08110782] [ 0. 0. 0. 1. ]] SLAMing on 82.57800114499999 meters Centerline goodness [0,1] 0.9008943108615116 Centerline is valid? [False, False] Translation: X:4.16, Y:0.34, Z:-0.08 [[ 0.92453798 -0.02277378 -0.38040882 4.16366039] [ 0.00602502 0.99896154 -0.04516132 0.34018535] [ 0.38104228 0.03946139 0.9237151 -0.08096727] [ 0. 0. 0. 1. ]] SLAMing on 82.60800114499999 meters Centerline goodness [0,1] 0.8994522876434203 Centerline is valid? [False, False] Translation: X:4.16, Y:0.34, Z:-0.08 [[ 0.92452901 -0.02274876 -0.38043214 4.16363525] [ 0.00613761 0.99897621 -0.04482028 0.3381045 ] [ 0.38106226 0.0391027 0.92372211 -0.08109696] [ 0. 0. 0. 1. ]] SLAMing on 82.63800114499999 meters Centerline goodness [0,1] 0.9006372709807413 Centerline is valid? [False, False] Translation: X:4.17, Y:0.34, Z:-0.08 [[ 0.92423533 -0.02678502 -0.38088269 4.16568781] [ 0.00919573 0.99880857 -0.04792573 0.3356913 ] [ 0.38171259 0.04079216 0.92338047 -0.08093239] [ 0. 0. 0. 1. ]] SLAMing on 82.66800114499999 meters Centerline goodness [0,1] 0.9010528778661675 Centerline is valid? [False, False] Translation: X:4.17, Y:0.33, Z:-0.08 [[ 0.92421403 -0.02637359 -0.38096307 4.16668036] [ 0.00903319 0.998843 -0.04723416 0.33318234] [ 0.38176803 0.04021317 0.92338295 -0.08163495] [ 0. 0. 0. 1. ]] SLAMing on 82.69800114499999 meters Centerline goodness [0,1] 0.9003567847398736 Centerline is valid? [False, False] Translation: X:4.17, Y:0.33, Z:-0.08 [[ 0.92415418 -0.02586802 -0.38114289 4.16763952] [ 0.00876944 0.99887838 -0.04653031 0.33077711] [ 0.38191904 0.03965877 0.92334448 -0.08203951] [ 0. 0. 0. 1. ]] SLAMing on 82.728001145 meters Centerline goodness [0,1] 0.9037913043478261 Centerline is valid? [False, False] Translation: X:4.17, Y:0.33, Z:-0.08 [[ 0.92417355 -0.02603475 -0.38108455 4.16717403] [ 0.00909318 0.9988913 -0.04618976 0.32788619] [ 0.38186458 0.03922209 0.92338566 -0.08219558] [ 0. 0. 0. 1. ]] SLAMing on 82.75800114499998 meters Centerline goodness [0,1] 0.9027340129749768 Centerline is valid? [False, False] Translation: X:4.17, Y:0.33, Z:-0.08 [[ 0.92414195 -0.02614768 -0.38115344 4.16704321] [ 0.00926641 0.99889577 -0.04605841 0.32683215] [ 0.38193688 0.03903259 0.92336378 -0.08205991] [ 0. 0. 0. 1. ]] SLAMing on 82.78800114499998 meters Centerline goodness [0,1] 0.9024909221268821 Centerline is valid? [False, False] Translation: X:4.17, Y:0.33, Z:-0.08 [[ 0.92409745 -0.02606302 -0.38126712 4.16742754] [ 0.00927591 0.99890748 -0.04580177 0.32592464] [ 0.38204431 0.0387887 0.92332962 -0.08216015] [ 0. 0. 0. 1. ]] SLAMing on 82.81800114499998 meters Centerline goodness [0,1] 0.9024909221268821 Centerline is valid? [False, False] Translation: X:4.17, Y:0.33, Z:-0.08 [[ 0.92409745 -0.02606302 -0.38126712 4.16742754] [ 0.00927591 0.99890748 -0.04580177 0.32592464] [ 0.38204431 0.0387887 0.92332962 -0.08216015] [ 0. 0. 0. 1. ]] SLAMing on 82.84800114499998 meters Centerline goodness [0,1] 0.9018495456851621 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:-0.08 [[ 0.9240445 -0.02594891 -0.38140322 4.16789831] [ 0.00927558 0.99892175 -0.0454896 0.3249283 ] [ 0.38217237 0.03849667 0.92328884 -0.08225912] [ 0. 0. 0. 1. ]] SLAMing on 82.87800114499998 meters Centerline goodness [0,1] 0.8986216609332072 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:-0.08 [[ 0.92413078 -0.02641709 -0.38116196 4.16695868] [ 0.00986811 0.99892438 -0.04530685 0.32172929] [ 0.38194885 0.03810811 0.92339745 -0.08257069] [ 0. 0. 0. 1. ]] SLAMing on 82.90800114499999 meters Centerline goodness [0,1] 0.8977340901749042 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:-0.08 [[ 0.92414925 -0.02649145 -0.38111201 4.16727744] [ 0.01008534 0.99893692 -0.04498133 0.31998539] [ 0.38189848 0.03772582 0.92343398 -0.08316376] [ 0. 0. 0. 1. ]] SLAMing on 82.93800114499999 meters Centerline goodness [0,1] 0.8991329213172217 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:-0.08 [[ 0.92417282 -0.02661919 -0.38104595 4.16733914] [ 0.01031763 0.99894446 -0.04476052 0.3187926 ] [ 0.38183523 0.03743496 0.92347197 -0.08357299] [ 0. 0. 0. 1. ]] SLAMing on 82.96800114499999 meters Centerline goodness [0,1] 0.8975512935908976 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:-0.08 [[ 0.92413764 -0.02674744 -0.38112229 4.16769173] [ 0.01050634 0.99894828 -0.04463136 0.31796573] [ 0.38191523 0.03724132 0.92344672 -0.08379409] [ 0. 0. 0. 1. ]] SLAMing on 82.99800114499999 meters Centerline goodness [0,1] 0.8942827562406535 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:-0.08 [[ 0.92632038 -0.02773786 -0.37571422 4.18232385] [ 0.01446356 0.99916903 -0.03810589 0.31500411] [ 0.37645898 0.0298641 0.92595182 -0.08352197] [ 0. 0. 0. 1. ]] SLAMing on 83.02800114499999 meters Centerline goodness [0,1] 0.8875298329355609 Centerline is valid? [False, False] Translation: X:4.18, Y:0.31, Z:-0.08 [[ 0.92632621 -0.02818887 -0.37566626 4.18181774] [ 0.01486613 0.99915507 -0.03831637 0.31489685] [ 0.37642895 0.02990875 0.92596259 -0.08333454] [ 0. 0. 0. 1. ]] SLAMing on 83.05800114499999 meters Centerline goodness [0,1] 0.8840766678953188 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:-0.08 [[ 0.92631635 -0.02863463 -0.37565685 4.18136605] [ 0.01523102 0.99913857 -0.0386023 0.31517353] [ 0.37643861 0.0300363 0.92595453 -0.08307199] [ 0. 0. 0. 1. ]] SLAMing on 83.08800114499999 meters Centerline goodness [0,1] 0.8791815151166801 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:-0.08 [[ 0.9263083 -0.0290464 -0.37564509 4.18111877] [ 0.01559038 0.99912491 -0.03881186 0.31540369] [ 0.37644371 0.0300953 0.92595054 -0.08297921] [ 0. 0. 0. 1. ]] SLAMing on 83.118001145 meters Centerline goodness [0,1] 0.872481837141613 Centerline is valid? [False, False] Translation: X:4.18, Y:0.31, Z:-0.08 [[ 0.9263587 -0.02997718 -0.37544763 4.18064875] [ 0.01654259 0.99910398 -0.03895601 0.31441597] [ 0.37627902 0.02987636 0.92602457 -0.08352539] [ 0. 0. 0. 1. ]] SLAMing on 83.14800114499998 meters Centerline goodness [0,1] 0.8684873757045319 Centerline is valid? [False, False] Translation: X:4.18, Y:0.31, Z:-0.08 [[ 0.92640692 -0.0305016 -0.37528638 4.17996537] [ 0.01711263 0.99909427 -0.03895883 0.31323072] [ 0.37613478 0.02966959 0.92608981 -0.08373482] [ 0. 0. 0. 1. ]] SLAMing on 83.17800114499998 meters Centerline goodness [0,1] 0.8568942620323304 Centerline is valid? [False, False] Translation: X:4.18, Y:0.31, Z:-0.08 [[ 0.92648791 -0.03118082 -0.37503055 4.17924986] [ 0.01779571 0.99907674 -0.0391022 0.3121973 ] [ 0.37590354 0.02955378 0.9261874 -0.08408281] [ 0. 0. 0. 1. ]] SLAMing on 83.20800114499998 meters Centerline goodness [0,1] 0.839631483894566 Centerline is valid? [False, False] Translation: X:4.18, Y:0.31, Z:-0.08 [[ 0.92650991 -0.03160291 -0.37494085 4.17928728] [ 0.01829221 0.99907146 -0.03900789 0.31107173] [ 0.37582547 0.0292827 0.92622769 -0.08462425] [ 0. 0. 0. 1. ]] SLAMing on 83.23800114499998 meters Centerline goodness [0,1] 0.8182171962274517 Centerline is valid? [False, False] Translation: X:4.18, Y:0.31, Z:-0.09 [[ 0.9266041 -0.03319123 -0.37457068 4.17832728] [ 0.0198291 0.9990239 -0.03947214 0.31069147] [ 0.37551519 0.02914765 0.92635779 -0.08551976] [ 0. 0. 0. 1. ]] SLAMing on 83.26800114499999 meters Centerline goodness [0,1] 0.7999219341951186 Centerline is valid? [False, False] Translation: X:4.18, Y:0.31, Z:-0.09 [[ 0.92664977 -0.0339466 -0.37438994 4.17778341] [ 0.0205133 0.99899674 -0.03980849 0.31095692] [ 0.3753657 0.02920855 0.92641646 -0.08575087] [ 0. 0. 0. 1. ]] SLAMing on 83.29800114499999 meters Centerline goodness [0,1] 0.7903839977978621 Centerline is valid? [False, False] Translation: X:4.18, Y:0.31, Z:-0.09 [[ 0.92667273 -0.03434174 -0.37429707 4.17805528] [ 0.02092684 0.99898663 -0.03984698 0.31099239] [ 0.37528619 0.02909225 0.92645233 -0.08630777] [ 0. 0. 0. 1. ]] SLAMing on 83.32800114499999 meters Centerline goodness [0,1] 0.7719797233754616 Centerline is valid? [False, False] Translation: X:4.18, Y:0.31, Z:-0.09 [[ 0.92667159 -0.0347445 -0.37426272 4.1784702 ] [ 0.02135898 0.99897717 -0.03985489 0.31078211] [ 0.37526465 0.02893853 0.92646587 -0.0869023 ] [ 0. 0. 0. 1. ]] SLAMing on 83.35800114499999 meters Centerline goodness [0,1] 0.7620239215776303 Centerline is valid? [False, False] Translation: X:4.18, Y:0.31, Z:-0.09 [[ 0.92667796 -0.03583722 -0.3741439 4.17814171] [ 0.02229119 0.99893201 -0.04047155 0.31195771] [ 0.3751947 0.02916398 0.92648713 -0.08719325] [ 0. 0. 0. 1. ]] SLAMing on 83.38800114499999 meters Centerline goodness [0,1] 0.77545950173679 Centerline is valid? [False, False] Translation: X:4.18, Y:0.31, Z:-0.09 [[ 0.92667162 -0.03618517 -0.3741261 4.17833397] [ 0.02253484 0.99891328 -0.04079763 0.31326187] [ 0.3751958 0.02937513 0.92648001 -0.08725783] [ 0. 0. 0. 1. ]] SLAMing on 83.41800114499999 meters Centerline goodness [0,1] 0.7476003038464194 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:-0.09 [[ 0.92661368 -0.03663896 -0.37422543 4.17837605] [ 0.02280863 0.99888555 -0.04132092 0.31518172] [ 0.37532233 0.02975296 0.9264167 -0.08688785] [ 0. 0. 0. 1. ]] SLAMing on 83.44800114499999 meters Centerline goodness [0,1] 0.7525009864679804 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:-0.09 [[ 0.92694815 -0.03298265 -0.37373691 4.17657165] [ 0.02010265 0.9990637 -0.03830945 0.31773877] [ 0.37465053 0.02799777 0.92674328 -0.08738113] [ 0. 0. 0. 1. ]] SLAMing on 83.478001145 meters Centerline goodness [0,1] 0.7516084825679976 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:-0.09 [[ 0.92683098 -0.03296806 -0.37402866 4.177872 ] [ 0.0199749 0.99905651 -0.03856283 0.31962813] [ 0.37494711 0.02827004 0.92661506 -0.0873321 ] [ 0. 0. 0. 1. ]] SLAMing on 83.50800114499998 meters Centerline goodness [0,1] 0.7552142807205612 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:-0.09 [[ 0.92675528 -0.03286402 -0.37422534 4.17942428] [ 0.01982681 0.99905665 -0.03863558 0.32099956] [ 0.37514204 0.02838603 0.92653261 -0.08777627] [ 0. 0. 0. 1. ]] SLAMing on 83.53800114499998 meters Centerline goodness [0,1] 0.7474844162211379 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:-0.09 [[ 0.92674834 -0.03295524 -0.37423452 4.1803801 ] [ 0.01985633 0.99904951 -0.0388048 0.32236838] [ 0.37515763 0.02853136 0.92652184 -0.0882973 ] [ 0. 0. 0. 1. ]] SLAMing on 83.56800114499998 meters Centerline goodness [0,1] 0.7416172645687373 Centerline is valid? [False, False] Translation: X:4.18, Y:0.33, Z:-0.09 [[ 0.92676978 -0.03340104 -0.37414189 4.18143308] [ 0.02010472 0.9990218 -0.03938592 0.32562972] [ 0.37509143 0.02897966 0.92653472 -0.08889324] [ 0. 0. 0. 1. ]] SLAMing on 83.59800114499998 meters Centerline goodness [0,1] 0.7340585498801748 Centerline is valid? [False, False] Translation: X:4.18, Y:0.33, Z:-0.09 [[ 0.92677629 -0.03379428 -0.37409044 4.18156392] [ 0.02036129 0.99900005 -0.03980355 0.3272819 ] [ 0.3750615 0.02927202 0.92653765 -0.08896605] [ 0. 0. 0. 1. ]] SLAMing on 83.62800114499998 meters Centerline goodness [0,1] 0.7284453336471696 Centerline is valid? [False, False] Translation: X:4.18, Y:0.33, Z:-0.09 [[ 0.92674045 -0.03429992 -0.3741332 4.18138874] [ 0.0206771 0.99897099 -0.04036617 0.32891272] [ 0.37513277 0.02967298 0.92649604 -0.08858498] [ 0. 0. 0. 1. ]] SLAMing on 83.65800114499999 meters Centerline goodness [0,1] 0.717362013946342 Centerline is valid? [False, False] Translation: X:4.18, Y:0.33, Z:-0.09 [[ 0.92675479 -0.03466338 -0.37406419 4.18146686] [ 0.02092108 0.99895085 -0.04073713 0.33025566] [ 0.37508382 0.0299275 0.92650767 -0.08868031] [ 0. 0. 0. 1. ]] SLAMing on 83.68800114499999 meters Centerline goodness [0,1] 0.7097873952365169 Centerline is valid? [False, False] Translation: X:4.18, Y:0.33, Z:-0.09 [[ 0.92677872 -0.03523478 -0.3739515 4.18173038] [ 0.02126432 0.9989155 -0.04142048 0.33314273] [ 0.37500539 0.03043579 0.92652287 -0.08882045] [ 0. 0. 0. 1. ]] SLAMing on 83.71800114499999 meters Centerline goodness [0,1] 0.7111896236928841 Centerline is valid? [False, False] Translation: X:4.18, Y:0.33, Z:-0.09 [[ 0.92665184 -0.03516331 -0.37427251 4.18306351] [ 0.02107537 0.99890918 -0.04166862 0.33495946] [ 0.37532946 0.03072437 0.92638211 -0.08865743] [ 0. 0. 0. 1. ]] SLAMing on 83.74800114499999 meters Centerline goodness [0,1] 0.7106903277986584 Centerline is valid? [False, False] Translation: X:4.18, Y:0.33, Z:-0.09 [[ 0.92680929 -0.03037974 -0.3743015 4.18337189] [ 0.01754405 0.99913686 -0.0376529 0.33447229] [ 0.37512231 0.02833029 0.92654231 -0.08948109] [ 0. 0. 0. 1. ]] SLAMing on 83.77800114499999 meters Centerline goodness [0,1] 0.7204674441437774 Centerline is valid? [False, False] Translation: X:4.19, Y:0.34, Z:-0.09 [[ 0.92689383 -0.02514344 -0.37448049 4.1854163 ] [ 0.0134039 0.99933463 -0.03392089 0.33788788] [ 0.37508421 0.02642156 0.92661412 -0.09040669] [ 0. 0. 0. 1. ]] SLAMing on 83.80800114499999 meters Centerline goodness [0,1] 0.7267251349267541 Centerline is valid? [False, False] Translation: X:4.19, Y:0.34, Z:-0.09 [[ 0.92702365 -0.02022359 -0.37445714 4.1855121 ] [ 0.00964155 0.99950004 -0.03011169 0.33889449] [ 0.37487889 0.0243039 0.92675516 -0.09080927] [ 0. 0. 0. 1. ]] SLAMing on 83.83800114499999 meters Centerline goodness [0,1] 0.7321243147955857 Centerline is valid? [False, False] Translation: X:4.19, Y:0.34, Z:-0.09 [[ 0.92715284 -0.01546527 -0.37436404 4.18545293] [ 0.00599498 0.9996322 -0.02644838 0.34003812] [ 0.37463538 0.02227738 0.92690455 -0.09122139] [ 0. 0. 0. 1. ]] SLAMing on 83.86800114499998 meters Centerline goodness [0,1] 0.7420020389339288 Centerline is valid? [False, False] Translation: X:4.19, Y:0.34, Z:-0.09 [[ 0.92697377 -0.0152458 -0.37481621 4.18729718] [ 0.00551362 0.99961958 -0.02702397 0.34349867] [ 0.37508562 0.02298392 0.92670519 -0.09066102] [ 0. 0. 0. 1. ]] SLAMing on 83.89800114499998 meters Centerline goodness [0,1] 0.7564447488137749 Centerline is valid? [False, False] Translation: X:4.19, Y:0.35, Z:-0.09 [[ 9.27045305e-01 -1.02426195e-02 -3.74809408e-01 4.18824728e+00] [ 1.46784837e-03 9.99718292e-01 -2.36892990e-02 3.46012608e-01] [ 3.74946461e-01 2.14108900e-02 9.26799183e-01 -9.09392972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92800114499998 meters Centerline goodness [0,1] 0.7715637718825087 Centerline is valid? [False, False] Translation: X:4.19, Y:0.35, Z:-0.09 [[ 9.26896903e-01 -1.02160288e-02 -3.75176976e-01 4.18981235e+00] [ 1.15045709e-03 9.99702114e-01 -2.43795089e-02 3.49351493e-01] [ 3.75314278e-01 2.21656663e-02 9.26632547e-01 -9.04376960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95800114499998 meters Centerline goodness [0,1] 0.7654862892089169 Centerline is valid? [False, False] Translation: X:4.19, Y:0.35, Z:-0.09 [[ 9.26721539e-01 -1.03690288e-02 -3.75605741e-01 4.19096075e+00] [ 9.77753517e-04 9.99682329e-01 -2.51849973e-02 3.52957016e-01] [ 3.75747567e-01 2.29722296e-02 9.26437285e-01 -8.95629723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98800114499998 meters Centerline goodness [0,1] 0.7716740755457322 Centerline is valid? [False, False] Translation: X:4.19, Y:0.36, Z:-0.09 [[ 9.26551737e-01 -1.04643037e-02 -3.76021777e-01 4.19225414e+00] [ 7.66607346e-04 9.99663451e-01 -2.59306274e-02 3.56466708e-01] [ 3.76166574e-01 2.37378068e-02 9.26247929e-01 -8.87790626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.01800114499999 meters Centerline goodness [0,1] 0.773742877136859 Centerline is valid? [False, False] Translation: X:4.19, Y:0.36, Z:-0.09 [[ 9.26591747e-01 -6.27562252e-03 -3.76016424e-01 4.19228676e+00] [-2.62198795e-03 9.99728648e-01 -2.31464145e-02 3.61055996e-01] [ 3.76059649e-01 2.24331872e-02 9.26323859e-01 -8.86075913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.04800114499999 meters Centerline goodness [0,1] 0.793142398152564 Centerline is valid? [False, False] Translation: X:4.19, Y:0.36, Z:-0.09 [[ 9.26417613e-01 -6.26814957e-03 -3.76445371e-01 4.19379199e+00] [-2.89672955e-03 9.99713142e-01 -2.37748514e-02 3.63806774e-01] [ 3.76486409e-01 2.31159015e-02 9.26133705e-01 -8.79809362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.07800114499999 meters Centerline goodness [0,1] 0.8021352671601953 Centerline is valid? [False, False] Translation: X:4.20, Y:0.37, Z:-0.09 [[ 9.26296998e-01 -5.27421636e-03 -3.76757289e-01 4.19677662e+00] [-4.09504726e-03 9.99702059e-01 -2.40629052e-02 3.67656541e-01] [ 3.76771951e-01 2.38322358e-02 9.25999418e-01 -8.79177252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.10800114499999 meters Centerline goodness [0,1] 0.7963905130736325 Centerline is valid? [False, False] Translation: X:4.20, Y:0.37, Z:-0.09 [[ 0.92611271 -0.00487423 -0.37721545 4.19890628] [-0.00470109 0.99968977 -0.02445939 0.3703293 ] [ 0.37721765 0.02442548 0.92580249 -0.08747214] [ 0. 0. 0. 1. ]] SLAMing on 84.13800114499999 meters Centerline goodness [0,1] 0.801495079966437 Centerline is valid? [False, False] Translation: X:4.20, Y:0.37, Z:-0.09 [[ 0.9259174 -0.00437316 -0.37770073 4.20090669] [-0.00539185 0.99967808 -0.02479256 0.3735114 ] [ 0.37768756 0.02499237 0.92559575 -0.08684775] [ 0. 0. 0. 1. ]] SLAMing on 84.16800114499999 meters Centerline goodness [0,1] 0.8251918873583084 Centerline is valid? [False, False] Translation: X:4.20, Y:0.38, Z:-0.09 [[ 9.25736208e-01 -3.75054443e-03 -3.78151301e-01 4.20287941e+00] [-6.26321177e-03 9.99661612e-01 -2.52474530e-02 3.77681820e-01] [ 3.78118031e-01 2.57409231e-02 9.25399460e-01 -8.59674152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19800114499999 meters Centerline goodness [0,1] 0.8529464583493676 Centerline is valid? [False, False] Translation: X:4.20, Y:0.38, Z:-0.08 [[ 9.25597374e-01 1.75112389e-03 -3.78505529e-01 4.20450106e+00] [-1.09935404e-02 9.99691801e-01 -2.22586125e-02 3.83065641e-01] [ 3.78349896e-01 2.47636291e-02 9.25331356e-01 -8.48276844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.228001145 meters Centerline goodness [0,1] 0.8606228800493371 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:-0.08 [[ 9.25307274e-01 2.72843259e-03 -3.79208392e-01 4.20750647e+00] [-1.20931808e-02 9.99677827e-01 -2.23158421e-02 3.85148536e-01] [ 3.79025334e-01 2.52348466e-02 9.25042161e-01 -8.41800643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25800114499998 meters Centerline goodness [0,1] 0.8691776586974443 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:-0.08 [[ 9.25098298e-01 3.70441389e-03 -3.79709647e-01 4.21033499e+00] [-1.31763687e-02 9.99663388e-01 -2.23493646e-02 3.86973619e-01] [ 3.79499041e-01 2.56785534e-02 9.24835710e-01 -8.38838592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28800114499998 meters Centerline goodness [0,1] 0.8751483870967742 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:-0.08 [[ 0.92485205 0.00481087 -0.38029664 4.21353568] [-0.01433667 0.99965031 -0.02221979 0.38909765] [ 0.38005676 0.02600221 0.92459761 -0.08371203] [ 0. 0. 0. 1. ]] SLAMing on 84.31800114499998 meters Centerline goodness [0,1] 0.8802090103205344 Centerline is valid? [False, False] Translation: X:4.22, Y:0.39, Z:-0.08 [[ 0.92474217 0.01076956 -0.38044176 4.21618549] [-0.01919309 0.9996473 -0.01835473 0.39299389] [ 0.3801099 0.02427525 0.92462272 -0.08421626] [ 0. 0. 0. 1. ]] SLAMing on 84.34800114499998 meters Centerline goodness [0,1] 0.8793225308238004 Centerline is valid? [False, False] Translation: X:4.22, Y:0.40, Z:-0.08 [[ 0.92448638 0.0112732 -0.38104836 4.21835188] [-0.01998285 0.99962151 -0.01890821 0.39667328] [ 0.38069098 0.02509482 0.92436174 -0.083111 ] [ 0. 0. 0. 1. ]] SLAMing on 84.37800114499998 meters Centerline goodness [0,1] 0.8822819038618046 Centerline is valid? [False, False] Translation: X:4.22, Y:0.40, Z:-0.08 [[ 0.92424507 0.01159595 -0.38162362 4.22005271] [-0.0206323 0.99959508 -0.01959535 0.40006898] [ 0.38124186 0.02598467 0.92411008 -0.08182749] [ 0. 0. 0. 1. ]] SLAMing on 84.40800114499999 meters Centerline goodness [0,1] 0.8790150175512682 Centerline is valid? [False, False] Translation: X:4.22, Y:0.40, Z:-0.08 [[ 0.92415216 0.01684058 -0.38165321 4.22095475] [-0.02479875 0.99956533 -0.01594264 0.40178462] [ 0.38121884 0.02419794 0.92416809 -0.08189378] [ 0. 0. 0. 1. ]] SLAMing on 84.43800114499999 meters Centerline goodness [0,1] 0.8766992859032002 Centerline is valid? [False, False] Translation: X:4.22, Y:0.40, Z:-0.08 [[ 0.92404491 0.01664215 -0.38192152 4.22145193] [-0.02489082 0.99955123 -0.01666717 0.40384405] [ 0.38147274 0.02490756 0.92404446 -0.08097698] [ 0. 0. 0. 1. ]] SLAMing on 84.46800114499999 meters Centerline goodness [0,1] 0.8795388285184204 Centerline is valid? [False, False] Translation: X:4.22, Y:0.41, Z:-0.08 [[ 0.9240006 0.01591756 -0.38205957 4.22097571] [-0.024527 0.99954292 -0.01767439 0.40636769] [ 0.3816036 0.02570193 0.92396867 -0.07992202] [ 0. 0. 0. 1. ]] SLAMing on 84.49800114499999 meters Centerline goodness [0,1] 0.8801203856602567 Centerline is valid? [False, False] Translation: X:4.22, Y:0.41, Z:-0.08 [[ 0.92394802 0.01502344 -0.3822229 4.22041745] [-0.02406291 0.99953215 -0.01888026 0.40935439] [ 0.38176043 0.02664178 0.92387726 -0.07868881] [ 0. 0. 0. 1. ]] SLAMing on 84.52800114499999 meters Centerline goodness [0,1] 0.882365522404021 Centerline is valid? [False, False] Translation: X:4.22, Y:0.41, Z:-0.08 [[ 0.92396665 0.01366207 -0.38222897 4.21954063] [-0.02316691 0.99952599 -0.02027545 0.41317159] [ 0.38177079 0.0275889 0.92384518 -0.07786454] [ 0. 0. 0. 1. ]] SLAMing on 84.55800114499999 meters Centerline goodness [0,1] 0.8809803816753087 Centerline is valid? [False, False] Translation: X:4.22, Y:0.41, Z:-0.08 [[ 0.92393921 0.01346246 -0.38230236 4.2201128 ] [-0.02293361 0.99953234 -0.02022769 0.41261439] [ 0.38185126 0.02745672 0.92381586 -0.0782931 ] [ 0. 0. 0. 1. ]] SLAMing on 84.58800114499999 meters Centerline goodness [0,1] 0.8776638359237302 Centerline is valid? [False, False] Translation: X:4.22, Y:0.42, Z:-0.08 [[ 0.92375801 0.00809309 -0.38289117 4.22158902] [-0.01914087 0.99950287 -0.02505272 0.41507828] [ 0.38249807 0.03047152 0.92345369 -0.07713151] [ 0. 0. 0. 1. ]] SLAMing on 84.61800114499998 meters Centerline goodness [0,1] 0.8839762769822612 Centerline is valid? [False, False] Translation: X:4.22, Y:0.42, Z:-0.08 [[ 9.23537950e-01 2.87435412e-03 -3.83496274e-01 4.22311598e+00] [-1.55053598e-02 9.99434144e-01 -2.98492093e-02 4.18159067e-01] [ 3.83193473e-01 3.35131253e-02 9.23059929e-01 -7.57298809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64800114499998 meters Centerline goodness [0,1] 0.8834012219959266 Centerline is valid? [False, False] Translation: X:4.22, Y:0.42, Z:-0.08 [[ 9.23602128e-01 1.19782920e-03 -3.83350590e-01 4.22173884e+00] [-1.42885687e-02 9.99407820e-01 -3.13025019e-02 4.21998350e-01] [ 3.83086082e-01 3.43885886e-02 9.23072304e-01 -7.50653393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67800114499998 meters Centerline goodness [0,1] 0.8843121956469101 Centerline is valid? [False, False] Translation: X:4.22, Y:0.42, Z:-0.07 [[ 9.23506512e-01 7.93321564e-04 -3.83581924e-01 4.22229767e+00] [-1.40894941e-02 9.99393197e-01 -3.18547319e-02 4.23987830e-01] [ 3.83323895e-01 3.48225277e-02 9.22957303e-01 -7.46299641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70800114499998 meters Centerline goodness [0,1] 0.8860391184869875 Centerline is valid? [False, False] Translation: X:4.22, Y:0.43, Z:-0.07 [[ 9.23359767e-01 8.13322242e-04 -3.83934994e-01 4.22377469e+00] [-1.42193957e-02 9.99384138e-01 -3.20804218e-02 4.25527647e-01] [ 3.83672452e-01 3.50810944e-02 9.22802669e-01 -7.44771857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73800114499998 meters Centerline goodness [0,1] 0.8860391184869875 Centerline is valid? [False, False] Translation: X:4.22, Y:0.43, Z:-0.07 [[ 9.23359767e-01 8.13322242e-04 -3.83934994e-01 4.22377469e+00] [-1.42193957e-02 9.99384138e-01 -3.20804218e-02 4.25527647e-01] [ 3.83672452e-01 3.50810944e-02 9.22802669e-01 -7.44771857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.76800114499999 meters Centerline goodness [0,1] 0.8903196199114567 Centerline is valid? [False, False] Translation: X:4.22, Y:0.43, Z:-0.07 [[ 9.23247495e-01 7.79141332e-04 -3.84204965e-01 4.22491135e+00] [-1.43243544e-02 9.99372496e-01 -3.23948751e-02 4.27052861e-01] [ 3.83938635e-01 3.54119754e-02 9.22679314e-01 -7.42563958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.79800114499999 meters Centerline goodness [0,1] 0.8899085059593299 Centerline is valid? [False, False] Translation: X:4.23, Y:0.43, Z:-0.07 [[ 9.23100163e-01 6.34658852e-04 -3.84559080e-01 4.22621683e+00] [-1.45897840e-02 9.99336496e-01 -3.33722304e-02 4.31323471e-01] [ 3.84282744e-01 3.64165452e-02 9.22496942e-01 -7.32412648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.82800114499999 meters Centerline goodness [0,1] 0.8910202188327103 Centerline is valid? [False, False] Translation: X:4.23, Y:0.43, Z:-0.07 [[ 9.22919546e-01 5.29264958e-04 -3.84992507e-01 4.22734374e+00] [-1.48026823e-02 9.99308394e-01 -3.41117960e-02 4.34416297e-01] [ 3.84708190e-01 3.71813651e-02 9.22289084e-01 -7.21694937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.85800114499999 meters Centerline goodness [0,1] 0.8906083390293916 Centerline is valid? [False, False] Translation: X:4.23, Y:0.44, Z:-0.07 [[ 9.22739679e-01 5.53384804e-04 -3.85423375e-01 4.22874566e+00] [-1.51299632e-02 9.99280188e-01 -3.47877991e-02 4.37334698e-01] [ 3.85126692e-01 3.79315241e-02 9.22083852e-01 -7.12405594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88800114499999 meters Centerline goodness [0,1] 0.8890327200616944 Centerline is valid? [False, False] Translation: X:4.23, Y:0.44, Z:-0.07 [[ 0.922673 0.00603168 -0.38553618 4.23051145] [-0.01946091 0.99933178 -0.03093977 0.4392883 ] [ 0.38509194 0.03605018 0.92217384 -0.07174216] [ 0. 0. 0. 1. ]] SLAMing on 84.91800114499999 meters Centerline goodness [0,1] 0.8871283849062854 Centerline is valid? [False, False] Translation: X:4.23, Y:0.44, Z:-0.07 [[ 0.92244313 0.00630204 -0.38608153 4.23231121] [-0.02001987 0.99930258 -0.03152065 0.44211937] [ 0.38561363 0.03680531 0.92192597 -0.07066484] [ 0. 0. 0. 1. ]] SLAMing on 84.94800114499999 meters Centerline goodness [0,1] 0.8905579992807149 Centerline is valid? [False, False] Translation: X:4.23, Y:0.45, Z:-0.07 [[ 0.92218003 0.00653574 -0.38670566 4.23397609] [-0.02057214 0.99927068 -0.0321698 0.44519247] [ 0.38621338 0.03762171 0.92164192 -0.06929389] [ 0. 0. 0. 1. ]] SLAMing on 84.978001145 meters Centerline goodness [0,1] 0.8840495225405285 Centerline is valid? [False, False] Translation: X:4.23, Y:0.45, Z:-0.07 [[ 0.92201775 0.00630442 -0.38709627 4.23458529] [-0.02075776 0.99923419 -0.03316859 0.44812993] [ 0.38659072 0.03861728 0.92144252 -0.06778566] [ 0. 0. 0. 1. ]] SLAMing on 85.00800114499998 meters Centerline goodness [0,1] 0.8848872808238241 Centerline is valid? [False, False] Translation: X:4.24, Y:0.45, Z:-0.07 [[ 0.92175447 0.00701029 -0.38771065 4.23725252] [-0.02177047 0.99919516 -0.03369105 0.45202698] [ 0.38716242 0.03949551 0.92116522 -0.06662627] [ 0. 0. 0. 1. ]] SLAMing on 85.03800114499998 meters Centerline goodness [0,1] 0.8865386761915393 Centerline is valid? [False, False] Translation: X:4.24, Y:0.45, Z:-0.07 [[ 0.92157564 0.00714847 -0.38813302 4.23868415] [-0.02209058 0.99917599 -0.03404906 0.45371466] [ 0.38756979 0.03995287 0.92097417 -0.06600904] [ 0. 0. 0. 1. ]] SLAMing on 85.06800114499998 meters Centerline goodness [0,1] 0.8864692380899065 Centerline is valid? [False, False] Translation: X:4.24, Y:0.46, Z:-0.07 [[ 0.92141204 0.00735562 -0.38851736 4.24025981] [-0.0224074 0.99916293 -0.03422495 0.455191 ] [ 0.3879404 0.04024095 0.92080558 -0.06573571] [ 0. 0. 0. 1. ]] SLAMing on 85.09800114499998 meters Centerline goodness [0,1] 0.8832743810005053 Centerline is valid? [False, False] Translation: X:4.24, Y:0.46, Z:-0.07 [[ 0.92129739 0.00750791 -0.38878625 4.24163687] [-0.02263582 0.99915367 -0.03434474 0.45629717] [ 0.38819935 0.04044222 0.92068762 -0.06568838] [ 0. 0. 0. 1. ]] SLAMing on 85.12800114499998 meters Centerline goodness [0,1] 0.8864388711215845 Centerline is valid? [False, False] Translation: X:4.24, Y:0.46, Z:-0.07 [[ 0.92128246 0.00709447 -0.3888294 4.24204231] [-0.02235137 0.99914681 -0.03472861 0.45778764] [ 0.38825127 0.04068573 0.920655 -0.06583341] [ 0. 0. 0. 1. ]] SLAMing on 85.15800114499999 meters Centerline goodness [0,1] 0.8841129372102824 Centerline is valid? [False, False] Translation: X:4.24, Y:0.46, Z:-0.07 [[ 0.92122694 0.00686229 -0.38896509 4.24230454] [-0.02220361 0.99914204 -0.03495985 0.45839772] [ 0.38839147 0.04084238 0.92058892 -0.06562023] [ 0. 0. 0. 1. ]] SLAMing on 85.18800114499999 meters Centerline goodness [0,1] 0.8834145105436527 Centerline is valid? [False, False] Translation: X:4.24, Y:0.46, Z:-0.07 [[ 0.92125388 0.00636453 -0.38890973 4.24179473] [-0.02182364 0.99913685 -0.03534516 0.45912597] [ 0.38834908 0.04104929 0.9205976 -0.06543423] [ 0. 0. 0. 1. ]] SLAMing on 85.21800114499999 meters Centerline goodness [0,1] 0.8847996392943696 Centerline is valid? [False, False] Translation: X:4.24, Y:0.46, Z:-0.07 [[ 0.92127746 0.00590663 -0.38886109 4.24118158] [-0.0214747 0.99913177 -0.0357008 0.45960651] [ 0.3883126 0.04124102 0.92060442 -0.06515224] [ 0. 0. 0. 1. ]] SLAMing on 85.24800114499999 meters Centerline goodness [0,1] 0.8817943588154076 Centerline is valid? [False, False] Translation: X:4.24, Y:0.46, Z:-0.06 [[ 0.92142359 0.00471303 -0.38853102 4.23913609] [-0.02049353 0.99912416 -0.03648182 0.46034202] [ 0.38801879 0.04157759 0.92071316 -0.06477586] [ 0. 0. 0. 1. ]] SLAMing on 85.27800114499999 meters Centerline goodness [0,1] 0.8860143009965655 Centerline is valid? [False, False] Translation: X:4.24, Y:0.46, Z:-0.06 [[ 0.92146485 0.0043425 -0.38843749 4.23877415] [-0.02012861 0.99912799 -0.03658012 0.46004418] [ 0.38793991 0.041526 0.92074873 -0.0649677 ] [ 0. 0. 0. 1. ]] SLAMing on 85.30800114499999 meters Centerline goodness [0,1] 0.8877763402148844 Centerline is valid? [False, False] Translation: X:4.24, Y:0.46, Z:-0.07 [[ 9.21604583e-01 3.01717911e-03 -3.88118396e-01 4.23636203e+00] [-1.87987504e-02 9.99143191e-01 -3.68712762e-02 4.59154305e-01] [ 3.87674606e-01 4.12768780e-02 9.20871663e-01 -6.51841173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33800114499999 meters Centerline goodness [0,1] 0.8872884205806524 Centerline is valid? [False, False] Translation: X:4.24, Y:0.46, Z:-0.07 [[ 9.21559746e-01 2.97425356e-03 -3.88225177e-01 4.23651082e+00] [-1.86415788e-02 9.99156247e-01 -3.65962475e-02 4.57977827e-01] [ 3.87788764e-01 4.09627588e-02 9.20837622e-01 -6.53670497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36800114499998 meters Centerline goodness [0,1] 0.8886144172467999 Centerline is valid? [False, False] Translation: X:4.24, Y:0.46, Z:-0.07 [[ 9.21594077e-01 2.87875336e-03 -3.88144393e-01 4.23641616e+00] [-1.84003591e-02 9.99172307e-01 -3.62784869e-02 4.56431344e-01] [ 3.87718692e-01 4.05760349e-02 9.20884250e-01 -6.59395961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39800114499998 meters Centerline goodness [0,1] 0.887219730941704 Centerline is valid? [False, False] Translation: X:4.24, Y:0.45, Z:-0.07 [[ 9.21634070e-01 2.97633095e-03 -3.88048686e-01 4.23667722e+00] [-1.82815005e-02 9.99193336e-01 -3.57556259e-02 4.54110972e-01] [ 3.87629241e-01 4.00477153e-02 9.20945032e-01 -6.68474563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42800114499998 meters Centerline goodness [0,1] 0.8838898980019562 Centerline is valid? [False, False] Translation: X:4.24, Y:0.45, Z:-0.07 [[ 9.21338391e-01 -1.54921505e-03 -3.88758497e-01 4.23909179e+00] [-1.50543688e-02 9.99099838e-01 -3.96595535e-02 4.53723752e-01] [ 3.88469992e-01 4.23923830e-02 9.20485715e-01 -6.60137727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45800114499998 meters Centerline goodness [0,1] 0.8877203749163133 Centerline is valid? [False, False] Translation: X:4.24, Y:0.45, Z:-0.07 [[ 9.21305374e-01 -1.65000492e-03 -3.88836322e-01 4.23919683e+00] [-1.49321212e-02 9.99103254e-01 -3.96196753e-02 4.53432825e-01] [ 3.88553008e-01 4.23079708e-02 9.20454559e-01 -6.60379190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48800114499998 meters Centerline goodness [0,1] 0.885628375744752 Centerline is valid? [False, False] Translation: X:4.24, Y:0.45, Z:-0.07 [[ 9.21255174e-01 -1.91441233e-03 -3.88954033e-01 4.23874726e+00] [-1.47609434e-02 9.99095463e-01 -3.98794583e-02 4.53600269e-01] [ 3.88678556e-01 4.24804858e-02 9.20393605e-01 -6.53921238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.51800114499999 meters Centerline goodness [0,1] 0.8852440725244073 Centerline is valid? [False, False] Translation: X:4.24, Y:0.45, Z:-0.06 [[ 9.21141221e-01 -1.85567148e-03 -3.89224111e-01 4.23909385e+00] [-1.49104517e-02 9.99086402e-01 -4.00504682e-02 4.54111440e-01] [ 3.88942837e-01 4.26956445e-02 9.20271999e-01 -6.46446093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.54800114499999 meters Centerline goodness [0,1] 0.8789782244556114 Centerline is valid? [False, False] Translation: X:4.24, Y:0.45, Z:-0.06 [[ 9.21140303e-01 3.97297783e-03 -3.89210429e-01 4.23918975e+00] [-1.92844846e-02 9.99185694e-01 -3.54409142e-02 4.52202859e-01] [ 3.88752687e-01 4.01517770e-02 9.20466829e-01 -6.48862457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.57800114499999 meters Centerline goodness [0,1] 0.8791086039822391 Centerline is valid? [False, False] Translation: X:4.24, Y:0.45, Z:-0.06 [[ 0.9209579 0.00432057 -0.38963814 4.24001893] [-0.01972105 0.99917388 -0.0355336 0.45198369] [ 0.38916273 0.04040903 0.92028228 -0.06390923] [ 0. 0. 0. 1. ]] SLAMing on 85.60800114499999 meters Centerline goodness [0,1] 0.8779910962715637 Centerline is valid? [False, False] Translation: X:4.24, Y:0.45, Z:-0.06 [[ 0.92082433 0.00480731 -0.38994801 4.24120549] [-0.02015537 0.9991743 -0.03527705 0.45130569] [ 0.38945644 0.04034351 0.9201609 -0.06371633] [ 0. 0. 0. 1. ]] SLAMing on 85.63800114499999 meters Centerline goodness [0,1] 0.8766002449070467 Centerline is valid? [False, False] Translation: X:4.24, Y:0.45, Z:-0.06 [[ 0.9207151 0.00531803 -0.39019921 4.2420974 ] [-0.02051733 0.99918385 -0.03479485 0.44931714] [ 0.3896957 0.04004199 0.92007277 -0.06372132] [ 0. 0. 0. 1. ]] SLAMing on 85.66800114499999 meters Centerline goodness [0,1] 0.8762015891537478 Centerline is valid? [False, False] Translation: X:4.24, Y:0.45, Z:-0.06 [[ 0.92069321 0.00528874 -0.39025125 4.2419315 ] [-0.02050318 0.99918289 -0.03483069 0.44842551] [ 0.38974816 0.04006977 0.92004934 -0.06342402] [ 0. 0. 0. 1. ]] SLAMing on 85.69800114499999 meters Centerline goodness [0,1] 0.8722835172183216 Centerline is valid? [False, False] Translation: X:4.24, Y:0.45, Z:-0.06 [[ 0.92069321 0.00530563 -0.39025103 4.24170971] [-0.02051157 0.99918353 -0.03480725 0.44743846] [ 0.38974773 0.04005145 0.92005032 -0.06326167] [ 0. 0. 0. 1. ]] SLAMing on 85.728001145 meters Centerline goodness [0,1] 0.8717564870259481 Centerline is valid? [False, False] Translation: X:4.24, Y:0.45, Z:-0.06 [[ 0.92060972 0.00520196 -0.39044933 4.24119215] [-0.02058831 0.99916708 -0.03523163 0.44743184] [ 0.38994085 0.04047327 0.91995003 -0.06196539] [ 0. 0. 0. 1. ]] SLAMing on 85.75800114499998 meters Centerline goodness [0,1] 0.8680290670156193 Centerline is valid? [False, False] Translation: X:4.24, Y:0.45, Z:-0.06 [[ 0.92075203 0.00967661 -0.39002828 4.23887838] [-0.02375573 0.999228 -0.03129002 0.44551079] [ 0.38942439 0.03807576 0.92027109 -0.06213435] [ 0. 0. 0. 1. ]] SLAMing on 85.78800114499998 meters Centerline goodness [0,1] 0.8652545439363153 Centerline is valid? [False, False] Translation: X:4.24, Y:0.45, Z:-0.06 [[ 0.92070819 0.00930381 -0.39014083 4.2377129 ] [-0.02369242 0.99920432 -0.03208431 0.446631 ] [ 0.3895319 0.03878367 0.92019603 -0.06044941] [ 0. 0. 0. 1. ]] SLAMing on 85.81800114499998 meters Centerline goodness [0,1] 0.8689099974929664 Centerline is valid? [False, False] Translation: X:4.24, Y:0.45, Z:-0.06 [[ 0.92066455 0.00907262 -0.39024924 4.23706623] [-0.02366769 0.99918799 -0.03260674 0.44730334] [ 0.38963653 0.03925617 0.92013169 -0.05934525] [ 0. 0. 0. 1. ]] SLAMing on 85.84800114499998 meters Centerline goodness [0,1] 0.8631748769158021 Centerline is valid? [False, False] Translation: X:4.24, Y:0.45, Z:-0.06 [[ 0.92059544 0.0089907 -0.39041415 4.23679295] [-0.02376006 0.99917234 -0.0330166 0.44759787] [ 0.38979418 0.03967119 0.92004712 -0.05833282] [ 0. 0. 0. 1. ]] SLAMing on 85.87800114499998 meters Centerline goodness [0,1] 0.8603414185858699 Centerline is valid? [False, False] Translation: X:4.24, Y:0.45, Z:-0.06 [[ 0.92042609 0.0099547 -0.39078986 4.23836526] [-0.02465391 0.99916386 -0.03261528 0.44646542] [ 0.39013844 0.03965446 0.91990191 -0.05792158] [ 0. 0. 0. 1. ]] SLAMing on 85.90800114499999 meters Centerline goodness [0,1] 0.8634810390331991 Centerline is valid? [False, False] Translation: X:4.24, Y:0.45, Z:-0.06 [[ 0.92028863 0.01042341 -0.39110126 4.2392296 ] [-0.02514181 0.99915444 -0.03253154 0.44593511] [ 0.39043147 0.0397714 0.91977253 -0.05732501] [ 0. 0. 0. 1. ]] SLAMing on 85.93800114499999 meters Centerline goodness [0,1] 0.8623216565813578 Centerline is valid? [False, False] Translation: X:4.24, Y:0.45, Z:-0.06 [[ 0.92018201 0.01060923 -0.39134706 4.23957625] [-0.02542609 0.99914179 -0.03269861 0.44613187] [ 0.39066429 0.0400391 0.91966205 -0.05654566] [ 0. 0. 0. 1. ]] SLAMing on 85.96800114499999 meters Centerline goodness [0,1] 0.8621371664159563 Centerline is valid? [False, False] Translation: X:4.24, Y:0.45, Z:-0.06 [[ 0.92008487 0.01071798 -0.39157242 4.23955223] [-0.02562669 0.99913112 -0.03286763 0.44623608] [ 0.39087991 0.04027572 0.91956009 -0.05566936] [ 0. 0. 0. 1. ]] SLAMing on 85.99800114499999 meters Centerline goodness [0,1] 0.8644907676549567 Centerline is valid? [False, False] Translation: X:4.24, Y:0.44, Z:-0.06 [[ 0.92007387 0.01078677 -0.39159638 4.23876795] [-0.02562832 0.9991368 -0.03269307 0.44422429] [ 0.3909057 0.040116 0.91955611 -0.05517917] [ 0. 0. 0. 1. ]] SLAMing on 86.02800114499999 meters Centerline goodness [0,1] 0.8568785041566548 Centerline is valid? [False, False] Translation: X:4.24, Y:0.44, Z:-0.05 [[ 0.92007548 0.01079578 -0.39159233 4.23821601] [-0.02557124 0.99914339 -0.03253623 0.44255538] [ 0.39090564 0.03994929 0.9195634 -0.05496717] [ 0. 0. 0. 1. ]] SLAMing on 86.05800114499999 meters Centerline goodness [0,1] 0.8610046065153228 Centerline is valid? [False, False] Translation: X:4.24, Y:0.44, Z:-0.05 [[ 0.92008933 0.01067805 -0.39156303 4.23752331] [-0.02540319 0.99915064 -0.03244489 0.44115786] [ 0.390884 0.03979915 0.9195791 -0.05475497] [ 0. 0. 0. 1. ]] SLAMing on 86.08800114499999 meters Centerline goodness [0,1] 0.8556173281224198 Centerline is valid? [False, False] Translation: X:4.24, Y:0.44, Z:-0.06 [[ 0.92020872 0.01062891 -0.3912837 4.23613416] [-0.02503179 0.99918307 -0.03172697 0.43654107] [ 0.39062683 0.03898996 0.91972304 -0.05532362] [ 0. 0. 0. 1. ]] SLAMing on 86.11800114499998 meters Centerline goodness [0,1] 0.8534534699019554 Centerline is valid? [False, False] Translation: X:4.24, Y:0.43, Z:-0.06 [[ 0.92016667 0.01103239 -0.39137141 4.23648929] [-0.0251938 0.99919972 -0.03106749 0.43347867] [ 0.39071546 0.0384474 0.91970823 -0.05566059] [ 0. 0. 0. 1. ]] SLAMing on 86.14800114499998 meters Centerline goodness [0,1] 0.8551729787292139 Centerline is valid? [False, False] Translation: X:4.24, Y:0.43, Z:-0.06 [[ 0.92009169 0.01141743 -0.39153661 4.23704372] [-0.02535842 0.99921446 -0.03045339 0.43102763] [ 0.39088135 0.03794866 0.91965845 -0.05592849] [ 0. 0. 0. 1. ]] SLAMing on 86.17800114499998 meters Centerline goodness [0,1] 0.8582286757294249 Centerline is valid? [False, False] Translation: X:4.24, Y:0.43, Z:-0.06 [[ 0.92003207 0.01159698 -0.39167142 4.23715027] [-0.02542789 0.99922208 -0.03014394 0.42950712] [ 0.39101716 0.03769277 0.91961124 -0.05582245] [ 0. 0. 0. 1. ]] SLAMing on 86.20800114499998 meters Centerline goodness [0,1] 0.8610018713894388 Centerline is valid? [False, False] Translation: X:4.24, Y:0.43, Z:-0.06 [[ 0.91996197 0.01196053 -0.39182512 4.23699759] [-0.02559413 0.99923438 -0.02959037 0.42673905] [ 0.39117122 0.03725043 0.91956375 -0.05560235] [ 0. 0. 0. 1. ]] SLAMing on 86.23800114499998 meters Centerline goodness [0,1] 0.8625697718528152 Centerline is valid? [False, False] Translation: X:4.24, Y:0.42, Z:-0.06 [[ 0.91988407 0.012564 -0.39198908 4.23789577] [-0.02598725 0.99924279 -0.02895686 0.42457834] [ 0.39132845 0.03682367 0.91951403 -0.05586179] [ 0. 0. 0. 1. ]] SLAMing on 86.26800114499999 meters Centerline goodness [0,1] 0.8622105746629563 Centerline is valid? [False, False] Translation: X:4.24, Y:0.42, Z:-0.06 [[ 0.91979363 0.01306878 -0.39218476 4.23866959] [-0.02628593 0.99925237 -0.02835047 0.42213926] [ 0.39152105 0.03638553 0.91944949 -0.05608278] [ 0. 0. 0. 1. ]] SLAMing on 86.29800114499999 meters Centerline goodness [0,1] 0.8636412575366064 Centerline is valid? [False, False] Translation: X:4.24, Y:0.42, Z:-0.06 [[ 0.91978322 0.01366249 -0.39218894 4.23914596] [-0.0264468 0.99927975 -0.02721308 0.41679276] [ 0.39153467 0.03540228 0.91948207 -0.05705617] [ 0. 0. 0. 1. ]] SLAMing on 86.32800114499999 meters Centerline goodness [0,1] 0.8644008691220257 Centerline is valid? [False, False] Translation: X:4.24, Y:0.41, Z:-0.06 [[ 0.9197809 0.01385919 -0.39218747 4.2390761 ] [-0.02644946 0.99929305 -0.02671761 0.41448638] [ 0.39153993 0.03494749 0.91949723 -0.05734251] [ 0. 0. 0. 1. ]] SLAMing on 86.35800114499999 meters Centerline goodness [0,1] 0.8678521617852162 Centerline is valid? [False, False] Translation: X:4.24, Y:0.41, Z:-0.06 [[ 0.91976679 0.01392433 -0.39221827 4.23874213] [-0.02639765 0.99930215 -0.02642679 0.41246178] [ 0.39157659 0.03466012 0.9194925 -0.05726533] [ 0. 0. 0. 1. ]] SLAMing on 86.38800114499999 meters Centerline goodness [0,1] 0.8695721753974182 Centerline is valid? [False, False] Translation: X:4.24, Y:0.41, Z:-0.06 [[ 0.91980388 0.01356677 -0.3921438 4.23717068] [-0.02579826 0.9993306 -0.02593858 0.40829431] [ 0.3915294 0.03397503 0.91953816 -0.05728509] [ 0. 0. 0. 1. ]] SLAMing on 86.41800114499999 meters Centerline goodness [0,1] 0.8647736034670708 Centerline is valid? [False, False] Translation: X:4.24, Y:0.41, Z:-0.06 [[ 0.91985192 0.0131507 -0.39204527 4.23565668] [-0.02534314 0.99934219 -0.0259406 0.40632303] [ 0.39144625 0.03379717 0.91958012 -0.05686413] [ 0. 0. 0. 1. ]] SLAMing on 86.44800114499999 meters Centerline goodness [0,1] 0.8688910644828407 Centerline is valid? [False, False] Translation: X:4.23, Y:0.40, Z:-0.06 [[ 0.91992051 0.0129293 -0.39189167 4.23448517] [-0.02497941 0.99935845 -0.02566544 0.40345325] [ 0.39130842 0.03339939 0.91965331 -0.05688994] [ 0. 0. 0. 1. ]] SLAMing on 86.478001145 meters Centerline goodness [0,1] 0.8646661941140952 Centerline is valid? [False, False] Translation: X:4.23, Y:0.40, Z:-0.06 [[ 0.91994159 0.00778437 -0.39197816 4.23345395] [-0.02095197 0.99935028 -0.02932632 0.39948941] [ 0.3914952 0.03519122 0.91950698 -0.05624901] [ 0. 0. 0. 1. ]] SLAMing on 86.50800114499998 meters Centerline goodness [0,1] 0.8659998952715087 Centerline is valid? [False, False] Translation: X:4.23, Y:0.40, Z:-0.06 [[ 0.92011627 0.00721061 -0.39157892 4.23134471] [-0.02029864 0.9993647 -0.02929443 0.39651738] [ 0.39111892 0.0349028 0.91967809 -0.05629341] [ 0. 0. 0. 1. ]] SLAMing on 86.53800114499998 meters Centerline goodness [0,1] 0.8675104384133612 Centerline is valid? [False, False] Translation: X:4.23, Y:0.39, Z:-0.06 [[ 0.92022434 0.00668956 -0.39133414 4.22958854] [-0.01973718 0.99937495 -0.02932853 0.39445599] [ 0.39089334 0.03471266 0.91978119 -0.05609044] [ 0. 0. 0. 1. ]] SLAMing on 86.56800114499998 meters Centerline goodness [0,1] 0.8663285212641436 Centerline is valid? [False, False] Translation: X:4.23, Y:0.39, Z:-0.06 [[ 0.92027455 0.00640224 -0.39122087 4.22858057] [-0.01936598 0.99938597 -0.02920016 0.39266796] [ 0.3907937 0.03444854 0.91983345 -0.05604016] [ 0. 0. 0. 1. ]] SLAMing on 86.59800114499998 meters Centerline goodness [0,1] 0.8656658369632856 Centerline is valid? [False, False] Translation: X:4.23, Y:0.39, Z:-0.06 [[ 0.92035186 0.00628835 -0.3910408 4.22742476] [-0.01897132 0.99941149 -0.02857922 0.38822043] [ 0.39063095 0.0337215 0.91992952 -0.05639221] [ 0. 0. 0. 1. ]] SLAMing on 86.62800114499998 meters Centerline goodness [0,1] 0.8656658369632856 Centerline is valid? [False, False] Translation: X:4.23, Y:0.39, Z:-0.06 [[ 0.92035186 0.00628835 -0.3910408 4.22742476] [-0.01897132 0.99941149 -0.02857922 0.38822043] [ 0.39063095 0.0337215 0.91992952 -0.05639221] [ 0. 0. 0. 1. ]] SLAMing on 86.65800114499999 meters Centerline goodness [0,1] 0.8670207280602248 Centerline is valid? [False, False] Translation: X:4.23, Y:0.39, Z:-0.06 [[ 0.92036454 0.00642297 -0.39100877 4.22706357] [-0.01892936 0.99942477 -0.02813909 0.38544918] [ 0.39060312 0.03329977 0.9199567 -0.05650365] [ 0. 0. 0. 1. ]] SLAMing on 86.68800114499999 meters Centerline goodness [0,1] 0.869689259002236 Centerline is valid? [False, False] Translation: X:4.23, Y:0.38, Z:-0.06 [[ 0.92038059 0.00658593 -0.39096829 4.22663027] [-0.0189075 0.99943816 -0.02767453 0.38249894] [ 0.39056636 0.03286333 0.919988 -0.05658446] [ 0. 0. 0. 1. ]] SLAMing on 86.71800114499999 meters Centerline goodness [0,1] 0.8659347970725216 Centerline is valid? [False, False] Translation: X:4.23, Y:0.38, Z:-0.06 [[ 0.92039598 0.00677306 -0.39092884 4.22632135] [-0.01893324 0.99944906 -0.02726007 0.37996511] [ 0.39052883 0.03249161 0.92001714 -0.05665377] [ 0. 0. 0. 1. ]] SLAMing on 86.74800114499999 meters Centerline goodness [0,1] 0.8653008179802768 Centerline is valid? [False, False] Translation: X:4.23, Y:0.38, Z:-0.06 [[ 0.92035177 0.00738919 -0.39102176 4.22645475] [-0.01926082 0.99946464 -0.02644735 0.37648331] [ 0.390617 0.03187226 0.92000137 -0.05674721] [ 0. 0. 0. 1. ]] SLAMing on 86.77800114499999 meters Centerline goodness [0,1] 0.8612207481347559 Centerline is valid? [False, False] Translation: X:4.23, Y:0.38, Z:-0.06 [[ 0.92023335 0.00769066 -0.39129456 4.22672624] [-0.01955482 0.99946164 -0.02634455 0.37564851] [ 0.3908813 0.03189482 0.91988832 -0.05610227] [ 0. 0. 0. 1. ]] SLAMing on 86.80800114499999 meters Centerline goodness [0,1] 0.8670990716011701 Centerline is valid? [False, False] Translation: X:4.23, Y:0.37, Z:-0.06 [[ 0.92009204 0.00802749 -0.39161998 4.22706617] [-0.01989841 0.999457 -0.02626332 0.37494671] [ 0.3911965 0.03195728 0.91975216 -0.05534787] [ 0. 0. 0. 1. ]] SLAMing on 86.83800114499999 meters Centerline goodness [0,1] 0.8664547304170905 Centerline is valid? [False, False] Translation: X:4.23, Y:0.37, Z:-0.05 [[ 0.91998738 0.00844919 -0.39185691 4.22753159] [-0.02028802 0.99945393 -0.02608133 0.37401039] [ 0.39142256 0.0319445 0.91965642 -0.05488417] [ 0. 0. 0. 1. ]] SLAMing on 86.86800114499998 meters Centerline goodness [0,1] 0.8736804889135815 Centerline is valid? [False, False] Translation: X:4.23, Y:0.37, Z:-0.06 [[ 0.91969289 0.01033534 -0.39250245 4.23067216] [-0.02174088 0.99946034 -0.02462449 0.37071078] [ 0.39203613 0.03118032 0.91942126 -0.05520727] [ 0. 0. 0. 1. ]] SLAMing on 86.89800114499998 meters Centerline goodness [0,1] 0.8736111111111111 Centerline is valid? [False, False] Translation: X:4.23, Y:0.37, Z:-0.06 [[ 0.91961339 0.01079261 -0.39267638 4.23124717] [-0.02209247 0.99946133 -0.02426868 0.36903779] [ 0.39220293 0.03099299 0.91935646 -0.05509137] [ 0. 0. 0. 1. ]] SLAMing on 86.92800114499998 meters Centerline goodness [0,1] 0.8769990178054248 Centerline is valid? [False, False] Translation: X:4.23, Y:0.37, Z:-0.06 [[ 0.91954703 0.01135076 -0.39281601 4.2315962 ] [-0.02244395 0.99946812 -0.02365878 0.36683811] [ 0.39233853 0.0305717 0.9193127 -0.05501291] [ 0. 0. 0. 1. ]] SLAMing on 86.95800114499998 meters Centerline goodness [0,1] 0.8735279315551082 Centerline is valid? [False, False] Translation: X:4.23, Y:0.37, Z:-0.05 [[ 0.91948499 0.01141317 -0.3929594 4.2316663 ] [-0.02250563 0.99946737 -0.02363223 0.36638532] [ 0.39248038 0.03057328 0.9192521 -0.0546513 ] [ 0. 0. 0. 1. ]] SLAMing on 86.98800114499998 meters Centerline goodness [0,1] 0.8756698281717779 Centerline is valid? [False, False] Translation: X:4.23, Y:0.37, Z:-0.05 [[ 0.91940592 0.0116165 -0.3931384 4.23211888] [-0.02260539 0.99947214 -0.02333315 0.36504006] [ 0.39265983 0.03033969 0.9191832 -0.05462703] [ 0. 0. 0. 1. ]] SLAMing on 87.01800114499999 meters Centerline goodness [0,1] 0.8742785445420327 Centerline is valid? [False, False] Translation: X:4.23, Y:0.36, Z:-0.05 [[ 0.91940131 0.01185127 -0.39314218 4.23229254] [-0.02264557 0.99948286 -0.02282946 0.36230896] [ 0.39266832 0.02989237 0.91919423 -0.0549855 ] [ 0. 0. 0. 1. ]] SLAMing on 87.04800114499999 meters Centerline goodness [0,1] 0.871014240624301 Centerline is valid? [False, False] Translation: X:4.23, Y:0.36, Z:-0.05 [[ 0.9193471 0.00701703 -0.39338488 4.23262157] [-0.01894586 0.99947062 -0.02644868 0.35928569] [ 0.39299104 0.03176854 0.91899336 -0.05461892] [ 0. 0. 0. 1. ]] SLAMing on 87.07800114499999 meters Centerline goodness [0,1] 0.8717040047581285 Centerline is valid? [False, False] Translation: X:4.23, Y:0.36, Z:-0.05 [[ 0.91945144 0.00659612 -0.39314823 4.23107674] [-0.0185041 0.99947737 -0.02650641 0.35758324] [ 0.39276792 0.03164621 0.91909296 -0.05439396] [ 0. 0. 0. 1. ]] SLAMing on 87.10800114499999 meters Centerline goodness [0,1] 0.871293015880881 Centerline is valid? [False, False] Translation: X:4.23, Y:0.36, Z:-0.05 [[ 0.9195388 0.00590554 -0.39295486 4.22904071] [-0.01791138 0.99947784 -0.02689304 0.35652209] [ 0.39259085 0.03176756 0.91916443 -0.05361853] [ 0. 0. 0. 1. ]] SLAMing on 87.13800114499999 meters Centerline goodness [0,1] 0.8667802553275551 Centerline is valid? [False, False] Translation: X:4.23, Y:0.35, Z:-0.05 [[ 0.91965456 0.00515145 -0.39269447 4.22664788] [-0.01713303 0.99948826 -0.0270125 0.35399278] [ 0.39235436 0.03157021 0.9192722 -0.05311689] [ 0. 0. 0. 1. ]] SLAMing on 87.16800114499999 meters Centerline goodness [0,1] 0.8717986567274337 Centerline is valid? [False, False] Translation: X:4.23, Y:0.35, Z:-0.05 [[ 0.91968782 0.0051019 -0.39261722 4.2262184 ] [-0.01700192 0.9994952 -0.02683817 0.3523925 ] [ 0.3922821 0.03135799 0.9193103 -0.05315397] [ 0. 0. 0. 1. ]] SLAMing on 87.19800114499999 meters Centerline goodness [0,1] 0.8712102599380865 Centerline is valid? [False, False] Translation: X:4.23, Y:0.35, Z:-0.05 [[ 0.91969107 0.00515097 -0.39260898 4.22597453] [-0.01696696 0.99950131 -0.02663198 0.35080384] [ 0.392276 0.03115458 0.91931982 -0.05309002] [ 0. 0. 0. 1. ]] SLAMing on 87.228001145 meters Centerline goodness [0,1] 0.8714592693885524 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:-0.05 [[ 0.91973508 0.00520211 -0.39250519 4.22496203] [-0.01690755 0.99950922 -0.02637141 0.34769366] [ 0.39217537 0.03089102 0.91937165 -0.05278171] [ 0. 0. 0. 1. ]] SLAMing on 87.25800114499998 meters Centerline goodness [0,1] 0.8715226939970717 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:-0.05 [[ 0.91976027 0.00515014 -0.39244683 4.22436121] [-0.01684283 0.99951069 -0.02635705 0.34656096] [ 0.39211906 0.03085208 0.91939697 -0.05252743] [ 0. 0. 0. 1. ]] SLAMing on 87.28800114499998 meters Centerline goodness [0,1] 0.8696825319655792 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:-0.05 [[ 0.91974224 0.0051415 -0.3924892 4.22411749] [-0.01684638 0.99950993 -0.02638378 0.34596994] [ 0.3921612 0.0308783 0.91937812 -0.05216764] [ 0. 0. 0. 1. ]] SLAMing on 87.31800114499998 meters Centerline goodness [0,1] 0.8731693099846987 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:-0.05 [[ 0.91963245 0.00519926 -0.39274562 4.22429798] [-0.0169394 0.99950706 -0.02643269 0.34560853] [ 0.39241459 0.03096124 0.9192672 -0.05156407] [ 0. 0. 0. 1. ]] SLAMing on 87.34800114499998 meters Centerline goodness [0,1] 0.8712902444928589 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:-0.05 [[ 0.91962812 0.00541897 -0.3927528 4.22391913] [-0.01707866 0.99951085 -0.02619891 0.34361075] [ 0.39241871 0.03080095 0.91927083 -0.05124677] [ 0. 0. 0. 1. ]] SLAMing on 87.37800114499998 meters Centerline goodness [0,1] 0.8721202891193464 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:-0.05 [[ 0.9195934 0.00548329 -0.39283319 4.22391335] [-0.01713738 0.99951071 -0.02616584 0.34266432] [ 0.39249751 0.03079406 0.91923742 -0.05098518] [ 0. 0. 0. 1. ]] SLAMing on 87.40800114499999 meters Centerline goodness [0,1] 0.872130988947203 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:-0.05 [[ 0.91953705 0.00554333 -0.39296423 4.22430034] [-0.01719115 0.99951078 -0.02612779 0.34218306] [ 0.39262715 0.03078097 0.91918249 -0.05088039] [ 0. 0. 0. 1. ]] SLAMing on 87.43800114499999 meters Centerline goodness [0,1] 0.8758868671267919 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:-0.05 [[ 0.91952563 0.00558611 -0.39299034 4.22459754] [-0.01713006 0.99951844 -0.02587369 0.34086482] [ 0.39265656 0.03052347 0.91917852 -0.05119448] [ 0. 0. 0. 1. ]] SLAMing on 87.46800114499999 meters Centerline goodness [0,1] 0.8737643504531722 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:-0.05 [[ 0.91955848 0.00529784 -0.39291747 4.2240747 ] [-0.01685691 0.99952048 -0.02597395 0.34023169] [ 0.39259146 0.03050794 0.91920684 -0.05110464] [ 0. 0. 0. 1. ]] SLAMing on 87.49800114499999 meters Centerline goodness [0,1] 0.8733666642513828 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:-0.05 [[ 0.91963638 0.00484291 -0.39274099 4.22292935] [-0.01644104 0.99952222 -0.02617294 0.33926577] [ 0.39242659 0.03052666 0.91927661 -0.05086457] [ 0. 0. 0. 1. ]] SLAMing on 87.52800114499999 meters Centerline goodness [0,1] 0.8721042007113333 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:-0.05 [[ 0.91966103 0.00443864 -0.39268803 4.22227179] [-0.01600764 0.99952877 -0.02619142 0.33778106] [ 0.39238673 0.03037324 0.91929871 -0.05084068] [ 0. 0. 0. 1. ]] SLAMing on 87.55800114499999 meters Centerline goodness [0,1] 0.8730752626277163 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:-0.05 [[ 9.19601575e-01 -1.03980807e-03 -3.92850941e-01 4.22208293e+00] [-1.18562101e-02 9.99467526e-01 -3.03989189e-02 3.37452015e-01] [ 3.92673367e-01 3.26126170e-02 9.19099583e-01 -5.02516828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58800114499999 meters Centerline goodness [0,1] 0.8708195780106215 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:-0.05 [[ 9.19693801e-01 -1.61241109e-03 -3.92633051e-01 4.22105362e+00] [-1.13024847e-02 9.99468444e-01 -3.05791350e-02 3.36301042e-01] [ 3.92473651e-01 3.25611699e-02 9.19186708e-01 -5.03240606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61800114499998 meters Centerline goodness [0,1] 0.8669839978950893 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:-0.05 [[ 9.19762174e-01 -2.08308473e-03 -3.92470640e-01 4.21987311e+00] [-1.08482663e-02 9.99468914e-01 -3.07279123e-02 3.35102008e-01] [ 3.92326214e-01 3.25199975e-02 9.19251104e-01 -5.01072117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64800114499998 meters Centerline goodness [0,1] 0.8694415904040524 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:-0.05 [[ 9.19903338e-01 -3.06043225e-03 -3.92133246e-01 4.21775000e+00] [-9.96876426e-03 9.99463883e-01 -3.11860602e-02 3.34237332e-01] [ 3.92018459e-01 3.25972448e-02 9.19379654e-01 -4.97557231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67800114499998 meters Centerline goodness [0,1] 0.8674834025887186 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:-0.05 [[ 9.19911784e-01 -3.32308302e-03 -3.92111293e-01 4.21721195e+00] [-9.75486349e-03 9.99460687e-01 -3.13556506e-02 3.33842396e-01] [ 3.92004020e-01 3.26694246e-02 9.19383248e-01 -4.94478326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70800114499998 meters Centerline goodness [0,1] 0.8693395210870033 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:-0.05 [[ 9.19959687e-01 -3.74813409e-03 -3.91995058e-01 4.21619826e+00] [-9.36920584e-03 9.99458426e-01 -3.15447749e-02 3.32867381e-01] [ 3.91900998e-01 3.26926036e-02 9.19426344e-01 -4.91943063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73800114499998 meters Centerline goodness [0,1] 0.8702523335481869 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:-0.05 [[ 9.19993938e-01 -3.90913544e-03 -3.91913093e-01 4.21597911e+00] [-9.24942596e-03 9.99455215e-01 -3.16815688e-02 3.32801585e-01] [ 3.91823432e-01 3.27718224e-02 9.19456582e-01 -4.91749872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.76800114499999 meters Centerline goodness [0,1] 0.8690217261406821 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:-0.05 [[ 9.19927086e-01 -3.95396873e-03 -3.92069537e-01 4.21622716e+00] [-9.25900887e-03 9.99451235e-01 -3.18040827e-02 3.32945132e-01] [ 3.91980135e-01 3.28876125e-02 9.19385653e-01 -4.88775003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.79800114499999 meters Centerline goodness [0,1] 0.8726240728816389 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:-0.05 [[ 9.19888354e-01 -4.01919983e-03 -3.92159740e-01 4.21667564e+00] [-9.22870757e-03 9.99448746e-01 -3.18909963e-02 3.33152467e-01] [ 3.92071737e-01 3.29552837e-02 9.19344170e-01 -4.89128397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.82800114499999 meters Centerline goodness [0,1] 0.8695652173913043 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:-0.05 [[ 9.19868187e-01 -3.94884900e-03 -3.92207758e-01 4.21738306e+00] [-9.24149117e-03 9.99453518e-01 -3.17373752e-02 3.32547304e-01] [ 3.92118749e-01 3.28187863e-02 9.19329002e-01 -4.93050832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.85800114499999 meters Centerline goodness [0,1] 0.8698880320863275 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:-0.05 [[ 0.91988596 -0.00440518 -0.3921612 4.21773885] [-0.00877802 0.99945515 -0.0318174 0.33234022] [ 0.39208769 0.03271078 0.9193461 -0.04995112] [ 0. 0. 0. 1. ]] SLAMing on 87.88800114499999 meters Centerline goodness [0,1] 0.8707583993869585 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:-0.05 [[ 0.91989916 -0.00479567 -0.39212567 4.21756972] [-0.00847921 0.99944822 -0.03211481 0.33299102] [ 0.39206331 0.03286731 0.91935091 -0.04990944] [ 0. 0. 0. 1. ]] SLAMing on 87.91800114499999 meters Centerline goodness [0,1] 0.8683641604612058 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:-0.05 [[ 0.91994127 -0.0053833 -0.39201923 4.21730602] [-0.00805369 0.99943525 -0.03262388 0.33381238] [ 0.39197346 0.03316925 0.91937838 -0.04996428] [ 0. 0. 0. 1. ]] SLAMing on 87.94800114499999 meters Centerline goodness [0,1] 0.8684799076545704 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:-0.05 [[ 0.91994646 -0.0055331 -0.39200497 4.21764839] [-0.00795054 0.99943146 -0.03276497 0.33375206] [ 0.39196339 0.03325867 0.91937944 -0.05019442] [ 0. 0. 0. 1. ]] SLAMing on 87.97800114499998 meters Centerline goodness [0,1] 0.8671807437301816 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:-0.05 [[ 0.91989976 -0.00560796 -0.39211348 4.21805391] [-0.00794837 0.99942571 -0.0329406 0.33403504] [ 0.39207302 0.03341871 0.91932689 -0.05009626] [ 0. 0. 0. 1. ]] SLAMing on 88.00800114499998 meters Centerline goodness [0,1] 0.8685675721275519 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:-0.05 [[ 0.91990824 -0.00607841 -0.39208658 4.21773795] [-0.0076385 0.99941237 -0.03341496 0.33532863] [ 0.39205928 0.03373365 0.91932125 -0.04989851] [ 0. 0. 0. 1. ]] SLAMing on 88.03800114499998 meters Centerline goodness [0,1] 0.8695704837810994 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:-0.05 [[ 0.91987296 -0.00731093 -0.3921483 4.2165546 ] [-0.00695905 0.99936464 -0.03495547 0.33995462] [ 0.39215471 0.03488357 0.91923763 -0.04849608] [ 0. 0. 0. 1. ]] SLAMing on 88.06800114499998 meters Centerline goodness [0,1] 0.8696631390308285 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:-0.05 [[ 0.919813 -0.00781592 -0.39227918 4.21624371] [-0.00671875 0.9993412 -0.03566532 0.34209449] [ 0.3922995 0.03544105 0.91915452 -0.04772294] [ 0. 0. 0. 1. ]] SLAMing on 88.09800114499998 meters Centerline goodness [0,1] 0.8680542063337866 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:-0.05 [[ 0.91977317 -0.0081888 -0.39236496 4.21623388] [-0.00659984 0.99931815 -0.03632735 0.34402299] [ 0.39239491 0.03600247 0.91909197 -0.04718768] [ 0. 0. 0. 1. ]] SLAMing on 88.12800114499998 meters Centerline goodness [0,1] 0.8723300734685934 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:-0.05 [[ 0.9197131 -0.00772149 -0.39251522 4.21767729] [-0.00713804 0.9993124 -0.03638365 0.34500922] [ 0.39252626 0.03626431 0.91902559 -0.04733207] [ 0. 0. 0. 1. ]] SLAMing on 88.15800114499999 meters Centerline goodness [0,1] 0.8774251730525495 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:-0.05 [[ 0.91963324 -0.00766847 -0.39270332 4.21834698] [-0.00729767 0.99930322 -0.0366035 0.34583735] [ 0.39271038 0.03652761 0.9189365 -0.04707631] [ 0. 0. 0. 1. ]] SLAMing on 88.18800114499999 meters Centerline goodness [0,1] 0.8774289620154282 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:-0.05 [[ 0.91952816 -0.00785404 -0.39294564 4.21882062] [-0.00734249 0.99928253 -0.03715534 0.34793477] [ 0.39295553 0.03705058 0.91881075 -0.04642631] [ 0. 0. 0. 1. ]] SLAMing on 88.21800114499999 meters Centerline goodness [0,1] 0.8837808649550832 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:-0.05 [[ 9.19710865e-01 -3.85232215e-03 -3.92577489e-01 4.21683918e+00] [-1.04880558e-02 9.99353887e-01 -3.43774474e-02 3.51465136e-01] [ 3.92456273e-01 3.57346865e-02 9.19076224e-01 -4.59186280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24800114499999 meters Centerline goodness [0,1] 0.8859319326698611 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:-0.04 [[ 9.19603787e-01 -4.16622010e-03 -3.92825048e-01 4.21688308e+00] [-1.04853787e-02 9.99327219e-01 -3.51449360e-02 3.53793755e-01] [ 3.92707184e-01 3.64383356e-02 9.18941410e-01 -4.48713939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27800114499999 meters Centerline goodness [0,1] 0.8854023214637026 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:-0.04 [[ 9.19540558e-01 -4.16570043e-03 -3.92973038e-01 4.21733501e+00] [-1.06124891e-02 9.99315953e-01 -3.54260055e-02 3.54805024e-01] [ 3.92851800e-01 3.67460709e-02 9.18867340e-01 -4.45212266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30800114499999 meters Centerline goodness [0,1] 0.8868918652747686 Centerline is valid? [False, False] Translation: X:4.22, Y:0.36, Z:-0.04 [[ 9.19446698e-01 -3.94965140e-03 -3.93194825e-01 4.21843067e+00] [-1.08783582e-02 9.99311318e-01 -3.54760565e-02 3.55041126e-01] [ 3.93064157e-01 3.68956572e-02 9.18770526e-01 -4.44468221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33800114499999 meters Centerline goodness [0,1] 0.8887630211539882 Centerline is valid? [False, False] Translation: X:4.22, Y:0.36, Z:-0.05 [[ 9.19445302e-01 -3.76547593e-03 -3.93199897e-01 4.21965961e+00] [-1.10975914e-02 9.99307343e-01 -3.55200907e-02 3.55557657e-01] [ 3.93061294e-01 3.70223523e-02 9.18766654e-01 -4.50009360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36800114499998 meters Centerline goodness [0,1] 0.888385380750665 Centerline is valid? [False, False] Translation: X:4.22, Y:0.36, Z:-0.04 [[ 9.19429326e-01 -3.94064408e-03 -3.93235534e-01 4.21995157e+00] [-1.10088130e-02 9.99299987e-01 -3.57539183e-02 3.56461587e-01] [ 3.93101157e-01 3.72022574e-02 9.18742332e-01 -4.49856750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39800114499998 meters Centerline goodness [0,1] 0.8875863770977295 Centerline is valid? [False, False] Translation: X:4.22, Y:0.36, Z:-0.04 [[ 0.91940503 -0.00443585 -0.39328707 4.21949597] [-0.01069736 0.99928446 -0.03627854 0.35773002] [ 0.39316659 0.03756181 0.9186997 -0.04443379] [ 0. 0. 0. 1. ]] SLAMing on 88.42800114499998 meters Centerline goodness [0,1] 0.890311913927549 Centerline is valid? [False, False] Translation: X:4.22, Y:0.36, Z:-0.04 [[ 0.91943067 -0.00517987 -0.39321802 4.21849147] [-0.01018283 0.99926438 -0.03697302 0.35931824] [ 0.39312027 0.0379982 0.91870158 -0.04382127] [ 0. 0. 0. 1. ]] SLAMing on 88.45800114499998 meters Centerline goodness [0,1] 0.8888257248078302 Centerline is valid? [False, False] Translation: X:4.22, Y:0.36, Z:-0.04 [[ 0.9194861 -0.0059891 -0.39307689 4.21775587] [-0.00949896 0.99925354 -0.03744507 0.36000979] [ 0.39300774 0.03816404 0.91874285 -0.04384502] [ 0. 0. 0. 1. ]] SLAMing on 88.48800114499998 meters Centerline goodness [0,1] 0.8857431998815224 Centerline is valid? [False, False] Translation: X:4.22, Y:0.36, Z:-0.04 [[ 0.91954063 -0.0061113 -0.39294743 4.21780563] [-0.00932053 0.9992587 -0.03735201 0.35898068] [ 0.39288441 0.03800917 0.91880202 -0.04430792] [ 0. 0. 0. 1. ]] SLAMing on 88.51800114499999 meters Centerline goodness [0,1] 0.8823122700446947 Centerline is valid? [False, False] Translation: X:4.22, Y:0.36, Z:-0.04 [[ 0.91960604 -0.00645911 -0.39278876 4.21747115] [-0.00897888 0.99925803 -0.03745362 0.35825321] [ 0.39273924 0.03796938 0.91886572 -0.04460579] [ 0. 0. 0. 1. ]] SLAMing on 88.54800114499999 meters Centerline goodness [0,1] 0.8823122700446947 Centerline is valid? [False, False] Translation: X:4.22, Y:0.36, Z:-0.04 [[ 0.91960604 -0.00645911 -0.39278876 4.21747115] [-0.00897888 0.99925803 -0.03745362 0.35825321] [ 0.39273924 0.03796938 0.91886572 -0.04460579] [ 0. 0. 0. 1. ]] SLAMing on 88.57800114499999 meters Centerline goodness [0,1] 0.8681381011097411 Centerline is valid? [False, False] Translation: X:4.22, Y:0.36, Z:-0.04 [[ 0.91970229 -0.0075904 -0.39254311 4.21624659] [-0.00802989 0.99924032 -0.03813528 0.35962487] [ 0.39253436 0.03822518 0.91894266 -0.04460009] [ 0. 0. 0. 1. ]] SLAMing on 88.60800114499999 meters Centerline goodness [0,1] 0.8535189635097976 Centerline is valid? [False, False] Translation: X:4.22, Y:0.36, Z:-0.04 [[ 0.91969983 -0.00826613 -0.39253521 4.21567751] [-0.00752406 0.99922368 -0.03867066 0.36089071] [ 0.39255013 0.03851886 0.91892366 -0.04424399] [ 0. 0. 0. 1. ]] SLAMing on 88.63800114499999 meters Centerline goodness [0,1] 0.878582052553297 Centerline is valid? [False, False] Translation: X:4.22, Y:0.36, Z:-0.04 [[ 0.91971549 -0.00897378 -0.39248297 4.21505026] [-0.00697457 0.99920745 -0.0391897 0.36189234] [ 0.39252359 0.03878077 0.91892398 -0.04398154] [ 0. 0. 0. 1. ]] SLAMing on 88.66800114499999 meters Centerline goodness [0,1] 0.8737832657024074 Centerline is valid? [False, False] Translation: X:4.21, Y:0.36, Z:-0.04 [[ 0.91976731 -0.01001741 -0.39233626 4.21443449] [-0.00600226 0.99919824 -0.03958353 0.36186425] [ 0.39241823 0.03876254 0.91896975 -0.04447807] [ 0. 0. 0. 1. ]] SLAMing on 88.69800114499999 meters Centerline goodness [0,1] 0.8716909845641421 Centerline is valid? [False, False] Translation: X:4.21, Y:0.36, Z:-0.04 [[ 0.91980312 -0.01034544 -0.39224379 4.21437398] [-0.00569348 0.99919523 -0.0397049 0.36119229] [ 0.39233889 0.03875393 0.91900399 -0.04473951] [ 0. 0. 0. 1. ]] SLAMing on 88.72800114499998 meters Centerline goodness [0,1] 0.8693587288957406 Centerline is valid? [False, False] Translation: X:4.21, Y:0.36, Z:-0.05 [[ 0.91998353 -0.0115479 -0.39178687 4.21296862] [-0.00458055 0.99918088 -0.04020673 0.36080664] [ 0.39193026 0.03878413 0.91917706 -0.04537779] [ 0. 0. 0. 1. ]] SLAMing on 88.75800114499998 meters Centerline goodness [0,1] 0.8693587288957406 Centerline is valid? [False, False] Translation: X:4.21, Y:0.36, Z:-0.05 [[ 0.91998353 -0.0115479 -0.39178687 4.21296862] [-0.00458055 0.99918088 -0.04020673 0.36080664] [ 0.39193026 0.03878413 0.91917706 -0.04537779] [ 0. 0. 0. 1. ]] SLAMing on 88.78800114499998 meters Centerline goodness [0,1] 0.8554769261437257 Centerline is valid? [False, False] Translation: X:4.21, Y:0.36, Z:-0.04 [[ 9.20154984e-01 -1.34877509e-02 -3.91321971e-01 4.21005647e+00] [-3.07409047e-03 9.99126888e-01 -4.16654709e-02 3.63911239e-01] [ 3.91542277e-01 3.95416499e-02 9.19310124e-01 -4.46752568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81800114499998 meters Centerline goodness [0,1] 0.8584150265658909 Centerline is valid? [False, False] Translation: X:4.21, Y:0.36, Z:-0.04 [[ 9.20131737e-01 -1.41395055e-02 -3.91353627e-01 4.20932610e+00] [-2.61310445e-03 9.99104026e-01 -4.22411753e-02 3.64908410e-01] [ 3.91600254e-01 3.98900939e-02 9.19270375e-01 -4.40436924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84800114499998 meters Centerline goodness [0,1] 0.8541437293564208 Centerline is valid? [False, False] Translation: X:4.21, Y:0.37, Z:-0.04 [[ 9.20180498e-01 -1.47017460e-02 -3.91218237e-01 4.20857876e+00] [-2.13971142e-03 9.99090853e-01 -4.25780269e-02 3.65264435e-01] [ 3.91488534e-01 4.00165642e-02 9.19312462e-01 -4.39565971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87800114499998 meters Centerline goodness [0,1] 0.8296693699313786 Centerline is valid? [False, False] Translation: X:4.21, Y:0.37, Z:-0.04 [[ 9.20366736e-01 -1.62223343e-02 -3.90719730e-01 4.20616396e+00] [-8.22534982e-04 9.99056678e-01 -4.34174778e-02 3.65715960e-01] [ 3.91055489e-01 4.02813829e-02 9.19485190e-01 -4.39232811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.90800114499999 meters Centerline goodness [0,1] 0.8175584700543559 Centerline is valid? [False, False] Translation: X:4.20, Y:0.37, Z:-0.04 [[ 9.20440403e-01 -1.70161725e-02 -3.90512373e-01 4.20483780e+00] [-2.37301038e-04 9.99027495e-01 -4.40909093e-02 3.66814908e-01] [ 3.90882856e-01 4.06757233e-02 9.19541232e-01 -4.34579855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.93800114499999 meters Centerline goodness [0,1] 0.7921593186372745 Centerline is valid? [False, False] Translation: X:4.20, Y:0.37, Z:-0.04 [[ 9.20488853e-01 -1.78876046e-02 -3.90359200e-01 4.20342994e+00] [ 3.75303716e-04 9.98991764e-01 -4.48922602e-02 3.68399020e-01] [ 3.90768641e-01 4.11763218e-02 9.19567496e-01 -4.27621863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.96800114499999 meters Centerline goodness [0,1] 0.7987664226256143 Centerline is valid? [False, False] Translation: X:4.20, Y:0.37, Z:-0.04 [[ 9.20565283e-01 -1.88954774e-02 -3.90131415e-01 4.20210486e+00] [ 1.04622221e-03 9.98944857e-01 -4.59138214e-02 3.70515527e-01] [ 3.90587334e-01 4.18585059e-02 9.19613723e-01 -4.21584038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99800114499999 meters Centerline goodness [0,1] 0.8072476489028213 Centerline is valid? [False, False] Translation: X:4.20, Y:0.37, Z:-0.04 [[ 9.20449415e-01 -1.87441044e-02 -3.90412003e-01 4.20330507e+00] [ 8.23712287e-04 9.98940262e-01 -4.60181934e-02 3.71609409e-01] [ 3.90860839e-01 4.20358321e-02 9.19489420e-01 -4.20043508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02800114499999 meters Centerline goodness [0,1] 0.8128178788865783 Centerline is valid? [False, False] Translation: X:4.20, Y:0.37, Z:-0.04 [[ 9.20325558e-01 -1.85781157e-02 -3.90711813e-01 4.20441625e+00] [ 5.47888313e-04 9.98931687e-01 -4.62080547e-02 3.73139684e-01] [ 3.91152869e-01 4.23123873e-02 9.19352541e-01 -4.16270076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05800114499999 meters Centerline goodness [0,1] 0.8181271003661534 Centerline is valid? [False, False] Translation: X:4.21, Y:0.37, Z:-0.04 [[ 9.20225996e-01 -1.83551835e-02 -3.90956780e-01 4.20536788e+00] [ 2.47535978e-04 9.98926791e-01 -4.63163612e-02 3.74122028e-01] [ 3.91387347e-01 4.25247438e-02 9.19242944e-01 -4.13450491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08800114499999 meters Centerline goodness [0,1] 0.8324769533021006 Centerline is valid? [False, False] Translation: X:4.21, Y:0.37, Z:-0.04 [[ 9.20359687e-01 -1.33422385e-02 -3.90845278e-01 4.20553648e+00] [-3.47381387e-03 9.99099497e-01 -4.22862521e-02 3.74167357e-01] [ 3.91057514e-01 4.02762855e-02 9.19484552e-01 -4.21657739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11800114499998 meters Centerline goodness [0,1] 0.8381510186564338 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:-0.04 [[ 9.20156025e-01 -1.28657151e-02 -3.91340469e-01 4.20739992e+00] [-4.06912406e-03 9.99091841e-01 -4.24138604e-02 3.76328059e-01] [ 3.91530754e-01 4.06197821e-02 9.19268025e-01 -4.16339976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14800114499998 meters Centerline goodness [0,1] 0.7984297834620742 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:-0.04 [[ 0.92025578 -0.00798134 -0.39123599 4.2071573 ] [-0.00766205 0.9992328 -0.03840714 0.37650069] [ 0.39124237 0.03834206 0.9194886 -0.0421767 ] [ 0. 0. 0. 1. ]] SLAMing on 89.17800114499998 meters Centerline goodness [0,1] 0.8568857570150313 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:-0.04 [[ 0.91998595 -0.00750173 -0.39187955 4.2093799 ] [-0.008311 0.99921867 -0.03863908 0.37874464] [ 0.39186322 0.03880432 0.91920479 -0.04146227] [ 0. 0. 0. 1. ]] SLAMing on 89.20800114499998 meters Centerline goodness [0,1] 0.8632463444354184 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:-0.04 [[ 0.91978196 -0.00588431 -0.39238569 4.21395629] [-0.0097751 0.99923379 -0.03789834 0.37957978] [ 0.39230804 0.03869382 0.91901969 -0.04252931] [ 0. 0. 0. 1. ]] SLAMing on 89.23800114499998 meters Centerline goodness [0,1] 0.8737994816809798 Centerline is valid? [False, False] Translation: X:4.22, Y:0.38, Z:-0.04 [[ 0.91963072 -0.0053328 -0.39274789 4.21609173] [-0.01034947 0.99923168 -0.03780132 0.3799916 ] [ 0.39264772 0.03882799 0.91886895 -0.0426281 ] [ 0. 0. 0. 1. ]] SLAMing on 89.26800114499999 meters Centerline goodness [0,1] 0.8752606153063819 Centerline is valid? [False, False] Translation: X:4.22, Y:0.38, Z:-0.04 [[ 0.91947719 -0.00517304 -0.39310931 4.21720693] [-0.01071445 0.99921229 -0.03820989 0.38207603] [ 0.39299732 0.03934507 0.91869749 -0.04189863] [ 0. 0. 0. 1. ]] SLAMing on 89.29800114499999 meters Centerline goodness [0,1] 0.8784031347005241 Centerline is valid? [False, False] Translation: X:4.22, Y:0.38, Z:-0.04 [[ 0.91930012 -0.00512305 -0.39352387 4.21790903] [-0.01107256 0.99918277 -0.03887406 0.38499596] [ 0.39340142 0.04009424 0.91849212 -0.04058457] [ 0. 0. 0. 1. ]] SLAMing on 89.32800114499999 meters Centerline goodness [0,1] 0.8868122583783506 Centerline is valid? [False, False] Translation: X:4.22, Y:0.39, Z:-0.04 [[ 9.19288742e-01 -6.21795516e-04 -3.93583310e-01 4.21678050e+00] [-1.47548319e-02 9.99241370e-01 -3.60413520e-02 3.87932509e-01] [ 3.93307136e-01 3.89396647e-02 9.18582168e-01 -3.91982779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.35800114499999 meters Centerline goodness [0,1] 0.8894252991628576 Centerline is valid? [False, False] Translation: X:4.22, Y:0.39, Z:-0.04 [[ 9.19100897e-01 -4.63646839e-04 -3.94021988e-01 4.21793885e+00] [-1.51803679e-02 9.99215213e-01 -3.65857064e-02 3.90164397e-01] [ 3.93729727e-01 3.96073543e-02 9.18372560e-01 -3.81591992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38800114499999 meters Centerline goodness [0,1] 0.8886690647482014 Centerline is valid? [False, False] Translation: X:4.22, Y:0.39, Z:-0.04 [[ 9.18843677e-01 -1.82885447e-05 -3.94621713e-01 4.22009082e+00] [-1.57861065e-02 9.99197850e-01 -3.68029370e-02 3.91962347e-01] [ 3.94305840e-01 4.00456863e-02 9.18106338e-01 -3.74772915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41800114499999 meters Centerline goodness [0,1] 0.8890608875128999 Centerline is valid? [False, False] Translation: X:4.22, Y:0.39, Z:-0.04 [[ 9.18686183e-01 1.94870809e-04 -3.94988175e-01 4.22178267e+00] [-1.62344592e-02 9.99173499e-01 -3.72660868e-02 3.94519469e-01] [ 3.94654455e-01 4.06482585e-02 9.17930052e-01 -3.69836910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44800114499999 meters Centerline goodness [0,1] 0.8909405505913951 Centerline is valid? [False, False] Translation: X:4.22, Y:0.40, Z:-0.04 [[ 9.18717608e-01 -3.20481613e-04 -3.94914997e-01 4.22127731e+00] [-1.59409015e-02 9.99154562e-01 -3.78952374e-02 3.95738741e-01] [ 3.94593265e-01 4.11103229e-02 9.17935780e-01 -3.65559202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47800114499998 meters Centerline goodness [0,1] 0.8906371105254999 Centerline is valid? [False, False] Translation: X:4.22, Y:0.40, Z:-0.04 [[ 9.18696850e-01 -7.70963560e-04 -3.94962662e-01 4.22086470e+00] [-1.56996097e-02 9.99136489e-01 -3.84681421e-02 3.97043630e-01] [ 3.94651265e-01 4.15413206e-02 9.17891441e-01 -3.59454167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50800114499998 meters Centerline goodness [0,1] 0.8899806076276664 Centerline is valid? [False, False] Translation: X:4.22, Y:0.40, Z:-0.03 [[ 9.18821368e-01 -2.03099101e-03 -3.94668428e-01 4.21838591e+00] [-1.49015245e-02 9.99095212e-01 -3.98334182e-02 3.99794919e-01] [ 3.94392238e-01 4.24809571e-02 9.17959765e-01 -3.46412128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53800114499998 meters Centerline goodness [0,1] 0.8869234971256146 Centerline is valid? [False, False] Translation: X:4.22, Y:0.40, Z:-0.03 [[ 9.18838618e-01 -2.56934107e-03 -3.94625130e-01 4.21745239e+00] [-1.45523837e-02 9.99078079e-01 -4.03883668e-02 4.00383906e-01] [ 3.94365088e-01 4.28531274e-02 9.17954131e-01 -3.39752639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56800114499998 meters Centerline goodness [0,1] 0.8872608661886148 Centerline is valid? [False, False] Translation: X:4.22, Y:0.40, Z:-0.03 [[ 9.18964973e-01 -3.23559915e-03 -3.94325893e-01 4.21602406e+00] [-1.39744933e-02 9.99071036e-01 -4.07649194e-02 4.00469766e-01] [ 3.94091477e-01 4.29720376e-02 9.18066071e-01 -3.38846091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59800114499998 meters Centerline goodness [0,1] 0.8857417311386884 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:-0.03 [[ 0.91912995 -0.00454532 -0.39392825 4.21380502] [-0.01272447 0.99906919 -0.04121698 0.40058028] [ 0.39374892 0.04289629 0.91821658 -0.03417344] [ 0. 0. 0. 1. ]] SLAMing on 89.62800114499998 meters Centerline goodness [0,1] 0.8786761842959118 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:-0.03 [[ 0.91915854 -0.00495003 -0.39385668 4.21349894] [-0.01227829 0.99907503 -0.04121079 0.40045274] [ 0.39369637 0.04271514 0.91824756 -0.03453234] [ 0. 0. 0. 1. ]] SLAMing on 89.65800114499999 meters Centerline goodness [0,1] 0.8742458914083628 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:-0.03 [[ 0.91918237 -0.00523523 -0.39379736 4.21335846] [-0.01191694 0.99908405 -0.04109798 0.39967642] [ 0.39365182 0.0424694 0.91827806 -0.03495556] [ 0. 0. 0. 1. ]] SLAMing on 89.68800114499999 meters Centerline goodness [0,1] 0.8661558441558441 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:-0.04 [[ 0.91916371 -0.00541457 -0.3938385 4.21356909] [-0.01166951 0.9990922 -0.04097073 0.39892819] [ 0.39370281 0.04225471 0.9182661 -0.03529084] [ 0. 0. 0. 1. ]] SLAMing on 89.71800114499999 meters Centerline goodness [0,1] 0.8591388057759854 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:-0.04 [[ 0.91928634 -0.00614836 -0.3935414 4.21257005] [-0.01099478 0.99908663 -0.04129196 0.39909562] [ 0.39343583 0.04228604 0.91837908 -0.03568976] [ 0. 0. 0. 1. ]] SLAMing on 89.74800114499999 meters Centerline goodness [0,1] 0.8600140219677495 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:-0.03 [[ 0.9191946 -0.00635531 -0.39375234 4.21268245] [-0.01100034 0.99906523 -0.04180504 0.40040182] [ 0.39364995 0.04275837 0.91826545 -0.03487185] [ 0. 0. 0. 1. ]] SLAMing on 89.77800114499999 meters Centerline goodness [0,1] 0.8778119141845449 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:-0.04 [[ 9.19328074e-01 -1.47974001e-03 -3.93489140e-01 4.21172734e+00] [-1.46816666e-02 9.99167637e-01 -3.80589324e-02 4.00959894e-01] [ 3.93217932e-01 4.07657214e-02 9.18541134e-01 -3.50699098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80800114499999 meters Centerline goodness [0,1] 0.8801947713779814 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:-0.03 [[ 9.19150707e-01 -1.22094448e-03 -3.93904159e-01 4.21282994e+00] [-1.51376980e-02 9.99147020e-01 -3.84198250e-02 4.02442429e-01] [ 3.93615075e-01 4.12764115e-02 9.18348207e-01 -3.41692240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83800114499999 meters Centerline goodness [0,1] 0.8839497794367153 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:-0.03 [[ 9.19254235e-01 3.63052059e-03 -3.93647649e-01 4.21214660e+00] [-1.86546162e-02 9.99235855e-01 -3.43469309e-02 4.01411372e-01] [ 3.93222147e-01 3.89169075e-02 9.18619517e-01 -3.48096759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86800114499998 meters Centerline goodness [0,1] 0.8883337692911326 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:-0.03 [[ 9.19051121e-01 3.72601941e-03 -3.94120734e-01 4.21313526e+00] [-1.90151415e-02 9.99210073e-01 -3.48949188e-02 4.03537672e-01] [ 3.93679388e-01 3.95644758e-02 9.18395989e-01 -3.36783590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89800114499998 meters Centerline goodness [0,1] 0.8928543332896289 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:-0.03 [[ 0.91907269 0.00881191 -0.39398952 4.21307276] [-0.02272602 0.99927135 -0.03066421 0.40280064] [ 0.39343223 0.03713645 0.91860327 -0.03436827] [ 0. 0. 0. 1. ]] SLAMing on 89.92800114499998 meters Centerline goodness [0,1] 0.8972721538946704 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:-0.04 [[ 0.91910143 0.01391439 -0.39377524 4.2131607 ] [-0.02655573 0.99929144 -0.02667227 0.40323663] [ 0.3931251 0.03497151 0.9188197 -0.03505248] [ 0. 0. 0. 1. ]] SLAMing on 89.95800114499998 meters Centerline goodness [0,1] 0.8945832237707073 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:-0.03 [[ 0.91893265 0.01406052 -0.39416379 4.21416612] [-0.02688509 0.99927295 -0.02703266 0.40440715] [ 0.39349712 0.03543832 0.91864255 -0.0342489 ] [ 0. 0. 0. 1. ]] SLAMing on 89.98800114499998 meters Centerline goodness [0,1] 0.8959132216210537 Centerline is valid? [False, False] Translation: X:4.22, Y:0.41, Z:-0.03 [[ 0.91871261 0.01431855 -0.3946671 4.21551352] [-0.02732565 0.9992522 -0.02735616 0.40563964] [ 0.39398027 0.03591698 0.91841685 -0.03333133] [ 0. 0. 0. 1. ]] SLAMing on 90.01800114499999 meters Centerline goodness [0,1] 0.8940728085162308 Centerline is valid? [False, False] Translation: X:4.22, Y:0.41, Z:-0.03 [[ 0.91856727 0.01465679 -0.39499285 4.21693202] [-0.02778249 0.9992348 -0.0275309 0.40699732] [ 0.39428708 0.03626287 0.91827158 -0.03295406] [ 0. 0. 0. 1. ]] SLAMing on 90.04800114499999 meters Centerline goodness [0,1] 0.8906274737453164 Centerline is valid? [False, False] Translation: X:4.22, Y:0.41, Z:-0.03 [[ 0.91850809 0.02009613 -0.39489116 4.21762319] [-0.03187527 0.99922046 -0.02329054 0.4068688 ] [ 0.39411527 0.03397981 0.91843265 -0.03365176] [ 0. 0. 0. 1. ]] SLAMing on 90.07800114499999 meters Centerline goodness [0,1] 0.8930830928872064 Centerline is valid? [False, False] Translation: X:4.22, Y:0.41, Z:-0.03 [[ 0.91826255 0.0202971 -0.39545154 4.21902633] [-0.03229313 0.99919738 -0.02370142 0.40856617] [ 0.39465307 0.0345345 0.91818099 -0.03263576] [ 0. 0. 0. 1. ]] SLAMing on 90.10800114499999 meters Centerline goodness [0,1] 0.895440084835631 Centerline is valid? [False, False] Translation: X:4.22, Y:0.41, Z:-0.03 [[ 0.91792612 0.02146298 -0.3961704 4.2221523 ] [-0.03352866 0.99916014 -0.02355521 0.41071098] [ 0.39533211 0.03490501 0.91787481 -0.03200163] [ 0. 0. 0. 1. ]] SLAMing on 90.13800114499999 meters Centerline goodness [0,1] 0.8946670204298223 Centerline is valid? [False, False] Translation: X:4.22, Y:0.41, Z:-0.03 [[ 0.91772326 0.02192289 -0.39661492 4.22371393] [-0.03401015 0.99914592 -0.02346797 0.41081071] [ 0.39576169 0.03502603 0.91768505 -0.03162385] [ 0. 0. 0. 1. ]] SLAMing on 90.16800114499999 meters Centerline goodness [0,1] 0.8976881064743624 Centerline is valid? [False, False] Translation: X:4.22, Y:0.41, Z:-0.03 [[ 0.91755525 0.02210755 -0.39699322 4.22447391] [-0.03433162 0.9991292 -0.02371037 0.41124616] [ 0.39612334 0.03538499 0.91751523 -0.03074856] [ 0. 0. 0. 1. ]] SLAMing on 90.19800114499999 meters Centerline goodness [0,1] 0.8912691889598855 Centerline is valid? [False, False] Translation: X:4.22, Y:0.41, Z:-0.03 [[ 0.91741944 0.02203428 -0.39731105 4.22463925] [-0.03449142 0.99911113 -0.02423392 0.41221986] [ 0.39642392 0.0359365 0.91736397 -0.02958557] [ 0. 0. 0. 1. ]] SLAMing on 90.22800114499998 meters Centerline goodness [0,1] 0.8919392523364486 Centerline is valid? [False, False] Translation: X:4.23, Y:0.41, Z:-0.03 [[ 0.91713182 0.02274024 -0.3979348 4.2263955 ] [-0.03540268 0.99907275 -0.02450092 0.41386888] [ 0.39700865 0.03655853 0.91708648 -0.02822155] [ 0. 0. 0. 1. ]] SLAMing on 90.25800114499998 meters Centerline goodness [0,1] 0.8940848065931144 Centerline is valid? [False, False] Translation: X:4.23, Y:0.41, Z:-0.03 [[ 0.91688351 0.02355611 -0.3984592 4.22857371] [-0.03612345 0.99905765 -0.02406038 0.41316793] [ 0.39751695 0.03645429 0.91687042 -0.02808176] [ 0. 0. 0. 1. ]] SLAMing on 90.28800114499998 meters Centerline goodness [0,1] 0.888647387812442 Centerline is valid? [False, False] Translation: X:4.23, Y:0.41, Z:-0.03 [[ 0.9167304 0.02419956 -0.39877282 4.2301885 ] [-0.0366568 0.99904821 -0.02364223 0.4120837 ] [ 0.39782114 0.03629129 0.91674494 -0.02823076] [ 0. 0. 0. 1. ]] SLAMing on 90.31800114499998 meters Centerline goodness [0,1] 0.8914630276102824 Centerline is valid? [False, False] Translation: X:4.23, Y:0.41, Z:-0.03 [[ 0.91662028 0.02451659 -0.39900652 4.2307267 ] [-0.03696857 0.99903911 -0.02354124 0.41137319] [ 0.39804597 0.03632908 0.91664585 -0.0278167 ] [ 0. 0. 0. 1. ]] SLAMing on 90.34800114499998 meters Centerline goodness [0,1] 0.8927371345416061 Centerline is valid? [False, False] Translation: X:4.23, Y:0.41, Z:-0.03 [[ 0.91654682 0.024467 -0.39917828 4.22980334] [-0.03715757 0.99901917 -0.0240836 0.41215559] [ 0.3981975 0.03690624 0.91655697 -0.02616227] [ 0. 0. 0. 1. ]] SLAMing on 90.37800114499998 meters Centerline goodness [0,1] 0.8908141907108603 Centerline is valid? [False, False] Translation: X:4.23, Y:0.41, Z:-0.03 [[ 0.91644451 0.02422903 -0.3994276 4.22941196] [-0.03709622 0.99901098 -0.02451397 0.41272276] [ 0.39843861 0.03728295 0.91643694 -0.02507184] [ 0. 0. 0. 1. ]] SLAMing on 90.40800114499999 meters Centerline goodness [0,1] 0.887803974491281 Centerline is valid? [False, False] Translation: X:4.23, Y:0.41, Z:-0.02 [[ 0.91635612 0.02398588 -0.39964503 4.22902847] [-0.03699772 0.99900571 -0.02487473 0.41294892] [ 0.39865102 0.03758007 0.91633242 -0.02411909] [ 0. 0. 0. 1. ]] SLAMing on 90.43800114499999 meters Centerline goodness [0,1] 0.887803974491281 Centerline is valid? [False, False] Translation: X:4.23, Y:0.41, Z:-0.02 [[ 0.91635612 0.02398588 -0.39964503 4.22902847] [-0.03699772 0.99900571 -0.02487473 0.41294892] [ 0.39865102 0.03758007 0.91633242 -0.02411909] [ 0. 0. 0. 1. ]] SLAMing on 90.46800114499999 meters Centerline goodness [0,1] 0.8872277935067341 Centerline is valid? [False, False] Translation: X:4.23, Y:0.41, Z:-0.02 [[ 0.91639658 0.02365738 -0.39957182 4.22768529] [-0.03660106 0.99902234 -0.02479363 0.41066882] [ 0.39859462 0.03734556 0.91636654 -0.02376434] [ 0. 0. 0. 1. ]] SLAMing on 90.49800114499999 meters Centerline goodness [0,1] 0.8826124864593516 Centerline is valid? [False, False] Translation: X:4.23, Y:0.41, Z:-0.02 [[ 0.91632459 0.02388585 -0.3997233 4.22805333] [-0.03664042 0.99903312 -0.02429621 0.40808322] [ 0.39875648 0.03690924 0.9163138 -0.023946 ] [ 0. 0. 0. 1. ]] SLAMing on 90.52800114499999 meters Centerline goodness [0,1] 0.8829652996845426 Centerline is valid? [False, False] Translation: X:4.23, Y:0.41, Z:-0.02 [[ 0.9162585 0.02411454 -0.39986105 4.22863453] [-0.03668666 0.99904299 -0.02381576 0.40573834] [ 0.39890407 0.03649096 0.91626631 -0.02429072] [ 0. 0. 0. 1. ]] SLAMing on 90.55800114499999 meters Centerline goodness [0,1] 0.8813996316758748 Centerline is valid? [False, False] Translation: X:4.23, Y:0.40, Z:-0.02 [[ 0.91624224 0.02409497 -0.39989949 4.22856281] [-0.03661 0.99904891 -0.02368489 0.40456596] [ 0.39894846 0.03634141 0.91625293 -0.0242732 ] [ 0. 0. 0. 1. ]] SLAMing on 90.58800114499999 meters Centerline goodness [0,1] 0.8868593955321945 Centerline is valid? [False, False] Translation: X:4.23, Y:0.40, Z:-0.02 [[ 0.91615479 0.02373955 -0.40012103 4.22786831] [-0.03639082 0.99904821 -0.0240494 0.40435433] [ 0.39916928 0.03659371 0.9161467 -0.02324755] [ 0. 0. 0. 1. ]] SLAMing on 90.61800114499998 meters Centerline goodness [0,1] 0.8842544043624161 Centerline is valid? [False, False] Translation: X:4.23, Y:0.40, Z:-0.02 [[ 0.91619054 0.02338094 -0.40006029 4.22625636] [-0.0360412 0.99905845 -0.02415056 0.40231087] [ 0.39911895 0.03654517 0.91617057 -0.02253703] [ 0. 0. 0. 1. ]] SLAMing on 90.64800114499998 meters Centerline goodness [0,1] 0.8845851253540333 Centerline is valid? [False, False] Translation: X:4.23, Y:0.40, Z:-0.02 [[ 0.91606316 0.02378027 -0.40032834 4.22704404] [-0.0362943 0.99905995 -0.02370544 0.40043809] [ 0.39938829 0.03624532 0.9160651 -0.02248407] [ 0. 0. 0. 1. ]] SLAMing on 90.67800114499998 meters Centerline goodness [0,1] 0.8857628448163158 Centerline is valid? [False, False] Translation: X:4.23, Y:0.40, Z:-0.02 [[ 0.91594353 0.02403284 -0.40058692 4.22765612] [-0.03644139 0.99906213 -0.02338559 0.39909491] [ 0.3996492 0.03601782 0.91596028 -0.02237643] [ 0. 0. 0. 1. ]] SLAMing on 90.70800114499998 meters Centerline goodness [0,1] 0.8864021702271957 Centerline is valid? [False, False] Translation: X:4.23, Y:0.40, Z:-0.02 [[ 0.91584347 0.02410321 -0.40081139 4.22787552] [-0.03647285 0.99906392 -0.02325975 0.39833816] [ 0.39987557 0.03592102 0.91586528 -0.02203026] [ 0. 0. 0. 1. ]] SLAMing on 90.73800114499998 meters Centerline goodness [0,1] 0.8871828236824983 Centerline is valid? [False, False] Translation: X:4.23, Y:0.40, Z:-0.02 [[ 0.91583776 0.02354455 -0.40085764 4.2260345 ] [-0.03590634 0.99908225 -0.02335354 0.39634723] [ 0.3999399 0.03578139 0.91584265 -0.02115094] [ 0. 0. 0. 1. ]] SLAMing on 90.76800114499999 meters Centerline goodness [0,1] 0.8875090927985035 Centerline is valid? [False, False] Translation: X:4.23, Y:0.39, Z:-0.02 [[ 0.91584518 0.02337897 -0.40085038 4.22527819] [-0.03567222 0.99909348 -0.02323175 0.39449892] [ 0.39994386 0.0355759 0.91584893 -0.02093192] [ 0. 0. 0. 1. ]] SLAMing on 90.79800114499999 meters Centerline goodness [0,1] 0.8872742370770189 Centerline is valid? [False, False] Translation: X:4.22, Y:0.39, Z:-0.02 [[ 0.91585659 0.02321869 -0.40083364 4.22440988] [-0.0354396 0.99910479 -0.02310106 0.39220004] [ 0.39993843 0.03536264 0.91585956 -0.02069875] [ 0. 0. 0. 1. ]] SLAMing on 90.82800114499999 meters Centerline goodness [0,1] 0.8819830962688106 Centerline is valid? [False, False] Translation: X:4.22, Y:0.39, Z:-0.02 [[ 0.915857 0.02317186 -0.40083541 4.22334493] [-0.03522649 0.99912084 -0.02272986 0.38839275] [ 0.39995632 0.03493732 0.91586807 -0.02045109] [ 0. 0. 0. 1. ]] SLAMing on 90.85800114499999 meters Centerline goodness [0,1] 0.8808358239719675 Centerline is valid? [False, False] Translation: X:4.22, Y:0.39, Z:-0.02 [[ 0.91579143 0.0230898 -0.40098993 4.22314361] [-0.0351489 0.99912328 -0.0227425 0.38743973] [ 0.40011326 0.03492174 0.91580012 -0.02002127] [ 0. 0. 0. 1. ]] SLAMing on 90.88800114499999 meters Centerline goodness [0,1] 0.8781643532229404 Centerline is valid? [False, False] Translation: X:4.22, Y:0.39, Z:-0.02 [[ 0.91575127 0.0229913 -0.40108729 4.22316519] [-0.0350519 0.99912636 -0.02275716 0.38673289] [ 0.40021366 0.03489877 0.91575712 -0.0198453 ] [ 0. 0. 0. 1. ]] SLAMing on 90.91800114499999 meters Centerline goodness [0,1] 0.8796959770703245 Centerline is valid? [False, False] Translation: X:4.22, Y:0.38, Z:-0.02 [[ 0.91561238 0.02366749 -0.40136493 4.22420171] [-0.03543137 0.99913188 -0.02191136 0.38339795] [ 0.40049791 0.03428322 0.91565609 -0.0201378 ] [ 0. 0. 0. 1. ]] SLAMing on 90.94800114499999 meters Centerline goodness [0,1] 0.8779964221824686 Centerline is valid? [False, False] Translation: X:4.22, Y:0.38, Z:-0.02 [[ 0.91550996 0.02391977 -0.40158355 4.22461154] [-0.03562715 0.99912933 -0.02170922 0.38226219] [ 0.40071463 0.03418229 0.91556505 -0.0198129 ] [ 0. 0. 0. 1. ]] SLAMing on 90.97800114499998 meters Centerline goodness [0,1] 0.8798078151754454 Centerline is valid? [False, False] Translation: X:4.22, Y:0.38, Z:-0.02 [[ 0.91542992 0.02389971 -0.40176718 4.22453431] [-0.03563698 0.99912777 -0.02176459 0.381804 ] [ 0.40089658 0.03424173 0.91548317 -0.01928999] [ 0. 0. 0. 1. ]] SLAMing on 91.00800114499998 meters Centerline goodness [0,1] 0.8794884910485934 Centerline is valid? [False, False] Translation: X:4.22, Y:0.38, Z:-0.02 [[ 0.91533211 0.02386891 -0.40199179 4.22429298] [-0.03563725 0.99912653 -0.02182099 0.38111169] [ 0.40111982 0.03429934 0.91538322 -0.01854788] [ 0. 0. 0. 1. ]] SLAMing on 91.03800114499998 meters Centerline goodness [0,1] 0.8763306677532725 Centerline is valid? [False, False] Translation: X:4.22, Y:0.38, Z:-0.02 [[ 0.91540252 0.02336785 -0.40186088 4.2220812 ] [-0.03513167 0.99914211 -0.02192753 0.37857932] [ 0.40100373 0.03419056 0.91543815 -0.01775019] [ 0. 0. 0. 1. ]] SLAMing on 91.06800114499998 meters Centerline goodness [0,1] 0.8792508374784286 Centerline is valid? [False, False] Translation: X:4.22, Y:0.38, Z:-0.02 [[ 0.91542571 0.02316847 -0.4018196 4.22113273] [-0.03493355 0.99914799 -0.02197587 0.37728498] [ 0.4009681 0.03415426 0.91545511 -0.01733034] [ 0. 0. 0. 1. ]] SLAMing on 91.09800114499998 meters Centerline goodness [0,1] 0.8772745755819864 Centerline is valid? [False, False] Translation: X:4.22, Y:0.38, Z:-0.02 [[ 0.91539316 0.02326485 -0.40188817 4.22101034] [-0.03496274 0.99915091 -0.021796 0.37584184] [ 0.40103985 0.03400302 0.91542931 -0.01715527] [ 0. 0. 0. 1. ]] SLAMing on 91.12800114499998 meters Centerline goodness [0,1] 0.8801631949723785 Centerline is valid? [False, False] Translation: X:4.22, Y:0.37, Z:-0.02 [[ 0.91527466 0.02358735 -0.40213919 4.22163512] [-0.03519568 0.99914912 -0.0215011 0.37442756] [ 0.40128986 0.03383297 0.91532605 -0.01696556] [ 0. 0. 0. 1. ]] SLAMing on 91.15800114499999 meters Centerline goodness [0,1] 0.8840117456460105 Centerline is valid? [False, False] Translation: X:4.22, Y:0.37, Z:-0.02 [[ 0.915118 0.02447276 -0.4024427 4.22314664] [-0.03592743 0.99913504 -0.02093774 0.37305756] [ 0.4015822 0.03361923 0.91520571 -0.01696603] [ 0. 0. 0. 1. ]] SLAMing on 91.18800114499999 meters Centerline goodness [0,1] 0.8820650658011512 Centerline is valid? [False, False] Translation: X:4.22, Y:0.37, Z:-0.02 [[ 0.91495145 0.0248692 -0.40279693 4.22399533] [-0.0363472 0.99912116 -0.02087549 0.37296498] [ 0.40192378 0.03374061 0.91505128 -0.01637709] [ 0. 0. 0. 1. ]] SLAMing on 91.21800114499999 meters Centerline goodness [0,1] 0.8812753036437246 Centerline is valid? [False, False] Translation: X:4.22, Y:0.37, Z:-0.02 [[ 0.9148127 0.02507531 -0.40309917 4.22456686] [-0.03659641 0.9991115 -0.02090261 0.37270939] [ 0.40221688 0.03387396 0.91491756 -0.01582359] [ 0. 0. 0. 1. ]] SLAMing on 91.24800114499999 meters Centerline goodness [0,1] 0.8840524759232578 Centerline is valid? [False, False] Translation: X:4.23, Y:0.37, Z:-0.02 [[ 0.91470436 0.02541355 -0.40332379 4.22523498] [-0.03689194 0.99910456 -0.02071394 0.37191361] [ 0.40243622 0.03382653 0.91482285 -0.01557741] [ 0. 0. 0. 1. ]] SLAMing on 91.27800114499999 meters Centerline goodness [0,1] 0.8866975246528477 Centerline is valid? [False, False] Translation: X:4.23, Y:0.37, Z:-0.02 [[ 0.91453205 0.02597037 -0.40367891 4.22611756] [-0.03724217 0.9991042 -0.02009531 0.3696394 ] [ 0.40279541 0.03341168 0.91468001 -0.01545763] [ 0. 0. 0. 1. ]] SLAMing on 91.30800114499999 meters Centerline goodness [0,1] 0.8870060752121304 Centerline is valid? [False, False] Translation: X:4.23, Y:0.37, Z:-0.02 [[ 0.91447611 0.02598759 -0.40380452 4.22595326] [-0.03722344 0.99910683 -0.01999872 0.36836682] [ 0.40292414 0.03331935 0.91462668 -0.01510474] [ 0. 0. 0. 1. ]] SLAMing on 91.33800114499998 meters Centerline goodness [0,1] 0.8873186499285876 Centerline is valid? [False, False] Translation: X:4.22, Y:0.36, Z:-0.02 [[ 0.91454927 0.02574782 -0.40365416 4.22472689] [-0.03679119 0.99913025 -0.01962553 0.36444365] [ 0.40279777 0.03279943 0.91470113 -0.0152729 ] [ 0. 0. 0. 1. ]] SLAMing on 91.36800114499998 meters Centerline goodness [0,1] 0.8866896586194832 Centerline is valid? [False, False] Translation: X:4.22, Y:0.36, Z:-0.02 [[ 0.91452504 0.02576556 -0.40370791 4.22467029] [-0.0367057 0.99913813 -0.01938266 0.36248524] [ 0.40286056 0.03254431 0.91468259 -0.01529936] [ 0. 0. 0. 1. ]] SLAMing on 91.39800114499998 meters Centerline goodness [0,1] 0.8820360625483203 Centerline is valid? [False, False] Translation: X:4.22, Y:0.36, Z:-0.02 [[ 0.91445214 0.02596718 -0.4038601 4.22496868] [-0.03680224 0.99914025 -0.01908836 0.36108092] [ 0.40301721 0.03231835 0.91462159 -0.01522533] [ 0. 0. 0. 1. ]] SLAMing on 91.42800114499998 meters Centerline goodness [0,1] 0.8903873959216234 Centerline is valid? [False, False] Translation: X:4.23, Y:0.36, Z:-0.02 [[ 0.91437984 0.02608251 -0.40401635 4.22525972] [-0.03689575 0.99913846 -0.01900096 0.36058417] [ 0.40317268 0.03228058 0.9145544 -0.01500167] [ 0. 0. 0. 1. ]] SLAMing on 91.45800114499998 meters Centerline goodness [0,1] 0.8880433701382672 Centerline is valid? [False, False] Translation: X:4.23, Y:0.36, Z:-0.01 [[ 0.91430794 0.02610967 -0.40417728 4.22514363] [-0.03697723 0.99913348 -0.01910432 0.36022551] [ 0.40332825 0.03241258 0.91448114 -0.01441957] [ 0. 0. 0. 1. ]] SLAMing on 91.48800114499998 meters Centerline goodness [0,1] 0.8902559786106847 Centerline is valid? [False, False] Translation: X:4.23, Y:0.36, Z:-0.01 [[ 0.91420541 0.02653189 -0.40438166 4.22522881] [-0.03731481 0.99912659 -0.0188057 0.35812695] [ 0.40352952 0.0322817 0.91439697 -0.01393774] [ 0. 0. 0. 1. ]] SLAMing on 91.51800114499999 meters Centerline goodness [0,1] 0.8862848940803801 Centerline is valid? [False, False] Translation: X:4.23, Y:0.36, Z:-0.01 [[ 0.91416053 0.0267846 -0.40446644 4.22559924] [-0.03751071 0.9991228 -0.0186164 0.35689721] [ 0.40361301 0.0321902 0.91436335 -0.0138968 ] [ 0. 0. 0. 1. ]] SLAMing on 91.54800114499999 meters Centerline goodness [0,1] 0.8880602543523892 Centerline is valid? [False, False] Translation: X:4.23, Y:0.36, Z:-0.01 [[ 0.9140334 0.02711524 -0.40473164 4.22640574] [-0.03775454 0.99911897 -0.01832709 0.3557185 ] [ 0.40387811 0.03203203 0.91425184 -0.01375945] [ 0. 0. 0. 1. ]] SLAMing on 91.57800114499999 meters Centerline goodness [0,1] 0.8897162158830346 Centerline is valid? [False, False] Translation: X:4.23, Y:0.35, Z:-0.01 [[ 0.91397454 0.02728846 -0.40485291 4.22667315] [-0.03788021 0.99911704 -0.01817248 0.35477755] [ 0.40399954 0.03194509 0.91420123 -0.01361799] [ 0. 0. 0. 1. ]] SLAMing on 91.60800114499999 meters Centerline goodness [0,1] 0.8919664180023144 Centerline is valid? [False, False] Translation: X:4.23, Y:0.35, Z:-0.01 [[ 0.91393742 0.0275019 -0.40492227 4.22650193] [-0.03800209 0.99911707 -0.01791433 0.35315984] [ 0.40407208 0.03176046 0.9141756 -0.01338694] [ 0. 0. 0. 1. ]] SLAMing on 91.63800114499999 meters Centerline goodness [0,1] 0.8962680133021308 Centerline is valid? [False, False] Translation: X:4.23, Y:0.35, Z:-0.01 [[ 0.91388768 0.02748822 -0.40503544 4.22643981] [-0.03799424 0.99911725 -0.01792068 0.35271978] [ 0.40418528 0.03176651 0.91412534 -0.01307774] [ 0. 0. 0. 1. ]] SLAMing on 91.66800114499999 meters Centerline goodness [0,1] 0.8946386946386946 Centerline is valid? [False, False] Translation: X:4.23, Y:0.35, Z:-0.01 [[ 0.91382065 0.0275165 -0.40518472 4.22634275] [-0.03804224 0.99911496 -0.01794648 0.35205818] [ 0.40433229 0.031814 0.91405868 -0.01257602] [ 0. 0. 0. 1. ]] SLAMing on 91.69800114499999 meters Centerline goodness [0,1] 0.8928597655006976 Centerline is valid? [False, False] Translation: X:4.23, Y:0.35, Z:-0.01 [[ 0.91390375 0.02747161 -0.40500031 4.22509513] [-0.03784139 0.99912842 -0.01761905 0.34852607] [ 0.40416329 0.03142789 0.91414677 -0.01256782] [ 0. 0. 0. 1. ]] SLAMing on 91.72800114499998 meters Centerline goodness [0,1] 0.8950885236306882 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:-0.01 [[ 0.91388251 0.02743747 -0.40505054 4.22476384] [-0.03777565 0.99913211 -0.01755054 0.3470173 ] [ 0.40421746 0.03134018 0.91412583 -0.01229466] [ 0. 0. 0. 1. ]] SLAMing on 91.75800114499998 meters Centerline goodness [0,1] 0.8966454022849104 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:-0.01 [[ 0.91386666 0.02734443 -0.40509261 4.2246887 ] [-0.03767772 0.99913572 -0.01755554 0.34642421] [ 0.40426245 0.03130638 0.9141071 -0.01219532] [ 0. 0. 0. 1. ]] SLAMing on 91.78800114499998 meters Centerline goodness [0,1] 0.8963530269876003 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:-0.01 [[ 0.91382423 0.02721807 -0.40519681 4.22470384] [-0.03753711 0.99914127 -0.01754117 0.3460051 ] [ 0.40437142 0.03123946 0.91406119 -0.01207024] [ 0. 0. 0. 1. ]] SLAMing on 91.81800114499998 meters Centerline goodness [0,1] 0.899228182236094 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:-0.01 [[ 0.91387814 0.02691473 -0.40509547 4.22377904] [-0.03709863 0.99916171 -0.01730817 0.34333702] [ 0.40429003 0.03084605 0.91411055 -0.01222941] [ 0. 0. 0. 1. ]] SLAMing on 91.84800114499998 meters Centerline goodness [0,1] 0.9008206444116295 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:-0.01 [[ 0.91386598 0.02706927 -0.40511261 4.22352012] [-0.0371136 0.99916715 -0.01695857 0.34094617] [ 0.40431615 0.03053305 0.9141095 -0.01222035] [ 0. 0. 0. 1. ]] SLAMing on 91.87800114499998 meters Centerline goodness [0,1] 0.8970929670117055 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:-0.01 [[ 0.91387723 0.02715255 -0.40508165 4.22320532] [-0.03708075 0.99917304 -0.01668099 0.33892503] [ 0.40429373 0.03026511 0.91412833 -0.01224818] [ 0. 0. 0. 1. ]] SLAMing on 91.90800114499999 meters Centerline goodness [0,1] 0.9011002181260337 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:-0.01 [[ 0.91396752 0.02683139 -0.40489931 4.22156401] [-0.03662553 0.99919349 -0.01646036 0.33584966] [ 0.4041311 0.02987389 0.91421311 -0.01214257] [ 0. 0. 0. 1. ]] SLAMing on 91.93800114499999 meters Centerline goodness [0,1] 0.9013381936783539 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:-0.01 [[ 0.91396748 0.02643811 -0.40492526 4.22036934] [-0.03632463 0.99919966 -0.0167502 0.33534949] [ 0.40415834 0.0300179 0.91419635 -0.01135025] [ 0. 0. 0. 1. ]] SLAMing on 91.96800114499999 meters Centerline goodness [0,1] 0.9023648810378668 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:-0.01 [[ 0.91398451 0.02603818 -0.40491275 4.21924012] [-0.03603083 0.99920478 -0.01707564 0.33529771] [ 0.40414614 0.03019621 0.91419587 -0.01065141] [ 0. 0. 0. 1. ]] SLAMing on 91.99800114499999 meters Centerline goodness [0,1] 0.8998252208681495 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:-0.01 [[ 0.91393396 0.02572414 -0.40504689 4.21840535] [-0.03582976 0.99920666 -0.01738639 0.33511115] [ 0.4042783 0.03040274 0.91413059 -0.00974908] [ 0. 0. 0. 1. ]] SLAMing on 92.02800114499999 meters Centerline goodness [0,1] 0.9046585406578728 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:-0.01 [[ 0.91385618 0.02644478 -0.40517596 4.21912126] [-0.03625412 0.99920549 -0.016554 0.33207132] [ 0.40441627 0.02981727 0.91408884 -0.01010473] [ 0. 0. 0. 1. ]] SLAMing on 92.05800114499999 meters Centerline goodness [0,1] 0.9062172961659214 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:-0.01 [[ 0.9137397 0.02717597 -0.40539021 4.22045533] [-0.03674696 0.999199 -0.01584387 0.32976205] [ 0.40463492 0.02937404 0.91400643 -0.01051425] [ 0. 0. 0. 1. ]] SLAMing on 92.08800114499998 meters Centerline goodness [0,1] 0.9065891012703312 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:-0.01 [[ 0.91369411 0.02743675 -0.40547539 4.22064062] [-0.03694773 0.9991947 -0.01564649 0.32858039] [ 0.40471957 0.0292775 0.91397204 -0.0104041 ] [ 0. 0. 0. 1. ]] SLAMing on 92.11800114499998 meters Centerline goodness [0,1] 0.9066622220105719 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:-0.01 [[ 0.91369324 0.02733344 -0.40548432 4.2197549 ] [-0.03707647 0.99918125 -0.01619164 0.33020868] [ 0.40470976 0.02982812 0.91395858 -0.00928865] [ 0. 0. 0. 1. ]] SLAMing on 92.14800114499998 meters Centerline goodness [0,1] 0.9092683855915054 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:-0.01 [[ 0.91358475 0.02731429 -0.40573 4.21994545] [-0.03716168 0.9991745 -0.0164114 0.3308317 ] [ 0.40494681 0.03007081 0.91384563 -0.00863185] [ 0. 0. 0. 1. ]] SLAMing on 92.17800114499998 meters Centerline goodness [0,1] 0.9131849599771977 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:-0.01 [[ 0.91350818 0.02747443 -0.40589156 4.22042466] [-0.03727657 0.99917265 -0.01626234 0.33006187] [ 0.40510895 0.02998603 0.91377655 -0.00858102] [ 0. 0. 0. 1. ]] SLAMing on 92.20800114499998 meters Centerline goodness [0,1] 0.9116516373991457 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:-0.01 [[ 0.91350822 0.02763296 -0.40588071 4.22039491] [-0.03728526 0.99917829 -0.01589172 0.32798744] [ 0.40510806 0.02965058 0.91378789 -0.00876991] [ 0. 0. 0. 1. ]] SLAMing on 92.23800114499998 meters Centerline goodness [0,1] 0.916150536617654 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:-0.01 [[ 0.91354301 0.02250779 -0.40611892 4.22004936] [-0.03344749 0.99924316 -0.01985864 0.32641273] [ 0.40536458 0.03172538 0.91360443 -0.00803316] [ 0. 0. 0. 1. ]] SLAMing on 92.26800114499999 meters Centerline goodness [0,1] 0.9104463527413419 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:-0.01 [[ 0.91361033 0.02197508 -0.40599662 4.21866737] [-0.03288967 0.99926036 -0.01992507 0.3248258 ] [ 0.40525848 0.03155684 0.91365734 -0.00778981] [ 0. 0. 0. 1. ]] SLAMing on 92.29800114499999 meters Centerline goodness [0,1] 0.9124484748557296 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:-0.01 [[ 0.91366134 0.02142053 -0.40591145 4.21730648] [-0.03234299 0.99927536 -0.02006726 0.32350915] [ 0.40518746 0.03146307 0.91369207 -0.00744108] [ 0. 0. 0. 1. ]] SLAMing on 92.32800114499999 meters Centerline goodness [0,1] 0.9111690630579833 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:-0.01 [[ 0.91368439 0.02103307 -0.40587985 4.21643423] [-0.03195326 0.9992863 -0.0201467 0.32240685] [ 0.40516642 0.03137691 0.91370436 -0.00717279] [ 0. 0. 0. 1. ]] SLAMing on 92.35800114499999 meters Centerline goodness [0,1] 0.9111690630579833 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:-0.01 [[ 0.91368439 0.02103307 -0.40587985 4.21643423] [-0.03195326 0.9992863 -0.0201467 0.32240685] [ 0.40516642 0.03137691 0.91370436 -0.00717279] [ 0. 0. 0. 1. ]] SLAMing on 92.38800114499999 meters Centerline goodness [0,1] 0.9128744408272244 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:-0.01 [[ 0.91369401 0.02067766 -0.40587645 4.21588432] [-0.03148474 0.99930477 -0.01996698 0.32074496] [ 0.4051814 0.03102262 0.91370982 -0.00727857] [ 0. 0. 0. 1. ]] SLAMing on 92.41800114499999 meters Centerline goodness [0,1] 0.913563239860842 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:-0.01 [[ 0.91364581 0.02063482 -0.40598711 4.21575676] [-0.03140887 0.99930865 -0.01989234 0.31955519] [ 0.40529596 0.03092615 0.91366228 -0.0070493 ] [ 0. 0. 0. 1. ]] SLAMing on 92.44800114499999 meters Centerline goodness [0,1] 0.91271733034212 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:-0.01 [[ 0.91364074 0.02085218 -0.40598742 4.21592466] [-0.03149091 0.99931299 -0.01954131 0.31764263] [ 0.40530102 0.03063865 0.91366972 -0.00728245] [ 0. 0. 0. 1. ]] SLAMing on 92.47800114499998 meters Centerline goodness [0,1] 0.9160478930759235 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:-0.01 [[ 0.91360137 0.02149537 -0.40604246 4.21637428] [-0.03192821 0.99931076 -0.01893672 0.31506087] [ 0.40535554 0.03026482 0.91365799 -0.00747027] [ 0. 0. 0. 1. ]] SLAMing on 92.50800114499998 meters Centerline goodness [0,1] 0.9152671755725191 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:-0.01 [[ 0.91354579 0.02136703 -0.40617428 4.21596472] [-0.03194636 0.99930355 -0.01928314 0.3157658 ] [ 0.40547938 0.03059182 0.91359215 -0.00667423] [ 0. 0. 0. 1. ]] SLAMing on 92.53800114499998 meters Centerline goodness [0,1] 0.9154381797433568 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:-0.01 [[ 0.91348506 0.02112448 -0.40632352 4.21558122] [-0.03188284 0.99929695 -0.01972532 0.31703065] [ 0.40562117 0.03097353 0.91351634 -0.00588722] [ 0. 0. 0. 1. ]] SLAMing on 92.56800114499998 meters Centerline goodness [0,1] 0.9147008825652609 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:-0.01 [[ 0.91342882 0.02084888 -0.40646416 4.21505873] [-0.03176705 0.99929253 -0.0201317 0.31778405] [ 0.40575688 0.03130105 0.91344491 -0.00506676] [ 0. 0. 0. 1. ]] SLAMing on 92.59800114499998 meters Centerline goodness [0,1] 0.912635850552731 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:-0.00 [[ 0.91331111 0.02109777 -0.40671574 4.21570335] [-0.03199386 0.99928778 -0.02000811 0.31725617] [ 0.40600394 0.03128604 0.91333564 -0.00485239] [ 0. 0. 0. 1. ]] SLAMing on 92.62800114499998 meters Centerline goodness [0,1] 0.9144969313743723 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:-0.00 [[ 0.91325302 0.02116229 -0.40684281 4.21614454] [-0.03202531 0.99928875 -0.01990934 0.31657761] [ 0.40613211 0.03121153 0.9132812 -0.00488183] [ 0. 0. 0. 1. ]] SLAMing on 92.65800114499999 meters Centerline goodness [0,1] 0.9151164681019067 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:-0.00 [[ 0.91330201 0.02090102 -0.40674635 4.21579357] [-0.03176614 0.99929566 -0.01997751 0.3156124 ] [ 0.40604231 0.03116626 0.91332267 -0.00499714] [ 0. 0. 0. 1. ]] SLAMing on 92.68800114499999 meters Centerline goodness [0,1] 0.9138982264982033 Centerline is valid? [False, False] Translation: X:4.22, Y:0.31, Z:-0.01 [[ 0.91329933 0.02074707 -0.40676025 4.21560781] [-0.03156365 0.99930363 -0.01989977 0.31419897] [ 0.40606413 0.03101329 0.91331818 -0.00503924] [ 0. 0. 0. 1. ]] SLAMing on 92.71800114499999 meters Centerline goodness [0,1] 0.9121521678838864 Centerline is valid? [False, False] Translation: X:4.22, Y:0.31, Z:-0.01 [[ 0.91333637 0.02052387 -0.40668838 4.21530249] [-0.03130182 0.99931253 -0.01986615 0.31297279] [ 0.40600107 0.03087456 0.91335092 -0.00520059] [ 0. 0. 0. 1. ]] SLAMing on 92.74800114499999 meters Centerline goodness [0,1] 0.9105407713435041 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:-0.00 [[ 0.91339103 0.01958657 -0.40661184 4.21401459] [-0.0305349 0.99932439 -0.02045433 0.31359802] [ 0.4059365 0.03109865 0.91337201 -0.0047536 ] [ 0. 0. 0. 1. ]] SLAMing on 92.77800114499999 meters Centerline goodness [0,1] 0.9130555555555555 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:-0.00 [[ 0.91336781 0.01911604 -0.40668639 4.21345094] [-0.03018196 0.99932772 -0.02081223 0.31417078] [ 0.40601514 0.03128381 0.91333074 -0.0043045 ] [ 0. 0. 0. 1. ]] SLAMing on 92.80800114499999 meters Centerline goodness [0,1] 0.9104314962090473 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:-0.00 [[ 9.13351480e-01 1.87225330e-02 -4.06741369e-01 4.21295218e+00] [-2.98538787e-02 9.99332851e-01 -2.10380421e-02 3.14032111e-01] [ 4.06076126e-01 3.13579343e-02 9.13301078e-01 -3.95615073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83800114499998 meters Centerline goodness [0,1] 0.9074433656957929 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:-0.00 [[ 9.13376315e-01 1.84129411e-02 -4.06699731e-01 4.21249668e+00] [-2.95374542e-02 9.99341122e-01 -2.10917323e-02 3.13146713e-01] [ 4.06043405e-01 3.12775634e-02 9.13318382e-01 -3.94357973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86800114499998 meters Centerline goodness [0,1] 0.9074941722251714 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:-0.00 [[ 9.13404476e-01 1.80714869e-02 -4.06651797e-01 4.21193755e+00] [-2.91626662e-02 9.99352101e-01 -2.10930619e-02 3.11980445e-01] [ 4.06007145e-01 3.11255478e-02 9.13339695e-01 -3.93787398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89800114499998 meters Centerline goodness [0,1] 0.9015651692137218 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:-0.00 [[ 9.13435317e-01 1.22901442e-02 -4.06798320e-01 4.21132633e+00] [-2.48525648e-02 9.99362986e-01 -2.56119426e-02 3.12314396e-01] [ 4.06224410e-01 3.35048345e-02 9.13158888e-01 -3.19401485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92800114499998 meters Centerline goodness [0,1] 0.8971323275365657 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:-0.00 [[ 9.13487213e-01 1.16856257e-02 -4.06699592e-01 4.21053749e+00] [-2.43042309e-02 9.99369696e-01 -2.58749802e-02 3.11652648e-01] [ 4.06140883e-01 3.35209843e-02 9.13195448e-01 -3.15163757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95800114499998 meters Centerline goodness [0,1] 0.8983352601156069 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:-0.00 [[ 9.13623049e-01 1.00747051e-02 -4.06437478e-01 4.20795967e+00] [-2.31750563e-02 9.99357983e-01 -2.73228461e-02 3.14761625e-01] [ 4.05901269e-01 3.43819934e-02 9.13269970e-01 -2.02073024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98800114499998 meters Centerline goodness [0,1] 0.896489440533531 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:-0.00 [[ 9.13605827e-01 9.07956518e-03 -4.06499636e-01 4.20662381e+00] [-2.25963046e-02 9.99339390e-01 -2.84638591e-02 3.17425106e-01] [ 4.05972659e-01 3.51901372e-02 9.13207454e-01 -7.81701102e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01800114499999 meters Centerline goodness [0,1] 0.8968171175556947 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:-0.00 [[ 9.13569488e-01 8.55284204e-03 -4.06592719e-01 4.20631002e+00] [-2.22849027e-02 9.99329503e-01 -2.90504457e-02 3.18673005e-01] [ 4.06071636e-01 3.56004800e-02 9.13147541e-01 -2.44182679e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.04800114499999 meters Centerline goodness [0,1] 0.8936844784892736 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:-0.00 [[ 9.13549542e-01 8.57385536e-03 -4.06637090e-01 4.20693644e+00] [-2.22556954e-02 9.99333681e-01 -2.89288366e-02 3.17827095e-01] [ 4.06118108e-01 3.54779167e-02 9.13131644e-01 -6.52428761e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.07800114499999 meters Centerline goodness [0,1] 0.8944073455759599 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:-0.00 [[ 9.13581773e-01 8.18591769e-03 -4.06572670e-01 4.20749278e+00] [-2.19038589e-02 9.99336542e-01 -2.90980688e-02 3.17314644e-01] [ 4.06064731e-01 3.54889757e-02 9.13154952e-01 -1.37645440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.10800114499999 meters Centerline goodness [0,1] 0.8924743682142608 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:-0.00 [[ 9.13574324e-01 7.42562464e-03 -4.06604002e-01 4.20682459e+00] [-2.14671348e-02 9.99319857e-01 -2.99831014e-02 3.19789753e-01] [ 4.06104810e-01 3.61204145e-02 9.13112369e-01 -6.72284694e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13800114499999 meters Centerline goodness [0,1] 0.8937919150521609 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.00 [[ 9.13511238e-01 6.40698519e-03 -4.06763037e-01 4.20585853e+00] [-2.09246568e-02 9.99292462e-01 -3.12527344e-02 3.23602763e-01] [ 4.06275001e-01 3.70611011e-02 9.12998958e-01 6.55301095e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16800114499999 meters Centerline goodness [0,1] 0.8907612125178208 Centerline is valid? [False, False] Translation: X:4.20, Y:0.33, Z:0.00 [[ 9.13469520e-01 5.49697541e-03 -4.06870029e-01 4.20482826e+00] [-2.04555751e-02 9.99264836e-01 -3.24246301e-02 3.26759624e-01] [ 4.06392675e-01 3.79416717e-02 9.12910414e-01 1.91484394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19800114499999 meters Centerline goodness [0,1] 0.8863535615127972 Centerline is valid? [False, False] Translation: X:4.20, Y:0.33, Z:0.00 [[ 9.13494267e-01 4.71101797e-03 -4.06824323e-01 4.20417260e+00] [-1.99414801e-02 9.99249573e-01 -3.32058441e-02 3.28603517e-01] [ 4.06362597e-01 3.84460274e-02 9.12902701e-01 2.34424115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22800114499998 meters Centerline goodness [0,1] 0.8868513003306522 Centerline is valid? [False, False] Translation: X:4.20, Y:0.33, Z:0.00 [[ 9.13519762e-01 4.49430891e-03 -4.06769524e-01 4.20434906e+00] [-1.97165875e-02 9.99252939e-01 -3.32388247e-02 3.28038521e-01] [ 4.06316257e-01 3.83844301e-02 9.12925920e-01 1.96769962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25800114499998 meters Centerline goodness [0,1] 0.8858754153601348 Centerline is valid? [False, False] Translation: X:4.20, Y:0.33, Z:0.00 [[ 9.13539057e-01 4.12495787e-03 -4.06730101e-01 4.20443151e+00] [-1.93371882e-02 9.99258377e-01 -3.32981944e-02 3.27420066e-01] [ 4.06291107e-01 3.82842176e-02 9.12941321e-01 1.59690429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28800114499998 meters Centerline goodness [0,1] 0.8765301567162426 Centerline is valid? [False, False] Translation: X:4.20, Y:0.33, Z:0.00 [[ 9.13739901e-01 2.56046857e-03 -4.06291568e-01 4.20270524e+00] [-1.80404724e-02 9.99249592e-01 -3.42752678e-02 3.29455816e-01] [ 4.05898923e-01 3.86483716e-02 9.13100415e-01 1.38075123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31800114499998 meters Centerline goodness [0,1] 0.8761159925561235 Centerline is valid? [False, False] Translation: X:4.20, Y:0.33, Z:0.00 [[ 9.13798915e-01 1.29039047e-03 -4.06164841e-01 4.20088268e+00] [-1.71628514e-02 9.99224462e-01 -3.54388263e-02 3.32086007e-01] [ 4.05804115e-01 3.93549078e-02 9.13112376e-01 2.34108164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34800114499998 meters Centerline goodness [0,1] 0.8705474116563983 Centerline is valid? [False, False] Translation: X:4.20, Y:0.33, Z:0.00 [[ 9.13762618e-01 4.08341847e-04 -4.06248337e-01 4.20022370e+00] [-1.66411627e-02 9.99197782e-01 -3.64261385e-02 3.34918928e-01] [ 4.05907563e-01 4.00452883e-02 9.13036377e-01 3.18145264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37800114499998 meters Centerline goodness [0,1] 0.8751834493206457 Centerline is valid? [False, False] Translation: X:4.20, Y:0.34, Z:0.00 [[ 9.13672549e-01 1.43456818e-04 -4.06451045e-01 4.20081767e+00] [-1.65703862e-02 9.99181705e-01 -3.68963685e-02 3.36797555e-01] [ 4.06113156e-01 4.04462499e-02 9.12927273e-01 3.49929998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.40800114499999 meters Centerline goodness [0,1] 0.8748127184950891 Centerline is valid? [False, False] Translation: X:4.20, Y:0.34, Z:0.00 [[ 9.13543963e-01 3.81981446e-04 -4.06739821e-01 4.20289845e+00] [-1.69724705e-02 9.99164365e-01 -3.71820878e-02 3.38954282e-01] [ 4.06385732e-01 4.08708515e-02 9.12787057e-01 3.25353209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.43800114499999 meters Centerline goodness [0,1] 0.8790291817661644 Centerline is valid? [False, False] Translation: X:4.20, Y:0.34, Z:0.00 [[ 9.13441431e-01 2.46033642e-04 -4.06970136e-01 4.20366443e+00] [-1.70600024e-02 9.99143956e-01 -3.76870158e-02 3.40916568e-01] [ 4.06612479e-01 4.13677931e-02 9.12663682e-01 3.64234282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.46800114499999 meters Centerline goodness [0,1] 0.8853404143342424 Centerline is valid? [False, False] Translation: X:4.20, Y:0.34, Z:0.00 [[ 9.13591095e-01 4.61993333e-03 -4.06607879e-01 4.20220666e+00] [-2.02863042e-02 9.99208164e-01 -3.42273539e-02 3.41417160e-01] [ 4.06127784e-01 3.95183769e-02 9.12961402e-01 3.50805825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49800114499999 meters Centerline goodness [0,1] 0.8897649151483101 Centerline is valid? [False, False] Translation: X:4.20, Y:0.35, Z:0.00 [[ 0.91356815 0.00888475 -0.40658861 4.20157207] [-0.0238174 0.99921422 -0.0316808 0.34702902] [ 0.40598764 0.03862646 0.9130619 0.00446416] [ 0. 0. 0. 1. ]] SLAMing on 93.52800114499999 meters Centerline goodness [0,1] 0.8916851655245632 Centerline is valid? [False, False] Translation: X:4.20, Y:0.35, Z:0.01 [[ 0.9134112 0.00875703 -0.40694384 4.20238979] [-0.02405782 0.99918222 -0.03249786 0.35072967] [ 0.40632646 0.03947409 0.91287491 0.0054641 ] [ 0. 0. 0. 1. ]] SLAMing on 93.55800114499999 meters Centerline goodness [0,1] 0.8970051132213295 Centerline is valid? [False, False] Translation: X:4.20, Y:0.35, Z:0.01 [[ 0.91324681 0.00877923 -0.40731216 4.20387296] [-0.02435665 0.99915605 -0.03307492 0.35386502] [ 0.40667803 0.04012632 0.9126899 0.00596521] [ 0. 0. 0. 1. ]] SLAMing on 93.58800114499998 meters Centerline goodness [0,1] 0.8991449243586933 Centerline is valid? [False, False] Translation: X:4.20, Y:0.36, Z:0.01 [[ 0.91309688 0.00869668 -0.40764992 4.20498665] [-0.02454585 0.9991317 -0.03366519 0.3565094 ] [ 0.40700319 0.0407457 0.9125175 0.00650362] [ 0. 0. 0. 1. ]] SLAMing on 93.61800114499998 meters Centerline goodness [0,1] 0.899083689676237 Centerline is valid? [False, False] Translation: X:4.21, Y:0.36, Z:0.01 [[ 0.91295254 0.00857126 -0.40797572 4.20618579] [-0.02468803 0.99910814 -0.03425543 0.35900092] [ 0.40731825 0.0413457 0.91234992 0.00695829] [ 0. 0. 0. 1. ]] SLAMing on 93.64800114499998 meters Centerline goodness [0,1] 0.9003460037790484 Centerline is valid? [False, False] Translation: X:4.21, Y:0.36, Z:0.01 [[ 0.91286245 0.00842633 -0.40818029 4.20730362] [-0.02491638 0.99907319 -0.03509897 0.36288864] [ 0.40750622 0.04221091 0.91222635 0.0074631 ] [ 0. 0. 0. 1. ]] SLAMing on 93.67800114499998 meters Centerline goodness [0,1] 0.9026548672566371 Centerline is valid? [False, False] Translation: X:4.21, Y:0.36, Z:0.01 [[ 0.91279175 0.00805736 -0.40834581 4.20742436] [-0.02480916 0.99905299 -0.03574388 0.36497665] [ 0.4076711 0.04275743 0.91212723 0.00807925] [ 0. 0. 0. 1. ]] SLAMing on 93.70800114499998 meters Centerline goodness [0,1] 0.9030277523333251 Centerline is valid? [False, False] Translation: X:4.21, Y:0.37, Z:0.01 [[ 0.91272257 0.00753742 -0.40851034 4.20726109] [-0.02458373 0.99903146 -0.0364936 0.36735391] [ 0.40783961 0.04335125 0.91202386 0.00886366] [ 0. 0. 0. 1. ]] SLAMing on 93.73800114499998 meters Centerline goodness [0,1] 0.9048563916860956 Centerline is valid? [False, False] Translation: X:4.21, Y:0.37, Z:0.01 [[ 0.91262138 0.00704813 -0.40874507 4.20737417] [-0.02437285 0.99901087 -0.03719194 0.36971416] [ 0.40807864 0.04390444 0.91189047 0.00962309] [ 0. 0. 0. 1. ]] SLAMing on 93.76800114499999 meters Centerline goodness [0,1] 0.9067571261711275 Centerline is valid? [False, False] Translation: X:4.21, Y:0.37, Z:0.01 [[ 0.91255086 0.00660542 -0.40890989 4.20753943] [-0.02417289 0.99899259 -0.03780841 0.37160699] [ 0.40824821 0.04438663 0.91179122 0.01014769] [ 0. 0. 0. 1. ]] SLAMing on 93.79800114499999 meters Centerline goodness [0,1] 0.9035862137762481 Centerline is valid? [False, False] Translation: X:4.21, Y:0.37, Z:0.01 [[ 0.91249325 0.00642763 -0.40904127 4.20850112] [-0.02419326 0.99897441 -0.03827278 0.37367072] [ 0.40837576 0.0448197 0.91171291 0.01014812] [ 0. 0. 0. 1. ]] SLAMing on 93.82800114499999 meters Centerline goodness [0,1] 0.9017930621711264 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.01 [[ 0.91245408 0.00606677 -0.40913414 4.20849779] [-0.02407339 0.99895402 -0.03887586 0.37581633] [ 0.40847034 0.04532169 0.91164572 0.01065693] [ 0. 0. 0. 1. ]] SLAMing on 93.85800114499999 meters Centerline goodness [0,1] 0.9025262631315658 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.01 [[ 0.91238989 0.00543376 -0.40928616 4.20789203] [-0.02384116 0.99891979 -0.03988541 0.37875039] [ 0.40862732 0.0461489 0.91153387 0.01188429] [ 0. 0. 0. 1. ]] SLAMing on 93.88800114499999 meters Centerline goodness [0,1] 0.9043603041135895 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.01 [[ 0.91255082 0.0097822 -0.40884632 4.20653984] [-0.02709814 0.99896319 -0.03658189 0.38034676] [ 0.40806458 0.0444618 0.91186975 0.01161866] [ 0. 0. 0. 1. ]] SLAMing on 93.91800114499999 meters Centerline goodness [0,1] 0.9046632647905826 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.01 [[ 0.91243281 0.00987396 -0.40910742 4.20762839] [-0.02732402 0.99894789 -0.03683081 0.3815465 ] [ 0.40831333 0.0447841 0.91174262 0.01187994] [ 0. 0. 0. 1. ]] SLAMing on 93.94800114499999 meters Centerline goodness [0,1] 0.907113774877981 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.01 [[ 0.91229404 0.00991419 -0.40941579 4.20862341] [-0.0275155 0.99893183 -0.03712272 0.38286041] [ 0.40861042 0.04513211 0.91159235 0.01231142] [ 0. 0. 0. 1. ]] SLAMing on 93.97800114499998 meters Centerline goodness [0,1] 0.9057517300818778 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.01 [[ 0.91216953 0.01023812 -0.40968517 4.21015261] [-0.02806474 0.99890157 -0.03752376 0.38578588] [ 0.40885098 0.04572574 0.9114549 0.01273794] [ 0. 0. 0. 1. ]] SLAMing on 94.00800114499998 meters Centerline goodness [0,1] 0.9045960648736591 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.01 [[ 0.91209274 0.00998832 -0.40986226 4.21048029] [-0.02805493 0.99888042 -0.03808978 0.387774 ] [ 0.40902293 0.04624007 0.9113518 0.01335209] [ 0. 0. 0. 1. ]] SLAMing on 94.03800114499998 meters Centerline goodness [0,1] 0.9070092507878418 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.01 [[ 0.91201199 0.00974171 -0.41004783 4.21059269] [-0.02805213 0.99885851 -0.03866204 0.38946676] [ 0.40920313 0.04676296 0.91124422 0.01415711] [ 0. 0. 0. 1. ]] SLAMing on 94.06800114499998 meters Centerline goodness [0,1] 0.9074092973414298 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.01 [[ 0.91197323 0.00936923 -0.41014272 4.21016825] [-0.02791347 0.99883948 -0.03924971 0.39103903] [ 0.409299 0.04724319 0.91117639 0.0149323 ] [ 0. 0. 0. 1. ]] SLAMing on 94.09800114499998 meters Centerline goodness [0,1] 0.9017289373547513 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.02 [[ 0.91188864 0.00923643 -0.41033376 4.21018912] [-0.0279658 0.99882158 -0.03966564 0.39209563] [ 0.40948385 0.04764596 0.91107236 0.01571208] [ 0. 0. 0. 1. ]] SLAMing on 94.12800114499998 meters Centerline goodness [0,1] 0.9047046175898433 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.02 [[ 0.91173171 0.00955973 -0.41067494 4.21108519] [-0.02846327 0.99879657 -0.03994071 0.39341717] [ 0.4097989 0.04810436 0.9109066 0.01655153] [ 0. 0. 0. 1. ]] SLAMing on 94.15800114499999 meters Centerline goodness [0,1] 0.9044703471243756 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.02 [[ 0.91161108 0.00949077 -0.41094424 4.21121324] [-0.02859705 0.99877544 -0.04037103 0.39469716] [ 0.41005787 0.04855448 0.91076617 0.01753888] [ 0. 0. 0. 1. ]] SLAMing on 94.18800114499999 meters Centerline goodness [0,1] 0.905761042425486 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.02 [[ 0.91158928 0.00916175 -0.41100005 4.21063279] [-0.02847249 0.99875799 -0.0408877 0.3961903 ] [ 0.41011498 0.04897498 0.91071793 0.01833592] [ 0. 0. 0. 1. ]] SLAMing on 94.21800114499999 meters Centerline goodness [0,1] 0.9042695130086724 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.02 [[ 0.91153347 0.00886833 -0.41113026 4.21027717] [-0.02836543 0.99874214 -0.04134665 0.39741065] [ 0.41024644 0.04935075 0.91063844 0.01911541] [ 0. 0. 0. 1. ]] SLAMing on 94.24800114499999 meters Centerline goodness [0,1] 0.9042695130086724 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.02 [[ 0.91153347 0.00886833 -0.41113026 4.21027717] [-0.02836543 0.99874214 -0.04134665 0.39741065] [ 0.41024644 0.04935075 0.91063844 0.01911541] [ 0. 0. 0. 1. ]] SLAMing on 94.27800114499999 meters Centerline goodness [0,1] 0.904421960864876 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.02 [[ 0.91150259 0.00865333 -0.41120328 4.21001547] [-0.02823714 0.99873629 -0.04157515 0.39764836] [ 0.41032388 0.04950706 0.91059506 0.01950452] [ 0. 0. 0. 1. ]] SLAMing on 94.30800114499999 meters Centerline goodness [0,1] 0.9035887687209392 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.02 [[ 0.91150337 0.00881671 -0.4111981 4.21059426] [-0.02829609 0.99874565 -0.04130935 0.39688973] [ 0.4103181 0.0492889 0.9106095 0.01904947] [ 0. 0. 0. 1. ]] SLAMing on 94.33800114499998 meters Centerline goodness [0,1] 0.899259678165647 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.02 [[ 0.9114942 0.00894909 -0.41121555 4.2111078 ] [-0.02834145 0.99875358 -0.04108582 0.39631923] [ 0.41033532 0.04910393 0.91061173 0.01866824] [ 0. 0. 0. 1. ]] SLAMing on 94.36800114499998 meters Centerline goodness [0,1] 0.9035279025016036 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.02 [[ 0.91150162 0.00886053 -0.41120103 4.21105489] [-0.02829854 0.99874977 -0.04120786 0.39641784] [ 0.41032181 0.04919742 0.91061277 0.01876605] [ 0. 0. 0. 1. ]] SLAMing on 94.39800114499998 meters Centerline goodness [0,1] 0.9012997667085395 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.02 [[ 0.91145437 0.00875022 -0.41130812 4.21101382] [-0.02828756 0.99874058 -0.0414376 0.39702763] [ 0.41042752 0.04940339 0.91055398 0.01922438] [ 0. 0. 0. 1. ]] SLAMing on 94.42800114499998 meters Centerline goodness [0,1] 0.9060440546708721 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.02 [[ 0.91133315 0.00906837 -0.41156975 4.21172168] [-0.02876454 0.99871655 -0.04168757 0.39839426] [ 0.41066349 0.04982988 0.91042434 0.01997738] [ 0. 0. 0. 1. ]] SLAMing on 94.45800114499998 meters Centerline goodness [0,1] 0.9024734800811651 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.02 [[ 0.9111743 0.00934855 -0.41191503 4.21257491] [-0.02914532 0.99870061 -0.04180489 0.39915489] [ 0.41098898 0.05009694 0.9102628 0.02066303] [ 0. 0. 0. 1. ]] SLAMing on 94.48800114499998 meters Centerline goodness [0,1] 0.9042367216823487 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.02 [[ 0.91101627 0.00974678 -0.41225521 4.2136753 ] [-0.02960957 0.99868629 -0.04182077 0.39992142] [ 0.41130601 0.0503061 0.91010805 0.02117785] [ 0. 0. 0. 1. ]] SLAMing on 94.51800114499999 meters Centerline goodness [0,1] 0.9123525472621439 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.02 [[ 0.91089125 0.01021024 -0.41252017 4.21471874] [-0.03019177 0.99866347 -0.04194904 0.40113224] [ 0.41154051 0.05066573 0.90998208 0.02175516] [ 0. 0. 0. 1. ]] SLAMing on 94.54800114499999 meters Centerline goodness [0,1] 0.9078118167554081 Centerline is valid? [False, False] Translation: X:4.22, Y:0.40, Z:0.02 [[ 0.91078577 0.01037609 -0.41274886 4.21514722] [-0.03043287 0.99865195 -0.04204913 0.40133653] [ 0.41175614 0.05085888 0.90987376 0.02228886] [ 0. 0. 0. 1. ]] SLAMing on 94.57800114499999 meters Centerline goodness [0,1] 0.9089878667662743 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.02 [[ 0.91073727 0.01037548 -0.41285588 4.21498076] [-0.03049985 0.99864421 -0.04218404 0.40127094] [ 0.41185846 0.05101062 0.90981895 0.02279155] [ 0. 0. 0. 1. ]] SLAMing on 94.60800114499999 meters Centerline goodness [0,1] 0.9130613397694303 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.02 [[ 0.91072673 0.01035175 -0.41287973 4.21463141] [-0.03051385 0.99864018 -0.04226922 0.40101378] [ 0.41188073 0.05109426 0.90980418 0.02314186] [ 0. 0. 0. 1. ]] SLAMing on 94.63800114499999 meters Centerline goodness [0,1] 0.9077988712160082 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.02 [[ 0.91066979 0.01054446 -0.41300042 4.214567 ] [-0.03073624 0.99863302 -0.04227725 0.40076608] [ 0.41199007 0.0511947 0.90974902 0.02366532] [ 0. 0. 0. 1. ]] SLAMing on 94.66800114499999 meters Centerline goodness [0,1] 0.914433570733207 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.02 [[ 0.91062603 0.01065876 -0.41309397 4.21480785] [-0.03089418 0.99862564 -0.04233647 0.40107833] [ 0.41207497 0.05131489 0.9097038 0.02393974] [ 0. 0. 0. 1. ]] SLAMing on 94.69800114499999 meters Centerline goodness [0,1] 0.9169909873002867 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.02 [[ 0.91056726 0.01081674 -0.41321938 4.21497682] [-0.03108754 0.99861849 -0.04236371 0.40098449] [ 0.41219028 0.05142098 0.90964557 0.02432438] [ 0. 0. 0. 1. ]] SLAMing on 94.72800114499998 meters Centerline goodness [0,1] 0.9161574062236314 Centerline is valid? [False, False] Translation: X:4.22, Y:0.40, Z:0.02 [[ 0.91045561 0.01111656 -0.41345738 4.2154212 ] [-0.03134989 0.99861787 -0.04218449 0.40013672] [ 0.41241698 0.05136895 0.90954575 0.0246643 ] [ 0. 0. 0. 1. ]] SLAMing on 94.75800114499998 meters Centerline goodness [0,1] 0.9144078425350022 Centerline is valid? [False, False] Translation: X:4.22, Y:0.40, Z:0.02 [[ 0.9103677 0.01155362 -0.41363893 4.21635912] [-0.0316183 0.99862999 -0.04169455 0.39891317] [ 0.41259052 0.05103593 0.90948579 0.02435247] [ 0. 0. 0. 1. ]] SLAMing on 94.78800114499998 meters Centerline goodness [0,1] 0.9164350376131583 Centerline is valid? [False, False] Translation: X:4.22, Y:0.40, Z:0.02 [[ 0.91031974 0.0116561 -0.4137416 4.21661803] [-0.03166555 0.99863505 -0.04153701 0.39805326] [ 0.41269271 0.05091331 0.9094463 0.02437809] [ 0. 0. 0. 1. ]] SLAMing on 94.81800114499998 meters Centerline goodness [0,1] 0.9166390665205982 Centerline is valid? [False, False] Translation: X:4.22, Y:0.40, Z:0.02 [[ 0.91031525 0.01178538 -0.4137478 4.2167167 ] [-0.03166052 0.99864866 -0.04121256 0.39669129] [ 0.41270298 0.05061589 0.90945823 0.0241099 ] [ 0. 0. 0. 1. ]] SLAMing on 94.84800114499998 meters Centerline goodness [0,1] 0.9130324156531474 Centerline is valid? [False, False] Translation: X:4.22, Y:0.40, Z:0.02 [[ 0.91029588 0.01183772 -0.41378894 4.21664632] [-0.03162261 0.99865873 -0.04099695 0.39532664] [ 0.41274862 0.05040444 0.90944927 0.02408065] [ 0. 0. 0. 1. ]] SLAMing on 94.87800114499998 meters Centerline goodness [0,1] 0.9169121381411884 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.02 [[ 0.91042573 0.01119878 -0.41352096 4.21476938] [-0.03099603 0.99867016 -0.04119669 0.39404215] [ 0.41250968 0.05032403 0.90956212 0.02425567] [ 0. 0. 0. 1. ]] SLAMing on 94.90800114499999 meters Centerline goodness [0,1] 0.9165695169547367 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.02 [[ 0.9104596 0.01094077 -0.41345328 4.21414255] [-0.03072043 0.99867762 -0.0412221 0.39329514] [ 0.41245554 0.05023251 0.90959173 0.02429823] [ 0. 0. 0. 1. ]] SLAMing on 94.93800114499999 meters Centerline goodness [0,1] 0.915552072008293 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.02 [[ 0.9104918 0.01079901 -0.4133861 4.21360531] [-0.03051475 0.99868812 -0.04112036 0.39208272] [ 0.41239973 0.05005413 0.90962687 0.02425119] [ 0. 0. 0. 1. ]] SLAMing on 94.96800114499999 meters Centerline goodness [0,1] 0.917003129100636 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.02 [[ 0.91057002 0.01063532 -0.41321801 4.21281823] [-0.03026878 0.99870071 -0.04099615 0.39047487] [ 0.41224512 0.04983747 0.90970885 0.02409923] [ 0. 0. 0. 1. ]] SLAMing on 94.99800114499999 meters Centerline goodness [0,1] 0.9137075027092416 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.02 [[ 0.91063973 0.01035407 -0.4130715 4.21173481] [-0.02991958 0.99871413 -0.04092561 0.38891093] [ 0.4121166 0.04962741 0.90977856 0.02411073] [ 0. 0. 0. 1. ]] SLAMing on 95.02800114499999 meters Centerline goodness [0,1] 0.9097991907311066 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.02 [[ 0.91082842 0.00909463 -0.41268496 4.20846038] [-0.02874986 0.99872713 -0.04144356 0.38765788] [ 0.41178275 0.0496126 0.90993052 0.02470194] [ 0. 0. 0. 1. ]] SLAMing on 95.05800114499999 meters Centerline goodness [0,1] 0.9074097276167088 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.03 [[ 0.91083469 0.00870857 -0.41267945 4.20746132] [-0.0283995 0.99873042 -0.04160551 0.38742518] [ 0.4117932 0.04961563 0.90992563 0.02515742] [ 0. 0. 0. 1. ]] SLAMing on 95.08800114499998 meters Centerline goodness [0,1] 0.9055307626736198 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.03 [[ 0.91096652 0.00781414 -0.41240628 4.2052179 ] [-0.02746848 0.99875038 -0.04175128 0.38535226] [ 0.41156468 0.04936219 0.91004279 0.02520739] [ 0. 0. 0. 1. ]] SLAMing on 95.11800114499998 meters Centerline goodness [0,1] 0.9026077833841235 Centerline is valid? [False, False] Translation: X:4.20, Y:0.38, Z:0.02 [[ 0.91102893 0.00771436 -0.41227027 4.20472835] [-0.02727213 0.99876303 -0.04157681 0.38385945] [ 0.41143957 0.04912117 0.91011241 0.02497187] [ 0. 0. 0. 1. ]] SLAMing on 95.14800114499998 meters Centerline goodness [0,1] 0.9043734987990393 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.02 [[ 0.91102893 0.00788553 -0.41226703 4.20503756] [-0.0273061 0.99877618 -0.04123726 0.38253897] [ 0.41143732 0.04882574 0.91012932 0.02459554] [ 0. 0. 0. 1. ]] SLAMing on 95.17800114499998 meters Centerline goodness [0,1] 0.9043828690145428 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.02 [[ 0.91098128 0.00810631 -0.41236802 4.20593326] [-0.02738712 0.99878914 -0.04086801 0.38160798] [ 0.41153742 0.04852357 0.91010022 0.02409711] [ 0. 0. 0. 1. ]] SLAMing on 95.20800114499998 meters Centerline goodness [0,1] 0.9042685971043435 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.02 [[ 0.91097183 0.00815146 -0.41238801 4.20645937] [-0.02724428 0.99881047 -0.04044008 0.38009998] [ 0.41156782 0.04807498 0.91011028 0.02340795] [ 0. 0. 0. 1. ]] SLAMing on 95.23800114499998 meters Centerline goodness [0,1] 0.904877196485623 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.02 [[ 0.91095905 0.00821647 -0.41241497 4.20660721] [-0.02723521 0.99881803 -0.04025897 0.37936485] [ 0.41159672 0.04790649 0.9101061 0.0232646 ] [ 0. 0. 0. 1. ]] SLAMing on 95.26800114499999 meters Centerline goodness [0,1] 0.9065912150371441 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.02 [[ 0.91095251 0.0082649 -0.41242844 4.20668684] [-0.02721399 0.99882529 -0.04009294 0.37865343] [ 0.41161259 0.04774659 0.91010732 0.02312715] [ 0. 0. 0. 1. ]] SLAMing on 95.29800114499999 meters Centerline goodness [0,1] 0.9059615864305313 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.02 [[ 0.91090327 0.00844972 -0.41253344 4.20695887] [-0.02737225 0.99882543 -0.03998143 0.37806549] [ 0.41171105 0.04771118 0.91006464 0.02325235] [ 0. 0. 0. 1. ]] SLAMing on 95.32800114499999 meters Centerline goodness [0,1] 0.9073400438509069 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.02 [[ 0.91083616 0.00863067 -0.41267785 4.20719823] [-0.02754766 0.99882338 -0.03991221 0.37757002] [ 0.41184781 0.04772179 0.9100022 0.02352638] [ 0. 0. 0. 1. ]] SLAMing on 95.35800114499999 meters Centerline goodness [0,1] 0.9113171895977326 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.02 [[ 0.91077095 0.00910081 -0.41281164 4.20757957] [-0.02801553 0.99881525 -0.03978983 0.37713249] [ 0.41196044 0.04780456 0.90994688 0.02390788] [ 0. 0. 0. 1. ]] SLAMing on 95.38800114499999 meters Centerline goodness [0,1] 0.9136708484157287 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.02 [[ 0.91068702 0.0090814 -0.41299719 4.2074991 ] [-0.02809986 0.99880451 -0.03999939 0.37736135] [ 0.41214021 0.04803209 0.90985349 0.02458337] [ 0. 0. 0. 1. ]] SLAMing on 95.41800114499999 meters Centerline goodness [0,1] 0.9165589901600238 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.03 [[ 0.9106659 0.00923341 -0.41304039 4.20685138] [-0.02832398 0.99879332 -0.04012055 0.37730051] [ 0.41217153 0.04823537 0.90982854 0.02541002] [ 0. 0. 0. 1. ]] SLAMing on 95.44800114499998 meters Centerline goodness [0,1] 0.9162810265039967 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.03 [[ 0.91063637 0.00949201 -0.41309962 4.20702225] [-0.02847779 0.99880072 -0.03982642 0.37597234] [ 0.41222616 0.04803155 0.90981458 0.02537741] [ 0. 0. 0. 1. ]] SLAMing on 95.47800114499998 meters Centerline goodness [0,1] 0.9153037238649017 Centerline is valid? [False, False] Translation: X:4.21, Y:0.37, Z:0.03 [[ 0.91063095 0.00975344 -0.41310549 4.20699573] [-0.02859284 0.9988125 -0.03944677 0.37405421] [ 0.41223019 0.04773331 0.90982845 0.02529267] [ 0. 0. 0. 1. ]] SLAMing on 95.50800114499998 meters Centerline goodness [0,1] 0.9146669961695292 Centerline is valid? [False, False] Translation: X:4.21, Y:0.37, Z:0.03 [[ 0.91063451 0.00993536 -0.41309331 4.20695733] [-0.02862447 0.9988261 -0.0390777 0.37230369] [ 0.41222013 0.04741007 0.90984991 0.02508923] [ 0. 0. 0. 1. ]] SLAMing on 95.53800114499998 meters Centerline goodness [0,1] 0.9174015864413461 Centerline is valid? [False, False] Translation: X:4.21, Y:0.37, Z:0.02 [[ 0.91064005 0.00998195 -0.41307997 4.20682693] [-0.02857262 0.99883638 -0.03885213 0.37096762] [ 0.41221148 0.04718309 0.90986562 0.02495883] [ 0. 0. 0. 1. ]] SLAMing on 95.56800114499998 meters Centerline goodness [0,1] 0.9157842895838464 Centerline is valid? [False, False] Translation: X:4.21, Y:0.37, Z:0.02 [[ 0.91069092 0.00990388 -0.4129697 4.20652713] [-0.02840819 0.99884729 -0.03869199 0.36965699] [ 0.41211046 0.04696816 0.9099225 0.02472274] [ 0. 0. 0. 1. ]] SLAMing on 95.59800114499998 meters Centerline goodness [0,1] 0.9139742708435628 Centerline is valid? [False, False] Translation: X:4.20, Y:0.37, Z:0.02 [[ 0.91083551 0.00914511 -0.4126682 4.20490608] [-0.02759402 0.99886711 -0.03876932 0.36797639] [ 0.41184615 0.04669965 0.91005598 0.02450618] [ 0. 0. 0. 1. ]] SLAMing on 95.62800114499998 meters Centerline goodness [0,1] 0.9136297020029311 Centerline is valid? [False, False] Translation: X:4.20, Y:0.37, Z:0.02 [[ 0.91082306 0.00900596 -0.41269873 4.20480245] [-0.02736491 0.99888011 -0.03859647 0.36655109] [ 0.41188896 0.04644802 0.91004949 0.02435634] [ 0. 0. 0. 1. ]] SLAMing on 95.65800114499999 meters Centerline goodness [0,1] 0.9107086268678546 Centerline is valid? [False, False] Translation: X:4.20, Y:0.37, Z:0.02 [[ 0.91090592 0.00845535 -0.41252748 4.20366488] [-0.02681646 0.99888943 -0.03874 0.36533376] [ 0.41174177 0.04635103 0.91012103 0.02437244] [ 0. 0. 0. 1. ]] SLAMing on 95.68800114499999 meters Centerline goodness [0,1] 0.9064921772188916 Centerline is valid? [False, False] Translation: X:4.20, Y:0.36, Z:0.02 [[ 0.91104601 0.00780168 -0.41223088 4.2019429 ] [-0.02622064 0.99889341 -0.03904406 0.36438295] [ 0.4114701 0.04637989 0.91024242 0.02455662] [ 0. 0. 0. 1. ]] SLAMing on 95.71800114499999 meters Centerline goodness [0,1] 0.9076526768572748 Centerline is valid? [False, False] Translation: X:4.20, Y:0.36, Z:0.02 [[ 0.91111732 0.0071542 -0.412085 4.20060932] [-0.02566054 0.99889423 -0.03939351 0.36408423] [ 0.4113475 0.04646644 0.91029342 0.02485221] [ 0. 0. 0. 1. ]] SLAMing on 95.74800114499999 meters Centerline goodness [0,1] 0.9044456295147137 Centerline is valid? [False, False] Translation: X:4.20, Y:0.36, Z:0.02 [[ 0.91111513 0.00672543 -0.41209705 4.20013679] [-0.02520229 0.99890492 -0.03941821 0.36289299] [ 0.41138067 0.04630032 0.91028689 0.02483389] [ 0. 0. 0. 1. ]] SLAMing on 95.77800114499999 meters Centerline goodness [0,1] 0.9029446750661521 Centerline is valid? [False, False] Translation: X:4.20, Y:0.36, Z:0.02 [[ 0.91112939 0.00678205 -0.4120646 4.20064553] [-0.02513701 0.99891749 -0.03914037 0.36192231] [ 0.41135308 0.04602002 0.91031357 0.02422582] [ 0. 0. 0. 1. ]] SLAMing on 95.80800114499999 meters Centerline goodness [0,1] 0.9029857980708642 Centerline is valid? [False, False] Translation: X:4.20, Y:0.36, Z:0.02 [[ 0.9111102 0.00674627 -0.41210763 4.20106623] [-0.02504392 0.9989247 -0.03901591 0.36131882] [ 0.41140128 0.04586859 0.91029943 0.02392058] [ 0. 0. 0. 1. ]] SLAMing on 95.83800114499998 meters Centerline goodness [0,1] 0.9017514919217894 Centerline is valid? [False, False] Translation: X:4.20, Y:0.36, Z:0.02 [[ 0.91123245 0.00601396 -0.41184859 4.20005323] [-0.02442813 0.99892244 -0.03946165 0.36194023] [ 0.41116747 0.04601942 0.91039745 0.02383774] [ 0. 0. 0. 1. ]] SLAMing on 95.86800114499998 meters Centerline goodness [0,1] 0.9005768578215134 Centerline is valid? [False, False] Translation: X:4.20, Y:0.36, Z:0.02 [[ 0.91123751 0.00567753 -0.41184217 4.1996269 ] [-0.02418285 0.99891754 -0.03973592 0.36218322] [ 0.41117076 0.04616838 0.91038842 0.02410757] [ 0. 0. 0. 1. ]] SLAMing on 95.89800114499998 meters Centerline goodness [0,1] 0.899881387523904 Centerline is valid? [False, False] Translation: X:4.20, Y:0.36, Z:0.02 [[ 0.91123452 0.00541753 -0.41185228 4.19929042] [-0.02395162 0.99891841 -0.03985379 0.36189526] [ 0.41119092 0.04618068 0.9103787 0.02423119] [ 0. 0. 0. 1. ]] SLAMing on 95.92800114499998 meters Centerline goodness [0,1] 0.8965709845062898 Centerline is valid? [False, False] Translation: X:4.20, Y:0.36, Z:0.02 [[ 0.91132817 0.00470374 -0.41165378 4.1980467 ] [-0.02331856 0.99891915 -0.04020905 0.36166173] [ 0.41101971 0.04624281 0.91045285 0.02433426] [ 0. 0. 0. 1. ]] SLAMing on 95.95800114499998 meters Centerline goodness [0,1] 0.8924419307277693 Centerline is valid? [False, False] Translation: X:4.20, Y:0.36, Z:0.02 [[ 9.11365449e-01 4.13468889e-03 -4.11577359e-01 4.19743225e+00] [-2.29087334e-02 9.98909066e-01 -4.06923498e-02 3.62843875e-01] [ 4.10960105e-01 4.65143176e-02 9.10465930e-01 2.46151133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98800114499998 meters Centerline goodness [0,1] 0.8932286603149913 Centerline is valid? [False, False] Translation: X:4.20, Y:0.36, Z:0.03 [[ 9.11393146e-01 3.39772842e-03 -4.11522769e-01 4.19649140e+00] [-2.24296548e-02 9.98889728e-01 -4.14273010e-02 3.64332565e-01] [ 4.10925108e-01 4.69868719e-02 9.10457462e-01 2.52192567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01800114499999 meters Centerline goodness [0,1] 0.8882697875860727 Centerline is valid? [False, False] Translation: X:4.20, Y:0.37, Z:0.03 [[ 9.11484807e-01 2.80810116e-03 -4.11324155e-01 4.19565369e+00] [-2.19937351e-02 9.98878938e-01 -4.19182830e-02 3.65225739e-01] [ 4.10745325e-01 4.72544326e-02 9.10524737e-01 2.52932029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.04800114499999 meters Centerline goodness [0,1] 0.8853200963573984 Centerline is valid? [False, False] Translation: X:4.20, Y:0.37, Z:0.02 [[ 9.11522174e-01 2.68967565e-03 -4.11242132e-01 4.19644333e+00] [-2.18814686e-02 9.98879339e-01 -4.19674471e-02 3.65207753e-01] [ 4.10668390e-01 4.72528405e-02 9.10559522e-01 2.45594248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.07800114499999 meters Centerline goodness [0,1] 0.8820435396678518 Centerline is valid? [False, False] Translation: X:4.20, Y:0.37, Z:0.02 [[ 9.11496311e-01 2.62092302e-03 -4.11299898e-01 4.19726551e+00] [-2.18376633e-02 9.98877665e-01 -4.20300810e-02 3.65656036e-01] [ 4.10728124e-01 4.72920925e-02 9.10530541e-01 2.42009459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.10800114499999 meters Centerline goodness [0,1] 0.8841346036696801 Centerline is valid? [False, False] Translation: X:4.20, Y:0.37, Z:0.02 [[ 9.11431664e-01 2.28423499e-03 -4.11445141e-01 4.19790148e+00] [-2.16594621e-02 9.98864445e-01 -4.24345234e-02 3.67393458e-01] [ 4.10880992e-01 4.75878487e-02 9.10446158e-01 2.42838585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13800114499999 meters Centerline goodness [0,1] 0.879130562490821 Centerline is valid? [False, False] Translation: X:4.20, Y:0.37, Z:0.02 [[ 9.11388406e-01 1.85247949e-03 -4.11543123e-01 4.19817824e+00] [-2.14164675e-02 9.98848426e-01 -4.29320111e-02 3.69385293e-01] [ 4.10989670e-01 4.79415371e-02 9.10378548e-01 2.44757096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16800114499999 meters Centerline goodness [0,1] 0.879130562490821 Centerline is valid? [False, False] Translation: X:4.20, Y:0.37, Z:0.02 [[ 9.11388406e-01 1.85247949e-03 -4.11543123e-01 4.19817824e+00] [-2.14164675e-02 9.98848426e-01 -4.29320111e-02 3.69385293e-01] [ 4.10989670e-01 4.79415371e-02 9.10378548e-01 2.44757096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19800114499998 meters Centerline goodness [0,1] 0.8779877300613497 Centerline is valid? [False, False] Translation: X:4.20, Y:0.37, Z:0.02 [[ 9.11301017e-01 1.45063977e-03 -4.11738208e-01 4.19908589e+00] [-2.12889576e-02 9.98822224e-01 -4.35998338e-02 3.72389922e-01] [ 4.11190025e-01 4.84980502e-02 9.10258591e-01 2.47524398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22800114499998 meters Centerline goodness [0,1] 0.8768882546868081 Centerline is valid? [False, False] Translation: X:4.20, Y:0.37, Z:0.02 [[ 9.11247832e-01 1.41852612e-03 -4.11856013e-01 4.19984619e+00] [-2.13741653e-02 9.98809406e-01 -4.38510645e-02 3.73579785e-01] [ 4.11303456e-01 4.87622660e-02 9.10193226e-01 2.47779612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25800114499998 meters Centerline goodness [0,1] 0.8775595692777765 Centerline is valid? [False, False] Translation: X:4.20, Y:0.37, Z:0.02 [[ 9.11191780e-01 1.45114718e-03 -4.11979896e-01 4.20068183e+00] [-2.15380231e-02 9.98794115e-01 -4.41183479e-02 3.74879246e-01] [ 4.11419074e-01 4.90735084e-02 9.10124242e-01 2.48734602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28800114499998 meters Centerline goodness [0,1] 0.8817456593148756 Centerline is valid? [False, False] Translation: X:4.20, Y:0.38, Z:0.03 [[ 9.11120933e-01 1.36242034e-03 -4.12136857e-01 4.20104374e+00] [-2.16557233e-02 9.98771377e-01 -4.45731462e-02 3.76477785e-01] [ 4.11569769e-01 4.95366483e-02 9.10031014e-01 2.53924189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31800114499998 meters Centerline goodness [0,1] 0.8833850353641891 Centerline is valid? [False, False] Translation: X:4.20, Y:0.38, Z:0.03 [[ 0.91128617 0.00590034 -0.41173135 4.19999189] [-0.02516587 0.99882625 -0.04138597 0.37937643] [ 0.41100389 0.04807604 0.91036504 0.02530296] [ 0. 0. 0. 1. ]] SLAMing on 96.34800114499998 meters Centerline goodness [0,1] 0.883973226504765 Centerline is valid? [False, False] Translation: X:4.20, Y:0.38, Z:0.02 [[ 0.91141065 0.01081436 -0.4113559 4.1994328 ] [-0.02874561 0.99888575 -0.03742926 0.37952752] [ 0.41049278 0.0459381 0.91070597 0.02454799] [ 0. 0. 0. 1. ]] SLAMing on 96.37800114499998 meters Centerline goodness [0,1] 0.8839951145342606 Centerline is valid? [False, False] Translation: X:4.20, Y:0.38, Z:0.03 [[ 0.91127569 0.01089588 -0.41165265 4.20062867] [-0.02910838 0.99885373 -0.03799895 0.38235622] [ 0.41076676 0.04661006 0.91054828 0.02516869] [ 0. 0. 0. 1. ]] SLAMing on 96.40800114499999 meters Centerline goodness [0,1] 0.8892003503941934 Centerline is valid? [False, False] Translation: X:4.20, Y:0.38, Z:0.02 [[ 0.91120872 0.01664127 -0.41160873 4.20236657] [-0.03351783 0.99886584 -0.03381693 0.38323113] [ 0.41057914 0.04461051 0.91073304 0.02424207] [ 0. 0. 0. 1. ]] SLAMing on 96.43800114499999 meters Centerline goodness [0,1] 0.8905173493674057 Centerline is valid? [False, False] Translation: X:4.20, Y:0.38, Z:0.02 [[ 0.91108839 0.01690849 -0.41186411 4.20376163] [-0.03390585 0.99884663 -0.03399722 0.38456178] [ 0.41081424 0.04493907 0.91061086 0.02436226] [ 0. 0. 0. 1. ]] SLAMing on 96.46800114499999 meters Centerline goodness [0,1] 0.8922085089303632 Centerline is valid? [False, False] Translation: X:4.20, Y:0.39, Z:0.02 [[ 0.91100211 0.01679786 -0.41205945 4.20439574] [-0.03400513 0.99882731 -0.03446246 0.38633422] [ 0.41099734 0.04540751 0.910505 0.02478079] [ 0. 0. 0. 1. ]] SLAMing on 96.49800114499999 meters Centerline goodness [0,1] 0.8923479925444562 Centerline is valid? [False, False] Translation: X:4.20, Y:0.39, Z:0.03 [[ 0.91087598 0.0165242 -0.41234925 4.20471381] [-0.03405282 0.99880006 -0.03519717 0.38885735] [ 0.41127285 0.04610191 0.91034568 0.02576385] [ 0. 0. 0. 1. ]] SLAMing on 96.52800114499999 meters Centerline goodness [0,1] 0.8958122084769824 Centerline is valid? [False, False] Translation: X:4.20, Y:0.39, Z:0.03 [[ 0.91086323 0.02100956 -0.41217323 4.20413047] [-0.03748796 0.9987867 -0.03193399 0.39181383] [ 0.41100223 0.04453903 0.91054569 0.02585926] [ 0. 0. 0. 1. ]] SLAMing on 96.55800114499999 meters Centerline goodness [0,1] 0.8940289796229096 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.03 [[ 0.91066866 0.02117652 -0.4125944 4.20564062] [-0.03781111 0.99876618 -0.03219387 0.39345636] [ 0.41140358 0.0449186 0.91034577 0.02632184] [ 0. 0. 0. 1. ]] SLAMing on 96.58800114499998 meters Centerline goodness [0,1] 0.8903631640605103 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.03 [[ 0.91047785 0.02176539 -0.41298469 4.20798333] [-0.03835586 0.99875409 -0.03192343 0.39375785] [ 0.41177532 0.04490596 0.9101783 0.02601322] [ 0. 0. 0. 1. ]] SLAMing on 96.61800114499998 meters Centerline goodness [0,1] 0.8936640658754161 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.03 [[ 0.91029173 0.02235255 -0.41336344 4.21035644] [-0.03889525 0.99874203 -0.0316467 0.39388149] [ 0.41213606 0.04488561 0.91001602 0.0256379 ] [ 0. 0. 0. 1. ]] SLAMing on 96.64800114499998 meters Centerline goodness [0,1] 0.8960069311724383 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.03 [[ 0.91006873 0.02407381 -0.4137576 4.21421425] [-0.04050735 0.99869857 -0.03098914 0.3962301 ] [ 0.4124731 0.04496247 0.90985951 0.02514747] [ 0. 0. 0. 1. ]] SLAMing on 96.67800114499998 meters Centerline goodness [0,1] 0.8927355132768289 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.03 [[ 0.90993745 0.02396886 -0.41405233 4.21465301] [-0.04071929 0.99866843 -0.03167488 0.39892977] [ 0.41274178 0.04568207 0.9097018 0.02618923] [ 0. 0. 0. 1. ]] SLAMing on 96.70800114499998 meters Centerline goodness [0,1] 0.8953219677518743 Centerline is valid? [False, False] Translation: X:4.22, Y:0.40, Z:0.03 [[ 0.90974655 0.02409866 -0.41446408 4.21576737] [-0.0410631 0.99864181 -0.03206811 0.40092436] [ 0.41312836 0.04619303 0.9095005 0.02696909] [ 0. 0. 0. 1. ]] SLAMing on 96.73800114499998 meters Centerline goodness [0,1] 0.8948166033083325 Centerline is valid? [False, False] Translation: X:4.22, Y:0.40, Z:0.03 [[ 0.90956359 0.02443996 -0.41484548 4.21725846] [-0.04149332 0.9986216 -0.03214338 0.40175361] [ 0.41348807 0.04644976 0.90932394 0.02728511] [ 0. 0. 0. 1. ]] SLAMing on 96.76800114499999 meters Centerline goodness [0,1] 0.899596846673343 Centerline is valid? [False, False] Translation: X:4.22, Y:0.40, Z:0.03 [[ 0.90939619 0.02526343 -0.41516302 4.21933694] [-0.04225684 0.99860074 -0.03179505 0.40183506] [ 0.41377885 0.04645777 0.90919126 0.02711676] [ 0. 0. 0. 1. ]] SLAMing on 96.79800114499999 meters Centerline goodness [0,1] 0.8935601582977849 Centerline is valid? [False, False] Translation: X:4.22, Y:0.40, Z:0.03 [[ 0.9093986 0.02504542 -0.41517094 4.2190807 ] [-0.0421154 0.99859987 -0.0320093 0.40197487] [ 0.41378796 0.04659431 0.90918012 0.02732733] [ 0. 0. 0. 1. ]] SLAMing on 96.82800114499999 meters Centerline goodness [0,1] 0.8944705549991011 Centerline is valid? [False, False] Translation: X:4.22, Y:0.40, Z:0.03 [[ 0.90942217 0.02445661 -0.41515442 4.21804004] [-0.0416853 0.99860249 -0.03248695 0.40232224] [ 0.41377972 0.04685018 0.90917072 0.02791156] [ 0. 0. 0. 1. ]] SLAMing on 96.85800114499999 meters Centerline goodness [0,1] 0.8944661592264966 Centerline is valid? [False, False] Translation: X:4.22, Y:0.40, Z:0.03 [[ 0.90963428 0.02312476 -0.41476586 4.21521977] [-0.04046298 0.99863386 -0.03306287 0.40163716] [ 0.41343466 0.04685778 0.9093273 0.02813729] [ 0. 0. 0. 1. ]] SLAMing on 96.88800114499999 meters Centerline goodness [0,1] 0.8921608865175457 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.03 [[ 0.90968878 0.0225501 -0.41467797 4.21415927] [-0.03990176 0.998651 -0.03322699 0.40062193] [ 0.4133693 0.04677261 0.9093614 0.02825219] [ 0. 0. 0. 1. ]] SLAMing on 96.91800114499999 meters Centerline goodness [0,1] 0.893579437816804 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.03 [[ 0.90979373 0.02189627 -0.41448271 4.21285976] [-0.03922401 0.99867411 -0.03333919 0.39908701] [ 0.41320315 0.04658946 0.9094463 0.02812565] [ 0. 0. 0. 1. ]] SLAMing on 96.94800114499998 meters Centerline goodness [0,1] 0.8891669646049338 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.03 [[ 0.90988135 0.02108132 -0.41433261 4.21142672] [-0.03840796 0.99869942 -0.03353051 0.39750897] [ 0.41308687 0.04642246 0.90950767 0.02810632] [ 0. 0. 0. 1. ]] SLAMing on 96.97800114499998 meters Centerline goodness [0,1] 0.8870441213976027 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.03 [[ 0.90996922 0.01508134 -0.41440146 4.21061767] [-0.03384489 0.99870546 -0.03797282 0.39724177] [ 0.41329232 0.04857947 0.90930165 0.02854125] [ 0. 0. 0. 1. ]] SLAMing on 97.00800114499998 meters Centerline goodness [0,1] 0.8877473170235491 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.03 [[ 0.90998421 0.01473701 -0.41438093 4.21017561] [-0.03346152 0.99871873 -0.03796346 0.39619482] [ 0.41329053 0.04841196 0.9093114 0.02848542] [ 0. 0. 0. 1. ]] SLAMing on 97.03800114499998 meters Centerline goodness [0,1] 0.8888352474845005 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.03 [[ 0.91003866 0.01416272 -0.41428136 4.20918375] [-0.03296597 0.99872341 -0.03827271 0.39602328] [ 0.41321045 0.04848684 0.9093438 0.02870653] [ 0. 0. 0. 1. ]] SLAMing on 97.06800114499998 meters Centerline goodness [0,1] 0.8880052846871109 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.03 [[ 0.91004961 0.0134286 -0.41428176 4.20789121] [-0.0324274 0.99871835 -0.0388604 0.39659943] [ 0.41322895 0.04879897 0.9093187 0.02946976] [ 0. 0. 0. 1. ]] SLAMing on 97.09800114499998 meters Centerline goodness [0,1] 0.8849521585746555 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.03 [[ 0.91020956 0.01210062 -0.41397116 4.20500853] [-0.03136501 0.99871647 -0.03977002 0.39683695] [ 0.41295858 0.04918326 0.90942082 0.03033244] [ 0. 0. 0. 1. ]] SLAMing on 97.12800114499998 meters Centerline goodness [0,1] 0.8853269133299544 Centerline is valid? [False, False] Translation: X:4.20, Y:0.40, Z:0.03 [[ 0.91021641 0.01193962 -0.41396079 4.20471503] [-0.03115841 0.9987255 -0.03970544 0.39563556] [ 0.41295913 0.04903891 0.90942836 0.03028984] [ 0. 0. 0. 1. ]] SLAMing on 97.15800114499999 meters Centerline goodness [0,1] 0.8852346954276166 Centerline is valid? [False, False] Translation: X:4.20, Y:0.39, Z:0.03 [[ 0.91023693 0.01182505 -0.41391894 4.20448682] [-0.03099434 0.99873375 -0.03962639 0.39473165] [ 0.41292623 0.04889855 0.90945086 0.03016639] [ 0. 0. 0. 1. ]] SLAMing on 97.18800114499999 meters Centerline goodness [0,1] 0.8820697344415163 Centerline is valid? [False, False] Translation: X:4.20, Y:0.39, Z:0.03 [[ 0.91023587 0.01149809 -0.41393049 4.20410063] [-0.03072678 0.99873409 -0.03982572 0.39467897] [ 0.41294857 0.04896955 0.90943689 0.03036039] [ 0. 0. 0. 1. ]] SLAMing on 97.21800114499999 meters Centerline goodness [0,1] 0.8849017423014587 Centerline is valid? [False, False] Translation: X:4.20, Y:0.39, Z:0.03 [[ 0.91028044 0.01110962 -0.41384308 4.20343237] [-0.03042829 0.99873151 -0.04011846 0.39489043] [ 0.41287242 0.04911159 0.90946381 0.03055868] [ 0. 0. 0. 1. ]] SLAMing on 97.24800114499999 meters Centerline goodness [0,1] 0.8830612451835328 Centerline is valid? [False, False] Translation: X:4.20, Y:0.40, Z:0.03 [[ 0.9102552 0.01090475 -0.41390404 4.20330467] [-0.03033074 0.9987235 -0.04039072 0.39532012] [ 0.41293524 0.04931988 0.90942401 0.03091443] [ 0. 0. 0. 1. ]] SLAMing on 97.27800114499999 meters Centerline goodness [0,1] 0.8862354220951706 Centerline is valid? [False, False] Translation: X:4.20, Y:0.40, Z:0.03 [[ 0.91019606 0.01084416 -0.41403568 4.2035769 ] [-0.03035085 0.99871586 -0.04056411 0.39597957] [ 0.41306412 0.04948763 0.90935637 0.03118526] [ 0. 0. 0. 1. ]] SLAMing on 97.30800114499999 meters Centerline goodness [0,1] 0.8869223952399038 Centerline is valid? [False, False] Translation: X:4.20, Y:0.40, Z:0.03 [[ 0.91008569 0.01089052 -0.414277 4.20420103] [-0.0304715 0.99870724 -0.0406859 0.39649149] [ 0.41329835 0.0496513 0.90924102 0.03152322] [ 0. 0. 0. 1. ]] SLAMing on 97.33800114499998 meters Centerline goodness [0,1] 0.8853866018532583 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.03 [[ 0.9100227 0.01137769 -0.41440225 4.20561904] [-0.03084367 0.99871097 -0.04031209 0.39572137] [ 0.41340942 0.0494666 0.90920059 0.03099507] [ 0. 0. 0. 1. ]] SLAMing on 97.36800114499998 meters Centerline goodness [0,1] 0.8823961871926178 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.03 [[ 0.9099735 0.01146367 -0.41450792 4.20608367] [-0.03091282 0.99871163 -0.04024278 0.3954731 ] [ 0.41351255 0.04943347 0.90915549 0.03096316] [ 0. 0. 0. 1. ]] SLAMing on 97.39800114499998 meters Centerline goodness [0,1] 0.8871975118213771 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.03 [[ 0.90993721 0.01131113 -0.41459177 4.20609583] [-0.03086294 0.99870317 -0.04049014 0.39605468] [ 0.41359613 0.04963901 0.90910627 0.03130045] [ 0. 0. 0. 1. ]] SLAMing on 97.42800114499998 meters Centerline goodness [0,1] 0.8854828502721175 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.03 [[ 0.90988841 0.01071083 -0.4147148 4.20555696] [-0.03054623 0.99868281 -0.04122579 0.39882867] [ 0.41372698 0.05017884 0.90901709 0.03223597] [ 0. 0. 0. 1. ]] SLAMing on 97.45800114499998 meters Centerline goodness [0,1] 0.8847764831315208 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.03 [[ 0.90984113 0.01033559 -0.41482802 4.20522162] [-0.03035492 0.99866916 -0.04169515 0.39970909] [ 0.41384501 0.05052803 0.90894402 0.03288138] [ 0. 0. 0. 1. ]] SLAMing on 97.48800114499998 meters Centerline goodness [0,1] 0.8861672934241285 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.03 [[ 0.90977754 0.01052334 -0.41496276 4.20599576] [-0.03046848 0.99867491 -0.04147395 0.39894484] [ 0.41397645 0.05037536 0.90889263 0.03265931] [ 0. 0. 0. 1. ]] SLAMing on 97.51800114499999 meters Centerline goodness [0,1] 0.8870468162892251 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.03 [[ 0.90975366 0.01093062 -0.41500457 4.20702213] [-0.03067988 0.99869002 -0.04095096 0.39693437] [ 0.41401331 0.04998758 0.90889726 0.03195551] [ 0. 0. 0. 1. ]] SLAMing on 97.54800114499999 meters Centerline goodness [0,1] 0.8874993671206521 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.03 [[ 0.90985465 0.01086911 -0.41478473 4.20717525] [-0.03042334 0.99871363 -0.04056488 0.39465207] [ 0.41381026 0.04952728 0.90901492 0.03089442] [ 0. 0. 0. 1. ]] SLAMing on 97.57800114499999 meters Centerline goodness [0,1] 0.8888241994684217 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.03 [[ 0.90982871 0.01038201 -0.4148541 4.20659994] [-0.03010075 0.99870475 -0.04102157 0.39580719] [ 0.41389088 0.04981003 0.90896276 0.03146808] [ 0. 0. 0. 1. ]] SLAMing on 97.60800114499999 meters Centerline goodness [0,1] 0.8891900106377589 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.03 [[ 0.90979389 0.00966532 -0.41494778 4.20557422] [-0.02969331 0.99868292 -0.04184187 0.39770672] [ 0.41399685 0.05038865 0.90888261 0.03259318] [ 0. 0. 0. 1. ]] SLAMing on 97.63800114499999 meters Centerline goodness [0,1] 0.8882837238758708 Centerline is valid? [False, False] Translation: X:4.20, Y:0.40, Z:0.03 [[ 0.9098581 0.00893738 -0.41482328 4.20381007] [-0.0291501 0.99867452 -0.04242028 0.39830499] [ 0.41389432 0.05068857 0.90891263 0.03338956] [ 0. 0. 0. 1. ]] SLAMing on 97.66800114499999 meters Centerline goodness [0,1] 0.8848541671945873 Centerline is valid? [False, False] Translation: X:4.20, Y:0.40, Z:0.03 [[ 0.90997975 0.00877625 -0.4145598 4.20318754] [-0.02887798 0.9986898 -0.04224633 0.39666488] [ 0.41364588 0.05041495 0.90904093 0.03286709] [ 0. 0. 0. 1. ]] SLAMing on 97.69800114499998 meters Centerline goodness [0,1] 0.8855994336855944 Centerline is valid? [False, False] Translation: X:4.20, Y:0.39, Z:0.03 [[ 0.91009897 0.00868034 -0.41430004 4.20270091] [-0.02860963 0.99871117 -0.04192238 0.3945663 ] [ 0.41340218 0.05000648 0.90917435 0.03215675] [ 0. 0. 0. 1. ]] SLAMing on 97.72800114499998 meters Centerline goodness [0,1] 0.878255159000783 Centerline is valid? [False, False] Translation: X:4.20, Y:0.39, Z:0.03 [[ 0.91021907 0.0082631 -0.41404465 4.20175801] [-0.02814845 0.99872316 -0.04194886 0.39338744] [ 0.41316935 0.04983736 0.90928946 0.03183456] [ 0. 0. 0. 1. ]] SLAMing on 97.75800114499998 meters Centerline goodness [0,1] 0.8763661202185793 Centerline is valid? [False, False] Translation: X:4.20, Y:0.39, Z:0.03 [[ 0.91033988 0.00717483 -0.41379926 4.19953684] [-0.02733656 0.99870863 -0.0428227 0.39454222] [ 0.41295765 0.05029506 0.90936043 0.03266281] [ 0. 0. 0. 1. ]] SLAMing on 97.78800114499998 meters Centerline goodness [0,1] 0.8768748261122493 Centerline is valid? [False, False] Translation: X:4.20, Y:0.40, Z:0.03 [[ 0.91030806 0.00696452 -0.41387284 4.19936256] [-0.02725326 0.99869736 -0.04313744 0.39528799] [ 0.41303328 0.05054775 0.90931207 0.03313824] [ 0. 0. 0. 1. ]] SLAMing on 97.81800114499998 meters Centerline goodness [0,1] 0.8750916769935004 Centerline is valid? [False, False] Translation: X:4.20, Y:0.40, Z:0.03 [[ 0.91014171 0.00730489 -0.41423267 4.20054054] [-0.0276199 0.99869002 -0.04307411 0.39552741] [ 0.41337539 0.05064461 0.9091512 0.033481 ] [ 0. 0. 0. 1. ]] SLAMing on 97.84800114499998 meters Centerline goodness [0,1] 0.8790930715117162 Centerline is valid? [False, False] Translation: X:4.20, Y:0.40, Z:0.03 [[ 0.91001106 0.0078632 -0.41450939 4.20209666] [-0.02812679 0.99868747 -0.04280435 0.39542587] [ 0.41362876 0.05061125 0.90903782 0.03339023] [ 0. 0. 0. 1. ]] SLAMing on 97.87800114499998 meters Centerline goodness [0,1] 0.8804427484774203 Centerline is valid? [False, False] Translation: X:4.20, Y:0.40, Z:0.03 [[ 0.90977921 0.00906133 -0.41499359 4.20490174] [-0.02922909 0.99867849 -0.04227214 0.39523215] [ 0.41406213 0.0505882 0.90884179 0.0333806 ] [ 0. 0. 0. 1. ]] SLAMing on 97.90800114499999 meters Centerline goodness [0,1] 0.883052176332229 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.03 [[ 0.90965535 0.00933907 -0.41525886 4.20593854] [-0.02957623 0.99866585 -0.04232917 0.3959073 ] [ 0.41430953 0.05078675 0.90871796 0.03370884] [ 0. 0. 0. 1. ]] SLAMing on 97.93800114499999 meters Centerline goodness [0,1] 0.8845939510613506 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.03 [[ 0.90971031 0.0144762 -0.41499107 4.20552834] [-0.03321794 0.99872627 -0.03797897 0.39418592] [ 0.41391269 0.04833501 0.90903246 0.03292743] [ 0. 0. 0. 1. ]] SLAMing on 97.96800114499999 meters Centerline goodness [0,1] 0.889275377037526 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.03 [[ 0.90968471 0.01997039 -0.41481912 4.20573494] [-0.03728352 0.998737 -0.03367993 0.39376239] [ 0.4136226 0.04610404 0.90928035 0.03240863] [ 0. 0. 0. 1. ]] SLAMing on 97.99800114499999 meters Centerline goodness [0,1] 0.8863815404945237 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.03 [[ 0.90955019 0.02035511 -0.41509531 4.20698161] [-0.03770931 0.99872191 -0.03365352 0.39447921] [ 0.41387976 0.04626253 0.90915528 0.03264552] [ 0. 0. 0. 1. ]] SLAMing on 98.02800114499999 meters Centerline goodness [0,1] 0.8920588908383553 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.03 [[ 0.90942587 0.02062576 -0.41535427 4.20790273] [-0.03805397 0.99870639 -0.03372588 0.39498638] [ 0.41412134 0.04647707 0.90903432 0.03303732] [ 0. 0. 0. 1. ]] SLAMing on 98.05800114499999 meters Centerline goodness [0,1] 0.8920588908383553 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.03 [[ 0.90942587 0.02062576 -0.41535427 4.20790273] [-0.03805397 0.99870639 -0.03372588 0.39498638] [ 0.41412134 0.04647707 0.90903432 0.03303732] [ 0. 0. 0. 1. ]] SLAMing on 98.08800114499998 meters Centerline goodness [0,1] 0.8872549019607843 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.03 [[ 0.90928206 0.02096179 -0.41565219 4.20898093] [-0.03847539 0.99868761 -0.03380398 0.39534036] [ 0.4143981 0.04672973 0.90889523 0.03352595] [ 0. 0. 0. 1. ]] SLAMing on 98.11800114499998 meters Centerline goodness [0,1] 0.8888127158236847 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.03 [[ 0.90916319 0.02118916 -0.41590061 4.20978597] [-0.03879021 0.99867164 -0.03391584 0.39593679] [ 0.4146295 0.0469679 0.90877742 0.03399021] [ 0. 0. 0. 1. ]] SLAMing on 98.14800114499998 meters Centerline goodness [0,1] 0.8869177907864596 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.04 [[ 0.90912746 0.02104353 -0.41598609 4.2089564 ] [-0.03904707 0.99863056 -0.03481859 0.39797938] [ 0.41468371 0.04789757 0.90870415 0.0357258 ] [ 0. 0. 0. 1. ]] SLAMing on 98.17800114499998 meters Centerline goodness [0,1] 0.8907689176123352 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.04 [[ 0.90907968 0.02089557 -0.41609796 4.20865266] [-0.0391327 0.99860861 -0.03534803 0.39898782] [ 0.41478039 0.04841722 0.90863249 0.03671253] [ 0. 0. 0. 1. ]] SLAMing on 98.20800114499998 meters Centerline goodness [0,1] 0.8882022471910113 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.04 [[ 0.90900038 0.02073714 -0.41627908 4.20843494] [-0.03919127 0.99858898 -0.03583412 0.39985686] [ 0.41494861 0.04888773 0.90853048 0.03771651] [ 0. 0. 0. 1. ]] SLAMing on 98.23800114499998 meters Centerline goodness [0,1] 0.8870246085011185 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.04 [[ 0.90895242 0.02079499 -0.41638092 4.20885235] [-0.03930457 0.99858109 -0.03592985 0.40012338] [ 0.41504296 0.0490242 0.90848003 0.03791655] [ 0. 0. 0. 1. ]] SLAMing on 98.26800114499999 meters Centerline goodness [0,1] 0.8863040545699814 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.04 [[ 0.90896696 0.0205945 -0.41635914 4.20835022] [-0.03907855 0.99859031 -0.03592006 0.39891035] [ 0.41503245 0.04892086 0.9084904 0.03803537] [ 0. 0. 0. 1. ]] SLAMing on 98.29800114499999 meters Centerline goodness [0,1] 0.885862648271649 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.04 [[ 0.90898025 0.02054713 -0.41633247 4.20809664] [-0.03894816 0.99860144 -0.03575201 0.39749318] [ 0.4150156 0.04871325 0.90850926 0.03795137] [ 0. 0. 0. 1. ]] SLAMing on 98.32800114499999 meters Centerline goodness [0,1] 0.882581826504921 Centerline is valid? [False, False] Translation: X:4.21, Y:0.40, Z:0.04 [[ 0.90906513 0.02031659 -0.4161584 4.20762568] [-0.03862177 0.99861904 -0.03561425 0.39612828] [ 0.41486015 0.04844844 0.90859441 0.03754415] [ 0. 0. 0. 1. ]] SLAMing on 98.35800114499999 meters Centerline goodness [0,1] 0.8876273506006387 Centerline is valid? [False, False] Translation: X:4.21, Y:0.39, Z:0.04 [[ 0.9091189 0.02001844 -0.41605538 4.20694069] [-0.03822446 0.9986393 -0.03547454 0.39453163] [ 0.41477911 0.04815406 0.90864706 0.0373592 ] [ 0. 0. 0. 1. ]] SLAMing on 98.38800114499999 meters Centerline goodness [0,1] 0.8878741113669137 Centerline is valid? [False, False] Translation: X:4.20, Y:0.39, Z:0.04 [[ 0.90923437 0.01847528 -0.4158744 4.20444613] [-0.03667681 0.99868499 -0.03582049 0.39235224] [ 0.41466573 0.04782217 0.90871633 0.03732928] [ 0. 0. 0. 1. ]] SLAMing on 98.41800114499999 meters Centerline goodness [0,1] 0.8853672088089706 Centerline is valid? [False, False] Translation: X:4.20, Y:0.39, Z:0.04 [[ 0.90930669 0.01815964 -0.41573017 4.20343064] [-0.03628774 0.99870187 -0.03574584 0.39058081] [ 0.41454137 0.04758984 0.90878526 0.03732407] [ 0. 0. 0. 1. ]] SLAMing on 98.44800114499998 meters Centerline goodness [0,1] 0.8823129080230887 Centerline is valid? [False, False] Translation: X:4.20, Y:0.39, Z:0.04 [[ 0.90931973 0.01835266 -0.41569317 4.20343015] [-0.03632576 0.99871391 -0.03536906 0.3884204 ] [ 0.41450944 0.04726215 0.90881693 0.03707844] [ 0. 0. 0. 1. ]] SLAMing on 98.47800114499998 meters Centerline goodness [0,1] 0.8831100274000151 Centerline is valid? [False, False] Translation: X:4.20, Y:0.39, Z:0.04 [[ 0.90930816 0.01866586 -0.41570454 4.20382019] [-0.0365176 0.99871872 -0.03503404 0.38673778] [ 0.41451796 0.04703727 0.90882471 0.03685277] [ 0. 0. 0. 1. ]] SLAMing on 98.50800114499998 meters Centerline goodness [0,1] 0.879344625374374 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.04 [[ 0.90921415 0.0197026 -0.41586229 4.20561288] [-0.03727054 0.99872088 -0.03416877 0.38453837] [ 0.41465714 0.04656615 0.90878548 0.03618438] [ 0. 0. 0. 1. ]] SLAMing on 98.53800114499998 meters Centerline goodness [0,1] 0.8857787810383747 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.04 [[ 0.909091 0.02007197 -0.41611378 4.20640721] [-0.03762535 0.99871245 -0.03402612 0.38431791] [ 0.41489504 0.04658927 0.90867571 0.03652049] [ 0. 0. 0. 1. ]] SLAMing on 98.56800114499998 meters Centerline goodness [0,1] 0.8855873716967401 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.04 [[ 0.90898456 0.02021311 -0.41633941 4.20676089] [-0.03783547 0.99870135 -0.0341188 0.38474746] [ 0.41510909 0.04676586 0.90856887 0.03712798] [ 0. 0. 0. 1. ]] SLAMing on 98.59800114499998 meters Centerline goodness [0,1] 0.8856338877443345 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.04 [[ 0.90883091 0.02036062 -0.41666751 4.20729955] [-0.03804786 0.99869091 -0.03418817 0.38487924] [ 0.41542596 0.04692457 0.90841585 0.03783986] [ 0. 0. 0. 1. ]] SLAMing on 98.62800114499998 meters Centerline goodness [0,1] 0.8888972449926048 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.04 [[ 0.90867585 0.02114167 -0.4169667 4.20858991] [-0.03861397 0.99869208 -0.03351241 0.38279454] [ 0.41571284 0.04655266 0.90830374 0.03775696] [ 0. 0. 0. 1. ]] SLAMing on 98.65800114499999 meters Centerline goodness [0,1] 0.8882956055250558 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.04 [[ 0.90863924 0.02151807 -0.41702723 4.20888139] [-0.03887015 0.99869388 -0.03316086 0.38107101] [ 0.41576899 0.04634117 0.90828886 0.03774907] [ 0. 0. 0. 1. ]] SLAMing on 98.68800114499999 meters Centerline goodness [0,1] 0.8891166837512814 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.04 [[ 0.90858023 0.02175901 -0.41714327 4.20915661] [-0.03905046 0.99869343 -0.03296205 0.38003404] [ 0.41588102 0.0462383 0.90824281 0.03789955] [ 0. 0. 0. 1. ]] SLAMing on 98.71800114499999 meters Centerline goodness [0,1] 0.8912640801001251 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.04 [[ 0.90851672 0.02181145 -0.41727883 4.20910415] [-0.03914604 0.9986875 -0.0330283 0.37965476] [ 0.41601076 0.04634157 0.90817813 0.0384354 ] [ 0. 0. 0. 1. ]] SLAMing on 98.74800114499999 meters Centerline goodness [0,1] 0.8948182521268369 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.04 [[ 0.90828243 0.02265562 -0.41774364 4.21096493] [-0.03989556 0.9986725 -0.03258193 0.37882981] [ 0.41645092 0.04625971 0.90798054 0.0387589 ] [ 0. 0. 0. 1. ]] SLAMing on 98.77800114499999 meters Centerline goodness [0,1] 0.8991732656008765 Centerline is valid? [False, False] Translation: X:4.21, Y:0.38, Z:0.04 [[ 0.9080775 0.02354905 -0.41813958 4.21325913] [-0.04059277 0.99866603 -0.03191218 0.37769739] [ 0.41683029 0.04595218 0.90782207 0.03842114] [ 0. 0. 0. 1. ]] SLAMing on 98.80800114499998 meters Centerline goodness [0,1] 0.9009696153942023 Centerline is valid? [False, False] Translation: X:4.22, Y:0.38, Z:0.04 [[ 0.90786737 0.02445899 -0.41854342 4.21545607] [-0.04128991 0.99865988 -0.03120238 0.3762538 ] [ 0.41721934 0.04560924 0.90766063 0.03812131] [ 0. 0. 0. 1. ]] SLAMing on 98.83800114499998 meters Centerline goodness [0,1] 0.905776738865541 Centerline is valid? [False, False] Translation: X:4.22, Y:0.37, Z:0.04 [[ 0.90768437 0.0252091 -0.41889566 4.21721323] [-0.04184608 0.99865613 -0.03057516 0.37487246] [ 0.41756195 0.04528174 0.90751947 0.03792163] [ 0. 0. 0. 1. ]] SLAMing on 98.86800114499998 meters Centerline goodness [0,1] 0.9071664063855631 Centerline is valid? [False, False] Translation: X:4.22, Y:0.37, Z:0.04 [[ 0.90754397 0.02580911 -0.41916326 4.21792226] [-0.04235258 0.99864591 -0.03020938 0.37361432] [ 0.417816 0.04516899 0.90740815 0.03838106] [ 0. 0. 0. 1. ]] SLAMing on 98.89800114499998 meters Centerline goodness [0,1] 0.9077140449159684 Centerline is valid? [False, False] Translation: X:4.22, Y:0.37, Z:0.04 [[ 0.90747733 0.02587074 -0.4193037 4.21775659] [-0.04242715 0.99864281 -0.03020733 0.37302799] [ 0.41795314 0.04520232 0.90734333 0.03890821] [ 0. 0. 0. 1. ]] SLAMing on 98.92800114499998 meters Centerline goodness [0,1] 0.9044525981753273 Centerline is valid? [False, False] Translation: X:4.22, Y:0.37, Z:0.04 [[ 0.90741705 0.02599592 -0.4194264 4.21754007] [-0.04255352 0.99863862 -0.03016801 0.37226393] [ 0.41807115 0.04522304 0.90728793 0.03946871] [ 0. 0. 0. 1. ]] SLAMing on 98.95800114499998 meters Centerline goodness [0,1] 0.9082577847851794 Centerline is valid? [False, False] Translation: X:4.22, Y:0.37, Z:0.04 [[ 0.9074038 0.0262522 -0.41943911 4.21730596] [-0.04270549 0.99864066 -0.02988422 0.37048754] [ 0.41808442 0.04502941 0.90729145 0.039625 ] [ 0. 0. 0. 1. ]] SLAMing on 98.98800114499998 meters Centerline goodness [0,1] 0.9096170422361778 Centerline is valid? [False, False] Translation: X:4.22, Y:0.37, Z:0.04 [[ 0.90737365 0.02651752 -0.41948764 4.21781519] [-0.04285197 0.99864396 -0.02956271 0.36931083] [ 0.41813486 0.04480029 0.90727954 0.03937209] [ 0. 0. 0. 1. ]] SLAMing on 99.01800114499999 meters Centerline goodness [0,1] 0.9015177647464643 Centerline is valid? [False, False] Translation: X:4.22, Y:0.37, Z:0.04 [[ 0.90734193 0.02674325 -0.41954191 4.21819684] [-0.04292748 0.99865194 -0.02918113 0.36755758] [ 0.41819595 0.04448714 0.9072668 0.03912956] [ 0. 0. 0. 1. ]] SLAMing on 99.04800114499999 meters Centerline goodness [0,1] 0.906614308504111 Centerline is valid? [False, False] Translation: X:4.22, Y:0.37, Z:0.04 [[ 0.90735075 0.02683697 -0.41951685 4.21810974] [-0.04287665 0.99866374 -0.02884997 0.36556708] [ 0.41818203 0.04416451 0.90728898 0.03893971] [ 0. 0. 0. 1. ]] SLAMing on 99.07800114499999 meters Centerline goodness [0,1] 0.8999584280928277 Centerline is valid? [False, False] Translation: X:4.22, Y:0.36, Z:0.04 [[ 0.90745185 0.02648568 -0.41932046 4.21699249] [-0.0424856 0.99868008 -0.02886315 0.36399172] [ 0.41800253 0.044007 0.90737934 0.03891093] [ 0. 0. 0. 1. ]] SLAMing on 99.10800114499999 meters Centerline goodness [0,1] 0.8936009179911619 Centerline is valid? [False, False] Translation: X:4.22, Y:0.36, Z:0.04 [[ 0.90747283 0.02062792 -0.41960405 4.21609842] [-0.03806567 0.99872269 -0.03322654 0.36328858] [ 0.41838269 0.04612469 0.90709891 0.03995029] [ 0. 0. 0. 1. ]] SLAMing on 99.13800114499999 meters Centerline goodness [0,1] 0.8948804130741878 Centerline is valid? [False, False] Translation: X:4.22, Y:0.36, Z:0.04 [[ 0.90748393 0.02032667 -0.41959473 4.21548461] [-0.03760048 0.99874987 -0.03293791 0.36100194] [ 0.41840066 0.04566759 0.90711375 0.03977106] [ 0. 0. 0. 1. ]] SLAMing on 99.16800114499999 meters Centerline goodness [0,1] 0.8910049311341609 Centerline is valid? [False, False] Translation: X:4.21, Y:0.36, Z:0.04 [[ 0.90751437 0.01990657 -0.41954904 4.21470388] [-0.03710702 0.99877037 -0.03287591 0.35948097] [ 0.4183787 0.04540358 0.90713713 0.03976319] [ 0. 0. 0. 1. ]] SLAMing on 99.19800114499998 meters Centerline goodness [0,1] 0.8902314747415927 Centerline is valid? [False, False] Translation: X:4.21, Y:0.36, Z:0.04 [[ 0.90751543 0.01965633 -0.41955855 4.21408373] [-0.03679216 0.99878486 -0.03278926 0.35815869] [ 0.41840422 0.04519322 0.90713587 0.03992486] [ 0. 0. 0. 1. ]] SLAMing on 99.22800114499998 meters Centerline goodness [0,1] 0.8910692249993951 Centerline is valid? [False, False] Translation: X:4.21, Y:0.36, Z:0.04 [[ 0.90751772 0.01944672 -0.41956335 4.21358552] [-0.03652506 0.99879727 -0.03270974 0.35681487] [ 0.41842264 0.04500924 0.90713652 0.04003612] [ 0. 0. 0. 1. ]] SLAMing on 99.25800114499998 meters Centerline goodness [0,1] 0.8895927165875864 Centerline is valid? [False, False] Translation: X:4.21, Y:0.36, Z:0.04 [[ 0.90737715 0.01467164 -0.42006124 4.21485233] [-0.03301379 0.99879081 -0.03642817 0.35555056] [ 0.41901884 0.0469219 0.90676433 0.04056932] [ 0. 0. 0. 1. ]] SLAMing on 99.28800114499998 meters Centerline goodness [0,1] 0.8870494249001396 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.04 [[ 0.90736271 0.0150933 -0.42007751 4.21565715] [-0.03317695 0.99880902 -0.03577485 0.35320305] [ 0.41903724 0.04639765 0.9067828 0.0398496 ] [ 0. 0. 0. 1. ]] SLAMing on 99.31800114499998 meters Centerline goodness [0,1] 0.8875635979648652 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.04 [[ 0.90729445 0.01533527 -0.42021615 4.21621943] [-0.03328332 0.99881841 -0.03541183 0.35168872] [ 0.41917658 0.04611514 0.90673281 0.03969248] [ 0. 0. 0. 1. ]] SLAMing on 99.34800114499998 meters Centerline goodness [0,1] 0.8896259399396522 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.04 [[ 0.90714473 0.01558624 -0.42053003 4.21694489] [-0.0334957 0.99881754 -0.03523564 0.35120574] [ 0.41948358 0.04604977 0.90659415 0.04003413] [ 0. 0. 0. 1. ]] SLAMing on 99.37800114499998 meters Centerline goodness [0,1] 0.8934982145852806 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.04 [[ 0.90695668 0.01588204 -0.42092438 4.2176578 ] [-0.03384428 0.99880574 -0.03523727 0.3518672 ] [ 0.41986205 0.04620456 0.90641106 0.0408661 ] [ 0. 0. 0. 1. ]] SLAMing on 99.40800114499999 meters Centerline goodness [0,1] 0.8958443303421469 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.04 [[ 0.90681793 0.01609603 -0.42121511 4.21830735] [-0.03407973 0.99879899 -0.03520153 0.35194353] [ 0.42014262 0.04627628 0.90627738 0.04130959] [ 0. 0. 0. 1. ]] SLAMing on 99.43800114499999 meters Centerline goodness [0,1] 0.8989276203728138 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.04 [[ 0.90667488 0.01689446 -0.42149168 4.21972616] [-0.03475814 0.99879196 -0.03473446 0.3509555 ] [ 0.42039568 0.04614313 0.90616681 0.04135696] [ 0. 0. 0. 1. ]] SLAMing on 99.46800114499999 meters Centerline goodness [0,1] 0.9019344953074124 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.04 [[ 0.90659582 0.01701546 -0.42165684 4.21996245] [-0.03489931 0.99878715 -0.03473145 0.35043674] [ 0.42055446 0.04620292 0.90609008 0.04171949] [ 0. 0. 0. 1. ]] SLAMing on 99.49800114499999 meters Centerline goodness [0,1] 0.9006694018570504 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.04 [[ 0.9064958 0.01689167 -0.42187681 4.21962929] [-0.03491637 0.99877594 -0.03503522 0.35063964] [ 0.4207686 0.04648969 0.90597599 0.04263631] [ 0. 0. 0. 1. ]] SLAMing on 99.52800114499999 meters Centerline goodness [0,1] 0.9004074784276126 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.04 [[ 0.90646703 0.01654925 -0.42195219 4.21875967] [-0.03473624 0.99876757 -0.03545048 0.35128621] [ 0.42084548 0.04679172 0.90592473 0.04348407] [ 0. 0. 0. 1. ]] SLAMing on 99.55800114499998 meters Centerline goodness [0,1] 0.9046023502381351 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.04 [[ 0.90635764 0.01630299 -0.42219669 4.21828405] [-0.0347897 0.99874175 -0.03611925 0.35312481] [ 0.42107661 0.04742505 0.90578439 0.04488905] [ 0. 0. 0. 1. ]] SLAMing on 99.58800114499998 meters Centerline goodness [0,1] 0.9083938272198452 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.05 [[ 0.90626406 0.01628067 -0.42239838 4.21849995] [-0.0348372 0.99873538 -0.03624924 0.35332989] [ 0.42127404 0.04756657 0.90568516 0.04532715] [ 0. 0. 0. 1. ]] SLAMing on 99.61800114499998 meters Centerline goodness [0,1] 0.907113392171911 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.05 [[ 0.9061836 0.01638256 -0.42256702 4.21891686] [-0.03490252 0.99873752 -0.03612732 0.35257036] [ 0.42144168 0.04748664 0.90561136 0.0454324 ] [ 0. 0. 0. 1. ]] SLAMing on 99.64800114499998 meters Centerline goodness [0,1] 0.9055683122847302 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.05 [[ 0.90607558 0.01638519 -0.42279849 4.219416 ] [-0.03491385 0.99873751 -0.03611669 0.35204622] [ 0.42167293 0.04748597 0.90550374 0.04568292] [ 0. 0. 0. 1. ]] SLAMing on 99.67800114499998 meters Centerline goodness [0,1] 0.9083129584352079 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.05 [[ 0.90601794 0.0160096 -0.42293639 4.21933955] [-0.03465588 0.99873495 -0.03643455 0.35246016] [ 0.42181805 0.04766759 0.9054266 0.0461156 ] [ 0. 0. 0. 1. ]] SLAMing on 99.70800114499998 meters Centerline goodness [0,1] 0.9050789013673044 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.05 [[ 0.90602573 0.01564722 -0.42293325 4.21862713] [-0.03435624 0.99873744 -0.03664922 0.35222802] [ 0.42182581 0.04773553 0.90541941 0.04648608] [ 0. 0. 0. 1. ]] SLAMing on 99.73800114499998 meters Centerline goodness [0,1] 0.9023509434864755 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.05 [[ 0.90609913 0.01500641 -0.42279922 4.21705964] [-0.03384598 0.99873871 -0.03708696 0.3519782 ] [ 0.4217094 0.04791452 0.90546418 0.04703459] [ 0. 0. 0. 1. ]] SLAMing on 99.76800114499999 meters Centerline goodness [0,1] 0.900812774221391 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.05 [[ 0.90613249 0.01466087 -0.42273984 4.21628265] [-0.03353644 0.99874317 -0.03724754 0.35143679] [ 0.42166245 0.04792839 0.90548531 0.04726033] [ 0. 0. 0. 1. ]] SLAMing on 99.79800114499999 meters Centerline goodness [0,1] 0.8992352137325885 Centerline is valid? [False, False] Translation: X:4.21, Y:0.35, Z:0.05 [[ 0.90620258 0.01400065 -0.42261195 4.2146321 ] [-0.03298214 0.99874707 -0.03763593 0.35049247] [ 0.42155552 0.04804442 0.90552895 0.04787861] [ 0. 0. 0. 1. ]] SLAMing on 99.82800114499999 meters Centerline goodness [0,1] 0.8970982570388815 Centerline is valid? [False, False] Translation: X:4.21, Y:0.35, Z:0.05 [[ 0.90620988 0.01383764 -0.42260167 4.21420788] [-0.03283563 0.99874917 -0.03770841 0.34986384] [ 0.42155127 0.04804813 0.90553073 0.04808217] [ 0. 0. 0. 1. ]] SLAMing on 99.85800114499999 meters Centerline goodness [0,1] 0.8961157143541357 Centerline is valid? [False, False] Translation: X:4.21, Y:0.35, Z:0.05 [[ 0.9062184 0.01363465 -0.42259 4.21380514] [-0.03263273 0.99875407 -0.03775461 0.34902154] [ 0.42154871 0.04800419 0.90553425 0.04820808] [ 0. 0. 0. 1. ]] SLAMing on 99.88800114499999 meters Centerline goodness [0,1] 0.8914875281275434 Centerline is valid? [False, False] Translation: X:4.21, Y:0.35, Z:0.05 [[ 0.90621768 0.01336718 -0.42260008 4.21404996] [-0.03224738 0.99877397 -0.03755879 0.34785348] [ 0.42157991 0.04766419 0.90553769 0.0476679 ] [ 0. 0. 0. 1. ]] SLAMing on 99.91800114499999 meters Centerline goodness [0,1] 0.8957471731490999 Centerline is valid? [False, False] Translation: X:4.21, Y:0.35, Z:0.05 [[ 0.90617752 0.01329513 -0.42268847 4.21431608] [-0.03212001 0.99878235 -0.03744482 0.34729038] [ 0.42167595 0.04750842 0.90550115 0.04759377] [ 0. 0. 0. 1. ]] SLAMing on 99.94800114499998 meters Centerline goodness [0,1] 0.8939307048984468 Centerline is valid? [False, False] Translation: X:4.21, Y:0.35, Z:0.05 [[ 0.90610718 0.01307237 -0.42284617 4.21434216] [-0.0319044 0.99878759 -0.03748947 0.34679469] [ 0.42184343 0.04746013 0.90542568 0.04780385] [ 0. 0. 0. 1. ]] SLAMing on 99.97800114499998 meters Centerline goodness [0,1] 0.8939307048984468 Centerline is valid? [False, False] Translation: X:4.21, Y:0.35, Z:0.05 [[ 0.90610718 0.01307237 -0.42284617 4.21434216] [-0.0319044 0.99878759 -0.03748947 0.34679469] [ 0.42184343 0.04746013 0.90542568 0.04780385] [ 0. 0. 0. 1. ]] SLAMing on 100.00800114499998 meters Centerline goodness [0,1] 0.8918557439694292 Centerline is valid? [False, False] Translation: X:4.21, Y:0.35, Z:0.05 [[ 0.90612389 0.01290249 -0.42281559 4.21397291] [-0.03171454 0.9987937 -0.03748768 0.34594386] [ 0.42182186 0.04737789 0.90544003 0.04784598] [ 0. 0. 0. 1. ]] SLAMing on 100.03800114499998 meters Centerline goodness [0,1] 0.8903305824548013 Centerline is valid? [False, False] Translation: X:4.21, Y:0.34, Z:0.05 [[ 0.90619897 0.01249902 -0.42266677 4.21220287] [-0.03136542 0.99879631 -0.03771135 0.34438497] [ 0.42168666 0.04743111 0.90550022 0.04852163] [ 0. 0. 0. 1. ]] SLAMing on 100.06800114499998 meters Centerline goodness [0,1] 0.8911910935604348 Centerline is valid? [False, False] Translation: X:4.21, Y:0.34, Z:0.05 [[ 0.90612228 0.01241109 -0.42283374 4.21208594] [-0.03136536 0.99878922 -0.03789857 0.3443782 ] [ 0.42185142 0.04760307 0.90541445 0.04911948] [ 0. 0. 0. 1. ]] SLAMing on 100.09800114499998 meters Centerline goodness [0,1] 0.8933792939498395 Centerline is valid? [False, False] Translation: X:4.21, Y:0.34, Z:0.05 [[ 0.90596278 0.01253604 -0.4231717 4.21262778] [-0.03158187 0.99877758 -0.03802543 0.34476791] [ 0.42217772 0.04781418 0.90525122 0.04980912] [ 0. 0. 0. 1. ]] SLAMing on 100.12800114499998 meters Centerline goodness [0,1] 0.8951326907057003 Centerline is valid? [False, False] Translation: X:4.21, Y:0.35, Z:0.05 [[ 0.90578917 0.01282651 -0.42353448 4.21359225] [-0.03191376 0.99876781 -0.03800502 0.34504606] [ 0.42252513 0.04794112 0.90508241 0.05025787] [ 0. 0. 0. 1. ]] SLAMing on 100.15800114499999 meters Centerline goodness [0,1] 0.8968180193063997 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.05 [[ 0.90559552 0.01398626 -0.42391171 4.21598495] [-0.03300118 0.99874976 -0.03754779 0.34517498] [ 0.42285656 0.0479927 0.90492487 0.05024562] [ 0. 0. 0. 1. ]] SLAMing on 100.18800114499999 meters Centerline goodness [0,1] 0.9005017716582245 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.05 [[ 0.90542733 0.01430001 -0.42426037 4.21725003] [-0.03338184 0.99873597 -0.0375781 0.34575259] [ 0.42318673 0.04818683 0.9047602 0.05057115] [ 0. 0. 0. 1. ]] SLAMing on 100.21800114499999 meters Centerline goodness [0,1] 0.8998181992153861 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.05 [[ 0.90519116 0.01488121 -0.42474406 4.21905304] [-0.03396666 0.99872305 -0.03739691 0.34633272] [ 0.42364517 0.04827849 0.90454074 0.05093975] [ 0. 0. 0. 1. ]] SLAMing on 100.24800114499999 meters Centerline goodness [0,1] 0.8996435491973876 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.05 [[ 0.9050817 0.01499093 -0.4249734 4.21964537] [-0.03406047 0.99872311 -0.0373099 0.34573404] [ 0.42387144 0.0482433 0.90443661 0.05113762] [ 0. 0. 0. 1. ]] SLAMing on 100.27800114499999 meters Centerline goodness [0,1] 0.8979401866482087 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:0.05 [[ 0.90503832 0.01498636 -0.42506593 4.21968851] [-0.03401599 0.9987282 -0.03721415 0.34467655] [ 0.42396763 0.04813927 0.90439707 0.05125628] [ 0. 0. 0. 1. ]] SLAMing on 100.30800114499998 meters Centerline goodness [0,1] 0.9009347572723164 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:0.05 [[ 0.90496141 0.01481328 -0.42523571 4.21955616] [-0.03388755 0.99872838 -0.03732633 0.34412871] [ 0.42414205 0.04818908 0.90431263 0.05173008] [ 0. 0. 0. 1. ]] SLAMing on 100.33800114499998 meters Centerline goodness [0,1] 0.9021419072948328 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:0.05 [[ 0.90502164 0.01420004 -0.42512844 4.21789935] [-0.03340215 0.99872889 -0.03774783 0.3435296 ] [ 0.42405203 0.04836281 0.90434557 0.05245515] [ 0. 0. 0. 1. ]] SLAMing on 100.36800114499998 meters Centerline goodness [0,1] 0.9039218475838194 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:0.05 [[ 0.9049831 0.01410953 -0.42521348 4.21744481] [-0.03334374 0.9987279 -0.03782558 0.3427401 ] [ 0.42413887 0.04840972 0.90430234 0.0529441 ] [ 0. 0. 0. 1. ]] SLAMing on 100.39800114499998 meters Centerline goodness [0,1] 0.9014251219165759 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:0.05 [[ 0.9049836 0.01413573 -0.42521155 4.21706684] [-0.0333256 0.99873229 -0.03772547 0.34139767] [ 0.42413923 0.04831136 0.90430743 0.05308291] [ 0. 0. 0. 1. ]] SLAMing on 100.42800114499998 meters Centerline goodness [0,1] 0.9002907595206013 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:0.05 [[ 0.90497623 0.01423131 -0.42522404 4.21695504] [-0.03333481 0.99873978 -0.03751865 0.33991997] [ 0.42415423 0.04812825 0.90431016 0.05308139] [ 0. 0. 0. 1. ]] SLAMing on 100.45800114499998 meters Centerline goodness [0,1] 0.9042578272350057 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:0.05 [[ 0.90492941 0.01407186 -0.42532899 4.21661575] [-0.03316252 0.99874571 -0.03751337 0.33878111] [ 0.42426762 0.04805193 0.90426102 0.05344116] [ 0. 0. 0. 1. ]] SLAMing on 100.48800114499998 meters Centerline goodness [0,1] 0.9028498631688213 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:0.05 [[ 0.90486454 0.01393188 -0.42547159 4.21631063] [-0.03308937 0.99874228 -0.0376689 0.33877067] [ 0.42441167 0.04816384 0.90418747 0.05401118] [ 0. 0. 0. 1. ]] SLAMing on 100.51800114499999 meters Centerline goodness [0,1] 0.9046439190145831 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:0.05 [[ 0.90480297 0.01387411 -0.42560439 4.21616147] [-0.03306145 0.99874095 -0.03772859 0.33840363] [ 0.42454508 0.04820804 0.90412248 0.05443206] [ 0. 0. 0. 1. ]] SLAMing on 100.54800114499999 meters Centerline goodness [0,1] 0.9060549166862238 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:0.05 [[ 0.90470393 0.01454711 -0.42579242 4.21731402] [-0.03350888 0.99875048 -0.03707601 0.3355851 ] [ 0.42472104 0.04781064 0.90406094 0.05407983] [ 0. 0. 0. 1. ]] SLAMing on 100.57800114499999 meters Centerline goodness [0,1] 0.9054690073892785 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.05 [[ 0.90465849 0.01476671 -0.4258814 4.2177035 ] [-0.03366467 0.99875248 -0.03688055 0.33458009] [ 0.4248055 0.04770146 0.90402702 0.0540802 ] [ 0. 0. 0. 1. ]] SLAMing on 100.60800114499999 meters Centerline goodness [0,1] 0.9060785191116554 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.05 [[ 0.90462964 0.01471751 -0.42594437 4.2176495 ] [-0.03363242 0.99875212 -0.03691971 0.33435614] [ 0.42486947 0.0477242 0.90399576 0.05431128] [ 0. 0. 0. 1. ]] SLAMing on 100.63800114499999 meters Centerline goodness [0,1] 0.9045571999060371 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.05 [[ 0.90459235 0.01445339 -0.4260326 4.21703939] [-0.03343332 0.99875192 -0.03710555 0.33412446] [ 0.42496458 0.04780908 0.90394657 0.05490469] [ 0. 0. 0. 1. ]] SLAMing on 100.66800114499999 meters Centerline goodness [0,1] 0.9035263120750899 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.06 [[ 0.90485883 0.01326606 -0.42550501 4.21332685] [-0.03244074 0.99875677 -0.0378485 0.33360997] [ 0.42447391 0.04805125 0.90416424 0.05578209] [ 0. 0. 0. 1. ]] SLAMing on 100.69800114499998 meters Centerline goodness [0,1] 0.9018427980443776 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.06 [[ 0.90491505 0.01315328 -0.42538893 4.21259211] [-0.03229339 0.99876284 -0.03781426 0.33247942] [ 0.42436528 0.04795594 0.90422029 0.05586272] [ 0. 0. 0. 1. ]] SLAMing on 100.72800114499998 meters Centerline goodness [0,1] 0.9035237849623707 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.06 [[ 0.90488153 0.01330191 -0.4254556 4.21247015] [-0.03230312 0.99877524 -0.03747717 0.33009366] [ 0.424436 0.04765594 0.90420296 0.05588297] [ 0. 0. 0. 1. ]] SLAMing on 100.75800114499998 meters Centerline goodness [0,1] 0.9021001841448917 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.06 [[ 0.90488124 0.0135945 -0.42544697 4.21292649] [-0.03237628 0.99879265 -0.03694609 0.32729559] [ 0.42443104 0.04720622 0.90422888 0.05532679] [ 0. 0. 0. 1. ]] SLAMing on 100.78800114499998 meters Centerline goodness [0,1] 0.9021117722552794 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.05 [[ 0.90492457 0.01355299 -0.42535614 4.21273292] [-0.03218348 0.99881001 -0.03664402 0.32572415] [ 0.42435334 0.04684952 0.9042839 0.05488851] [ 0. 0. 0. 1. ]] SLAMing on 100.81800114499998 meters Centerline goodness [0,1] 0.9013165559827566 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.06 [[ 0.90490119 0.01337037 -0.42541164 4.21251084] [-0.0320776 0.99880617 -0.03684114 0.32627654] [ 0.42441119 0.04698378 0.90424978 0.05523309] [ 0. 0. 0. 1. ]] SLAMing on 100.84800114499998 meters Centerline goodness [0,1] 0.9008443234945224 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.06 [[ 0.90489313 0.01303466 -0.42543921 4.21173698] [-0.03183232 0.99880426 -0.03710464 0.32645395] [ 0.42444685 0.04711845 0.90422603 0.05577119] [ 0. 0. 0. 1. ]] SLAMing on 100.87800114499998 meters Centerline goodness [0,1] 0.8987729349817912 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.06 [[ 0.90501781 0.01233998 -0.42519465 4.20977985] [-0.03110752 0.99882266 -0.03722392 0.32419909] [ 0.42423471 0.04691506 0.90433616 0.05593462] [ 0. 0. 0. 1. ]] SLAMing on 100.90800114499999 meters Centerline goodness [0,1] 0.8983082271147161 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.06 [[ 0.90504442 0.01223644 -0.42514099 4.20939052] [-0.03086602 0.99883998 -0.0369592 0.32202139] [ 0.42419557 0.04657212 0.90437224 0.05573062] [ 0. 0. 0. 1. ]] SLAMing on 100.93800114499999 meters Centerline goodness [0,1] 0.8969305854324243 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.06 [[ 0.90509112 0.0119325 -0.42505022 4.20879214] [-0.03046141 0.99885744 -0.03682269 0.31997817] [ 0.42412519 0.04627552 0.90442048 0.05556354] [ 0. 0. 0. 1. ]] SLAMing on 100.96800114499999 meters Centerline goodness [0,1] 0.8944689907238197 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.06 [[ 0.90512349 0.01166921 -0.42498858 4.20829006] [-0.03009073 0.99887469 -0.03665921 0.31816423] [ 0.42408255 0.04596933 0.90445608 0.05538519] [ 0. 0. 0. 1. ]] SLAMing on 100.99800114499999 meters Centerline goodness [0,1] 0.8925275792687157 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.06 [[ 0.90530816 0.01061345 -0.42462277 4.20572191] [-0.02901315 0.9988981 -0.03688942 0.31558142] [ 0.42376335 0.04571594 0.90461853 0.05542602] [ 0. 0. 0. 1. ]] SLAMing on 101.02800114499999 meters Centerline goodness [0,1] 0.892540355265291 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.06 [[ 0.90534011 0.01051341 -0.42455713 4.20523088] [-0.0288248 0.9989094 -0.03673074 0.3142943 ] [ 0.42370794 0.04549158 0.90465579 0.05538969] [ 0. 0. 0. 1. ]] SLAMing on 101.05800114499998 meters Centerline goodness [0,1] 0.8901076063363045 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.06 [[ 0.90533807 0.01035053 -0.42456548 4.20500467] [-0.02863581 0.9989156 -0.03670998 0.31341916] [ 0.42372511 0.04539272 0.90465271 0.05545801] [ 0. 0. 0. 1. ]] SLAMing on 101.08800114499998 meters Centerline goodness [0,1] 0.8891526830167804 Centerline is valid? [False, False] Translation: X:4.20, Y:0.31, Z:0.06 [[ 0.9054245 0.01014228 -0.42438615 4.20392866] [-0.02833704 0.99892875 -0.03658375 0.31161965] [ 0.42356049 0.04514968 0.90474196 0.05542107] [ 0. 0. 0. 1. ]] SLAMing on 101.11800114499998 meters Centerline goodness [0,1] 0.8921971488257845 Centerline is valid? [False, False] Translation: X:4.20, Y:0.31, Z:0.06 [[ 0.90535691 0.01025109 -0.42452772 4.20405424] [-0.02839531 0.99893252 -0.03643516 0.31051843] [ 0.42370104 0.04504142 0.90468154 0.05567184] [ 0. 0. 0. 1. ]] SLAMing on 101.14800114499998 meters Centerline goodness [0,1] 0.8914191267618566 Centerline is valid? [False, False] Translation: X:4.20, Y:0.31, Z:0.06 [[ 0.90531305 0.01037506 -0.42461824 4.20424146] [-0.02846657 0.99893597 -0.03628468 0.30962013] [ 0.42378998 0.04493642 0.90464511 0.05572847] [ 0. 0. 0. 1. ]] SLAMing on 101.17800114499998 meters Centerline goodness [0,1] 0.8920310847473215 Centerline is valid? [False, False] Translation: X:4.20, Y:0.31, Z:0.06 [[ 0.90525112 0.01058513 -0.42474506 4.20454093] [-0.02863382 0.99893672 -0.03613209 0.30898433] [ 0.42391097 0.04487069 0.90459168 0.05585066] [ 0. 0. 0. 1. ]] SLAMing on 101.20800114499998 meters Centerline goodness [0,1] 0.8970368497275925 Centerline is valid? [False, False] Translation: X:4.20, Y:0.31, Z:0.06 [[ 0.90518334 0.01054888 -0.42489039 4.20445734] [-0.02863253 0.99893439 -0.03619769 0.30878594] [ 0.42405577 0.04493123 0.90452081 0.05630786] [ 0. 0. 0. 1. ]] SLAMing on 101.23800114499998 meters Centerline goodness [0,1] 0.8952836449346667 Centerline is valid? [False, False] Translation: X:4.20, Y:0.31, Z:0.06 [[ 0.9050862 0.01067248 -0.42509419 4.20446583] [-0.02879009 0.99892909 -0.03621895 0.30896964] [ 0.4242524 0.04501977 0.90442419 0.0569535 ] [ 0. 0. 0. 1. ]] SLAMing on 101.26800114499999 meters Centerline goodness [0,1] 0.8942988790317035 Centerline is valid? [False, False] Translation: X:4.20, Y:0.31, Z:0.06 [[ 0.90496692 0.01059742 -0.42534993 4.20473241] [-0.02881343 0.99892128 -0.03641523 0.30953776] [ 0.42450519 0.04521037 0.90429606 0.05749417] [ 0. 0. 0. 1. ]] SLAMing on 101.29800114499999 meters Centerline goodness [0,1] 0.8946547730972965 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.06 [[ 0.90485028 0.01081731 -0.42559248 4.20547717] [-0.02902762 0.99891833 -0.03632593 0.30925956] [ 0.42473918 0.04522346 0.90418553 0.05768128] [ 0. 0. 0. 1. ]] SLAMing on 101.32800114499999 meters Centerline goodness [0,1] 0.8968401274031301 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.06 [[ 0.90488547 0.01126964 -0.42550591 4.20627936] [-0.02927767 0.99892983 -0.03580528 0.30715767] [ 0.42464704 0.0448575 0.90424703 0.05686904] [ 0. 0. 0. 1. ]] SLAMing on 101.35800114499999 meters Centerline goodness [0,1] 0.8961293707091211 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.06 [[ 0.90479364 0.01125819 -0.42570144 4.20683586] [-0.02929512 0.99892784 -0.03584654 0.30719636] [ 0.42484145 0.0449047 0.90415337 0.05703211] [ 0. 0. 0. 1. ]] SLAMing on 101.38800114499999 meters Centerline goodness [0,1] 0.899110401459854 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.06 [[ 0.90470764 0.01105453 -0.42588953 4.20715445] [-0.02918434 0.99892313 -0.03606725 0.3078995 ] [ 0.42503219 0.04505962 0.90405601 0.05733556] [ 0. 0. 0. 1. ]] SLAMing on 101.41800114499999 meters Centerline goodness [0,1] 0.8957960849034979 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.06 [[ 0.90467635 0.01090108 -0.42595994 4.20723915] [-0.02907981 0.99892149 -0.03619705 0.30802447] [ 0.42510595 0.04513345 0.90401765 0.05747289] [ 0. 0. 0. 1. ]] SLAMing on 101.44800114499998 meters Centerline goodness [0,1] 0.8963104760602538 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.06 [[ 0.90461722 0.01088183 -0.42608599 4.20749074] [-0.0290263 0.99892606 -0.03611372 0.30749736] [ 0.42523541 0.04503679 0.90396158 0.05754938] [ 0. 0. 0. 1. ]] SLAMing on 101.47800114499998 meters Centerline goodness [0,1] 0.892595215791999 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.06 [[ 0.90466296 0.0103663 -0.42600173 4.20689568] [-0.0284661 0.99894113 -0.03614283 0.30640257] [ 0.42517598 0.04482369 0.90400012 0.05736758] [ 0. 0. 0. 1. ]] SLAMing on 101.50800114499998 meters Centerline goodness [0,1] 0.8917254123605503 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.06 [[ 0.90464 0.01019727 -0.42605455 4.20703339] [-0.02824722 0.99895004 -0.03606815 0.30564673] [ 0.42523941 0.04466355 0.90397821 0.05722981] [ 0. 0. 0. 1. ]] SLAMing on 101.53800114499998 meters Centerline goodness [0,1] 0.8946781135426867 Centerline is valid? [False, False] Translation: X:4.21, Y:0.30, Z:0.06 [[ 0.90462938 0.01009995 -0.42607942 4.20708981] [-0.028088 0.9989586 -0.03595527 0.30462842] [ 0.42527256 0.04449391 0.90397099 0.05712112] [ 0. 0. 0. 1. ]] SLAMing on 101.56800114499998 meters Centerline goodness [0,1] 0.8937528499772002 Centerline is valid? [False, False] Translation: X:4.21, Y:0.30, Z:0.06 [[ 0.90465236 0.01028695 -0.42602617 4.20738998] [-0.02813424 0.99896928 -0.03562073 0.30323393] [ 0.42522063 0.0442103 0.90400933 0.05665395] [ 0. 0. 0. 1. ]] SLAMing on 101.59800114499998 meters Centerline goodness [0,1] 0.8930694422301683 Centerline is valid? [False, False] Translation: X:4.21, Y:0.30, Z:0.06 [[ 0.90456365 0.01019838 -0.42621661 4.20761336] [-0.02812329 0.99896378 -0.03578342 0.30355597] [ 0.42541002 0.04435499 0.90391313 0.05703945] [ 0. 0. 0. 1. ]] SLAMing on 101.62800114499998 meters Centerline goodness [0,1] 0.8946120345668879 Centerline is valid? [False, False] Translation: X:4.21, Y:0.30, Z:0.06 [[ 0.90448033 0.01015004 -0.42639456 4.2081098 ] [-0.02817853 0.99895467 -0.03599364 0.30436964] [ 0.4255835 0.04457071 0.90382086 0.05731402] [ 0. 0. 0. 1. ]] SLAMing on 101.65800114499999 meters Centerline goodness [0,1] 0.8960208323815615 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.06 [[ 0.90438508 0.01013616 -0.42659686 4.20869441] [-0.02828784 0.99894286 -0.03623481 0.3053888 ] [ 0.4257786 0.04483773 0.90371575 0.05766665] [ 0. 0. 0. 1. ]] SLAMing on 101.68800114499999 meters Centerline goodness [0,1] 0.9003938450265616 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.06 [[ 0.90417614 0.01088373 -0.42702113 4.2110479 ] [-0.02909693 0.9989227 -0.03614983 0.30698969] [ 0.42616765 0.04511082 0.90351876 0.05771614] [ 0. 0. 0. 1. ]] SLAMing on 101.71800114499999 meters Centerline goodness [0,1] 0.898844326694683 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.06 [[ 0.9040659 0.01110644 -0.42724875 4.21221214] [-0.0293706 0.99891354 -0.03618169 0.30771757] [ 0.42638271 0.04525918 0.90340987 0.05774721] [ 0. 0. 0. 1. ]] SLAMing on 101.74800114499999 meters Centerline goodness [0,1] 0.9035781200018279 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.06 [[ 0.90393137 0.01118608 -0.42753122 4.21323782] [-0.02955965 0.99890139 -0.0363625 0.30883951] [ 0.42665477 0.04550688 0.90326897 0.05797986] [ 0. 0. 0. 1. ]] SLAMing on 101.77800114499999 meters Centerline goodness [0,1] 0.9024217176341329 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.06 [[ 0.90378088 0.01121602 -0.42784848 4.21476325] [-0.0298017 0.99887939 -0.03676711 0.31132159] [ 0.42695664 0.04598002 0.90310235 0.05820853] [ 0. 0. 0. 1. ]] SLAMing on 101.80800114499998 meters Centerline goodness [0,1] 0.9028596326277891 Centerline is valid? [False, False] Translation: X:4.22, Y:0.31, Z:0.06 [[ 0.90368275 0.01097977 -0.42806183 4.21504582] [-0.02971982 0.99886875 -0.03712067 0.31251188] [ 0.42717002 0.04626723 0.90298678 0.05865303] [ 0. 0. 0. 1. ]] SLAMing on 101.83800114499998 meters Centerline goodness [0,1] 0.9053923818265259 Centerline is valid? [False, False] Translation: X:4.22, Y:0.31, Z:0.06 [[ 0.90361422 0.01072943 -0.42821283 4.21531355] [-0.02961731 0.99885873 -0.03747072 0.31368494] [ 0.42732208 0.04654158 0.90290073 0.0589916 ] [ 0. 0. 0. 1. ]] SLAMing on 101.86800114499998 meters Centerline goodness [0,1] 0.9053923818265259 Centerline is valid? [False, False] Translation: X:4.22, Y:0.31, Z:0.06 [[ 0.90361422 0.01072943 -0.42821283 4.21531355] [-0.02961731 0.99885873 -0.03747072 0.31368494] [ 0.42732208 0.04654158 0.90290073 0.0589916 ] [ 0. 0. 0. 1. ]] SLAMing on 101.89800114499998 meters Centerline goodness [0,1] 0.9044387380777696 Centerline is valid? [False, False] Translation: X:4.22, Y:0.31, Z:0.06 [[ 0.90359454 0.0103192 -0.42826442 4.21532548] [-0.02933999 0.99885312 -0.03783663 0.31465107] [ 0.42738281 0.04675424 0.90286099 0.05914927] [ 0. 0. 0. 1. ]] SLAMing on 101.92800114499998 meters Centerline goodness [0,1] 0.9021057967007649 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.06 [[ 0.90366028 0.00944945 -0.42814578 4.2146019 ] [-0.0286239 0.99885358 -0.03836934 0.31503503] [ 0.42729237 0.04692806 0.90289478 0.05912622] [ 0. 0. 0. 1. ]] SLAMing on 101.95800114499998 meters Centerline goodness [0,1] 0.8985180930499713 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.06 [[ 0.9036889 0.00921443 -0.42809048 4.21462846] [-0.02839473 0.99885737 -0.03844071 0.31462147] [ 0.42724713 0.04689396 0.90291796 0.05887991] [ 0. 0. 0. 1. ]] SLAMing on 101.98800114499998 meters Centerline goodness [0,1] 0.9000622449685317 Centerline is valid? [False, False] Translation: X:4.22, Y:0.31, Z:0.06 [[ 0.90366284 0.00912825 -0.42814735 4.21530781] [-0.02834893 0.99885491 -0.03853833 0.31490868] [ 0.4273053 0.04696318 0.90288684 0.05863963] [ 0. 0. 0. 1. ]] SLAMing on 102.01800114499999 meters Centerline goodness [0,1] 0.900347597891393 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:0.06 [[ 0.90351106 0.00924331 -0.42846509 4.21685186] [-0.02854525 0.99884517 -0.03864565 0.31591749] [ 0.42761307 0.04714741 0.90273151 0.05864333] [ 0. 0. 0. 1. ]] SLAMing on 102.04800114499999 meters Centerline goodness [0,1] 0.9019833948339483 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:0.06 [[ 0.9035236 0.013727 -0.42831842 4.21662412] [-0.031829 0.99887578 -0.03512966 0.31704349] [ 0.42735467 0.04537342 0.90294476 0.05823592] [ 0. 0. 0. 1. ]] SLAMing on 102.07800114499999 meters Centerline goodness [0,1] 0.9039480074935818 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:0.06 [[ 0.9034452 0.01318639 -0.42850074 4.21646398] [-0.03164763 0.998851 -0.03598747 0.31974056] [ 0.42753385 0.04607374 0.90282447 0.05919791] [ 0. 0. 0. 1. ]] SLAMing on 102.10800114499999 meters Centerline goodness [0,1] 0.8987385719245458 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:0.06 [[ 0.90340224 0.01243706 -0.42861371 4.21582052] [-0.03128922 0.99882655 -0.03696635 0.32253018] [ 0.427651 0.04680647 0.90273129 0.06022179] [ 0. 0. 0. 1. ]] SLAMing on 102.13800114499999 meters Centerline goodness [0,1] 0.8998720781486219 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:0.06 [[ 0.9033321 0.0120846 -0.4287716 4.21609408] [-0.03121138 0.99880513 -0.03760531 0.32440583] [ 0.42780483 0.04735264 0.90262991 0.06073351] [ 0. 0. 0. 1. ]] SLAMing on 102.16800114499999 meters Centerline goodness [0,1] 0.9005242922055225 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:0.06 [[ 0.90329133 0.0120911 -0.42885729 4.2167865 ] [-0.03123446 0.99880354 -0.03762833 0.32426103] [ 0.42788921 0.04738447 0.90258824 0.06055701] [ 0. 0. 0. 1. ]] SLAMing on 102.19800114499998 meters Centerline goodness [0,1] 0.900262711273336 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:0.06 [[ 0.9032221 0.01199935 -0.42900566 4.21741979] [-0.03123995 0.99879554 -0.03783567 0.3249603 ] [ 0.42803494 0.04757613 0.90250906 0.06063233] [ 0. 0. 0. 1. ]] SLAMing on 102.22800114499998 meters Centerline goodness [0,1] 0.8997693436779199 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.06 [[ 0.90312794 0.01154552 -0.42921628 4.21744182] [-0.0310723 0.99877484 -0.03851413 0.3268938 ] [ 0.42824576 0.04811993 0.90238021 0.06139076] [ 0. 0. 0. 1. ]] SLAMing on 102.25800114499998 meters Centerline goodness [0,1] 0.8992528601447584 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.06 [[ 0.90305558 0.01100814 -0.42938263 4.217742 ] [-0.03092831 0.9987431 -0.03944192 0.33083187] [ 0.42840875 0.04889832 0.90226099 0.06216028] [ 0. 0. 0. 1. ]] SLAMing on 102.28800114499998 meters Centerline goodness [0,1] 0.8981316725978647 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.06 [[ 0.90306322 0.01068344 -0.42937475 4.21772559] [-0.03073383 0.99873531 -0.03978962 0.33158744] [ 0.42840663 0.04912887 0.90224947 0.06225557] [ 0. 0. 0. 1. ]] SLAMing on 102.31800114499998 meters Centerline goodness [0,1] 0.8970760233918129 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.06 [[ 0.90302901 0.01045008 -0.42945245 4.21780365] [-0.03055824 0.99873416 -0.03995349 0.33144656] [ 0.42849131 0.04920247 0.90220525 0.06232592] [ 0. 0. 0. 1. ]] SLAMing on 102.34800114499998 meters Centerline goodness [0,1] 0.8974760824308203 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.06 [[ 0.90312679 0.00991543 -0.42925947 4.21713219] [-0.03008804 0.99873721 -0.04023301 0.33120632] [ 0.42831848 0.04925109 0.90228466 0.06212473] [ 0. 0. 0. 1. ]] SLAMing on 102.37800114499998 meters Centerline goodness [0,1] 0.8946012413631572 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.06 [[ 0.90310741 0.00964474 -0.4293064 4.2166436 ] [-0.02997342 0.99872515 -0.04061616 0.3319027 ] [ 0.42836736 0.04954854 0.90224517 0.06272447] [ 0. 0. 0. 1. ]] SLAMing on 102.40800114499999 meters Centerline goodness [0,1] 0.8956273140553968 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.06 [[ 0.90303622 0.00927718 -0.42946422 4.21620568] [-0.02982436 0.99870825 -0.04113796 0.33285525] [ 0.42852782 0.04995756 0.90214641 0.06357846] [ 0. 0. 0. 1. ]] SLAMing on 102.43800114499999 meters Centerline goodness [0,1] 0.8941523755974136 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.06 [[ 0.90300864 0.00920056 -0.42952386 4.21609784] [-0.02984857 0.99869838 -0.04135958 0.33350568] [ 0.42858425 0.05016873 0.90210789 0.06399111] [ 0. 0. 0. 1. ]] SLAMing on 102.46800114499999 meters Centerline goodness [0,1] 0.8925780336000748 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.06 [[ 0.90311653 0.01335048 -0.42918796 4.21339137] [-0.03282961 0.99873776 -0.03801441 0.33248315] [ 0.42813871 0.04842152 0.90241487 0.06453547] [ 0. 0. 0. 1. ]] SLAMing on 102.49800114499999 meters Centerline goodness [0,1] 0.8938995776630689 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.06 [[ 0.90306236 0.01323593 -0.42930546 4.21334405] [-0.03277756 0.99873404 -0.03815699 0.33267187] [ 0.42825693 0.04852973 0.90235296 0.06489146] [ 0. 0. 0. 1. ]] SLAMing on 102.52800114499999 meters Centerline goodness [0,1] 0.8923906671356548 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.06 [[ 0.90300237 0.01343261 -0.42942553 4.21391522] [-0.0328694 0.99874167 -0.0378772 0.33167017] [ 0.42837639 0.04831816 0.90230761 0.06471426] [ 0. 0. 0. 1. ]] SLAMing on 102.55800114499998 meters Centerline goodness [0,1] 0.8955979560264404 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.06 [[ 0.90295062 0.01376319 -0.42952387 4.21482505] [-0.03306075 0.99874967 -0.0374979 0.33054103] [ 0.42847073 0.04805913 0.90227665 0.06430831] [ 0. 0. 0. 1. ]] SLAMing on 102.58800114499998 meters Centerline goodness [0,1] 0.899275685051921 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.06 [[ 0.9027843 0.0145647 -0.42984693 4.21664923] [-0.03370794 0.99874831 -0.03695392 0.33011596] [ 0.42877067 0.04785067 0.90214523 0.06410393] [ 0. 0. 0. 1. ]] SLAMing on 102.61800114499998 meters Centerline goodness [0,1] 0.9013602251407129 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.06 [[ 0.90264775 0.01487442 -0.430123 4.21753083] [-0.03404287 0.99873881 -0.03690354 0.33046661] [ 0.42903161 0.04795352 0.90201571 0.06444386] [ 0. 0. 0. 1. ]] SLAMing on 102.64800114499998 meters Centerline goodness [0,1] 0.9065998407419551 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.06 [[ 0.9024067 0.01609867 -0.43058447 4.2201064 ] [-0.03500787 0.99873743 -0.03602775 0.32919904] [ 0.42946083 0.04758552 0.90183093 0.06409178] [ 0. 0. 0. 1. ]] SLAMing on 102.67800114499998 meters Centerline goodness [0,1] 0.9138462976813763 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.06 [[ 0.9022289 0.0166263 -0.43093687 4.2214473 ] [-0.03546676 0.99873222 -0.03572197 0.32872177] [ 0.42979661 0.04751333 0.90167475 0.06421335] [ 0. 0. 0. 1. ]] SLAMing on 102.70800114499998 meters Centerline goodness [0,1] 0.9144955329996726 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.06 [[ 0.90209063 0.01697245 -0.43121275 4.22235295] [-0.03579393 0.99872595 -0.03557072 0.32854288] [ 0.43005964 0.04752281 0.90154883 0.06443217] [ 0. 0. 0. 1. ]] SLAMing on 102.73800114499998 meters Centerline goodness [0,1] 0.915073365940418 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.06 [[ 0.9020488 0.01704594 -0.43129735 4.22248773] [-0.03588138 0.99872272 -0.03557312 0.32830509] [ 0.43014009 0.04756423 0.90150826 0.06461013] [ 0. 0. 0. 1. ]] SLAMing on 102.76800114499999 meters Centerline goodness [0,1] 0.924088785046729 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.06 [[ 0.90202053 0.0171994 -0.43135036 4.22244146] [-0.03601837 0.99872048 -0.03549763 0.32755714] [ 0.4301879 0.04755613 0.90148587 0.06479686] [ 0. 0. 0. 1. ]] SLAMing on 102.79800114499999 meters Centerline goodness [0,1] 0.9246900030357518 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.06 [[ 0.90203986 0.01719728 -0.43131003 4.22227779] [-0.03597017 0.99872545 -0.03540647 0.32704726] [ 0.43015141 0.04745235 0.90150876 0.06472827] [ 0. 0. 0. 1. ]] SLAMing on 102.82800114499999 meters Centerline goodness [0,1] 0.9204829406132505 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.07 [[ 0.90207268 0.01679841 -0.43125711 4.2213509 ] [-0.03562845 0.99873003 -0.03562232 0.32655547] [ 0.43011103 0.04749894 0.90152557 0.06506222] [ 0. 0. 0. 1. ]] SLAMing on 102.85800114499999 meters Centerline goodness [0,1] 0.9186157684863465 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.07 [[ 0.90212698 0.01639556 -0.43115901 4.22037122] [-0.03524462 0.99873856 -0.03576463 0.32589682] [ 0.43002875 0.04746028 0.90156686 0.06527161] [ 0. 0. 0. 1. ]] SLAMing on 102.88800114499999 meters Centerline goodness [0,1] 0.9143513682891163 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:0.07 [[ 0.90219893 0.01524163 -0.43105078 4.21804918] [-0.03418539 0.99875841 -0.03623543 0.32347208] [ 0.42996331 0.04742721 0.90159981 0.06592178] [ 0. 0. 0. 1. ]] SLAMing on 102.91800114499998 meters Centerline goodness [0,1] 0.9162592395208193 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:0.07 [[ 0.9022115 0.01500224 -0.43103289 4.21748879] [-0.03385146 0.99877493 -0.03609311 0.32181203] [ 0.42996337 0.04715471 0.90161407 0.06586999] [ 0. 0. 0. 1. ]] SLAMing on 102.94800114499998 meters Centerline goodness [0,1] 0.9179637810208849 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:0.07 [[ 0.90227373 0.01463036 -0.43091539 4.21660924] [-0.03343878 0.9987884 -0.03610522 0.32022468] [ 0.42986506 0.04698607 0.90166975 0.06586559] [ 0. 0. 0. 1. ]] SLAMing on 102.97800114499998 meters Centerline goodness [0,1] 0.9137239535312558 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.07 [[ 0.90246457 0.01339287 -0.43055584 4.21393878] [-0.03228243 0.99880856 -0.03659648 0.31799409] [ 0.42955273 0.04692642 0.90182169 0.06610949] [ 0. 0. 0. 1. ]] SLAMing on 103.00800114499998 meters Centerline goodness [0,1] 0.9132781989432576 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.07 [[ 0.90253397 0.01308796 -0.43041973 4.21297793] [-0.03195645 0.99881756 -0.03663702 0.31707457] [ 0.42943128 0.04682084 0.90188502 0.06619939] [ 0. 0. 0. 1. ]] SLAMing on 103.03800114499998 meters Centerline goodness [0,1] 0.9116156963890936 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.07 [[ 0.90254885 0.01274461 -0.43039883 4.21208403] [-0.031653 0.99882122 -0.03680025 0.31629735] [ 0.42942248 0.04683744 0.90188835 0.06656658] [ 0. 0. 0. 1. ]] SLAMing on 103.06800114499998 meters Centerline goodness [0,1] 0.914113533903763 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.07 [[ 0.90260189 0.01244345 -0.43029641 4.21143527] [-0.03139339 0.99882324 -0.03696737 0.31607883] [ 0.42933005 0.04687528 0.90193038 0.06666309] [ 0. 0. 0. 1. ]] SLAMing on 103.09800114499998 meters Centerline goodness [0,1] 0.9154822859504512 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.07 [[ 0.90260051 0.012134 -0.43030812 4.21098423] [-0.03119358 0.99881842 -0.03726557 0.31677559] [ 0.4293475 0.04705877 0.90191252 0.06704747] [ 0. 0. 0. 1. ]] SLAMing on 103.12800114499998 meters Centerline goodness [0,1] 0.914737035168967 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.07 [[ 0.9025775 0.01202326 -0.43035949 4.2108062 ] [-0.03112594 0.99881646 -0.03737466 0.31684654] [ 0.42940077 0.04712887 0.9018835 0.06729503] [ 0. 0. 0. 1. ]] SLAMing on 103.15800114499999 meters Centerline goodness [0,1] 0.9152359777202191 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.07 [[ 0.90258297 0.0120275 -0.43034792 4.21072392] [-0.03109013 0.9988207 -0.03729101 0.31591701] [ 0.42939189 0.0470378 0.90189248 0.06725811] [ 0. 0. 0. 1. ]] SLAMing on 103.18800114499999 meters Centerline goodness [0,1] 0.9159344682408933 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90254655 0.01238698 -0.43041408 4.21127615] [-0.03128926 0.99883027 -0.03686571 0.31432926] [ 0.42945395 0.04674036 0.9018784 0.06693379] [ 0. 0. 0. 1. ]] SLAMing on 103.21800114499999 meters Centerline goodness [0,1] 0.9182155282915216 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90252843 0.01272499 -0.43044223 4.21200658] [-0.03154427 0.99883157 -0.0366123 0.31393199] [ 0.42947339 0.04662163 0.90187528 0.0666185 ] [ 0. 0. 0. 1. ]] SLAMing on 103.24800114499999 meters Centerline goodness [0,1] 0.9192792298369578 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.07 [[ 0.90239052 0.01263649 -0.43073388 4.212302 ] [-0.0316065 0.99881852 -0.03691339 0.31526281] [ 0.42975851 0.04692429 0.90172375 0.06733127] [ 0. 0. 0. 1. ]] SLAMing on 103.27800114499999 meters Centerline goodness [0,1] 0.9194460341078173 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.07 [[ 0.90227518 0.01253602 -0.43097837 4.21251185] [-0.03162106 0.99880937 -0.03714758 0.31619181] [ 0.42999955 0.04714533 0.90159731 0.06789926] [ 0. 0. 0. 1. ]] SLAMing on 103.30800114499998 meters Centerline goodness [0,1] 0.9184244314013206 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.07 [[ 0.90220259 0.01275901 -0.43112376 4.21304427] [-0.03178751 0.998811 -0.03696138 0.31576051] [ 0.43013956 0.04705101 0.90153545 0.06792062] [ 0. 0. 0. 1. ]] SLAMing on 103.33800114499998 meters Centerline goodness [0,1] 0.9200986211304903 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90215661 0.01336739 -0.43120154 4.21391412] [-0.03212031 0.99882686 -0.03623789 0.31306583] [ 0.43021127 0.04654258 0.90152762 0.06731858] [ 0. 0. 0. 1. ]] SLAMing on 103.36800114499998 meters Centerline goodness [0,1] 0.9217843934066937 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90206104 0.01367471 -0.43139179 4.21452454] [-0.03235354 0.99882827 -0.03599089 0.31197215] [ 0.43039415 0.04642303 0.90144649 0.06740069] [ 0. 0. 0. 1. ]] SLAMing on 103.39800114499998 meters Centerline goodness [0,1] 0.9233490835216508 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90203636 0.01371989 -0.43144197 4.21440178] [-0.03237989 0.99882941 -0.03593534 0.31135931] [ 0.4304439 0.04638503 0.90142469 0.0675857 ] [ 0. 0. 0. 1. ]] SLAMing on 103.42800114499998 meters Centerline goodness [0,1] 0.9232628674374587 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90198287 0.01357123 -0.43155849 4.21413444] [-0.0322908 0.9988271 -0.03607954 0.31186738] [ 0.43056267 0.0464785 0.90136316 0.06807374] [ 0. 0. 0. 1. ]] SLAMing on 103.45800114499998 meters Centerline goodness [0,1] 0.9235654239766082 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90189547 0.01322958 -0.4317517 4.21395598] [-0.03209029 0.99882089 -0.0364286 0.31274118] [ 0.43076069 0.04670982 0.90125658 0.0686961 ] [ 0. 0. 0. 1. ]] SLAMing on 103.48800114499998 meters Centerline goodness [0,1] 0.9222288166544923 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90183659 0.01305479 -0.43188 4.21399928] [-0.03194573 0.99882234 -0.03651574 0.31261491] [ 0.43089469 0.04672795 0.90119158 0.068927 ] [ 0. 0. 0. 1. ]] SLAMing on 103.51800114499999 meters Centerline goodness [0,1] 0.9206873760740251 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90180703 0.01311541 -0.43193989 4.21423776] [-0.03188193 0.99883461 -0.03623472 0.31087725] [ 0.43096128 0.0464478 0.90117422 0.06870838] [ 0. 0. 0. 1. ]] SLAMing on 103.54800114499999 meters Centerline goodness [0,1] 0.9211763370046554 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90182553 0.00829034 -0.43202081 4.21496404] [-0.02817739 0.99881617 -0.03965217 0.30815189] [ 0.43118064 0.04793256 0.90099152 0.0682769 ] [ 0. 0. 0. 1. ]] SLAMing on 103.57800114499999 meters Centerline goodness [0,1] 0.9152105608173784 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90183337 0.00814676 -0.43200719 4.21496201] [-0.0278616 0.99883791 -0.03932625 0.30610454] [ 0.43118478 0.04750214 0.90101234 0.06784461] [ 0. 0. 0. 1. ]] SLAMing on 103.60800114499999 meters Centerline goodness [0,1] 0.9150225895066634 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90184504 0.00780152 -0.43198919 4.21455649] [-0.02752229 0.99884369 -0.03941844 0.30564843] [ 0.43118215 0.04743866 0.90101694 0.06791779] [ 0. 0. 0. 1. ]] SLAMing on 103.63800114499999 meters Centerline goodness [0,1] 0.9149429467654681 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90188458 0.00683466 -0.43192302 4.21303067] [-0.02681504 0.99883233 -0.04018631 0.30739692] [ 0.43114401 0.04782544 0.90101474 0.06872555] [ 0. 0. 0. 1. ]] SLAMing on 103.66800114499998 meters Centerline goodness [0,1] 0.9140981670338656 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90184759 0.00651174 -0.43200523 4.21251648] [-0.02661305 0.998825 -0.04050144 0.30766028] [ 0.43123389 0.0480231 0.90096122 0.06926445] [ 0. 0. 0. 1. ]] SLAMing on 103.69800114499998 meters Centerline goodness [0,1] 0.9136961451247165 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90186108 0.00658367 -0.43197599 4.21243035] [-0.02660931 0.99883201 -0.04033076 0.30666119] [ 0.43120592 0.04786732 0.90098289 0.06916486] [ 0. 0. 0. 1. ]] SLAMing on 103.72800114499998 meters Centerline goodness [0,1] 0.9157706498856871 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90180831 0.0067899 -0.43208295 4.21278792] [-0.02670502 0.99884113 -0.04004042 0.30511039] [ 0.43131035 0.04764757 0.90094455 0.06907469] [ 0. 0. 0. 1. ]] SLAMing on 103.75800114499998 meters Centerline goodness [0,1] 0.9159937572097442 Centerline is valid? [False, False] Translation: X:4.21, Y:0.30, Z:0.07 [[ 0.90180829 0.00661533 -0.43208569 4.21242555] [-0.02655896 0.99884108 -0.04013886 0.30486326] [ 0.4313194 0.04767331 0.90093886 0.06927433] [ 0. 0. 0. 1. ]] SLAMing on 103.78800114499998 meters Centerline goodness [0,1] 0.9159937572097442 Centerline is valid? [False, False] Translation: X:4.21, Y:0.30, Z:0.07 [[ 0.90180829 0.00661533 -0.43208569 4.21242555] [-0.02655896 0.99884108 -0.04013886 0.30486326] [ 0.4313194 0.04767331 0.90093886 0.06927433] [ 0. 0. 0. 1. ]] SLAMing on 103.81800114499998 meters Centerline goodness [0,1] 0.9143676992250164 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90181244 0.00596342 -0.43208652 4.21131916] [-0.02613256 0.99882732 -0.04075628 0.30601891] [ 0.43133677 0.04804605 0.90091074 0.07003042] [ 0. 0. 0. 1. ]] SLAMing on 103.84800114499998 meters Centerline goodness [0,1] 0.9122589096165139 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.9017808 0.00554768 -0.43215808 4.21051454] [-0.0258839 0.99881601 -0.04118977 0.30692638] [ 0.4314179 0.04833008 0.9008567 0.0707957 ] [ 0. 0. 0. 1. ]] SLAMing on 103.87800114499998 meters Centerline goodness [0,1] 0.9120286439448876 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90176529 0.00495735 -0.43219762 4.20937819] [-0.02550662 0.99880194 -0.04176232 0.30767798] [ 0.4314728 0.04868371 0.90081137 0.07165078] [ 0. 0. 0. 1. ]] SLAMing on 103.90800114499999 meters Centerline goodness [0,1] 0.9097878289102839 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 9.01889829e-01 4.15658890e-03 -4.31946129e-01 4.20720055e+00] [-2.49025703e-02 9.98790978e-01 -4.23844785e-02 3.07741090e-01] [ 4.31247722e-01 4.89826990e-02 9.00902935e-01 7.23839234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.93800114499999 meters Centerline goodness [0,1] 0.9112741677733012 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 9.01859325e-01 3.91170858e-03 -4.32012103e-01 4.20698867e+00] [-2.47203396e-02 9.98787956e-01 -4.25620052e-02 3.07478444e-01] [ 4.31321995e-01 4.90644272e-02 9.00862930e-01 7.26271414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.96800114499999 meters Centerline goodness [0,1] 0.9105639683148654 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 9.01816013e-01 3.89283943e-03 -4.32102678e-01 4.20721146e+00] [-2.46912315e-02 9.98789892e-01 -4.25334538e-02 3.06988233e-01] [ 4.31414211e-01 4.90264970e-02 9.00820837e-01 7.26578519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99800114499999 meters Centerline goodness [0,1] 0.9102286564740901 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 9.01789949e-01 3.86651426e-03 -4.32157307e-01 4.20760013e+00] [-2.46829554e-02 9.98788532e-01 -4.25701723e-02 3.06921713e-01] [ 4.31469164e-01 4.90562730e-02 9.00792897e-01 7.26054646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02800114499999 meters Centerline goodness [0,1] 0.9120180893159977 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90195979 0.00826096 -0.43174101 4.20628225] [-0.02771473 0.99886308 -0.03878714 0.30638054] [ 0.43092974 0.04695003 0.90116328 0.07189296] [ 0. 0. 0. 1. ]] SLAMing on 104.05800114499998 meters Centerline goodness [0,1] 0.9116756316955205 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90184068 0.00840044 -0.43198705 4.20691125] [-0.02796375 0.99884961 -0.03895504 0.3078294 ] [ 0.43116286 0.04721122 0.90103812 0.07240549] [ 0. 0. 0. 1. ]] SLAMing on 104.08800114499998 meters Centerline goodness [0,1] 0.9105078611016854 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90176728 0.00841498 -0.43213998 4.20723709] [-0.0280816 0.99883871 -0.03914903 0.30874148] [ 0.43130871 0.0474385 0.90095637 0.07278228] [ 0. 0. 0. 1. ]] SLAMing on 104.11800114499998 meters Centerline goodness [0,1] 0.9125607687959298 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90166353 0.00852668 -0.43235423 4.2078054 ] [-0.02823615 0.99883286 -0.03918727 0.30876968] [ 0.43151547 0.04754176 0.90085192 0.07306882] [ 0. 0. 0. 1. ]] SLAMing on 104.14800114499998 meters Centerline goodness [0,1] 0.9154954995601073 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90155982 0.00903631 -0.43256009 4.20892671] [-0.02858866 0.99884107 -0.03871957 0.30747946] [ 0.4317089 0.04727432 0.90077331 0.07283256] [ 0. 0. 0. 1. ]] SLAMing on 104.17800114499998 meters Centerline goodness [0,1] 0.9147136444634922 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90147655 0.00903375 -0.43273367 4.20934972] [-0.02859515 0.99884095 -0.038718 0.30743245] [ 0.43188233 0.04727746 0.90069001 0.07301526] [ 0. 0. 0. 1. ]] SLAMing on 104.20800114499998 meters Centerline goodness [0,1] 0.9144089226045335 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90140269 0.00892949 -0.43288966 4.209639 ] [-0.02851368 0.99884125 -0.03877009 0.30750183] [ 0.43204185 0.04729075 0.90061281 0.07320658] [ 0. 0. 0. 1. ]] SLAMing on 104.23800114499998 meters Centerline goodness [0,1] 0.9124133870748607 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90146197 0.00826273 -0.43277944 4.20849372] [-0.02797537 0.99883964 -0.03920146 0.30773118] [ 0.43195335 0.04744579 0.9006471 0.07356258] [ 0. 0. 0. 1. ]] SLAMing on 104.26800114499999 meters Centerline goodness [0,1] 0.9106554044898143 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90144353 0.00812973 -0.43282037 4.20835285] [-0.02786579 0.9988398 -0.03927529 0.30740892] [ 0.43199891 0.04746533 0.90062422 0.07375533] [ 0. 0. 0. 1. ]] SLAMing on 104.29800114499999 meters Centerline goodness [0,1] 0.9094297007340486 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90143053 0.0080084 -0.43284971 4.20841529] [-0.0277714 0.99883928 -0.0393552 0.30740651] [ 0.43203212 0.04749682 0.90060663 0.07380388] [ 0. 0. 0. 1. ]] SLAMing on 104.32800114499999 meters Centerline goodness [0,1] 0.9112239142695996 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90145531 0.00751838 -0.43280688 4.20807907] [-0.02743381 0.99883145 -0.03978855 0.30857774] [ 0.43200198 0.04774114 0.90060817 0.07399773] [ 0. 0. 0. 1. ]] SLAMing on 104.35800114499999 meters Centerline goodness [0,1] 0.9119489742835818 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90142311 0.00753298 -0.43287369 4.20858874] [-0.02751889 0.9988237 -0.03992399 0.30936546] [ 0.43206375 0.04790061 0.90057007 0.07402876] [ 0. 0. 0. 1. ]] SLAMing on 104.38800114499999 meters Centerline goodness [0,1] 0.9089983483041836 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90130217 0.00773985 -0.43312179 4.20965722] [-0.02778871 0.99881407 -0.03997803 0.30998187] [ 0.43229872 0.04806818 0.90044837 0.07422551] [ 0. 0. 0. 1. ]] SLAMing on 104.41800114499998 meters Centerline goodness [0,1] 0.9146004886435617 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90108221 0.00814977 -0.43357172 4.21125417] [-0.02830111 0.99879707 -0.04004334 0.31104953] [ 0.43272382 0.0483529 0.90022891 0.07472976] [ 0. 0. 0. 1. ]] SLAMing on 104.44800114499998 meters Centerline goodness [0,1] 0.9192722494109117 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90107814 0.01346937 -0.43344753 4.21190728] [-0.03223218 0.99883303 -0.03596759 0.3114854 ] [ 0.43245725 0.04638057 0.90046076 0.07398237] [ 0. 0. 0. 1. ]] SLAMing on 104.47800114499998 meters Centerline goodness [0,1] 0.919804678628208 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.9009054 0.01376517 -0.43379716 4.21353698] [-0.03262245 0.99881718 -0.03605569 0.31272288] [ 0.43278774 0.04663429 0.90028885 0.07417048] [ 0. 0. 0. 1. ]] SLAMing on 104.50800114499998 meters Centerline goodness [0,1] 0.9231888340796981 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.07 [[ 0.90074375 0.01395574 -0.43412664 4.21493378] [-0.03292791 0.9988015 -0.03621202 0.31392498] [ 0.43310098 0.04691264 0.90012374 0.07445184] [ 0. 0. 0. 1. ]] SLAMing on 104.53800114499998 meters Centerline goodness [0,1] 0.9213534313948722 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:0.07 [[ 0.90065581 0.01395118 -0.43430919 4.21591354] [-0.03300095 0.998794 -0.03635231 0.31501281] [ 0.43327825 0.04707354 0.90003002 0.07448969] [ 0. 0. 0. 1. ]] SLAMing on 104.56800114499998 meters Centerline goodness [0,1] 0.9188924562242412 Centerline is valid? [False, False] Translation: X:4.22, Y:0.31, Z:0.07 [[ 0.90072064 0.01330414 -0.43419504 4.21580382] [-0.03237423 0.99880712 -0.03655469 0.31491104] [ 0.43319077 0.0469823 0.9000769 0.07394657] [ 0. 0. 0. 1. ]] SLAMing on 104.59800114499998 meters Centerline goodness [0,1] 0.9166969889929956 Centerline is valid? [False, False] Translation: X:4.22, Y:0.31, Z:0.07 [[ 0.90074223 0.01323147 -0.43415247 4.21629863] [-0.03217165 0.99882273 -0.03630631 0.31341299] [ 0.43316096 0.04667003 0.90010749 0.07332045] [ 0. 0. 0. 1. ]] SLAMing on 104.62800114499998 meters Centerline goodness [0,1] 0.9157313582042077 Centerline is valid? [False, False] Translation: X:4.22, Y:0.31, Z:0.07 [[ 0.9007025 0.01317423 -0.43423662 4.21687079] [-0.03201337 0.99883531 -0.0360993 0.31229367] [ 0.43325529 0.04641611 0.90007522 0.07295477] [ 0. 0. 0. 1. ]] SLAMing on 104.65800114499999 meters Centerline goodness [0,1] 0.9123371473886938 Centerline is valid? [False, False] Translation: X:4.22, Y:0.31, Z:0.07 [[ 0.90069443 0.01291526 -0.43426114 4.21717695] [-0.0317875 0.99883802 -0.03622375 0.31244623] [ 0.4332887 0.0464306 0.90005839 0.07282303] [ 0. 0. 0. 1. ]] SLAMing on 104.68800114499999 meters Centerline goodness [0,1] 0.9104257443718228 Centerline is valid? [False, False] Translation: X:4.22, Y:0.31, Z:0.07 [[ 0.90070733 0.01196173 -0.43426171 4.21644098] [-0.03119221 0.99882152 -0.03718361 0.31497508] [ 0.43330516 0.04703713 0.90001897 0.07350797] [ 0. 0. 0. 1. ]] SLAMing on 104.71800114499999 meters Centerline goodness [0,1] 0.9127768313458262 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:0.07 [[ 0.90060579 0.01188562 -0.43447433 4.21682975] [-0.03122605 0.99881225 -0.03740349 0.31572319] [ 0.43351372 0.04725271 0.89990724 0.073998 ] [ 0. 0. 0. 1. ]] SLAMing on 104.74800114499999 meters Centerline goodness [0,1] 0.9106570603877361 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:0.07 [[ 0.90049421 0.01200677 -0.43470222 4.21755559] [-0.03139439 0.99880537 -0.0374464 0.31590535] [ 0.4337333 0.04736748 0.89979539 0.07429132] [ 0. 0. 0. 1. ]] SLAMing on 104.77800114499999 meters Centerline goodness [0,1] 0.9125276126710847 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:0.07 [[ 0.90041617 0.0122857 -0.43485604 4.21869037] [-0.03163126 0.99880422 -0.03727738 0.31604646] [ 0.43387807 0.0473202 0.89972808 0.07409674] [ 0. 0. 0. 1. ]] SLAMing on 104.80800114499998 meters Centerline goodness [0,1] 0.9122097514427228 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:0.07 [[ 0.900195 0.01268174 -0.43530235 4.22102218] [-0.03210764 0.99878817 -0.03729998 0.31756038] [ 0.43430181 0.04755378 0.8995113 0.07412242] [ 0. 0. 0. 1. ]] SLAMing on 104.83800114499998 meters Centerline goodness [0,1] 0.9148508978073878 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:0.07 [[ 0.90006501 0.01286279 -0.43556576 4.22200557] [-0.03243704 0.99876876 -0.03753394 0.31911676] [ 0.43454669 0.04791145 0.89937404 0.07461032] [ 0. 0. 0. 1. ]] SLAMing on 104.86800114499998 meters Centerline goodness [0,1] 0.9169839886222875 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:0.07 [[ 0.90016022 0.01711719 -0.43522244 4.22023035] [-0.03564334 0.998771 -0.03443886 0.32123043] [ 0.43409806 0.04651327 0.89966404 0.07499817] [ 0. 0. 0. 1. ]] SLAMing on 104.89800114499998 meters Centerline goodness [0,1] 0.9160068133689347 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:0.08 [[ 0.90005131 0.01698648 -0.43545275 4.22045888] [-0.03580401 0.99874418 -0.03504468 0.32337677] [ 0.43431062 0.04713296 0.89952919 0.0759494 ] [ 0. 0. 0. 1. ]] SLAMing on 104.92800114499998 meters Centerline goodness [0,1] 0.9180755126046544 Centerline is valid? [False, False] Translation: X:4.22, Y:0.32, Z:0.08 [[ 0.89995088 0.01702851 -0.43565863 4.22122862] [-0.0360069 0.99872637 -0.03534332 0.32477389] [ 0.43450191 0.04749397 0.89941782 0.0763565 ] [ 0. 0. 0. 1. ]] SLAMing on 104.95800114499998 meters Centerline goodness [0,1] 0.9205294958719616 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.08 [[ 0.89985633 0.01713165 -0.43584984 4.22203582] [-0.0361719 0.99871752 -0.03542466 0.32511294] [ 0.43468399 0.04764262 0.89932197 0.07648408] [ 0. 0. 0. 1. ]] SLAMing on 104.98800114499998 meters Centerline goodness [0,1] 0.9175548516865882 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.08 [[ 0.89982349 0.0171487 -0.43591698 4.22280474] [-0.03621697 0.99871426 -0.03547059 0.32519247] [ 0.43474822 0.04770487 0.89928762 0.07626881] [ 0. 0. 0. 1. ]] SLAMing on 105.01800114499999 meters Centerline goodness [0,1] 0.9132355662472242 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.08 [[ 0.89982538 0.01617992 -0.43595011 4.22275543] [-0.03544657 0.99871945 -0.03609708 0.32716813] [ 0.43480781 0.047934 0.89924663 0.07621448] [ 0. 0. 0. 1. ]] SLAMing on 105.04800114499999 meters Centerline goodness [0,1] 0.9088405461698681 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.08 [[ 0.89977685 0.01557977 -0.43607213 4.22252976] [-0.03503695 0.99871514 -0.03661248 0.32830064] [ 0.43494142 0.0482217 0.89916663 0.07667533] [ 0. 0. 0. 1. ]] SLAMing on 105.07800114499999 meters Centerline goodness [0,1] 0.9080701916844152 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.08 [[ 0.89978821 0.01499118 -0.4360693 4.22190023] [-0.03458069 0.99871602 -0.03702019 0.32853302] [ 0.43495442 0.04838991 0.8991513 0.07699601] [ 0. 0. 0. 1. ]] SLAMing on 105.10800114499999 meters Centerline goodness [0,1] 0.9036667440241355 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.08 [[ 0.89997231 0.01402848 -0.43572128 4.22070589] [-0.03373783 0.99872583 -0.03752973 0.3289367 ] [ 0.43463961 0.04847601 0.89929888 0.07662854] [ 0. 0. 0. 1. ]] SLAMing on 105.13800114499999 meters Centerline goodness [0,1] 0.9016980693184462 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.08 [[ 0.89995158 0.01356971 -0.43577864 4.22024244] [-0.03345984 0.99871737 -0.03800078 0.32994754] [ 0.43470403 0.04877995 0.89925131 0.07716805] [ 0. 0. 0. 1. ]] SLAMing on 105.16800114499998 meters Centerline goodness [0,1] 0.8996315470360524 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.08 [[ 0.89995494 0.01318307 -0.43578356 4.21977835] [-0.03319153 0.99871364 -0.03833272 0.33050798] [ 0.43471764 0.04896204 0.89923484 0.07749939] [ 0. 0. 0. 1. ]] SLAMing on 105.19800114499998 meters Centerline goodness [0,1] 0.8976632686310105 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.08 [[ 0.89999804 0.01260476 -0.43571166 4.21985292] [-0.03268541 0.99871917 -0.03862231 0.33133074] [ 0.43466676 0.04900142 0.89925729 0.07709827] [ 0. 0. 0. 1. ]] SLAMing on 105.22800114499998 meters Centerline goodness [0,1] 0.8970667039444561 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.08 [[ 0.89992786 0.01244986 -0.43586103 4.22043141] [-0.03263445 0.99871186 -0.03885373 0.33236075] [ 0.43481586 0.04918964 0.89917493 0.07723126] [ 0. 0. 0. 1. ]] SLAMing on 105.25800114499998 meters Centerline goodness [0,1] 0.8970848880597015 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.08 [[ 0.8998397 0.01219927 -0.4360501 4.22068478] [-0.03259492 0.99869478 -0.03932314 0.33392825] [ 0.43500125 0.04959754 0.89906284 0.07782854] [ 0. 0. 0. 1. ]] SLAMing on 105.28800114499998 meters Centerline goodness [0,1] 0.8924580352550615 Centerline is valid? [False, False] Translation: X:4.22, Y:0.33, Z:0.08 [[ 0.89974566 0.01207295 -0.43624764 4.2209492 ] [-0.03259652 0.99868414 -0.03959107 0.33479201] [ 0.43519561 0.04984205 0.89895525 0.07833367] [ 0. 0. 0. 1. ]] SLAMing on 105.31800114499998 meters Centerline goodness [0,1] 0.8924017999437518 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:0.08 [[ 0.89972239 0.01182821 -0.43630233 4.22152717] [-0.03250535 0.99867254 -0.03995689 0.33622606] [ 0.43525054 0.05013227 0.89891252 0.07830385] [ 0. 0. 0. 1. ]] SLAMing on 105.34800114499998 meters Centerline goodness [0,1] 0.8918817632454209 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:0.08 [[ 0.89963059 0.01190311 -0.43648953 4.22225002] [-0.03263358 0.99866559 -0.04002602 0.33669524] [ 0.43543064 0.05025285 0.89881856 0.07847694] [ 0. 0. 0. 1. ]] SLAMing on 105.37800114499998 meters Centerline goodness [0,1] 0.8915911545142965 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:0.08 [[ 0.89957712 0.01166554 -0.43660614 4.22272346] [-0.03252195 0.99865721 -0.04032498 0.33795155] [ 0.43554945 0.05047471 0.89874856 0.07860497] [ 0. 0. 0. 1. ]] SLAMing on 105.40800114499999 meters Centerline goodness [0,1] 0.8874306621031511 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:0.08 [[ 0.89955062 0.0108702 -0.43668126 4.22254781] [-0.03198763 0.99864556 -0.04103455 0.34019948] [ 0.43564375 0.05088105 0.89867994 0.07898292] [ 0. 0. 0. 1. ]] SLAMing on 105.43800114499999 meters Centerline goodness [0,1] 0.8849755844400934 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:0.08 [[ 0.89952411 0.01056824 -0.43674327 4.22266085] [-0.03181192 0.99863793 -0.04135552 0.34116289] [ 0.43571134 0.05109393 0.8986351 0.07919366] [ 0. 0. 0. 1. ]] SLAMing on 105.46800114499999 meters Centerline goodness [0,1] 0.8809231060247801 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:0.08 [[ 0.89948466 0.01028198 -0.43683135 4.22271036] [-0.03166948 0.9986279 -0.04170567 0.34220042] [ 0.43580316 0.05134784 0.8985761 0.0795308 ] [ 0. 0. 0. 1. ]] SLAMing on 105.49800114499999 meters Centerline goodness [0,1] 0.8816429130403851 Centerline is valid? [False, False] Translation: X:4.22, Y:0.34, Z:0.08 [[ 0.89943118 0.01011373 -0.43694539 4.22298943] [-0.03159911 0.9986207 -0.04193074 0.3428077 ] [ 0.43591864 0.0515209 0.89851018 0.07975242] [ 0. 0. 0. 1. ]] SLAMing on 105.52800114499999 meters Centerline goodness [0,1] 0.880009507962919 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.08 [[ 0.89935342 0.00964545 -0.437116 4.22310886] [-0.0314239 0.99859711 -0.04261859 0.34522607] [ 0.4360917 0.05206506 0.89839482 0.08040328] [ 0. 0. 0. 1. ]] SLAMing on 105.55800114499998 meters Centerline goodness [0,1] 0.8771064235490407 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.08 [[ 0.8992449 0.00970355 -0.43733792 4.22429715] [-0.03157886 0.99858552 -0.04277539 0.34693546] [ 0.43630424 0.05227618 0.89827936 0.08046989] [ 0. 0. 0. 1. ]] SLAMing on 105.58800114499998 meters Centerline goodness [0,1] 0.8783480544282645 Centerline is valid? [False, False] Translation: X:4.23, Y:0.35, Z:0.08 [[ 0.89913898 0.00973631 -0.4375549 4.22531806] [-0.03173766 0.99857091 -0.04299842 0.34830925] [ 0.43651095 0.05254853 0.89816304 0.08067095] [ 0. 0. 0. 1. ]] SLAMing on 105.61800114499998 meters Centerline goodness [0,1] 0.8788648066099868 Centerline is valid? [False, False] Translation: X:4.23, Y:0.35, Z:0.08 [[ 0.89904212 0.00987275 -0.43775083 4.22664378] [-0.03202835 0.9985504 -0.04325839 0.35065576] [ 0.43668918 0.05291155 0.89805508 0.08082352] [ 0. 0. 0. 1. ]] SLAMing on 105.64800114499998 meters Centerline goodness [0,1] 0.8757142171220051 Centerline is valid? [False, False] Translation: X:4.23, Y:0.35, Z:0.08 [[ 0.89890071 0.00972642 -0.43804442 4.2273213 ] [-0.03205696 0.99853411 -0.04361171 0.35217019] [ 0.43697811 0.05324497 0.89789482 0.08136707] [ 0. 0. 0. 1. ]] SLAMing on 105.67800114499998 meters Centerline goodness [0,1] 0.8757142171220051 Centerline is valid? [False, False] Translation: X:4.23, Y:0.35, Z:0.08 [[ 0.89890071 0.00972642 -0.43804442 4.2273213 ] [-0.03205696 0.99853411 -0.04361171 0.35217019] [ 0.43697811 0.05324497 0.89789482 0.08136707] [ 0. 0. 0. 1. ]] SLAMing on 105.70800114499998 meters Centerline goodness [0,1] 0.8798240976594416 Centerline is valid? [False, False] Translation: X:4.23, Y:0.35, Z:0.08 [[ 0.89895611 0.01416395 -0.43780966 4.22631334] [-0.03518081 0.99858291 -0.03993089 0.35184476] [ 0.43662366 0.05129862 0.89818051 0.08103431] [ 0. 0. 0. 1. ]] SLAMing on 105.73800114499998 meters Centerline goodness [0,1] 0.8776467757459095 Centerline is valid? [False, False] Translation: X:4.23, Y:0.35, Z:0.08 [[ 0.8989432 0.01863994 -0.43766845 4.2253635 ] [-0.03834894 0.99860717 -0.03623642 0.35155871] [ 0.43638341 0.0493586 0.89840595 0.0809161 ] [ 0. 0. 0. 1. ]] SLAMing on 105.76800114499999 meters Centerline goodness [0,1] 0.8758782768813297 Centerline is valid? [False, False] Translation: X:4.22, Y:0.35, Z:0.08 [[ 0.8989801 0.01789928 -0.43762357 4.22456933] [-0.03800735 0.99858358 -0.03723275 0.35447523] [ 0.43633727 0.05010441 0.89838707 0.08174106] [ 0. 0. 0. 1. ]] SLAMing on 105.79800114499999 meters Centerline goodness [0,1] 0.87460640410793 Centerline is valid? [False, False] Translation: X:4.22, Y:0.36, Z:0.08 [[ 0.8989176 0.01762303 -0.43776315 4.22465665] [-0.03786021 0.99857753 -0.03754369 0.35508731] [ 0.43647881 0.05032249 0.89830613 0.0821259 ] [ 0. 0. 0. 1. ]] SLAMing on 105.82800114499999 meters Centerline goodness [0,1] 0.8733749665880981 Centerline is valid? [False, False] Translation: X:4.22, Y:0.36, Z:0.08 [[ 0.89886933 0.01724846 -0.43787718 4.22482063] [-0.03766047 0.9985688 -0.03797428 0.35619875] [ 0.43659549 0.05062457 0.89823245 0.08243191] [ 0. 0. 0. 1. ]] SLAMing on 105.85800114499999 meters Centerline goodness [0,1] 0.8735604197609018 Centerline is valid? [False, False] Translation: X:4.23, Y:0.36, Z:0.08 [[ 0.89878991 0.01665577 -0.4380631 4.22534125] [-0.03737082 0.99855148 -0.03870875 0.35898809] [ 0.43678383 0.05116182 0.89811044 0.08282336] [ 0. 0. 0. 1. ]] SLAMing on 105.88800114499999 meters Centerline goodness [0,1] 0.8719945321844411 Centerline is valid? [False, False] Translation: X:4.23, Y:0.36, Z:0.08 [[ 0.89873032 0.01652294 -0.43819037 4.22586452] [-0.03736617 0.99854087 -0.03898598 0.36001812] [ 0.43690683 0.05141138 0.89803635 0.08302539] [ 0. 0. 0. 1. ]] SLAMing on 105.91800114499998 meters Centerline goodness [0,1] 0.873690110639957 Centerline is valid? [False, False] Translation: X:4.23, Y:0.36, Z:0.08 [[ 0.8986938 0.01631526 -0.43827305 4.22618271] [-0.03731843 0.99852832 -0.03935124 0.36128638] [ 0.43698603 0.05172038 0.89798007 0.08326692] [ 0. 0. 0. 1. ]] SLAMing on 105.94800114499998 meters Centerline goodness [0,1] 0.8720799530837651 Centerline is valid? [False, False] Translation: X:4.23, Y:0.36, Z:0.08 [[ 0.8985922 0.01618477 -0.43848617 4.22686687] [-0.03735655 0.99851312 -0.03969931 0.36268642] [ 0.43719167 0.05205382 0.89786071 0.08363138] [ 0. 0. 0. 1. ]] SLAMing on 105.97800114499998 meters Centerline goodness [0,1] 0.8689690696362432 Centerline is valid? [False, False] Translation: X:4.23, Y:0.37, Z:0.08 [[ 0.89850179 0.01612015 -0.43867376 4.22771355] [-0.03759212 0.99848 -0.04030544 0.36572938] [ 0.43735725 0.05270518 0.89774206 0.08427601] [ 0. 0. 0. 1. ]] SLAMing on 106.00800114499998 meters Centerline goodness [0,1] 0.8725396475231022 Centerline is valid? [False, False] Translation: X:4.23, Y:0.37, Z:0.09 [[ 0.89843113 0.01575824 -0.43883161 4.2275472 ] [-0.03747617 0.99846134 -0.04087164 0.36727487] [ 0.43751233 0.05316608 0.89763931 0.08506524] [ 0. 0. 0. 1. ]] SLAMing on 106.03800114499998 meters Centerline goodness [0,1] 0.8692555203497654 Centerline is valid? [False, False] Translation: X:4.23, Y:0.37, Z:0.09 [[ 0.89836975 0.01523871 -0.43897559 4.22721835] [-0.03724208 0.99844184 -0.04155628 0.36908037] [ 0.43765833 0.05368127 0.89753747 0.08590049] [ 0. 0. 0. 1. ]] SLAMing on 106.06800114499998 meters Centerline goodness [0,1] 0.87000811987894 Centerline is valid? [False, False] Translation: X:4.23, Y:0.37, Z:0.09 [[ 0.89829471 0.01465544 -0.439149 4.22700185] [-0.03690685 0.99842837 -0.04217434 0.37092167] [ 0.43784073 0.05409259 0.8974238 0.08661724] [ 0. 0. 0. 1. ]] SLAMing on 106.09800114499998 meters Centerline goodness [0,1] 0.8657537626449543 Centerline is valid? [False, False] Translation: X:4.23, Y:0.37, Z:0.09 [[ 0.89838238 0.01355652 -0.43900493 4.22604323] [-0.03600632 0.9984324 -0.04285184 0.3721166 ] [ 0.43773582 0.05430429 0.8974622 0.08659684] [ 0. 0. 0. 1. ]] SLAMing on 106.12800114499998 meters Centerline goodness [0,1] 0.8667866564757514 Centerline is valid? [False, False] Translation: X:4.23, Y:0.37, Z:0.09 [[ 0.89841884 0.01322722 -0.43894035 4.22612141] [-0.03558246 0.99845231 -0.04274205 0.37129547] [ 0.43769565 0.05401884 0.89749902 0.08600682] [ 0. 0. 0. 1. ]] SLAMing on 106.15800114499999 meters Centerline goodness [0,1] 0.8641826033312769 Centerline is valid? [False, False] Translation: X:4.23, Y:0.37, Z:0.09 [[ 0.89845478 0.0129014 -0.43887648 4.22634495] [-0.03514734 0.99847374 -0.04260102 0.37023048] [ 0.43765703 0.05370043 0.89753696 0.08531782] [ 0. 0. 0. 1. ]] SLAMing on 106.18800114499999 meters Centerline goodness [0,1] 0.8606011252591057 Centerline is valid? [False, False] Translation: X:4.23, Y:0.37, Z:0.08 [[ 0.89847104 0.01252854 -0.438854 4.22664345] [-0.03467791 0.99849484 -0.04249116 0.3694382 ] [ 0.4376611 0.05339562 0.89755316 0.0846505 ] [ 0. 0. 0. 1. ]] SLAMing on 106.21800114499999 meters Centerline goodness [0,1] 0.8509736881224914 Centerline is valid? [False, False] Translation: X:4.23, Y:0.37, Z:0.08 [[ 0.89865619 0.01146464 -0.43850384 4.22586255] [-0.03362277 0.99851777 -0.04279931 0.36996718] [ 0.43736319 0.05320558 0.89770964 0.08366836] [ 0. 0. 0. 1. ]] SLAMing on 106.24800114499999 meters Centerline goodness [0,1] 0.8493741479737266 Centerline is valid? [False, False] Translation: X:4.23, Y:0.37, Z:0.08 [[ 0.89864462 0.01098754 -0.43853976 4.22568491] [-0.03331624 0.99850848 -0.04325334 0.37113202] [ 0.43741042 0.05347987 0.89767034 0.08396651] [ 0. 0. 0. 1. ]] SLAMing on 106.27800114499998 meters Centerline goodness [0,1] 0.8480459141842034 Centerline is valid? [False, False] Translation: X:4.23, Y:0.37, Z:0.08 [[ 0.89854243 0.0106808 -0.43875667 4.22576176] [-0.03321151 0.99849216 -0.04370818 0.37228704] [ 0.43762826 0.05384543 0.8975423 0.08469649] [ 0. 0. 0. 1. ]] SLAMing on 106.30800114499998 meters Centerline goodness [0,1] 0.8480527560034838 Centerline is valid? [False, False] Translation: X:4.23, Y:0.37, Z:0.09 [[ 0.89853161 0.01030497 -0.43878782 4.22569282] [-0.03318117 0.99845827 -0.04449815 0.37476859] [ 0.43765278 0.05454249 0.89748825 0.08540909] [ 0. 0. 0. 1. ]] SLAMing on 106.33800114499998 meters Centerline goodness [0,1] 0.8518509304408399 Centerline is valid? [False, False] Translation: X:4.23, Y:0.38, Z:0.09 [[ 0.89836924 0.01031593 -0.4391199 4.22624924] [-0.03342918 0.99843042 -0.04493537 0.37649591] [ 0.43796712 0.05504798 0.89730403 0.08642666] [ 0. 0. 0. 1. ]] SLAMing on 106.36800114499998 meters Centerline goodness [0,1] 0.8554141871872121 Centerline is valid? [False, False] Translation: X:4.23, Y:0.38, Z:0.09 [[ 0.8984285 0.01524989 -0.43885495 4.22584826] [-0.03691512 0.99848204 -0.0408765 0.37606822] [ 0.43756542 0.05292499 0.89762768 0.08568302] [ 0. 0. 0. 1. ]] SLAMing on 106.39800114499998 meters Centerline goodness [0,1] 0.8551097994097344 Centerline is valid? [False, False] Translation: X:4.22, Y:0.38, Z:0.09 [[ 0.89850217 0.01987897 -0.43851873 4.22497798] [-0.04021388 0.9985009 -0.03713205 0.3760573 ] [ 0.4371232 0.05099776 0.89795464 0.08517699] [ 0. 0. 0. 1. ]] SLAMing on 106.42800114499998 meters Centerline goodness [0,1] 0.8601080537756 Centerline is valid? [False, False] Translation: X:4.22, Y:0.38, Z:0.08 [[ 0.89867459 0.02422807 -0.43794631 4.22354944] [-0.04338911 0.99848643 -0.03379704 0.37801586] [ 0.43646461 0.04937464 0.89836562 0.08462098] [ 0. 0. 0. 1. ]] SLAMing on 106.45800114499998 meters Centerline goodness [0,1] 0.8635313614221864 Centerline is valid? [False, False] Translation: X:4.22, Y:0.38, Z:0.09 [[ 0.89850877 0.02413953 -0.4382913 4.22431214] [-0.04350671 0.99846766 -0.03419786 0.37916924] [ 0.43679417 0.04979568 0.89818219 0.08537369] [ 0. 0. 0. 1. ]] SLAMing on 106.48800114499998 meters Centerline goodness [0,1] 0.8600437834981505 Centerline is valid? [False, False] Translation: X:4.22, Y:0.38, Z:0.09 [[ 0.89844365 0.02402971 -0.43843081 4.22499883] [-0.04351542 0.99845865 -0.03444894 0.38012539] [ 0.43692723 0.05002893 0.8981045 0.0854995 ] [ 0. 0. 0. 1. ]] SLAMing on 106.51800114499999 meters Centerline goodness [0,1] 0.8601352715525944 Centerline is valid? [False, False] Translation: X:4.23, Y:0.38, Z:0.09 [[ 0.89835011 0.02396167 -0.43862618 4.22561189] [-0.0435818 0.99844651 -0.03471582 0.38102704] [ 0.43711293 0.05030308 0.89799882 0.08585301] [ 0. 0. 0. 1. ]] SLAMing on 106.54800114499999 meters Centerline goodness [0,1] 0.8638921275409337 Centerline is valid? [False, False] Translation: X:4.23, Y:0.38, Z:0.09 [[ 0.89826291 0.02384063 -0.43881131 4.22683896] [-0.04367829 0.99842652 -0.03516653 0.38329221] [ 0.43728246 0.05075532 0.89789083 0.08597262] [ 0. 0. 0. 1. ]] SLAMing on 106.57800114499999 meters Centerline goodness [0,1] 0.8688284095507892 Centerline is valid? [False, False] Translation: X:4.23, Y:0.38, Z:0.09 [[ 0.89808852 0.02394012 -0.43916271 4.22802962] [-0.04391957 0.99840807 -0.0353893 0.38462436] [ 0.43761637 0.05107056 0.89771026 0.08648231] [ 0. 0. 0. 1. ]] SLAMing on 106.60800114499999 meters Centerline goodness [0,1] 0.877404944413422 Centerline is valid? [False, False] Translation: X:4.23, Y:0.39, Z:0.09 [[ 0.89790872 0.0288772 -0.43923346 4.228606 ] [-0.04775016 0.9983473 -0.03197801 0.38762544] [ 0.4375841 0.0496868 0.89780364 0.08682531] [ 0. 0. 0. 1. ]] SLAMing on 106.63800114499999 meters Centerline goodness [0,1] 0.8806449966831658 Centerline is valid? [False, False] Translation: X:4.23, Y:0.39, Z:0.09 [[ 0.89763078 0.02930185 -0.4397731 4.23065704] [-0.04841826 0.99830439 -0.03231111 0.39040968] [ 0.43808065 0.05029649 0.8975275 0.08775457] [ 0. 0. 0. 1. ]] SLAMing on 106.66800114499998 meters Centerline goodness [0,1] 0.8806822547186723 Centerline is valid? [False, False] Translation: X:4.23, Y:0.39, Z:0.09 [[ 0.89731278 0.02980027 -0.44038814 4.23288681] [-0.04914596 0.99825987 -0.03258689 0.39267196] [ 0.43865071 0.05088393 0.8972159 0.08878223] [ 0. 0. 0. 1. ]] SLAMing on 106.69800114499998 meters Centerline goodness [0,1] 0.8795727021211189 Centerline is valid? [False, False] Translation: X:4.23, Y:0.39, Z:0.09 [[ 0.89708105 0.02999394 -0.44084687 4.23446638] [-0.04963444 0.9982193 -0.03308539 0.39492195] [ 0.43906949 0.05156146 0.89697235 0.08973336] [ 0. 0. 0. 1. ]] SLAMing on 106.72800114499998 meters Centerline goodness [0,1] 0.8860854294716182 Centerline is valid? [False, False] Translation: X:4.23, Y:0.40, Z:0.09 [[ 0.89705499 0.03492877 -0.44053642 4.23432747] [-0.05346263 0.99812729 -0.0297264 0.39755186] [ 0.43867311 0.05021845 0.89724245 0.08966617] [ 0. 0. 0. 1. ]] SLAMing on 106.75800114499998 meters Centerline goodness [0,1] 0.8811080389674152 Centerline is valid? [False, False] Translation: X:4.23, Y:0.40, Z:0.09 [[ 0.89689216 0.03457147 -0.44089598 4.23482478] [-0.05353526 0.99809572 -0.0306415 0.40058165] [ 0.43899707 0.0510856 0.89703502 0.09093969] [ 0. 0. 0. 1. ]] SLAMing on 106.78800114499998 meters Centerline goodness [0,1] 0.8785653110482469 Centerline is valid? [False, False] Translation: X:4.24, Y:0.40, Z:0.09 [[ 0.89671378 0.03438966 -0.44127288 4.23577858] [-0.05368871 0.99806645 -0.03131905 0.40278523] [ 0.4393426 0.0517756 0.89682627 0.09192044] [ 0. 0. 0. 1. ]] SLAMing on 106.81800114499998 meters Centerline goodness [0,1] 0.8807850486751002 Centerline is valid? [False, False] Translation: X:4.24, Y:0.40, Z:0.09 [[ 0.8965307 0.03445957 -0.44163927 4.23714767] [-0.05397717 0.99803885 -0.03170055 0.40475498] [ 0.43968076 0.05225896 0.89663249 0.09253452] [ 0. 0. 0. 1. ]] SLAMing on 106.84800114499998 meters Centerline goodness [0,1] 0.8813019173501907 Centerline is valid? [False, False] Translation: X:4.24, Y:0.41, Z:0.09 [[ 0.89630738 0.03999829 -0.44162564 4.23907702] [-0.05806875 0.99793456 -0.02747072 0.40565534] [ 0.43961471 0.05026686 0.89677876 0.09160146] [ 0. 0. 0. 1. ]] SLAMing on 106.87800114499998 meters Centerline goodness [0,1] 0.8833918557727582 Centerline is valid? [False, False] Translation: X:4.24, Y:0.41, Z:0.09 [[ 0.89618202 0.03976882 -0.44190071 4.2395839 ] [-0.05816489 0.99790996 -0.02815255 0.40777719] [ 0.43985752 0.05093292 0.89662211 0.09254379] [ 0. 0. 0. 1. ]] SLAMing on 106.90800114499999 meters Centerline goodness [0,1] 0.8837948610162367 Centerline is valid? [False, False] Translation: X:4.24, Y:0.41, Z:0.09 [[ 0.89607345 0.03949852 -0.44214504 4.23971003] [-0.05821682 0.9978873 -0.02884003 0.40955332] [ 0.44007178 0.05158306 0.89647979 0.09358727] [ 0. 0. 0. 1. ]] SLAMing on 106.93800114499999 meters Centerline goodness [0,1] 0.8840046271952887 Centerline is valid? [False, False] Translation: X:4.24, Y:0.41, Z:0.10 [[ 0.89593469 0.03940209 -0.44243475 4.23984603] [-0.05865135 0.99783049 -0.02990537 0.41290565] [ 0.44029654 0.05274265 0.89630194 0.09545911] [ 0. 0. 0. 1. ]] SLAMing on 106.96800114499999 meters Centerline goodness [0,1] 0.8801609425130175 Centerline is valid? [False, False] Translation: X:4.24, Y:0.41, Z:0.10 [[ 0.89580132 0.03922942 -0.44272005 4.24007175] [-0.05876861 0.99780568 -0.03049707 0.41453395] [ 0.4405522 0.05333736 0.89614111 0.09659577] [ 0. 0. 0. 1. ]] SLAMing on 106.99800114499999 meters Centerline goodness [0,1] 0.8847725774555043 Centerline is valid? [False, False] Translation: X:4.24, Y:0.42, Z:0.10 [[ 0.89566199 0.0390242 -0.44302 4.24036118] [-0.05877829 0.99779145 -0.03094097 0.41566179] [ 0.44083412 0.05375261 0.89597764 0.09749659] [ 0. 0. 0. 1. ]] SLAMing on 107.02800114499998 meters Centerline goodness [0,1] 0.8872629298959269 Centerline is valid? [False, False] Translation: X:4.24, Y:0.42, Z:0.10 [[ 0.89556158 0.03894481 -0.44322992 4.24038376] [-0.05882774 0.9977807 -0.03119257 0.41596759] [ 0.44103147 0.05400908 0.89586509 0.09822212] [ 0. 0. 0. 1. ]] SLAMing on 107.05800114499998 meters Centerline goodness [0,1] 0.8842693961537447 Centerline is valid? [False, False] Translation: X:4.24, Y:0.42, Z:0.10 [[ 0.89552934 0.03887557 -0.44330114 4.23999822] [-0.05891196 0.99776574 -0.03151057 0.41603536] [ 0.44108569 0.05433438 0.89581872 0.09901071] [ 0. 0. 0. 1. ]] SLAMing on 107.08800114499998 meters Centerline goodness [0,1] 0.8841919045230111 Centerline is valid? [False, False] Translation: X:4.24, Y:0.42, Z:0.10 [[ 0.89544688 0.03884663 -0.4434702 4.2400588 ] [-0.05897084 0.99775714 -0.03167236 0.41587322] [ 0.4412452 0.05451272 0.89572933 0.09960008] [ 0. 0. 0. 1. ]] SLAMing on 107.11800114499998 meters Centerline goodness [0,1] 0.8873536546777766 Centerline is valid? [False, False] Translation: X:4.24, Y:0.42, Z:0.10 [[ 0.89537736 0.03894058 -0.44360232 4.24028343] [-0.05908392 0.99775048 -0.03167122 0.41538014] [ 0.44137113 0.05456746 0.89566395 0.09991501] [ 0. 0. 0. 1. ]] SLAMing on 107.14800114499998 meters Centerline goodness [0,1] 0.8908827404479578 Centerline is valid? [False, False] Translation: X:4.24, Y:0.41, Z:0.10 [[ 0.89540248 0.03881771 -0.44356237 4.23967776] [-0.05902346 0.99774895 -0.03183187 0.41482166] [ 0.44132825 0.05468292 0.89567804 0.10027137] [ 0. 0. 0. 1. ]] SLAMing on 107.17800114499998 meters Centerline goodness [0,1] 0.88308955066821 Centerline is valid? [False, False] Translation: X:4.24, Y:0.41, Z:0.10 [[ 0.89544009 0.03881567 -0.44348662 4.2387337 ] [-0.05905355 0.99774473 -0.03190804 0.41348159] [ 0.44124791 0.05476119 0.89571284 0.10079956] [ 0. 0. 0. 1. ]] SLAMing on 107.20800114499998 meters Centerline goodness [0,1] 0.8884181162662175 Centerline is valid? [False, False] Translation: X:4.24, Y:0.41, Z:0.10 [[ 0.89527834 0.03911409 -0.44378687 4.23940922] [-0.05934353 0.99773161 -0.03178015 0.41292484] [ 0.44153714 0.05478796 0.89556866 0.10132495] [ 0. 0. 0. 1. ]] SLAMing on 107.23800114499998 meters Centerline goodness [0,1] 0.8900634804050155 Centerline is valid? [False, False] Translation: X:4.24, Y:0.41, Z:0.10 [[ 0.89520639 0.03912784 -0.44393077 4.23929262] [-0.05940606 0.99772547 -0.03185596 0.41233374] [ 0.44167458 0.05488984 0.89549465 0.1018622 ] [ 0. 0. 0. 1. ]] SLAMing on 107.26800114499999 meters Centerline goodness [0,1] 0.8869321015196452 Centerline is valid? [False, False] Translation: X:4.24, Y:0.41, Z:0.10 [[ 0.89525782 0.03913994 -0.44382598 4.23794518] [-0.05940882 0.99772554 -0.03184873 0.41061753] [ 0.44156995 0.05488001 0.89554685 0.10249004] [ 0. 0. 0. 1. ]] SLAMing on 107.29800114499999 meters Centerline goodness [0,1] 0.8871680837148463 Centerline is valid? [False, False] Translation: X:4.24, Y:0.41, Z:0.10 [[ 0.89524996 0.03884959 -0.44386735 4.23658708] [-0.05926733 0.99772228 -0.03221227 0.41011103] [ 0.44160491 0.05514487 0.89551334 0.10355424] [ 0. 0. 0. 1. ]] SLAMing on 107.32800114499999 meters Centerline goodness [0,1] 0.8872993081843101 Centerline is valid? [False, False] Translation: X:4.24, Y:0.41, Z:0.10 [[ 0.89526121 0.03855276 -0.44387053 4.23546253] [-0.0591016 0.99772126 -0.03254656 0.40973516] [ 0.44160431 0.05537113 0.89549968 0.10436339] [ 0. 0. 0. 1. ]] SLAMing on 107.35800114499999 meters Centerline goodness [0,1] 0.888354186717998 Centerline is valid? [False, False] Translation: X:4.24, Y:0.41, Z:0.10 [[ 0.8952152 0.03916114 -0.44391008 4.23588924] [-0.05930706 0.99774004 -0.03158284 0.40538806] [ 0.44167004 0.05460044 0.89551458 0.10369278] [ 0. 0. 0. 1. ]] SLAMing on 107.38800114499999 meters Centerline goodness [0,1] 0.8869132474534097 Centerline is valid? [False, False] Translation: X:4.24, Y:0.40, Z:0.10 [[ 0.89512385 0.03963269 -0.4440524 4.23689294] [-0.0594746 0.99775339 -0.03083755 0.40207776] [ 0.44183261 0.05401326 0.89546999 0.10304909] [ 0. 0. 0. 1. ]] SLAMing on 107.41800114499998 meters Centerline goodness [0,1] 0.884936104298438 Centerline is valid? [False, False] Translation: X:4.24, Y:0.40, Z:0.10 [[ 0.89500093 0.04008273 -0.44425973 4.23804253] [-0.05963488 0.99776581 -0.03011773 0.39908809] [ 0.44205996 0.05344877 0.89539166 0.10249624] [ 0. 0. 0. 1. ]] SLAMing on 107.44800114499998 meters Centerline goodness [0,1] 0.888390092879257 Centerline is valid? [False, False] Translation: X:4.24, Y:0.40, Z:0.10 [[ 0.89490042 0.04051933 -0.44442257 4.23898425] [-0.05979639 0.99777645 -0.02943726 0.39653145] [ 0.4422416 0.05291828 0.89533347 0.10200405] [ 0. 0. 0. 1. ]] SLAMing on 107.47800114499998 meters Centerline goodness [0,1] 0.88664113307457 Centerline is valid? [False, False] Translation: X:4.24, Y:0.39, Z:0.10 [[ 0.89490324 0.04050743 -0.44441799 4.2382315 ] [-0.05957177 0.9978024 -0.02900999 0.39327789] [ 0.44226621 0.0524359 0.89534969 0.10197666] [ 0. 0. 0. 1. ]] SLAMing on 107.50800114499998 meters Centerline goodness [0,1] 0.8851373887164224 Centerline is valid? [False, False] Translation: X:4.24, Y:0.39, Z:0.10 [[ 0.8948669 0.04045765 -0.44449569 4.2377845 ] [-0.05948278 0.99780997 -0.02893196 0.39190267] [ 0.44235171 0.05233009 0.89531365 0.10233325] [ 0. 0. 0. 1. ]] SLAMing on 107.53800114499998 meters Centerline goodness [0,1] 0.8822445689721348 Centerline is valid? [False, False] Translation: X:4.24, Y:0.39, Z:0.10 [[ 0.89484837 0.0405428 -0.44452522 4.23742457] [-0.05948093 0.99781586 -0.02873215 0.39026004] [ 0.44238944 0.0521517 0.89530542 0.10252522] [ 0. 0. 0. 1. ]] SLAMing on 107.56800114499998 meters Centerline goodness [0,1] 0.8861994127409677 Centerline is valid? [False, False] Translation: X:4.24, Y:0.39, Z:0.10 [[ 0.89477527 0.04058477 -0.44466853 4.23708007] [-0.05948188 0.99781901 -0.02862055 0.38865875] [ 0.44253715 0.05205868 0.89523783 0.10299947] [ 0. 0. 0. 1. ]] SLAMing on 107.59800114499998 meters Centerline goodness [0,1] 0.8861994127409677 Centerline is valid? [False, False] Translation: X:4.24, Y:0.39, Z:0.10 [[ 0.89477527 0.04058477 -0.44466853 4.23708007] [-0.05948188 0.99781901 -0.02862055 0.38865875] [ 0.44253715 0.05205868 0.89523783 0.10299947] [ 0. 0. 0. 1. ]] SLAMing on 107.62800114499998 meters Centerline goodness [0,1] 0.8867047619047619 Centerline is valid? [False, False] Translation: X:4.24, Y:0.38, Z:0.10 [[ 0.89477598 0.0408229 -0.44464529 4.23645266] [-0.05944834 0.99783809 -0.02801852 0.38484841] [ 0.44254021 0.05150372 0.89526841 0.1028403 ] [ 0. 0. 0. 1. ]] SLAMing on 107.65800114499999 meters Centerline goodness [0,1] 0.8848021855711828 Centerline is valid? [False, False] Translation: X:4.24, Y:0.38, Z:0.10 [[ 0.89471928 0.04111118 -0.44473282 4.23673015] [-0.05957807 0.99784148 -0.02761929 0.38289718] [ 0.4426374 0.05120783 0.89523734 0.10275316] [ 0. 0. 0. 1. ]] SLAMing on 107.68800114499999 meters Centerline goodness [0,1] 0.8854913485167076 Centerline is valid? [False, False] Translation: X:4.24, Y:0.38, Z:0.10 [[ 0.89474206 0.04110665 -0.44468741 4.23637633] [-0.05948429 0.99785187 -0.02744568 0.38119468] [ 0.44260396 0.05100872 0.89526524 0.10266936] [ 0. 0. 0. 1. ]] SLAMing on 107.71800114499999 meters Centerline goodness [0,1] 0.8869032615818924 Centerline is valid? [False, False] Translation: X:4.24, Y:0.38, Z:0.10 [[ 0.89481116 0.04114071 -0.44454519 4.23572761] [-0.05939187 0.9978641 -0.02720008 0.37928958] [ 0.44247666 0.0507413 0.89534336 0.10251276] [ 0. 0. 0. 1. ]] SLAMing on 107.74800114499999 meters Centerline goodness [0,1] 0.8847230982717296 Centerline is valid? [False, False] Translation: X:4.24, Y:0.38, Z:0.10 [[ 0.89463689 0.04121074 -0.44488933 4.23617349] [-0.05954213 0.99785236 -0.02730198 0.37898426] [ 0.44280874 0.05091502 0.8951693 0.10324974] [ 0. 0. 0. 1. ]] SLAMing on 107.77800114499998 meters Centerline goodness [0,1] 0.8853927481012339 Centerline is valid? [False, False] Translation: X:4.24, Y:0.38, Z:0.10 [[ 0.89456934 0.04138105 -0.44500933 4.23673104] [-0.059692 0.99784604 -0.02720552 0.37826906] [ 0.44292501 0.05090072 0.89511259 0.10329281] [ 0. 0. 0. 1. ]] SLAMing on 107.80800114499998 meters Centerline goodness [0,1] 0.88711786001609 Centerline is valid? [False, False] Translation: X:4.24, Y:0.38, Z:0.10 [[ 0.89449756 0.04153553 -0.44513921 4.23709123] [-0.05981229 0.99784215 -0.02708377 0.37708682] [ 0.44305373 0.05085116 0.8950517 0.10340174] [ 0. 0. 0. 1. ]] SLAMing on 107.83800114499998 meters Centerline goodness [0,1] 0.8905047263244992 Centerline is valid? [False, False] Translation: X:4.24, Y:0.38, Z:0.10 [[ 0.89448992 0.04184586 -0.4451255 4.23662046] [-0.06002877 0.99783618 -0.02682349 0.37504219] [ 0.44303988 0.05071368 0.89506636 0.10369622] [ 0. 0. 0. 1. ]] SLAMing on 107.86800114499998 meters Centerline goodness [0,1] 0.888095953525641 Centerline is valid? [False, False] Translation: X:4.24, Y:0.37, Z:0.10 [[ 0.89442745 0.04184265 -0.44525132 4.23643025] [-0.06005503 0.99783341 -0.02686769 0.37428978] [ 0.44316242 0.05077078 0.89500245 0.10415701] [ 0. 0. 0. 1. ]] SLAMing on 107.89800114499998 meters Centerline goodness [0,1] 0.89040239940015 Centerline is valid? [False, False] Translation: X:4.24, Y:0.37, Z:0.10 [[ 0.8943351 0.04203101 -0.44541905 4.23668066] [-0.06014641 0.99783491 -0.02660648 0.37287947] [ 0.44333638 0.05058547 0.89492679 0.10429828] [ 0. 0. 0. 1. ]] SLAMing on 107.92800114499998 meters Centerline goodness [0,1] 0.8915119032780755 Centerline is valid? [False, False] Translation: X:4.24, Y:0.37, Z:0.10 [[ 0.89427788 0.0422118 -0.44551681 4.2368614 ] [-0.0601974 0.99784023 -0.02628984 0.37117231] [ 0.44344485 0.05032938 0.89488749 0.10428925] [ 0. 0. 0. 1. ]] SLAMing on 107.95800114499998 meters Centerline goodness [0,1] 0.8941027424483307 Centerline is valid? [False, False] Translation: X:4.24, Y:0.37, Z:0.10 [[ 0.89428226 0.04240488 -0.44548968 4.23667949] [-0.0600168 0.99787175 -0.02549403 0.3670529 ] [ 0.4434605 0.04953573 0.89492402 0.10362988] [ 0. 0. 0. 1. ]] SLAMing on 107.98800114499998 meters Centerline goodness [0,1] 0.8947120975923589 Centerline is valid? [False, False] Translation: X:4.24, Y:0.37, Z:0.10 [[ 0.89416384 0.04266634 -0.44570238 4.23730332] [-0.0601039 0.99787764 -0.02505472 0.36519401] [ 0.44368744 0.04919148 0.89483052 0.10356093] [ 0. 0. 0. 1. ]] SLAMing on 108.01800114499999 meters Centerline goodness [0,1] 0.8932617622322268 Centerline is valid? [False, False] Translation: X:4.24, Y:0.36, Z:0.10 [[ 0.89409117 0.04300268 -0.44581582 4.23786679] [-0.06021616 0.99788439 -0.02451019 0.36317601] [ 0.44381865 0.04875966 0.89478908 0.10325574] [ 0. 0. 0. 1. ]] SLAMing on 108.04800114499999 meters Centerline goodness [0,1] 0.891867366459018 Centerline is valid? [False, False] Translation: X:4.24, Y:0.36, Z:0.10 [[ 0.89401862 0.03881515 -0.44634526 4.23978211] [-0.057123 0.99798477 -0.02762905 0.36046848] [ 0.44437334 0.05019746 0.8944342 0.10327882] [ 0. 0. 0. 1. ]] SLAMing on 108.07800114499999 meters Centerline goodness [0,1] 0.8934327993151523 Centerline is valid? [False, False] Translation: X:4.24, Y:0.36, Z:0.10 [[ 0.89391594 0.03925702 -0.44651224 4.24051401] [-0.05725439 0.9979977 -0.02687988 0.35757275] [ 0.44456297 0.04959314 0.89437369 0.10284199] [ 0. 0. 0. 1. ]] SLAMing on 108.10800114499999 meters Centerline goodness [0,1] 0.892725632209135 Centerline is valid? [False, False] Translation: X:4.24, Y:0.36, Z:0.10 [[ 0.89386621 0.03941457 -0.44659791 4.24066073] [-0.05720676 0.99801272 -0.0264196 0.35528126] [ 0.44466908 0.04916401 0.89434463 0.10262619] [ 0. 0. 0. 1. ]] SLAMing on 108.13800114499999 meters Centerline goodness [0,1] 0.8923133235724744 Centerline is valid? [False, False] Translation: X:4.24, Y:0.35, Z:0.10 [[ 0.89379204 0.03950779 -0.44673808 4.24059648] [-0.05715851 0.998024 -0.02609604 0.35309876] [ 0.44482433 0.04885931 0.89428412 0.10274379] [ 0. 0. 0. 1. ]] SLAMing on 108.16800114499998 meters Centerline goodness [0,1] 0.8932295455647703 Centerline is valid? [False, False] Translation: X:4.24, Y:0.35, Z:0.10 [[ 0.89367805 0.03989728 -0.44693148 4.24056136] [-0.05717961 0.99804479 -0.02524077 0.34876677] [ 0.44505059 0.04811249 0.89421203 0.10265201] [ 0. 0. 0. 1. ]] SLAMing on 108.19800114499998 meters Centerline goodness [0,1] 0.893439450384634 Centerline is valid? [False, False] Translation: X:4.24, Y:0.35, Z:0.10 [[ 0.89353866 0.04024297 -0.44717912 4.24135178] [-0.05741294 0.99803985 -0.02490408 0.3474889 ] [ 0.44530037 0.04792662 0.89409766 0.10274739] [ 0. 0. 0. 1. ]] SLAMing on 108.22800114499998 meters Centerline goodness [0,1] 0.8951645966477753 Centerline is valid? [False, False] Translation: X:4.24, Y:0.35, Z:0.10 [[ 0.89340129 0.04064507 -0.44741717 4.24203595] [-0.05769748 0.99803233 -0.02454512 0.34610243] [ 0.44553916 0.04774349 0.89398849 0.10293026] [ 0. 0. 0. 1. ]] SLAMing on 108.25800114499998 meters Centerline goodness [0,1] 0.8943949963916286 Centerline is valid? [False, False] Translation: X:4.24, Y:0.34, Z:0.10 [[ 0.89318384 0.04115585 -0.44780444 4.2429672 ] [-0.05802122 0.99802673 -0.02400373 0.3441997 ] [ 0.44593291 0.0474219 0.89380926 0.10316149] [ 0. 0. 0. 1. ]] SLAMing on 108.28800114499998 meters Centerline goodness [0,1] 0.8939780494849331 Centerline is valid? [False, False] Translation: X:4.24, Y:0.34, Z:0.10 [[ 0.89302805 0.04148199 -0.44808497 4.24410674] [-0.0582286 0.99802296 -0.02365575 0.34310584] [ 0.4462178 0.04721661 0.89367794 0.10310764] [ 0. 0. 0. 1. ]] SLAMing on 108.31800114499998 meters Centerline goodness [0,1] 0.8943196829590488 Centerline is valid? [False, False] Translation: X:4.25, Y:0.34, Z:0.10 [[ 0.89290936 0.04206402 -0.44826722 4.24529516] [-0.05860019 0.99801479 -0.02307584 0.34116294] [ 0.44640665 0.04687318 0.8936017 0.10279144] [ 0. 0. 0. 1. ]] SLAMing on 108.34800114499998 meters Centerline goodness [0,1] 0.8924592049457264 Centerline is valid? [False, False] Translation: X:4.25, Y:0.34, Z:0.10 [[ 0.89275826 0.04264606 -0.44851311 4.24646309] [-0.05896089 0.99800744 -0.02246699 0.33859844] [ 0.44666129 0.04650232 0.89349383 0.1025884 ] [ 0. 0. 0. 1. ]] SLAMing on 108.37800114499998 meters Centerline goodness [0,1] 0.8924286601978872 Centerline is valid? [False, False] Translation: X:4.25, Y:0.34, Z:0.10 [[ 0.8927524 0.04286216 -0.44850417 4.24652252] [-0.05890042 0.99802441 -0.0218638 0.3351334 ] [ 0.44668098 0.04593605 0.89351328 0.10207294] [ 0. 0. 0. 1. ]] SLAMing on 108.40800114499999 meters Centerline goodness [0,1] 0.8927139037433155 Centerline is valid? [False, False] Translation: X:4.25, Y:0.33, Z:0.10 [[ 0.89267228 0.0427735 -0.44867208 4.24643843] [-0.05876157 0.99803475 -0.02176507 0.33410832] [ 0.44685935 0.04579375 0.89343139 0.102398 ] [ 0. 0. 0. 1. ]] SLAMing on 108.43800114499999 meters Centerline goodness [0,1] 0.8934692318709123 Centerline is valid? [False, False] Translation: X:4.25, Y:0.33, Z:0.10 [[ 0.89262704 0.04253226 -0.448785 4.24600358] [-0.0584636 0.99805376 -0.02169573 0.33276086] [ 0.44698879 0.04560378 0.89337636 0.10268752] [ 0. 0. 0. 1. ]] SLAMing on 108.46800114499999 meters Centerline goodness [0,1] 0.8933599221328016 Centerline is valid? [False, False] Translation: X:4.24, Y:0.33, Z:0.10 [[ 0.89284109 0.03647898 -0.44889205 4.24382935] [-0.05391186 0.99820424 -0.02611152 0.33102601] [ 0.44713343 0.04751405 0.89320441 0.10380758] [ 0. 0. 0. 1. ]] SLAMing on 108.49800114499999 meters Centerline goodness [0,1] 0.8927576601671309 Centerline is valid? [False, False] Translation: X:4.24, Y:0.33, Z:0.10 [[ 0.89293067 0.03579149 -0.44876919 4.24198772] [-0.05320713 0.99823832 -0.02625368 0.32871893] [ 0.44703894 0.04732043 0.89326198 0.10412813] [ 0. 0. 0. 1. ]] SLAMing on 108.52800114499998 meters Centerline goodness [0,1] 0.8908602530571853 Centerline is valid? [False, False] Translation: X:4.24, Y:0.33, Z:0.10 [[ 0.89293478 0.03554502 -0.4487806 4.24103166] [-0.0528721 0.99825928 -0.02613345 0.32648486] [ 0.44707049 0.04706344 0.89325977 0.10441616] [ 0. 0. 0. 1. ]] SLAMing on 108.55800114499998 meters Centerline goodness [0,1] 0.8889959348638297 Centerline is valid? [False, False] Translation: X:4.24, Y:0.32, Z:0.10 [[ 0.89288333 0.03565628 -0.44887414 4.24089809] [-0.05278781 0.99827485 -0.02570562 0.32388827] [ 0.44718319 0.0466472 0.89322519 0.10440811] [ 0. 0. 0. 1. ]] SLAMing on 108.58800114499998 meters Centerline goodness [0,1] 0.8932815570319079 Centerline is valid? [False, False] Translation: X:4.24, Y:0.32, Z:0.11 [[ 0.8926645 0.03144008 -0.44962386 4.24304654] [-0.0497715 0.99833937 -0.0290051 0.32191979] [ 0.44796528 0.04827028 0.89274693 0.1051022 ] [ 0. 0. 0. 1. ]] SLAMing on 108.61800114499998 meters Centerline goodness [0,1] 0.8936358967175608 Centerline is valid? [False, False] Translation: X:4.24, Y:0.32, Z:0.11 [[ 0.89257032 0.03133846 -0.44981787 4.2432812 ] [-0.04968576 0.99834271 -0.02903734 0.32151052] [ 0.44816241 0.04826741 0.89264815 0.10543022] [ 0. 0. 0. 1. ]] SLAMing on 108.64800114499998 meters Centerline goodness [0,1] 0.8923957481602617 Centerline is valid? [False, False] Translation: X:4.24, Y:0.32, Z:0.11 [[ 0.89244941 0.03119612 -0.4500676 4.24342495] [-0.0496298 0.99834037 -0.02921281 0.32183002] [ 0.44840933 0.04840772 0.89251653 0.10604191] [ 0. 0. 0. 1. ]] SLAMing on 108.67800114499998 meters Centerline goodness [0,1] 0.8935331046232118 Centerline is valid? [False, False] Translation: X:4.24, Y:0.32, Z:0.11 [[ 0.8923962 0.0313243 -0.4501642 4.24364683] [-0.04971444 0.99833991 -0.02908424 0.32083657] [ 0.44850585 0.04833433 0.89247201 0.10625737] [ 0. 0. 0. 1. ]] SLAMing on 108.70800114499998 meters Centerline goodness [0,1] 0.8932724349264791 Centerline is valid? [False, False] Translation: X:4.24, Y:0.32, Z:0.11 [[ 0.89227901 0.03184439 -0.45035997 4.24484363] [-0.05006124 0.99833677 -0.02859307 0.31893533] [ 0.44870039 0.04805857 0.89238911 0.10602467] [ 0. 0. 0. 1. ]] SLAMing on 108.73800114499998 meters Centerline goodness [0,1] 0.8944830157029029 Centerline is valid? [False, False] Translation: X:4.25, Y:0.32, Z:0.11 [[ 0.89220276 0.03218634 -0.45048671 4.24553092] [-0.05030116 0.99833323 -0.02829415 0.31755304] [ 0.44882517 0.04790412 0.89233467 0.10597821] [ 0. 0. 0. 1. ]] SLAMing on 108.76800114499999 meters Centerline goodness [0,1] 0.8987483132474059 Centerline is valid? [False, False] Translation: X:4.25, Y:0.32, Z:0.11 [[ 0.89212289 0.03241045 -0.4506288 4.24635883] [-0.05051359 0.99832514 -0.02820094 0.31727526] [ 0.44896006 0.04792159 0.89226587 0.10600218] [ 0. 0. 0. 1. ]] SLAMing on 108.79800114499999 meters Centerline goodness [0,1] 0.8985554368526174 Centerline is valid? [False, False] Translation: X:4.25, Y:0.32, Z:0.11 [[ 0.89205832 0.03236047 -0.4507602 4.2466955 ] [-0.05070919 0.99830143 -0.02868499 0.31917503] [ 0.44906629 0.04844637 0.89218407 0.10676975] [ 0. 0. 0. 1. ]] SLAMing on 108.82800114499999 meters Centerline goodness [0,1] 0.8985800744878957 Centerline is valid? [False, False] Translation: X:4.25, Y:0.32, Z:0.11 [[ 0.8920136 0.03213669 -0.45086468 4.24641929] [-0.05071285 0.99828698 -0.02917709 0.32025928] [ 0.44915469 0.04889099 0.89211531 0.10755135] [ 0. 0. 0. 1. ]] SLAMing on 108.85800114499999 meters Centerline goodness [0,1] 0.897191691505216 Centerline is valid? [False, False] Translation: X:4.25, Y:0.32, Z:0.11 [[ 0.89197021 0.03198972 -0.45096097 4.24635368] [-0.0507601 0.99827255 -0.0295858 0.32133192] [ 0.44923552 0.04928047 0.89205319 0.10814205] [ 0. 0. 0. 1. ]] SLAMing on 108.88800114499999 meters Centerline goodness [0,1] 0.8943755690971492 Centerline is valid? [False, False] Translation: X:4.25, Y:0.32, Z:0.11 [[ 0.89185282 0.03189222 -0.45119999 4.24663736] [-0.05085156 0.9982569 -0.02995452 0.32245395] [ 0.44945819 0.04965925 0.89192001 0.10890412] [ 0. 0. 0. 1. ]] SLAMing on 108.91800114499998 meters Centerline goodness [0,1] 0.8938462617150069 Centerline is valid? [False, False] Translation: X:4.25, Y:0.32, Z:0.11 [[ 0.89181145 0.03167564 -0.451297 4.24725262] [-0.05069317 0.9982603 -0.03010925 0.32260049] [ 0.44955815 0.04972945 0.89186571 0.10881694] [ 0. 0. 0. 1. ]] SLAMing on 108.94800114499998 meters Centerline goodness [0,1] 0.8918931551027085 Centerline is valid? [False, False] Translation: X:4.25, Y:0.32, Z:0.11 [[ 0.89171491 0.03191523 -0.45147087 4.24863258] [-0.05080154 0.99826495 -0.02977077 0.32132711] [ 0.4497374 0.04948246 0.89178908 0.10831343] [ 0. 0. 0. 1. ]] SLAMing on 108.97800114499998 meters Centerline goodness [0,1] 0.8911504217979576 Centerline is valid? [False, False] Translation: X:4.25, Y:0.32, Z:0.11 [[ 0.89162297 0.03218132 -0.45163354 4.24976454] [-0.0509492 0.99826685 -0.02945293 0.32013172] [ 0.44990295 0.04927128 0.89171726 0.10800732] [ 0. 0. 0. 1. ]] SLAMing on 109.00800114499998 meters Centerline goodness [0,1] 0.8889822988183644 Centerline is valid? [False, False] Translation: X:4.25, Y:0.32, Z:0.11 [[ 0.89163107 0.03207713 -0.45162494 4.25000751] [-0.05088135 0.99826742 -0.0295507 0.32015649] [ 0.44989456 0.04932761 0.89171838 0.10794204] [ 0. 0. 0. 1. ]] SLAMing on 109.03800114499998 meters Centerline goodness [0,1] 0.8925557847365461 Centerline is valid? [False, False] Translation: X:4.25, Y:0.32, Z:0.11 [[ 0.89169479 0.03125771 -0.4515566 4.24894298] [-0.0504738 0.99825742 -0.03056977 0.32297927] [ 0.44981418 0.05005068 0.89171864 0.10889378] [ 0. 0. 0. 1. ]] SLAMing on 109.06800114499998 meters Centerline goodness [0,1] 0.8890166627552217 Centerline is valid? [False, False] Translation: X:4.25, Y:0.32, Z:0.11 [[ 0.89156 0.03115976 -0.45182943 4.24947941] [-0.05054725 0.99824359 -0.03089854 0.32402455] [ 0.45007304 0.05038664 0.89156909 0.10956388] [ 0. 0. 0. 1. ]] SLAMing on 109.09800114499998 meters Centerline goodness [0,1] 0.8877962919502465 Centerline is valid? [False, False] Translation: X:4.25, Y:0.32, Z:0.11 [[ 0.89149293 0.03113465 -0.45196348 4.25005247] [-0.05058976 0.99823761 -0.03102161 0.32432134] [ 0.4502011 0.05052027 0.89149687 0.10973827] [ 0. 0. 0. 1. ]] SLAMing on 109.12800114499998 meters Centerline goodness [0,1] 0.8896965717769545 Centerline is valid? [False, False] Translation: X:4.25, Y:0.32, Z:0.11 [[ 0.89141667 0.03128831 -0.45210326 4.25080026] [-0.05073777 0.99823213 -0.03095642 0.3240335 ] [ 0.45033543 0.05053378 0.89142826 0.10978081] [ 0. 0. 0. 1. ]] SLAMing on 109.15800114499999 meters Centerline goodness [0,1] 0.8882758944501831 Centerline is valid? [False, False] Translation: X:4.25, Y:0.32, Z:0.11 [[ 0.89130979 0.03142895 -0.45230419 4.25169505] [-0.05091562 0.99822261 -0.0309714 0.32403431] [ 0.45052687 0.05063446 0.8913258 0.10995763] [ 0. 0. 0. 1. ]] SLAMing on 109.18800114499999 meters Centerline goodness [0,1] 0.8858648349838865 Centerline is valid? [False, False] Translation: X:4.25, Y:0.32, Z:0.11 [[ 0.89128887 0.03130296 -0.45235415 4.25225412] [-0.05086815 0.99821946 -0.03115036 0.324826 ] [ 0.45057362 0.05077438 0.89129421 0.10996065] [ 0. 0. 0. 1. ]] SLAMing on 109.21800114499999 meters Centerline goodness [0,1] 0.8856222974243279 Centerline is valid? [False, False] Translation: X:4.25, Y:0.33, Z:0.11 [[ 0.89121255 0.0314048 -0.45249744 4.25308222] [-0.05102119 0.9982098 -0.03120935 0.32531913] [ 0.45070726 0.05090112 0.89121941 0.11006901] [ 0. 0. 0. 1. ]] SLAMing on 109.24800114499999 meters Centerline goodness [0,1] 0.8848239121210693 Centerline is valid? [False, False] Translation: X:4.25, Y:0.33, Z:0.11 [[ 0.89105928 0.03156914 -0.45278776 4.254551 ] [-0.05124488 0.99819705 -0.03125086 0.32616885] [ 0.45098484 0.05104943 0.8910705 0.11016505] [ 0. 0. 0. 1. ]] SLAMing on 109.27800114499998 meters Centerline goodness [0,1] 0.8829316746683065 Centerline is valid? [False, False] Translation: X:4.26, Y:0.33, Z:0.11 [[ 0.89085969 0.03208958 -0.45314377 4.25720908] [-0.05184745 0.99816614 -0.0312441 0.32856488] [ 0.45131016 0.05132846 0.89088974 0.11010436] [ 0. 0. 0. 1. ]] SLAMing on 109.30800114499998 meters Centerline goodness [0,1] 0.8872260696328622 Centerline is valid? [False, False] Translation: X:4.26, Y:0.33, Z:0.11 [[ 0.89073996 0.03239275 -0.45335751 4.25853616] [-0.05217815 0.99815032 -0.03119906 0.32899099] [ 0.45150832 0.0514456 0.89078257 0.1101474 ] [ 0. 0. 0. 1. ]] SLAMing on 109.33800114499998 meters Centerline goodness [0,1] 0.8870393237082067 Centerline is valid? [False, False] Translation: X:4.26, Y:0.33, Z:0.11 [[ 0.89067162 0.03264211 -0.45347387 4.25977739] [-0.05240208 0.99814247 -0.03107472 0.32891693] [ 0.45161718 0.05144035 0.89072769 0.10985445] [ 0. 0. 0. 1. ]] SLAMing on 109.36800114499998 meters Centerline goodness [0,1] 0.8860957620888372 Centerline is valid? [False, False] Translation: X:4.26, Y:0.33, Z:0.11 [[ 0.89051289 0.03294633 -0.45376352 4.26166519] [-0.05268917 0.9981318 -0.03093153 0.32890544] [ 0.45189671 0.05145335 0.89058515 0.10960076] [ 0. 0. 0. 1. ]] SLAMing on 109.39800114499998 meters Centerline goodness [0,1] 0.8864411597498578 Centerline is valid? [False, False] Translation: X:4.26, Y:0.33, Z:0.11 [[ 0.89035574 0.03309951 -0.45406065 4.26311191] [-0.05288231 0.99812145 -0.03093582 0.3293213 ] [ 0.45218372 0.05155567 0.89043354 0.10970272] [ 0. 0. 0. 1. ]] SLAMing on 109.42800114499998 meters Centerline goodness [0,1] 0.8884304379787058 Centerline is valid? [False, False] Translation: X:4.26, Y:0.33, Z:0.11 [[ 0.89020546 0.03322465 -0.45434608 4.26427636] [-0.05304185 0.99811295 -0.03093719 0.32970151] [ 0.45246083 0.05163981 0.89028789 0.10988839] [ 0. 0. 0. 1. ]] SLAMing on 109.45800114499998 meters Centerline goodness [0,1] 0.8862626790507637 Centerline is valid? [False, False] Translation: X:4.26, Y:0.33, Z:0.11 [[ 0.89015189 0.03299992 -0.45446739 4.26457763] [-0.05292925 0.99811087 -0.03119583 0.33026843] [ 0.45257939 0.05182364 0.89021694 0.11016879] [ 0. 0. 0. 1. ]] SLAMing on 109.48800114499998 meters Centerline goodness [0,1] 0.8862626790507637 Centerline is valid? [False, False] Translation: X:4.26, Y:0.33, Z:0.11 [[ 0.89015189 0.03299992 -0.45446739 4.26457763] [-0.05292925 0.99811087 -0.03119583 0.33026843] [ 0.45257939 0.05182364 0.89021694 0.11016879] [ 0. 0. 0. 1. ]] SLAMing on 109.51800114499999 meters Centerline goodness [0,1] 0.8861960709698902 Centerline is valid? [False, False] Translation: X:4.26, Y:0.33, Z:0.11 [[ 0.89006635 0.03276329 -0.45465203 4.26482432] [-0.05280021 0.99811004 -0.03144012 0.33076575] [ 0.45276267 0.05198951 0.89011407 0.11061187] [ 0. 0. 0. 1. ]] SLAMing on 109.54800114499999 meters Centerline goodness [0,1] 0.8829923882017127 Centerline is valid? [False, False] Translation: X:4.26, Y:0.33, Z:0.11 [[ 0.89002955 0.03216149 -0.45476701 4.26497515] [-0.05238917 0.99811571 -0.03194387 0.33201211] [ 0.45288273 0.05225585 0.89003739 0.11091327] [ 0. 0. 0. 1. ]] SLAMing on 109.57800114499999 meters Centerline goodness [0,1] 0.883713176633088 Centerline is valid? [False, False] Translation: X:4.27, Y:0.33, Z:0.11 [[ 0.88997542 0.03230942 -0.45486246 4.26573705] [-0.05243576 0.99812113 -0.0316971 0.33096253] [ 0.45298372 0.0520607 0.88999743 0.11060481] [ 0. 0. 0. 1. ]] SLAMing on 109.60800114499999 meters Centerline goodness [0,1] 0.8821725695269789 Centerline is valid? [False, False] Translation: X:4.27, Y:0.33, Z:0.11 [[ 0.88997795 0.0323065 -0.45485772 4.26606568] [-0.05235159 0.99813056 -0.03153877 0.32951147] [ 0.45298848 0.05188134 0.89000549 0.11028331] [ 0. 0. 0. 1. ]] SLAMing on 109.63800114499999 meters Centerline goodness [0,1] 0.8798810232004759 Centerline is valid? [False, False] Translation: X:4.26, Y:0.33, Z:0.11 [[ 0.89014254 0.03130199 -0.45460581 4.26428818] [-0.05158999 0.99814625 -0.03228837 0.32977562] [ 0.4527524 0.05219436 0.89010731 0.11071493] [ 0. 0. 0. 1. ]] SLAMing on 109.66800114499998 meters Centerline goodness [0,1] 0.8807018379201981 Centerline is valid? [False, False] Translation: X:4.26, Y:0.33, Z:0.11 [[ 0.89017315 0.03048822 -0.45460118 4.26318394] [-0.05106021 0.99814885 -0.03304139 0.33117775] [ 0.45275227 0.05262459 0.89008204 0.11149752] [ 0. 0. 0. 1. ]] SLAMing on 109.69800114499998 meters Centerline goodness [0,1] 0.8777043627602986 Centerline is valid? [False, False] Translation: X:4.26, Y:0.33, Z:0.11 [[ 0.89021534 0.02981515 -0.45456321 4.26216191] [-0.05057493 0.99815571 -0.03357601 0.3317796 ] [ 0.45272379 0.05287938 0.89008142 0.11204448] [ 0. 0. 0. 1. ]] SLAMing on 109.72800114499998 meters Centerline goodness [0,1] 0.8770511352795268 Centerline is valid? [False, False] Translation: X:4.26, Y:0.33, Z:0.11 [[ 0.89023866 0.02913348 -0.45456173 4.26111674] [-0.05005112 0.99816609 -0.03404903 0.33192287] [ 0.45273614 0.05306308 0.89006421 0.11259541] [ 0. 0. 0. 1. ]] SLAMing on 109.75800114499998 meters Centerline goodness [0,1] 0.8727935396269564 Centerline is valid? [False, False] Translation: X:4.26, Y:0.33, Z:0.11 [[ 0.89039889 0.02702848 -0.45437791 4.25835263] [-0.04823435 0.99821767 -0.03514147 0.33091901] [ 0.45261824 0.05320655 0.89011561 0.1129803 ] [ 0. 0. 0. 1. ]] SLAMing on 109.78800114499998 meters Centerline goodness [0,1] 0.8670366048250733 Centerline is valid? [False, False] Translation: X:4.26, Y:0.33, Z:0.11 [[ 0.89056663 0.0261735 -0.45409913 4.25646137] [-0.04747581 0.99823881 -0.03557144 0.32983227] [ 0.45236834 0.05323746 0.89024078 0.11310423] [ 0. 0. 0. 1. ]] SLAMing on 109.81800114499998 meters Centerline goodness [0,1] 0.8635346223449852 Centerline is valid? [False, False] Translation: X:4.25, Y:0.33, Z:0.11 [[ 0.89074059 0.02542034 -0.45380064 4.25474431] [-0.04680253 0.99825714 -0.03594722 0.32893563] [ 0.45209593 0.05325866 0.89037789 0.1131405 ] [ 0. 0. 0. 1. ]] SLAMing on 109.84800114499998 meters Centerline goodness [0,1] 0.8616881722994729 Centerline is valid? [False, False] Translation: X:4.25, Y:0.33, Z:0.11 [[ 0.89085207 0.02472035 -0.45362042 4.25336427] [-0.04622519 0.9982684 -0.03637899 0.32885318] [ 0.45193563 0.05337699 0.89045218 0.11338776] [ 0. 0. 0. 1. ]] SLAMing on 109.87800114499998 meters Centerline goodness [0,1] 0.8609643565776577 Centerline is valid? [False, False] Translation: X:4.25, Y:0.33, Z:0.11 [[ 0.89093667 0.02319711 -0.45353472 4.25123623] [-0.04524273 0.99825994 -0.03781775 0.33221369] [ 0.45186828 0.05421237 0.89043589 0.1147584 ] [ 0. 0. 0. 1. ]] SLAMing on 109.90800114499999 meters Centerline goodness [0,1] 0.8596495439270283 Centerline is valid? [False, False] Translation: X:4.25, Y:0.33, Z:0.12 [[ 0.89090238 0.02285499 -0.45361944 4.25095769] [-0.04508717 0.99825032 -0.03825513 0.33340686] [ 0.45195143 0.054534 0.89037405 0.11534213] [ 0. 0. 0. 1. ]] SLAMing on 109.93800114499999 meters Centerline goodness [0,1] 0.8584695126340796 Centerline is valid? [False, False] Translation: X:4.25, Y:0.33, Z:0.12 [[ 0.89080959 0.02279265 -0.45380478 4.25109204] [-0.04510032 0.99824441 -0.03839352 0.33329926] [ 0.45213299 0.05466806 0.89027365 0.11582557] [ 0. 0. 0. 1. ]] SLAMing on 109.96800114499999 meters Centerline goodness [0,1] 0.8584145112529392 Centerline is valid? [False, False] Translation: X:4.25, Y:0.33, Z:0.12 [[ 0.89076882 0.02300568 -0.45387405 4.25166016] [-0.04526433 0.99824299 -0.03823702 0.33246624] [ 0.45219692 0.05460465 0.89024506 0.11569014] [ 0. 0. 0. 1. ]] SLAMing on 109.99800114499999 meters Centerline goodness [0,1] 0.8580014846387778 Centerline is valid? [False, False] Translation: X:4.25, Y:0.33, Z:0.12 [[ 0.89068503 0.0233869 -0.45401897 4.25268317] [-0.04561324 0.99823375 -0.03806325 0.33173958] [ 0.45232688 0.05461165 0.89017861 0.11572481] [ 0. 0. 0. 1. ]] SLAMing on 110.02800114499998 meters Centerline goodness [0,1] 0.8601144170237212 Centerline is valid? [False, False] Translation: X:4.25, Y:0.33, Z:0.12 [[ 0.89057937 0.0233012 -0.4542306 4.25315592] [-0.04565425 0.99822266 -0.03830421 0.33258267] [ 0.45253075 0.0548505 0.89006031 0.1162229 ] [ 0. 0. 0. 1. ]] SLAMing on 110.05800114499998 meters Centerline goodness [0,1] 0.8577088385718059 Centerline is valid? [False, False] Translation: X:4.25, Y:0.33, Z:0.12 [[ 0.8904641 0.0233422 -0.45445444 4.25386693] [-0.04579825 0.99820982 -0.03846652 0.33376819] [ 0.45274299 0.05506627 0.88993904 0.11664733] [ 0. 0. 0. 1. ]] SLAMing on 110.08800114499998 meters Centerline goodness [0,1] 0.8617612392658697 Centerline is valid? [False, False] Translation: X:4.25, Y:0.34, Z:0.12 [[ 0.89032489 0.02320509 -0.45473411 4.25442396] [-0.0458144 0.99819765 -0.03876208 0.33516977] [ 0.45301504 0.05534421 0.88978334 0.11724348] [ 0. 0. 0. 1. ]] SLAMing on 110.11800114499998 meters Centerline goodness [0,1] 0.8592455639061637 Centerline is valid? [False, False] Translation: X:4.25, Y:0.34, Z:0.12 [[ 0.89022157 0.02326203 -0.45493344 4.25491947] [-0.04612382 0.99816563 -0.03921687 0.33679887] [ 0.45318666 0.05589497 0.88966151 0.11817301] [ 0. 0. 0. 1. ]] SLAMing on 110.14800114499998 meters Centerline goodness [0,1] 0.8602582289437619 Centerline is valid? [False, False] Translation: X:4.26, Y:0.34, Z:0.12 [[ 0.89009261 0.02357401 -0.45516966 4.25564146] [-0.04644163 0.99815465 -0.03912132 0.33656376] [ 0.45340746 0.05596041 0.88954489 0.11852704] [ 0. 0. 0. 1. ]] SLAMing on 110.17800114499998 meters Centerline goodness [0,1] 0.8588073858301837 Centerline is valid? [False, False] Translation: X:4.26, Y:0.34, Z:0.12 [[ 0.88994391 0.02409141 -0.45543324 4.2569948 ] [-0.04693622 0.99813951 -0.03891683 0.33635312] [ 0.45364835 0.05601011 0.88941894 0.11866682] [ 0. 0. 0. 1. ]] SLAMing on 110.20800114499998 meters Centerline goodness [0,1] 0.8612968396748281 Centerline is valid? [False, False] Translation: X:4.26, Y:0.34, Z:0.12 [[ 0.88971668 0.02473715 -0.45584241 4.25887654] [-0.04756319 0.99811944 -0.03866937 0.33649844] [ 0.4540286 0.0560861 0.88922009 0.11892282] [ 0. 0. 0. 1. ]] SLAMing on 110.23800114499998 meters Centerline goodness [0,1] 0.8617498192335502 Centerline is valid? [False, False] Translation: X:4.26, Y:0.34, Z:0.12 [[ 0.88960767 0.02984234 -0.45574952 4.25928224] [-0.05136029 0.99807019 -0.03490023 0.33817286] [ 0.45382851 0.05445494 0.8894236 0.11876666] [ 0. 0. 0. 1. ]] SLAMing on 110.26800114499999 meters Centerline goodness [0,1] 0.8649157988837614 Centerline is valid? [False, False] Translation: X:4.26, Y:0.34, Z:0.12 [[ 0.88941101 0.02998388 -0.4561239 4.26065121] [-0.0516623 0.99804653 -0.03513017 0.34007606] [ 0.45417954 0.05480957 0.88922261 0.1193415 ] [ 0. 0. 0. 1. ]] SLAMing on 110.29800114499999 meters Centerline goodness [0,1] 0.8643772672309553 Centerline is valid? [False, False] Translation: X:4.26, Y:0.34, Z:0.12 [[ 0.88924904 0.03017467 -0.45642703 4.2617541 ] [-0.05190905 0.99803293 -0.03515295 0.34059481] [ 0.45446847 0.05495242 0.88906616 0.11964751] [ 0. 0. 0. 1. ]] SLAMing on 110.32800114499999 meters Centerline goodness [0,1] 0.8614389496295224 Centerline is valid? [False, False] Translation: X:4.26, Y:0.34, Z:0.12 [[ 0.8892877 0.03081735 -0.45630876 4.26274074] [-0.05228571 0.99803623 -0.03449466 0.33763188] [ 0.45434964 0.0545341 0.88915265 0.11868122] [ 0. 0. 0. 1. ]] SLAMing on 110.35800114499999 meters Centerline goodness [0,1] 0.8616934123656691 Centerline is valid? [False, False] Translation: X:4.26, Y:0.34, Z:0.12 [[ 0.88928297 0.0309075 -0.45631188 4.2630151 ] [-0.05230593 0.99804065 -0.03433581 0.33664737] [ 0.45435657 0.05440207 0.8891572 0.11847539] [ 0. 0. 0. 1. ]] SLAMing on 110.38800114499998 meters Centerline goodness [0,1] 0.8599879445449066 Centerline is valid? [False, False] Translation: X:4.26, Y:0.34, Z:0.12 [[ 0.88921442 0.03076867 -0.45645481 4.26301652] [-0.05223943 0.99803877 -0.03449131 0.3368233 ] [ 0.45449835 0.05451511 0.88907781 0.11891094] [ 0. 0. 0. 1. ]] SLAMing on 110.41800114499998 meters Centerline goodness [0,1] 0.8630539499036609 Centerline is valid? [False, False] Translation: X:4.26, Y:0.34, Z:0.12 [[ 0.88915535 0.03026565 -0.4566035 4.26239025] [-0.05194163 0.99803685 -0.03499304 0.33781182] [ 0.45464803 0.05483098 0.88898185 0.11975947] [ 0. 0. 0. 1. ]] SLAMing on 110.44800114499998 meters Centerline goodness [0,1] 0.8632904686220682 Centerline is valid? [False, False] Translation: X:4.26, Y:0.34, Z:0.12 [[ 0.88926963 0.02953366 -0.45642885 4.26023705] [-0.05134727 0.99805109 -0.03546109 0.33744798] [ 0.45449201 0.05497085 0.88905299 0.12050723] [ 0. 0. 0. 1. ]] SLAMing on 110.47800114499998 meters Centerline goodness [0,1] 0.8618331053351573 Centerline is valid? [False, False] Translation: X:4.26, Y:0.33, Z:0.12 [[ 0.88920637 0.03012185 -0.45651364 4.26114673] [-0.0516169 0.99806442 -0.03468579 0.33480388] [ 0.45458523 0.05440664 0.88904004 0.11993139] [ 0. 0. 0. 1. ]] SLAMing on 110.50800114499998 meters Centerline goodness [0,1] 0.8618337601416844 Centerline is valid? [False, False] Translation: X:4.26, Y:0.33, Z:0.12 [[ 0.88914284 0.03082651 -0.45659034 4.26253661] [-0.05195722 0.99807735 -0.03379429 0.33161664] [ 0.45467072 0.05377111 0.88903499 0.1190182 ] [ 0. 0. 0. 1. ]] SLAMing on 110.53800114499998 meters Centerline goodness [0,1] 0.8641326324302466 Centerline is valid? [False, False] Translation: X:4.26, Y:0.33, Z:0.12 [[ 0.88902993 0.03144723 -0.45676784 4.26403553] [-0.05229337 0.99808419 -0.03306578 0.32926084] [ 0.45485293 0.0532824 0.8889712 0.11839883] [ 0. 0. 0. 1. ]] SLAMing on 110.56800114499998 meters Centerline goodness [0,1] 0.8684467058180175 Centerline is valid? [False, False] Translation: X:4.27, Y:0.33, Z:0.12 [[ 0.88870837 0.03236483 -0.45732914 4.2665659 ] [-0.05305366 0.9980638 -0.03246473 0.3289805 ] [ 0.45539295 0.05311466 0.88870473 0.11854367] [ 0. 0. 0. 1. ]] SLAMing on 110.59800114499998 meters Centerline goodness [0,1] 0.8700102354145343 Centerline is valid? [False, False] Translation: X:4.27, Y:0.33, Z:0.12 [[ 0.88851919 0.03258521 -0.45768095 4.26720036] [-0.05337602 0.99804336 -0.03256454 0.32995551] [ 0.45572431 0.0533634 0.88851995 0.1193833 ] [ 0. 0. 0. 1. ]] SLAMing on 110.62800114499998 meters Centerline goodness [0,1] 0.8723089760400524 Centerline is valid? [False, False] Translation: X:4.27, Y:0.33, Z:0.12 [[ 0.88828901 0.03294052 -0.45810213 4.26805011] [-0.0538291 0.99801741 -0.03261409 0.33065803] [ 0.45611958 0.05362996 0.88830105 0.12028176] [ 0. 0. 0. 1. ]] SLAMing on 110.65800114499999 meters Centerline goodness [0,1] 0.8777185551801265 Centerline is valid? [False, False] Translation: X:4.27, Y:0.33, Z:0.12 [[ 0.88794058 0.03475459 -0.45864326 4.27114715] [-0.05540934 0.99796194 -0.03165083 0.32951825] [ 0.4566085 0.05351717 0.88805664 0.12047137] [ 0. 0. 0. 1. ]] SLAMing on 110.68800114499999 meters Centerline goodness [0,1] 0.881929770412403 Centerline is valid? [False, False] Translation: X:4.27, Y:0.33, Z:0.12 [[ 0.88767763 0.0355955 -0.45908757 4.2730872 ] [-0.05614906 0.99793501 -0.03119288 0.3288883 ] [ 0.45702923 0.05346656 0.88784324 0.12066136] [ 0. 0. 0. 1. ]] SLAMing on 110.71800114499999 meters Centerline goodness [0,1] 0.8830559112249253 Centerline is valid? [False, False] Translation: X:4.27, Y:0.33, Z:0.12 [[ 0.88743905 0.0362832 -0.45949478 4.27484278] [-0.05676041 0.99791185 -0.03082509 0.32855657] [ 0.45741686 0.0534365 0.8876454 0.12086344] [ 0. 0. 0. 1. ]] SLAMing on 110.74800114499999 meters Centerline goodness [0,1] 0.8901169271636269 Centerline is valid? [False, False] Translation: X:4.28, Y:0.33, Z:0.12 [[ 0.88722539 0.03677441 -0.4598682 4.27640026] [-0.05726368 0.99788755 -0.03068067 0.32897389] [ 0.45776849 0.05355441 0.88745701 0.12115996] [ 0. 0. 0. 1. ]] SLAMing on 110.77800114499998 meters Centerline goodness [0,1] 0.8870921851289832 Centerline is valid? [False, False] Translation: X:4.28, Y:0.33, Z:0.12 [[ 0.88703788 0.03693972 -0.46021653 4.2771139 ] [-0.05754013 0.99786766 -0.03081011 0.32946447] [ 0.45809708 0.05381066 0.88727193 0.12188163] [ 0. 0. 0. 1. ]] SLAMing on 110.80800114499998 meters Centerline goodness [0,1] 0.8942929568122053 Centerline is valid? [False, False] Translation: X:4.28, Y:0.33, Z:0.12 [[ 0.886966 0.03693206 -0.46035567 4.27655499] [-0.05767649 0.99785166 -0.03107241 0.32974064] [ 0.4582191 0.05411187 0.8871906 0.12285437] [ 0. 0. 0. 1. ]] SLAMing on 110.83800114499998 meters Centerline goodness [0,1] 0.8899817936774407 Centerline is valid? [False, False] Translation: X:4.28, Y:0.33, Z:0.12 [[ 0.8869105 0.03676834 -0.46047568 4.27620709] [-0.0576008 0.99784997 -0.0312665 0.32965734] [ 0.45833603 0.05425435 0.8871215 0.12340386] [ 0. 0. 0. 1. ]] SLAMing on 110.86800114499998 meters Centerline goodness [0,1] 0.8907297271783253 Centerline is valid? [False, False] Translation: X:4.28, Y:0.33, Z:0.12 [[ 0.88684329 0.03670596 -0.46061008 4.27589931] [-0.05758943 0.99784761 -0.03136242 0.32939402] [ 0.45846748 0.05433983 0.88704833 0.12394297] [ 0. 0. 0. 1. ]] SLAMing on 110.89800114499998 meters Centerline goodness [0,1] 0.8905204417015441 Centerline is valid? [False, False] Translation: X:4.27, Y:0.33, Z:0.12 [[ 0.88684144 0.03631484 -0.46064466 4.27496954] [-0.05733092 0.99785154 -0.03170908 0.32928767] [ 0.45850347 0.05453011 0.88701806 0.12458213] [ 0. 0. 0. 1. ]] SLAMing on 110.92800114499998 meters Centerline goodness [0,1] 0.8921191224051201 Centerline is valid? [False, False] Translation: X:4.27, Y:0.33, Z:0.12 [[ 0.88680243 0.0362275 -0.46072661 4.27438084] [-0.05723587 0.99785715 -0.03170436 0.32808376] [ 0.45859077 0.05448559 0.88697566 0.12499943] [ 0. 0. 0. 1. ]] SLAMing on 110.95800114499998 meters Centerline goodness [0,1] 0.8910675890436571 Centerline is valid? [False, False] Translation: X:4.28, Y:0.33, Z:0.13 [[ 0.88676321 0.03126467 -0.46116541 4.27511741] [-0.05364358 0.99792908 -0.03549536 0.32647217] [ 0.45910062 0.05621454 0.88660394 0.12555046] [ 0. 0. 0. 1. ]] SLAMing on 110.98800114499998 meters Centerline goodness [0,1] 0.8935474070438664 Centerline is valid? [False, False] Translation: X:4.27, Y:0.32, Z:0.13 [[ 0.88677971 0.03115494 -0.4611411 4.27458716] [-0.05338922 0.99795156 -0.03524594 0.32459329] [ 0.45909839 0.05587535 0.88662653 0.12544811] [ 0. 0. 0. 1. ]] SLAMing on 111.01800114499999 meters Centerline goodness [0,1] 0.8915715948777648 Centerline is valid? [False, False] Translation: X:4.27, Y:0.32, Z:0.13 [[ 0.88682895 0.03073234 -0.46107476 4.27341759] [-0.05296583 0.99797023 -0.03535582 0.32339087] [ 0.45905232 0.05577577 0.88665666 0.1257061 ] [ 0. 0. 0. 1. ]] SLAMing on 111.04800114499999 meters Centerline goodness [0,1] 0.8918761503156816 Centerline is valid? [False, False] Translation: X:4.27, Y:0.32, Z:0.13 [[ 0.88701826 0.02953465 -0.46078879 4.27021538] [-0.05202749 0.99798984 -0.03618591 0.32331402] [ 0.45879379 0.05607125 0.88677183 0.12678627] [ 0. 0. 0. 1. ]] SLAMing on 111.07800114499999 meters Centerline goodness [0,1] 0.8895256732830118 Centerline is valid? [False, False] Translation: X:4.27, Y:0.32, Z:0.13 [[ 0.88699771 0.02925155 -0.4608464 4.26922653] [-0.05186804 0.99798724 -0.03648539 0.32313532] [ 0.45885157 0.05626565 0.88672961 0.12757754] [ 0. 0. 0. 1. ]] SLAMing on 111.10800114499999 meters Centerline goodness [0,1] 0.8912192393736018 Centerline is valid? [False, False] Translation: X:4.27, Y:0.32, Z:0.13 [[ 0.88698891 0.02902206 -0.46087784 4.26823251] [-0.0517557 0.99798288 -0.0367629 0.32282536] [ 0.45888126 0.05646134 0.88670181 0.12831796] [ 0. 0. 0. 1. ]] SLAMing on 111.13800114499998 meters Centerline goodness [0,1] 0.8924103419516264 Centerline is valid? [False, False] Translation: X:4.27, Y:0.32, Z:0.13 [[ 0.88688142 0.02956255 -0.46105032 4.26826311] [-0.05223451 0.99796798 -0.03648915 0.32105537] [ 0.45903475 0.05644428 0.88662345 0.12897843] [ 0. 0. 0. 1. ]] SLAMing on 111.16800114499998 meters Centerline goodness [0,1] 0.8955611759519224 Centerline is valid? [False, False] Translation: X:4.27, Y:0.32, Z:0.13 [[ 0.88673427 0.0300179 -0.46130387 4.26914202] [-0.05260893 0.9979593 -0.03618764 0.32012602] [ 0.45927621 0.05635752 0.88650392 0.1291398 ] [ 0. 0. 0. 1. ]] SLAMing on 111.19800114499998 meters Centerline goodness [0,1] 0.8951767893115984 Centerline is valid? [False, False] Translation: X:4.27, Y:0.32, Z:0.13 [[ 0.88657847 0.03061682 -0.4615639 4.27018864] [-0.05312011 0.99794486 -0.03583739 0.31937862] [ 0.45951809 0.05629098 0.88638279 0.12929037] [ 0. 0. 0. 1. ]] SLAMing on 111.22800114499998 meters Centerline goodness [0,1] 0.8978163104455469 Centerline is valid? [False, False] Translation: X:4.27, Y:0.32, Z:0.13 [[ 0.88642822 0.03099129 -0.46182741 4.27092559] [-0.05350863 0.99792769 -0.03573737 0.3195703 ] [ 0.45976281 0.05639036 0.88624956 0.12970194] [ 0. 0. 0. 1. ]] SLAMing on 111.25800114499998 meters Centerline goodness [0,1] 0.902115851543531 Centerline is valid? [False, False] Translation: X:4.27, Y:0.32, Z:0.13 [[ 0.88629016 0.03131649 -0.46207038 4.27151889] [-0.05386111 0.99791087 -0.03567747 0.31983436] [ 0.45998776 0.05650822 0.88612532 0.13017048] [ 0. 0. 0. 1. ]] SLAMing on 111.28800114499998 meters Centerline goodness [0,1] 0.9067021030737231 Centerline is valid? [False, False] Translation: X:4.27, Y:0.32, Z:0.13 [[ 0.88625617 0.0317012 -0.46210933 4.2708888 ] [-0.05407686 0.99791427 -0.03525328 0.31760785] [ 0.46002792 0.05623286 0.88612199 0.13050656] [ 0. 0. 0. 1. ]] SLAMing on 111.31800114499998 meters Centerline goodness [0,1] 0.9067411083540116 Centerline is valid? [False, False] Translation: X:4.27, Y:0.32, Z:0.13 [[ 0.88624988 0.03182151 -0.46211313 4.27048916] [-0.05400584 0.99793211 -0.03485502 0.31540045] [ 0.46004839 0.05584707 0.88613576 0.13045592] [ 0. 0. 0. 1. ]] SLAMing on 111.34800114499998 meters Centerline goodness [0,1] 0.9081672438705535 Centerline is valid? [False, False] Translation: X:4.27, Y:0.31, Z:0.13 [[ 0.88627739 0.03179289 -0.46206233 4.26971779] [-0.05379771 0.99795489 -0.0345231 0.31273844] [ 0.46001977 0.05545494 0.88617524 0.13040961] [ 0. 0. 0. 1. ]] SLAMing on 111.37800114499998 meters Centerline goodness [0,1] 0.9082371758254313 Centerline is valid? [False, False] Translation: X:4.27, Y:0.31, Z:0.13 [[ 0.88631824 0.03168343 -0.46199149 4.26881894] [-0.0534799 0.99798454 -0.03415785 0.30954138] [ 0.45997812 0.05498198 0.88622633 0.13027412] [ 0. 0. 0. 1. ]] SLAMing on 111.40800114499999 meters Centerline goodness [0,1] 0.9082371758254313 Centerline is valid? [False, False] Translation: X:4.27, Y:0.31, Z:0.13 [[ 0.88631824 0.03168343 -0.46199149 4.26881894] [-0.0534799 0.99798454 -0.03415785 0.30954138] [ 0.45997812 0.05498198 0.88622633 0.13027412] [ 0. 0. 0. 1. ]] SLAMing on 111.43800114499999 meters Centerline goodness [0,1] 0.9084554985703264 Centerline is valid? [False, False] Translation: X:4.27, Y:0.30, Z:0.13 [[ 0.88625857 0.02754243 -0.46237123 4.26999495] [-0.05018764 0.9980636 -0.03674565 0.30420001] [ 0.46046383 0.05577147 0.88592472 0.12989905] [ 0. 0. 0. 1. ]] SLAMing on 111.46800114499999 meters Centerline goodness [0,1] 0.9089740119112073 Centerline is valid? [False, False] Translation: X:4.27, Y:0.30, Z:0.13 [[ 0.88625167 0.02804431 -0.4623543 4.27016207] [-0.0503115 0.99808819 -0.03589879 0.30047922] [ 0.46046361 0.0550771 0.88596827 0.12937313] [ 0. 0. 0. 1. ]] SLAMing on 111.49800114499999 meters Centerline goodness [0,1] 0.9097145436082591 Centerline is valid? [False, False] Translation: X:4.27, Y:0.30, Z:0.13 [[ 0.8862752 0.02838189 -0.46228859 4.26992648] [-0.05039687 0.99810381 -0.03534031 0.29802497] [ 0.46040898 0.05461914 0.88602501 0.12908933] [ 0. 0. 0. 1. ]] SLAMing on 111.52800114499998 meters Centerline goodness [0,1] 0.9105252511631043 Centerline is valid? [False, False] Translation: X:4.27, Y:0.30, Z:0.13 [[ 0.88625941 0.0286421 -0.46230281 4.26976302] [-0.05047155 0.99811489 -0.0349182 0.29621217] [ 0.46043119 0.05427972 0.88603433 0.12908527] [ 0. 0. 0. 1. ]] SLAMing on 111.55800114499998 meters Centerline goodness [0,1] 0.9155384201560118 Centerline is valid? [False, False] Translation: X:4.27, Y:0.29, Z:0.13 [[ 0.88611871 0.02951457 -0.46251758 4.27000816] [-0.0508655 0.99813483 -0.03375731 0.29169504] [ 0.46065858 0.05343917 0.88596723 0.12904778] [ 0. 0. 0. 1. ]] SLAMing on 111.58800114499998 meters Centerline goodness [0,1] 0.919363845518104 Centerline is valid? [False, False] Translation: X:4.27, Y:0.29, Z:0.13 [[ 0.88604571 0.03006131 -0.46262222 4.27035008] [-0.05104006 0.99815471 -0.03289507 0.28814816] [ 0.46077968 0.0527588 0.88594503 0.12868995] [ 0. 0. 0. 1. ]] SLAMing on 111.61800114499998 meters Centerline goodness [0,1] 0.918951424307891 Centerline is valid? [False, False] Translation: X:4.27, Y:0.28, Z:0.13 [[ 0.88606938 0.03054394 -0.46254527 4.27038274] [-0.05112044 0.99817924 -0.03201402 0.28423368] [ 0.46072525 0.05201216 0.88601748 0.12806331] [ 0. 0. 0. 1. ]] SLAMing on 111.64800114499998 meters Centerline goodness [0,1] 0.9197674676606981 Centerline is valid? [False, False] Translation: X:4.27, Y:0.28, Z:0.13 [[ 0.88599771 0.03125975 -0.46263473 4.27122493] [-0.05138805 0.99819854 -0.03096666 0.28048603] [ 0.4608333 0.05121029 0.886008 0.12741103] [ 0. 0. 0. 1. ]] SLAMing on 111.67800114499998 meters Centerline goodness [0,1] 0.9223689741377403 Centerline is valid? [False, False] Translation: X:4.27, Y:0.28, Z:0.13 [[ 0.88585992 0.02721404 -0.46315397 4.27288113] [-0.04826075 0.99826777 -0.03365052 0.27686439] [ 0.46143592 0.05216181 0.88563878 0.12735607] [ 0. 0. 0. 1. ]] SLAMing on 111.70800114499998 meters Centerline goodness [0,1] 0.9213143008661835 Centerline is valid? [False, False] Translation: X:4.27, Y:0.27, Z:0.13 [[ 0.88591711 0.02711585 -0.46305034 4.2718255 ] [-0.04794848 0.99829535 -0.03327661 0.27406512] [ 0.46135867 0.05168288 0.88570709 0.1272914 ] [ 0. 0. 0. 1. ]] SLAMing on 111.73800114499998 meters Centerline goodness [0,1] 0.9208777181089884 Centerline is valid? [False, False] Translation: X:4.27, Y:0.27, Z:0.13 [[ 0.88605991 0.02675571 -0.46279798 4.27009609] [-0.04744723 0.99832434 -0.03312507 0.2714243 ] [ 0.4611362 0.05130928 0.88584466 0.12726638] [ 0. 0. 0. 1. ]] SLAMing on 111.76800114499999 meters Centerline goodness [0,1] 0.9224661680521132 Centerline is valid? [False, False] Translation: X:4.27, Y:0.27, Z:0.13 [[ 0.88629374 0.02570256 -0.46240975 4.26679712] [-0.04637196 0.99836613 -0.0333873 0.26694982] [ 0.4607961 0.05103381 0.88603753 0.12762664] [ 0. 0. 0. 1. ]] SLAMing on 111.79800114499999 meters Centerline goodness [0,1] 0.9220997857361494 Centerline is valid? [False, False] Translation: X:4.27, Y:0.26, Z:0.13 [[ 0.88631998 0.0258711 -0.46235006 4.26611665] [-0.04635048 0.99838039 -0.03298834 0.26453256] [ 0.46074779 0.05066837 0.88608363 0.12764546] [ 0. 0. 0. 1. ]] SLAMing on 111.82800114499999 meters Centerline goodness [0,1] 0.9245818594698458 Centerline is valid? [False, False] Translation: X:4.27, Y:0.26, Z:0.13 [[ 0.88634451 0.0259806 -0.4622969 4.26536187] [-0.04629904 0.99839361 -0.03265875 0.26228826] [ 0.46070577 0.0503508 0.88612357 0.12775176] [ 0. 0. 0. 1. ]] SLAMing on 111.85800114499999 meters Centerline goodness [0,1] 0.9240826287806153 Centerline is valid? [False, False] Translation: X:4.26, Y:0.26, Z:0.13 [[ 0.88637746 0.02601149 -0.46223197 4.26470036] [-0.0462281 0.99840327 -0.03246331 0.26082258] [ 0.46064949 0.05014285 0.88616462 0.12785205] [ 0. 0. 0. 1. ]] SLAMing on 111.88800114499998 meters Centerline goodness [0,1] 0.9278182764904973 Centerline is valid? [False, False] Translation: X:4.26, Y:0.26, Z:0.13 [[ 0.88632344 0.02648892 -0.46230845 4.26497061] [-0.04635263 0.99842333 -0.03165909 0.25793045] [ 0.46074092 0.04948941 0.88615383 0.1275615 ] [ 0. 0. 0. 1. ]] SLAMing on 111.91800114499998 meters Centerline goodness [0,1] 0.9298834640211411 Centerline is valid? [False, False] Translation: X:4.27, Y:0.26, Z:0.13 [[ 0.88628221 0.02693924 -0.46236147 4.26587284] [-0.04653641 0.99843451 -0.03103053 0.25595974] [ 0.46080171 0.04901845 0.8861484 0.12699477] [ 0. 0. 0. 1. ]] SLAMing on 111.94800114499998 meters Centerline goodness [0,1] 0.9296875 Centerline is valid? [False, False] Translation: X:4.27, Y:0.25, Z:0.13 [[ 0.88618614 0.02756116 -0.46250893 4.26703676] [-0.04681304 0.99844711 -0.0301977 0.25328795] [ 0.46095842 0.04841223 0.88610022 0.12646124] [ 0. 0. 0. 1. ]] SLAMing on 111.97800114499998 meters Centerline goodness [0,1] 0.9306170971576786 Centerline is valid? [False, False] Translation: X:4.27, Y:0.25, Z:0.13 [[ 0.8861816 0.02799372 -0.46249165 4.26762273] [-0.04691641 0.99846425 -0.02946158 0.25063349] [ 0.46095664 0.04780676 0.88613401 0.12581522] [ 0. 0. 0. 1. ]] SLAMing on 112.00800114499998 meters Centerline goodness [0,1] 0.927962903051871 Centerline is valid? [False, False] Translation: X:4.26, Y:0.25, Z:0.13 [[ 0.88639671 0.02660531 -0.46216126 4.26416169] [-0.04555207 0.99851486 -0.02988439 0.24788728] [ 0.4606798 0.04754182 0.88629222 0.12629048] [ 0. 0. 0. 1. ]] SLAMing on 112.03800114499998 meters Centerline goodness [0,1] 0.9294221533027504 Centerline is valid? [False, False] Translation: X:4.26, Y:0.25, Z:0.13 [[ 0.88657629 0.02559592 -0.46187372 4.2614992 ] [-0.04465411 0.99854053 -0.0303778 0.24690977] [ 0.46042209 0.0475568 0.88642532 0.12679968] [ 0. 0. 0. 1. ]] SLAMing on 112.06800114499998 meters Centerline goodness [0,1] 0.9275480789915244 Centerline is valid? [False, False] Translation: X:4.26, Y:0.24, Z:0.13 [[ 0.88676538 0.02339035 -0.46162761 4.25805485] [-0.0426726 0.99859638 -0.03137393 0.24277661] [ 0.46024582 0.04752017 0.88651882 0.1272813 ] [ 0. 0. 0. 1. ]] SLAMing on 112.09800114499998 meters Centerline goodness [0,1] 0.9276509691715251 Centerline is valid? [False, False] Translation: X:4.26, Y:0.24, Z:0.13 [[ 0.88679185 0.02325164 -0.46158377 4.25741847] [-0.04241416 0.9986134 -0.03118205 0.24088532] [ 0.4602187 0.04722967 0.88654842 0.12730239] [ 0. 0. 0. 1. ]] SLAMing on 112.12800114499998 meters Centerline goodness [0,1] 0.926736543665965 Centerline is valid? [False, False] Translation: X:4.26, Y:0.24, Z:0.13 [[ 0.88681643 0.02320302 -0.46153899 4.25705232] [-0.04222851 0.99862895 -0.03093504 0.23939758] [ 0.4601884 0.04692381 0.88658039 0.12721204] [ 0. 0. 0. 1. ]] SLAMing on 112.15800114499999 meters Centerline goodness [0,1] 0.9277930324352154 Centerline is valid? [False, False] Translation: X:4.26, Y:0.24, Z:0.13 [[ 0.88682377 0.02309414 -0.46153036 4.2567081 ] [-0.04203935 0.99864086 -0.03080782 0.23830062] [ 0.46019159 0.04672354 0.88658931 0.12726273] [ 0. 0. 0. 1. ]] SLAMing on 112.18800114499999 meters Centerline goodness [0,1] 0.9267973575840769 Centerline is valid? [False, False] Translation: X:4.26, Y:0.24, Z:0.13 [[ 0.88684355 0.02299401 -0.46149735 4.2564573 ] [-0.04187433 0.99865078 -0.0307109 0.23753506] [ 0.46016852 0.04656065 0.88660986 0.12722214] [ 0. 0. 0. 1. ]] SLAMing on 112.21800114499999 meters Centerline goodness [0,1] 0.9268774703557312 Centerline is valid? [False, False] Translation: X:4.26, Y:0.24, Z:0.13 [[ 0.88686458 0.02273506 -0.46146975 4.25574023] [-0.04157599 0.99866355 -0.03070103 0.23672656] [ 0.46015503 0.04641371 0.88662456 0.12738598] [ 0. 0. 0. 1. ]] SLAMing on 112.24800114499999 meters Centerline goodness [0,1] 0.9276245227165473 Centerline is valid? [False, False] Translation: X:4.26, Y:0.23, Z:0.13 [[ 0.8868939 0.02279542 -0.46141042 4.25562098] [-0.04147058 0.99867794 -0.03037365 0.23498918] [ 0.46010803 0.04607316 0.88666672 0.12710758] [ 0. 0. 0. 1. ]] SLAMing on 112.27800114499998 meters Centerline goodness [0,1] 0.9294439809169287 Centerline is valid? [False, False] Translation: X:4.26, Y:0.23, Z:0.13 [[ 0.88692428 0.02305299 -0.46133922 4.25582381] [-0.04145527 0.99869606 -0.02979317 0.23209621] [ 0.46005084 0.04554923 0.88672346 0.12653756] [ 0. 0. 0. 1. ]] SLAMing on 112.30800114499998 meters Centerline goodness [0,1] 0.9295252384524703 Centerline is valid? [False, False] Translation: X:4.26, Y:0.23, Z:0.13 [[ 0.88694091 0.02326242 -0.46129674 4.25569527] [-0.04141517 0.99871331 -0.02926602 0.22948255] [ 0.4600224 0.04506191 0.88676311 0.12620897] [ 0. 0. 0. 1. ]] SLAMing on 112.33800114499998 meters Centerline goodness [0,1] 0.925177486955778 Centerline is valid? [False, False] Translation: X:4.25, Y:0.23, Z:0.13 [[ 0.88715558 0.02580765 -0.46074825 4.25240189] [-0.04281566 0.99873151 -0.02649872 0.22766239] [ 0.45947993 0.04323573 0.8871352 0.12590695] [ 0. 0. 0. 1. ]] SLAMing on 112.36800114499998 meters Centerline goodness [0,1] 0.9237634569698008 Centerline is valid? [False, False] Translation: X:4.25, Y:0.23, Z:0.13 [[ 0.88716965 0.02995521 -0.46047008 4.25058342] [-0.04557356 0.99869994 -0.02283584 0.22616984] [ 0.45918739 0.04124453 0.88738144 0.12588468] [ 0. 0. 0. 1. ]] SLAMing on 112.39800114499998 meters Centerline goodness [0,1] 0.9237655646200086 Centerline is valid? [False, False] Translation: X:4.25, Y:0.23, Z:0.13 [[ 0.88713815 0.02977553 -0.46054243 4.25042293] [-0.04543467 0.99870363 -0.02295099 0.22640229] [ 0.45926202 0.04128529 0.88734093 0.12612484] [ 0. 0. 0. 1. ]] SLAMing on 112.42800114499998 meters Centerline goodness [0,1] 0.9237453183520599 Centerline is valid? [False, False] Translation: X:4.25, Y:0.22, Z:0.12 [[ 0.88782073 0.02909586 -0.45926875 4.24742774] [-0.04447882 0.99875218 -0.02270929 0.22421674] [ 0.45803492 0.04058951 0.88800704 0.12423352] [ 0. 0. 0. 1. ]] SLAMing on 112.45800114499998 meters Centerline goodness [0,1] 0.9267212799178662 Centerline is valid? [False, False] Translation: X:4.25, Y:0.22, Z:0.12 [[ 0.88789294 0.02913742 -0.4591265 4.24724643] [-0.04435504 0.99876484 -0.02239273 0.22204082] [ 0.45790694 0.04024692 0.88808863 0.12377454] [ 0. 0. 0. 1. ]] SLAMing on 112.48800114499998 meters Centerline goodness [0,1] 0.9210324395754295 Centerline is valid? [False, False] Translation: X:4.25, Y:0.22, Z:0.12 [[ 0.88788403 0.0293126 -0.45913258 4.24769844] [-0.04432056 0.99877635 -0.02194309 0.21995889] [ 0.45792755 0.03983194 0.88809672 0.12328276] [ 0. 0. 0. 1. ]] SLAMing on 112.51800114499999 meters Centerline goodness [0,1] 0.9175015988062247 Centerline is valid? [False, False] Translation: X:4.25, Y:0.22, Z:0.12 [[ 0.88789407 0.02906392 -0.45912898 4.24772759] [-0.04405679 0.99878733 -0.02197439 0.2196159 ] [ 0.45793354 0.03973868 0.8880978 0.12313299] [ 0. 0. 0. 1. ]] SLAMing on 112.54800114499999 meters Centerline goodness [0,1] 0.9137346830047949 Centerline is valid? [False, False] Translation: X:4.25, Y:0.22, Z:0.12 [[ 0.8880114 0.03268971 -0.45865798 4.24526078] [-0.04637251 0.99875106 -0.01859868 0.21831318] [ 0.45747716 0.03778496 0.88841823 0.12291711] [ 0. 0. 0. 1. ]] SLAMing on 112.57800114499999 meters Centerline goodness [0,1] 0.9133428858615453 Centerline is valid? [False, False] Translation: X:4.24, Y:0.22, Z:0.12 [[ 0.88842824 0.03470348 -0.4577018 4.24038701] [-0.04737629 0.99874518 -0.01623438 0.21966977] [ 0.45656408 0.0361073 0.88895754 0.12265333] [ 0. 0. 0. 1. ]] SLAMing on 112.60800114499999 meters Centerline goodness [0,1] 0.9111643630450597 Centerline is valid? [False, False] Translation: X:4.24, Y:0.22, Z:0.12 [[ 0.88840391 0.03424126 -0.45778382 4.24022757] [-0.04702894 0.99875621 -0.01656244 0.22016104] [ 0.45664731 0.03624322 0.88890925 0.12289943] [ 0. 0. 0. 1. ]] SLAMing on 112.63800114499998 meters Centerline goodness [0,1] 0.8863748050338653 Centerline is valid? [False, False] Translation: X:4.24, Y:0.22, Z:0.12 [[ 0.88836478 0.03409352 -0.45787078 4.24069599] [-0.04688734 0.9987622 -0.01660237 0.21993534] [ 0.45673799 0.03621731 0.88886372 0.12276856] [ 0. 0. 0. 1. ]] SLAMing on 112.66800114499998 meters Centerline goodness [0,1] 0.9009985673658777 Centerline is valid? [False, False] Translation: X:4.24, Y:0.22, Z:0.12 [[ 0.88835898 0.03409848 -0.45788165 4.24126675] [-0.04684242 0.99876596 -0.01650315 0.21934599] [ 0.45675388 0.036109 0.88885996 0.12240566] [ 0. 0. 0. 1. ]] SLAMing on 112.69800114499998 meters Centerline goodness [0,1] 0.8778029784320438 Centerline is valid? [False, False] Translation: X:4.24, Y:0.22, Z:0.12 [[ 0.88838646 0.03366983 -0.45786007 4.24138458] [-0.04659974 0.99876947 -0.01697064 0.22026659] [ 0.45672526 0.03641265 0.88886228 0.12232344] [ 0. 0. 0. 1. ]] SLAMing on 112.72800114499998 meters Centerline goodness [0,1] 0.8999208945331708 Centerline is valid? [False, False] Translation: X:4.24, Y:0.22, Z:0.12 [[ 0.88848525 0.03760168 -0.45736208 4.23909804] [-0.04932521 0.99868861 -0.0137142 0.22001273] [ 0.45624662 0.03474435 0.88917481 0.12229956] [ 0. 0. 0. 1. ]] SLAMing on 112.75800114499998 meters Centerline goodness [0,1] 0.908484679546283 Centerline is valid? [False, False] Translation: X:4.24, Y:0.22, Z:0.12 [[ 0.88856201 0.04108191 -0.45691337 4.23626049] [-0.05173587 0.99860213 -0.0108249 0.2200886 ] [ 0.45582996 0.03325741 0.88944533 0.122635 ] [ 0. 0. 0. 1. ]] SLAMing on 112.78800114499998 meters Centerline goodness [0,1] 0.9048508664562263 Centerline is valid? [False, False] Translation: X:4.24, Y:0.22, Z:0.12 [[ 0.88855108 0.04048071 -0.45698827 4.23584064] [-0.0514127 0.9986112 -0.01150646 0.22183109] [ 0.45588782 0.03371908 0.88939829 0.12317685] [ 0. 0. 0. 1. ]] SLAMing on 112.81800114499998 meters Centerline goodness [0,1] 0.8946587217931895 Centerline is valid? [False, False] Translation: X:4.23, Y:0.22, Z:0.12 [[ 0.88868767 0.04372139 -0.45642378 4.23297699] [-0.05363995 0.99852164 -0.00879096 0.22259194] [ 0.45536467 0.03229496 0.88971909 0.12324924] [ 0. 0. 0. 1. ]] SLAMing on 112.84800114499998 meters Centerline goodness [0,1] 0.9078729133010232 Centerline is valid? [False, False] Translation: X:4.23, Y:0.22, Z:0.12 [[ 0.88862899 0.04326478 -0.45658151 4.23311255] [-0.05342703 0.99852784 -0.00936463 0.2243396 ] [ 0.45550419 0.03271547 0.8896323 0.12367335] [ 0. 0. 0. 1. ]] SLAMing on 112.87800114499998 meters Centerline goodness [0,1] 0.9067290485328043 Centerline is valid? [False, False] Translation: X:4.23, Y:0.23, Z:0.12 [[ 0.88856881 0.04280117 -0.4567423 4.2332563 ] [-0.05323377 0.99853209 -0.00999146 0.22624745] [ 0.45564419 0.03319222 0.88954294 0.12414164] [ 0. 0. 0. 1. ]] SLAMing on 112.90800114499999 meters Centerline goodness [0,1] 0.9052023370631481 Centerline is valid? [False, False] Translation: X:4.23, Y:0.23, Z:0.12 [[ 0.88846147 0.04276729 -0.45695424 4.2344127 ] [-0.05341167 0.99851847 -0.01039554 0.22825594] [ 0.45583266 0.03364273 0.88942945 0.12426421] [ 0. 0. 0. 1. ]] SLAMing on 112.93800114499999 meters Centerline goodness [0,1] 0.9046642193910602 Centerline is valid? [False, False] Translation: X:4.23, Y:0.23, Z:0.12 [[ 0.8883846 0.04250068 -0.45712854 4.23496745] [-0.05333629 0.998518 -0.0108185 0.2297669 ] [ 0.45599128 0.03399253 0.88933484 0.12449745] [ 0. 0. 0. 1. ]] SLAMing on 112.96800114499999 meters Centerline goodness [0,1] 0.8948631988753109 Centerline is valid? [False, False] Translation: X:4.24, Y:0.23, Z:0.12 [[ 0.88832514 0.04219131 -0.45727272 4.23537501] [-0.05322468 0.998519 -0.01126679 0.23151091] [ 0.45612013 0.03434676 0.88925515 0.1247663 ] [ 0. 0. 0. 1. ]] SLAMing on 112.99800114499999 meters Centerline goodness [0,1] 0.9011202486563492 Centerline is valid? [False, False] Translation: X:4.24, Y:0.23, Z:0.13 [[ 0.88830368 0.04183803 -0.45734686 4.23546448] [-0.05315417 0.99851544 -0.01189717 0.23371668] [ 0.45617015 0.03487819 0.88920881 0.12517361] [ 0. 0. 0. 1. ]] SLAMing on 113.02800114499998 meters Centerline goodness [0,1] 0.9067496327024458 Centerline is valid? [False, False] Translation: X:4.24, Y:0.24, Z:0.13 [[ 0.88825466 0.04151237 -0.45747174 4.23539373] [-0.05308502 0.9985122 -0.01246505 0.23557056] [ 0.45627365 0.03535703 0.88913679 0.12574006] [ 0. 0. 0. 1. ]] SLAMing on 113.05800114499998 meters Centerline goodness [0,1] 0.9105170655499382 Centerline is valid? [False, False] Translation: X:4.23, Y:0.24, Z:0.13 [[ 0.88825238 0.04606409 -0.45704027 4.23384026] [-0.05637515 0.99836962 -0.00894096 0.23573451] [ 0.45588326 0.03370754 0.88940106 0.12575245] [ 0. 0. 0. 1. ]] SLAMing on 113.08800114499998 meters Centerline goodness [0,1] 0.9107472876307264 Centerline is valid? [False, False] Translation: X:4.23, Y:0.24, Z:0.13 [[ 0.88819423 0.0459492 -0.45716482 4.23395305] [-0.05650343 0.99835785 -0.00943265 0.23818287] [ 0.45598066 0.0342094 0.88933197 0.12632607] [ 0. 0. 0. 1. ]] SLAMing on 113.11800114499998 meters Centerline goodness [0,1] 0.918856595892795 Centerline is valid? [False, False] Translation: X:4.24, Y:0.24, Z:0.13 [[ 0.88808174 0.0461818 -0.45735988 4.23513872] [-0.05690755 0.99833239 -0.00969428 0.23944339] [ 0.45614948 0.03463654 0.88922886 0.12647643] [ 0. 0. 0. 1. ]] SLAMing on 113.14800114499998 meters Centerline goodness [0,1] 0.922163502316174 Centerline is valid? [False, False] Translation: X:4.24, Y:0.24, Z:0.13 [[ 0.88799144 0.04609273 -0.45754417 4.23591587] [-0.05694923 0.99832744 -0.00995487 0.24043427] [ 0.45632006 0.03489663 0.88913117 0.12656619] [ 0. 0. 0. 1. ]] SLAMing on 113.17800114499998 meters Centerline goodness [0,1] 0.9191440314898984 Centerline is valid? [False, False] Translation: X:4.24, Y:0.24, Z:0.13 [[ 0.887919 0.04566941 -0.45772716 4.23621019] [-0.05681955 0.99832805 -0.01061352 0.24266657] [ 0.45647715 0.0354318 0.88902936 0.1270823 ] [ 0. 0. 0. 1. ]] SLAMing on 113.20800114499998 meters Centerline goodness [0,1] 0.9180381471389646 Centerline is valid? [False, False] Translation: X:4.24, Y:0.25, Z:0.13 [[ 0.88780803 0.04509747 -0.45799903 4.23654546] [-0.05657905 0.99833334 -0.01137345 0.2454185 ] [ 0.45672279 0.03601059 0.88887993 0.12773708] [ 0. 0. 0. 1. ]] SLAMing on 113.23800114499998 meters Centerline goodness [0,1] 0.9151197113807806 Centerline is valid? [False, False] Translation: X:4.24, Y:0.25, Z:0.13 [[ 0.88768903 0.04447404 -0.45829058 4.23786599] [-0.05636099 0.99833485 -0.01228706 0.24934104] [ 0.456981 0.0367368 0.88871749 0.12799453] [ 0. 0. 0. 1. ]] SLAMing on 113.26800114499999 meters Centerline goodness [0,1] 0.9108329131130648 Centerline is valid? [False, False] Translation: X:4.24, Y:0.25, Z:0.13 [[ 0.88764875 0.04411221 -0.45840354 4.23808821] [-0.05615049 0.99834206 -0.01265879 0.25023704] [ 0.45708513 0.03697614 0.88865401 0.12817395] [ 0. 0. 0. 1. ]] SLAMing on 113.29800114499999 meters Centerline goodness [0,1] 0.9108329131130648 Centerline is valid? [False, False] Translation: X:4.24, Y:0.25, Z:0.13 [[ 0.88764875 0.04411221 -0.45840354 4.23808821] [-0.05615049 0.99834206 -0.01265879 0.25023704] [ 0.45708513 0.03697614 0.88865401 0.12817395] [ 0. 0. 0. 1. ]] SLAMing on 113.32800114499999 meters Centerline goodness [0,1] 0.9082049255893586 Centerline is valid? [False, False] Translation: X:4.24, Y:0.25, Z:0.13 [[ 0.88768922 0.04359004 -0.45837513 4.23777567] [-0.05576402 0.99835867 -0.01305179 0.25077513] [ 0.45705385 0.03714677 0.88866298 0.12820501] [ 0. 0. 0. 1. ]] SLAMing on 113.35800114499999 meters Centerline goodness [0,1] 0.909170708156861 Centerline is valid? [False, False] Translation: X:4.24, Y:0.25, Z:0.13 [[ 0.88780638 0.04235162 -0.4582643 4.23689193] [-0.05487779 0.99839427 -0.014047 0.25253293] [ 0.45693354 0.03761955 0.88870496 0.12833292] [ 0. 0. 0. 1. ]] SLAMing on 113.38800114499998 meters Centerline goodness [0,1] 0.9022254411377403 Centerline is valid? [False, False] Translation: X:4.24, Y:0.25, Z:0.13 [[ 0.88774419 0.04183748 -0.45843199 4.23706182] [-0.05460396 0.99840101 -0.01462326 0.25408068] [ 0.45708716 0.03801392 0.88860918 0.12870273] [ 0. 0. 0. 1. ]] SLAMing on 113.41800114499998 meters Centerline goodness [0,1] 0.9082352422519067 Centerline is valid? [False, False] Translation: X:4.24, Y:0.26, Z:0.13 [[ 0.88766498 0.04144352 -0.45862111 4.23730466] [-0.05447027 0.99839959 -0.0152068 0.25598801] [ 0.45725691 0.03847976 0.88850179 0.1291837 ] [ 0. 0. 0. 1. ]] SLAMing on 113.44800114499998 meters Centerline goodness [0,1] 0.9040516424684395 Centerline is valid? [False, False] Translation: X:4.24, Y:0.26, Z:0.13 [[ 0.8875376 0.04117384 -0.45889184 4.23788023] [-0.05448658 0.99838946 -0.01580189 0.25834078] [ 0.45750215 0.03902822 0.88835161 0.12980827] [ 0. 0. 0. 1. ]] SLAMing on 113.47800114499998 meters Centerline goodness [0,1] 0.9052191420164163 Centerline is valid? [False, False] Translation: X:4.24, Y:0.26, Z:0.13 [[ 0.88750155 0.04552894 -0.45855002 4.23673008] [-0.05773488 0.99825208 -0.01262771 0.26029074] [ 0.45717359 0.03768145 0.88857888 0.12992178] [ 0. 0. 0. 1. ]] SLAMing on 113.50800114499998 meters Centerline goodness [0,1] 0.9101586738764293 Centerline is valid? [False, False] Translation: X:4.24, Y:0.26, Z:0.13 [[ 0.88739575 0.04529747 -0.45877763 4.23734325] [-0.0577075 0.99824812 -0.01305921 0.26175023] [ 0.45738236 0.0380636 0.88845514 0.13024931] [ 0. 0. 0. 1. ]] SLAMing on 113.53800114499998 meters Centerline goodness [0,1] 0.9064119027587123 Centerline is valid? [False, False] Translation: X:4.24, Y:0.26, Z:0.13 [[ 0.88722977 0.0453091 -0.4590974 4.2385136 ] [-0.05783644 0.99823808 -0.01325415 0.26276765] [ 0.45768797 0.03831204 0.88828706 0.13050555] [ 0. 0. 0. 1. ]] SLAMing on 113.56800114499998 meters Centerline goodness [0,1] 0.9159038013964313 Centerline is valid? [False, False] Translation: X:4.24, Y:0.26, Z:0.13 [[ 0.88708348 0.0452406 -0.45938675 4.23959605] [-0.05792059 0.99822937 -0.01353958 0.26413751] [ 0.45796081 0.03861869 0.88813315 0.13072936] [ 0. 0. 0. 1. ]] SLAMing on 113.59800114499998 meters Centerline goodness [0,1] 0.920237354431505 Centerline is valid? [False, False] Translation: X:4.24, Y:0.27, Z:0.13 [[ 0.88691547 0.04533648 -0.45970158 4.24111542] [-0.05832199 0.99819855 -0.01407841 0.26712818] [ 0.45823519 0.03929708 0.88796185 0.13116294] [ 0. 0. 0. 1. ]] SLAMing on 113.62800114499998 meters Centerline goodness [0,1] 0.9205061937438731 Centerline is valid? [False, False] Translation: X:4.24, Y:0.27, Z:0.13 [[ 0.88678705 0.04519076 -0.45996361 4.24172547] [-0.05842177 0.99818575 -0.01456397 0.26898891] [ 0.45847097 0.03978703 0.88781832 0.1317058 ] [ 0. 0. 0. 1. ]] SLAMing on 113.65800114499999 meters Centerline goodness [0,1] 0.9206603479731233 Centerline is valid? [False, False] Translation: X:4.24, Y:0.27, Z:0.13 [[ 0.88658694 0.04507688 -0.46036038 4.24275519] [-0.05857062 0.99816965 -0.01506119 0.2712209 ] [ 0.45883884 0.04031665 0.88760435 0.13237458] [ 0. 0. 0. 1. ]] SLAMing on 113.68800114499999 meters Centerline goodness [0,1] 0.9257967125125797 Centerline is valid? [False, False] Translation: X:4.24, Y:0.27, Z:0.13 [[ 0.88632939 0.05010798 -0.46033619 4.24305707] [-0.06246336 0.99797943 -0.01163581 0.27359773] [ 0.458823 0.03906731 0.88766841 0.13275382] [ 0. 0. 0. 1. ]] SLAMing on 113.71800114499999 meters Centerline goodness [0,1] 0.9276305455198258 Centerline is valid? [False, False] Translation: X:4.24, Y:0.28, Z:0.13 [[ 0.88614968 0.04999564 -0.46069424 4.24352985] [-0.06268281 0.99795807 -0.01227017 0.27622086] [ 0.45914008 0.03975082 0.88747409 0.13379749] [ 0. 0. 0. 1. ]] SLAMing on 113.74800114499998 meters Centerline goodness [0,1] 0.9300105331570336 Centerline is valid? [False, False] Translation: X:4.24, Y:0.28, Z:0.13 [[ 0.88591827 0.05005631 -0.46113249 4.24453666] [-0.06305164 0.99792808 -0.01280761 0.27875267] [ 0.45953596 0.04042166 0.88723886 0.13478776] [ 0. 0. 0. 1. ]] SLAMing on 113.77800114499998 meters Centerline goodness [0,1] 0.9328281011064136 Centerline is valid? [False, False] Translation: X:4.25, Y:0.28, Z:0.14 [[ 0.88571277 0.05029944 -0.46150066 4.24572726] [-0.06354259 0.99789196 -0.01318976 0.28105711] [ 0.45986436 0.04100728 0.88704181 0.13553053] [ 0. 0. 0. 1. ]] SLAMing on 113.80800114499998 meters Centerline goodness [0,1] 0.9386375923589836 Centerline is valid? [False, False] Translation: X:4.25, Y:0.28, Z:0.14 [[ 0.88553289 0.0556008 -0.46123752 4.24539954] [-0.0676687 0.99766115 -0.00965251 0.2824936 ] [ 0.45962206 0.03975896 0.8872242 0.13582171] [ 0. 0. 0. 1. ]] SLAMing on 113.83800114499998 meters Centerline goodness [0,1] 0.9399793342018958 Centerline is valid? [False, False] Translation: X:4.25, Y:0.28, Z:0.14 [[ 0.88533686 0.05574402 -0.46159641 4.24660597] [-0.06807439 0.99762924 -0.01008868 0.28464033] [ 0.45993969 0.04035477 0.88703268 0.1364732 ] [ 0. 0. 0. 1. ]] SLAMing on 113.86800114499998 meters Centerline goodness [0,1] 0.9404128729829623 Centerline is valid? [False, False] Translation: X:4.25, Y:0.29, Z:0.14 [[ 0.8851049 0.05603093 -0.46200632 4.2481351 ] [-0.06857156 0.99759217 -0.01038298 0.28678037] [ 0.46031212 0.04087052 0.88681585 0.13707665] [ 0. 0. 0. 1. ]] SLAMing on 113.89800114499998 meters Centerline goodness [0,1] 0.9422336037710194 Centerline is valid? [False, False] Translation: X:4.25, Y:0.29, Z:0.14 [[ 0.88488066 0.05599785 -0.46243967 4.24919791] [-0.068891 0.99756326 -0.01102612 0.2897207 ] [ 0.46069539 0.04161474 0.88658219 0.13804087] [ 0. 0. 0. 1. ]] SLAMing on 113.92800114499998 meters Centerline goodness [0,1] 0.9411510464058235 Centerline is valid? [False, False] Translation: X:4.25, Y:0.29, Z:0.14 [[ 0.88456652 0.05680836 -0.46294155 4.25195936] [-0.069892 0.99749233 -0.01114228 0.29296429] [ 0.46114768 0.042212 0.88631877 0.13848264] [ 0. 0. 0. 1. ]] SLAMing on 113.95800114499998 meters Centerline goodness [0,1] 0.9407524932003627 Centerline is valid? [False, False] Translation: X:4.25, Y:0.29, Z:0.14 [[ 0.88446236 0.05698288 -0.46311909 4.25289775] [-0.07005552 0.99748178 -0.01105998 0.29281343] [ 0.46132262 0.04222618 0.88622705 0.138414 ] [ 0. 0. 0. 1. ]] SLAMing on 113.98800114499998 meters Centerline goodness [0,1] 0.9397131788214504 Centerline is valid? [False, False] Translation: X:4.25, Y:0.29, Z:0.14 [[ 0.88441842 0.05689521 -0.46321377 4.25310565] [-0.06997673 0.99748699 -0.01108879 0.29227419] [ 0.46141881 0.04222132 0.88617721 0.13844356] [ 0. 0. 0. 1. ]] SLAMing on 114.01800114499999 meters Centerline goodness [0,1] 0.9405509579412765 Centerline is valid? [False, False] Translation: X:4.25, Y:0.29, Z:0.14 [[ 0.88449164 0.0557351 -0.463215 4.25151004] [-0.06922333 0.99752714 -0.01215459 0.29443376] [ 0.4613921 0.04281592 0.88616258 0.13940566] [ 0. 0. 0. 1. ]] SLAMing on 114.04800114499999 meters Centerline goodness [0,1] 0.9408039585082961 Centerline is valid? [False, False] Translation: X:4.25, Y:0.30, Z:0.14 [[ 0.88449699 0.05486351 -0.46330883 4.25024521] [-0.06866826 0.99755528 -0.01296649 0.29596323] [ 0.46146478 0.04328343 0.88610203 0.1403742 ] [ 0. 0. 0. 1. ]] SLAMing on 114.07800114499999 meters Centerline goodness [0,1] 0.9404155055619747 Centerline is valid? [False, False] Translation: X:4.25, Y:0.30, Z:0.14 [[ 0.8845167 0.05417147 -0.46335263 4.24918008] [-0.06816662 0.99758265 -0.01349729 0.29650976] [ 0.46150138 0.04352376 0.8860712 0.14101409] [ 0. 0. 0. 1. ]] SLAMing on 114.10800114499999 meters Centerline goodness [0,1] 0.9388754164494708 Centerline is valid? [False, False] Translation: X:4.25, Y:0.30, Z:0.14 [[ 0.88467498 0.05302198 -0.46318338 4.24694795] [-0.06719706 0.99763948 -0.01414287 0.29575962] [ 0.46134015 0.04363641 0.88614961 0.14145883] [ 0. 0. 0. 1. ]] SLAMing on 114.13800114499998 meters Centerline goodness [0,1] 0.9392729088185903 Centerline is valid? [False, False] Translation: X:4.25, Y:0.29, Z:0.14 [[ 0.88474094 0.05264176 -0.46310076 4.24597627] [-0.06681944 0.99766332 -0.0142499 0.29479522] [ 0.4612685 0.0435516 0.88619108 0.14160218] [ 0. 0. 0. 1. ]] SLAMing on 114.16800114499998 meters Centerline goodness [0,1] 0.9371301607454599 Centerline is valid? [False, False] Translation: X:4.24, Y:0.29, Z:0.14 [[ 0.88490325 0.0517772 -0.46288806 4.24382177] [-0.06608636 0.99770507 -0.01473715 0.29401664] [ 0.46106271 0.04363154 0.88629423 0.1420561 ] [ 0. 0. 0. 1. ]] SLAMing on 114.19800114499998 meters Centerline goodness [0,1] 0.9373996063437479 Centerline is valid? [False, False] Translation: X:4.24, Y:0.29, Z:0.14 [[ 0.88503719 0.05107129 -0.46271038 4.24217304] [-0.06547644 0.99773965 -0.01511363 0.2933961 ] [ 0.46089263 0.04367275 0.88638066 0.14232787] [ 0. 0. 0. 1. ]] SLAMing on 114.22800114499998 meters Centerline goodness [0,1] 0.9330114392725796 Centerline is valid? [False, False] Translation: X:4.24, Y:0.29, Z:0.14 [[ 0.8851912 0.04533256 -0.46301349 4.24186584] [-0.06133492 0.99792565 -0.01955583 0.29402254] [ 0.46116652 0.04570955 0.88613547 0.14299219] [ 0. 0. 0. 1. ]] SLAMing on 114.25800114499998 meters Centerline goodness [0,1] 0.9330114392725796 Centerline is valid? [False, False] Translation: X:4.24, Y:0.29, Z:0.14 [[ 0.8851912 0.04533256 -0.46301349 4.24186584] [-0.06133492 0.99792565 -0.01955583 0.29402254] [ 0.46116652 0.04570955 0.88613547 0.14299219] [ 0. 0. 0. 1. ]] SLAMing on 114.28800114499998 meters Centerline goodness [0,1] 0.9330463785099382 Centerline is valid? [False, False] Translation: X:4.24, Y:0.29, Z:0.14 [[ 0.88540319 0.04402982 -0.4627338 4.23949232] [-0.06015543 0.99798577 -0.02014263 0.29320238] [ 0.46091487 0.0456703 0.88626842 0.14314636] [ 0. 0. 0. 1. ]] SLAMing on 114.31800114499998 meters Centerline goodness [0,1] 0.9304896959345574 Centerline is valid? [False, False] Translation: X:4.24, Y:0.29, Z:0.14 [[ 0.88541598 0.0435251 -0.46275708 4.23842639] [-0.05974369 0.99800441 -0.02044219 0.29303269] [ 0.46094386 0.04574665 0.8862494 0.14372121] [ 0. 0. 0. 1. ]] SLAMing on 114.34800114499998 meters Centerline goodness [0,1] 0.9300868862396444 Centerline is valid? [False, False] Translation: X:4.24, Y:0.29, Z:0.14 [[ 0.88552004 0.04287462 -0.46261866 4.23673535] [-0.05915751 0.99803318 -0.02074033 0.29212547] [ 0.46081954 0.04573334 0.88631474 0.14408169] [ 0. 0. 0. 1. ]] SLAMing on 114.37800114499998 meters Centerline goodness [0,1] 0.9245981862260932 Centerline is valid? [False, False] Translation: X:4.23, Y:0.29, Z:0.14 [[ 0.88565635 0.04223428 -0.46241659 4.23488542] [-0.05852477 0.99806644 -0.02093397 0.29034532] [ 0.46063835 0.04560313 0.88641563 0.14427089] [ 0. 0. 0. 1. ]] SLAMing on 114.40800114499999 meters Centerline goodness [0,1] 0.9221437380872295 Centerline is valid? [False, False] Translation: X:4.23, Y:0.29, Z:0.15 [[ 0.88588259 0.03628857 -0.46248803 4.23287232] [-0.054085 0.99821642 -0.02527441 0.28930724] [ 0.46074597 0.04740382 0.88626521 0.14514547] [ 0. 0. 0. 1. ]] SLAMing on 114.43800114499999 meters Centerline goodness [0,1] 0.920075392106267 Centerline is valid? [False, False] Translation: X:4.23, Y:0.29, Z:0.15 [[ 0.88601872 0.0355127 -0.46228745 4.23100706] [-0.05338319 0.99824515 -0.02562934 0.28862538] [ 0.46056603 0.04738645 0.88635966 0.14546209] [ 0. 0. 0. 1. ]] SLAMing on 114.46800114499999 meters Centerline goodness [0,1] 0.914914151049265 Centerline is valid? [False, False] Translation: X:4.23, Y:0.29, Z:0.15 [[ 0.88605591 0.03498443 -0.46225644 4.2298951 ] [-0.05291851 0.99826331 -0.02588408 0.28835859] [ 0.46054811 0.04739666 0.88636843 0.14586513] [ 0. 0. 0. 1. ]] SLAMing on 114.49800114499998 meters Centerline goodness [0,1] 0.9154733581721057 Centerline is valid? [False, False] Translation: X:4.23, Y:0.29, Z:0.15 [[ 0.88620124 0.03450955 -0.46201347 4.22843398] [-0.05233996 0.99829526 -0.02582828 0.28604617] [ 0.46033454 0.04707082 0.88649673 0.14566974] [ 0. 0. 0. 1. ]] SLAMing on 114.52800114499998 meters Centerline goodness [0,1] 0.9184053066804114 Centerline is valid? [False, False] Translation: X:4.23, Y:0.28, Z:0.15 [[ 0.88619432 0.03479388 -0.46200542 4.22849353] [-0.05240054 0.99830487 -0.02532907 0.28352698] [ 0.46034097 0.04665581 0.88651533 0.14537828] [ 0. 0. 0. 1. ]] SLAMing on 114.55800114499998 meters Centerline goodness [0,1] 0.9175771387715888 Centerline is valid? [False, False] Translation: X:4.23, Y:0.28, Z:0.15 [[ 0.88618011 0.03497101 -0.46201931 4.22822984] [-0.05238931 0.99831572 -0.0249216 0.28122839] [ 0.46036961 0.0462899 0.88651964 0.14532297] [ 0. 0. 0. 1. ]] SLAMing on 114.58800114499998 meters Centerline goodness [0,1] 0.9128242878493832 Centerline is valid? [False, False] Translation: X:4.23, Y:0.28, Z:0.15 [[ 0.88613161 0.03506755 -0.462105 4.22820011] [-0.05240699 0.99831939 -0.02473654 0.28024535] [ 0.46046094 0.04613736 0.88648016 0.14546003] [ 0. 0. 0. 1. ]] SLAMing on 114.61800114499998 meters Centerline goodness [0,1] 0.9142060660124889 Centerline is valid? [False, False] Translation: X:4.23, Y:0.28, Z:0.15 [[ 0.88605743 0.03521682 -0.46223588 4.22831234] [-0.05245407 0.99832303 -0.0244887 0.27965419] [ 0.46059831 0.04594455 0.8864188 0.14565968] [ 0. 0. 0. 1. ]] SLAMing on 114.64800114499998 meters Centerline goodness [0,1] 0.9151563788760337 Centerline is valid? [False, False] Translation: X:4.23, Y:0.28, Z:0.15 [[ 0.88603384 0.03533993 -0.4622717 4.22840448] [-0.05245444 0.9983296 -0.02421847 0.27849563] [ 0.46064364 0.04570659 0.88640755 0.1455693 ] [ 0. 0. 0. 1. ]] SLAMing on 114.67800114499998 meters Centerline goodness [0,1] 0.9166203199038954 Centerline is valid? [False, False] Translation: X:4.23, Y:0.28, Z:0.15 [[ 0.88596222 0.0356005 -0.46238896 4.22876323] [-0.05252311 0.99833671 -0.02377263 0.27673328] [ 0.46077356 0.04534776 0.88635845 0.14546568] [ 0. 0. 0. 1. ]] SLAMing on 114.70800114499998 meters Centerline goodness [0,1] 0.9143488055673277 Centerline is valid? [False, False] Translation: X:4.23, Y:0.28, Z:0.15 [[ 0.88594239 0.03567811 -0.46242096 4.2288334 ] [-0.05249059 0.99834397 -0.02353832 0.27558601] [ 0.46081538 0.04512635 0.88634801 0.14538118] [ 0. 0. 0. 1. ]] SLAMing on 114.73800114499998 meters Centerline goodness [0,1] 0.9112473347547975 Centerline is valid? [False, False] Translation: X:4.23, Y:0.27, Z:0.14 [[ 0.88592237 0.03613406 -0.46242392 4.22912972] [-0.05261597 0.99835471 -0.02279088 0.27244786] [ 0.46083958 0.04452183 0.886366 0.14487536] [ 0. 0. 0. 1. ]] SLAMing on 114.76800114499999 meters Centerline goodness [0,1] 0.9181260556493911 Centerline is valid? [False, False] Translation: X:4.23, Y:0.27, Z:0.14 [[ 0.88592024 0.03625711 -0.46241836 4.22908253] [-0.0526513 0.99835735 -0.02259275 0.27119398] [ 0.46083962 0.0443623 0.88637398 0.14478974] [ 0. 0. 0. 1. ]] SLAMing on 114.79800114499999 meters Centerline goodness [0,1] 0.9193376305845744 Centerline is valid? [False, False] Translation: X:4.23, Y:0.27, Z:0.15 [[ 0.88589294 0.03607266 -0.4624851 4.22877948] [-0.05254613 0.99835857 -0.022783 0.27136212] [ 0.46090412 0.0444851 0.88633428 0.14514028] [ 0. 0. 0. 1. ]] SLAMing on 114.82800114499999 meters Centerline goodness [0,1] 0.9163994298948869 Centerline is valid? [False, False] Translation: X:4.23, Y:0.27, Z:0.14 [[ 0.88587907 0.04072533 -0.46212523 4.22780378] [-0.05587252 0.99825456 -0.01913345 0.2720604 ] [ 0.4605394 0.04277002 0.88660825 0.14495208] [ 0. 0. 0. 1. ]] SLAMing on 114.85800114499999 meters Centerline goodness [0,1] 0.9179914825302682 Centerline is valid? [False, False] Translation: X:4.23, Y:0.27, Z:0.15 [[ 0.88573625 0.040584 -0.46241133 4.22846249] [-0.05583504 0.99825272 -0.01933783 0.27285269] [ 0.46081856 0.04294697 0.88645463 0.14531626] [ 0. 0. 0. 1. ]] SLAMing on 114.88800114499998 meters Centerline goodness [0,1] 0.9155426529700759 Centerline is valid? [False, False] Translation: X:4.23, Y:0.27, Z:0.15 [[ 0.88566964 0.04075337 -0.46252401 4.22915698] [-0.05594681 0.99824963 -0.01917382 0.2723291 ] [ 0.46093302 0.04285841 0.88639941 0.14517643] [ 0. 0. 0. 1. ]] SLAMing on 114.91800114499998 meters Centerline goodness [0,1] 0.9149140433132396 Centerline is valid? [False, False] Translation: X:4.23, Y:0.27, Z:0.15 [[ 0.88578075 0.04017894 -0.46236146 4.22837496] [-0.05549874 0.99826687 -0.0195743 0.27248917] [ 0.46077365 0.04299902 0.88647545 0.14512765] [ 0. 0. 0. 1. ]] SLAMing on 114.94800114499998 meters Centerline goodness [0,1] 0.91396697902722 Centerline is valid? [False, False] Translation: X:4.23, Y:0.27, Z:0.15 [[ 0.88583649 0.03950776 -0.46231251 4.22758031] [-0.05501628 0.99828299 -0.02010654 0.27332841] [ 0.46072435 0.04324582 0.88648907 0.14542248] [ 0. 0. 0. 1. ]] SLAMing on 114.97800114499998 meters Centerline goodness [0,1] 0.9145398471371743 Centerline is valid? [False, False] Translation: X:4.23, Y:0.27, Z:0.15 [[ 0.88592848 0.03864961 -0.46220877 4.22620914] [-0.05438878 0.99830378 -0.02077096 0.27402912] [ 0.46062197 0.04354056 0.88652785 0.14587822] [ 0. 0. 0. 1. ]] SLAMing on 115.00800114499998 meters Centerline goodness [0,1] 0.9108686886788226 Centerline is valid? [False, False] Translation: X:4.22, Y:0.27, Z:0.15 [[ 0.88604992 0.03780438 -0.46204586 4.22481614] [-0.05377835 0.99832256 -0.02144664 0.27487632] [ 0.46046002 0.04385085 0.88659668 0.146243 ] [ 0. 0. 0. 1. ]] SLAMing on 115.03800114499998 meters Centerline goodness [0,1] 0.9025939177101968 Centerline is valid? [False, False] Translation: X:4.22, Y:0.28, Z:0.15 [[ 0.88630588 0.03620019 -0.46168325 4.222124 ] [-0.05256159 0.99836139 -0.02262326 0.27620217] [ 0.46010777 0.04431794 0.88675631 0.14675269] [ 0. 0. 0. 1. ]] SLAMing on 115.06800114499998 meters Centerline goodness [0,1] 0.9031666517577601 Centerline is valid? [False, False] Translation: X:4.22, Y:0.28, Z:0.15 [[ 0.88634967 0.03559036 -0.4616466 4.2214937 ] [-0.05210235 0.99837533 -0.02306605 0.27675929] [ 0.46007565 0.04449746 0.88676399 0.14695117] [ 0. 0. 0. 1. ]] SLAMing on 115.09800114499998 meters Centerline goodness [0,1] 0.8971730975348339 Centerline is valid? [False, False] Translation: X:4.22, Y:0.28, Z:0.15 [[ 0.88641371 0.03491335 -0.46157533 4.22063043] [-0.05160561 0.99838898 -0.02358622 0.2775055 ] [ 0.46000825 0.04472702 0.88678741 0.14723777] [ 0. 0. 0. 1. ]] SLAMing on 115.12800114499998 meters Centerline goodness [0,1] 0.88807191373938 Centerline is valid? [False, False] Translation: X:4.22, Y:0.28, Z:0.15 [[ 0.88648952 0.0341313 -0.46148822 4.21961632] [-0.05105213 0.99840209 -0.02422688 0.27849603] [ 0.45992391 0.04503683 0.88681547 0.14758578] [ 0. 0. 0. 1. ]] SLAMing on 115.15800114499999 meters Centerline goodness [0,1] 0.8862888237006517 Centerline is valid? [False, False] Translation: X:4.22, Y:0.28, Z:0.15 [[ 0.88661233 0.03283247 -0.46134652 4.2184634 ] [-0.05009627 0.99842592 -0.02522004 0.28045008] [ 0.45979228 0.04547214 0.88686151 0.14780585] [ 0. 0. 0. 1. ]] SLAMing on 115.18800114499999 meters Centerline goodness [0,1] 0.8840761478163494 Centerline is valid? [False, False] Translation: X:4.22, Y:0.28, Z:0.15 [[ 0.88665094 0.03220125 -0.4613168 4.2180723 ] [-0.04964208 0.99843589 -0.02571837 0.28138506] [ 0.45976709 0.04570394 0.88686266 0.14794634] [ 0. 0. 0. 1. ]] SLAMing on 115.21800114499999 meters Centerline goodness [0,1] 0.8840761478163494 Centerline is valid? [False, False] Translation: X:4.22, Y:0.28, Z:0.15 [[ 0.88665094 0.03220125 -0.4613168 4.2180723 ] [-0.04964208 0.99843589 -0.02571837 0.28138506] [ 0.45976709 0.04570394 0.88686266 0.14794634] [ 0. 0. 0. 1. ]] SLAMing on 115.24800114499998 meters Centerline goodness [0,1] 0.8788911050850496 Centerline is valid? [False, False] Translation: X:4.22, Y:0.28, Z:0.15 [[ 0.88670766 0.03165482 -0.4612456 4.21770001] [-0.0492279 0.99844612 -0.02611435 0.28204679] [ 0.45970224 0.04586195 0.88688812 0.14792836] [ 0. 0. 0. 1. ]] SLAMing on 115.27800114499998 meters Centerline goodness [0,1] 0.8854505849857403 Centerline is valid? [False, False] Translation: X:4.22, Y:0.28, Z:0.15 [[ 0.88675517 0.03115537 -0.46118825 4.21735145] [-0.0488202 0.99845812 -0.02641921 0.28227571] [ 0.45965406 0.04594267 0.88690891 0.14787516] [ 0. 0. 0. 1. ]] SLAMing on 115.30800114499998 meters Centerline goodness [0,1] 0.8751066217732885 Centerline is valid? [False, False] Translation: X:4.22, Y:0.28, Z:0.15 [[ 0.88678921 0.03060128 -0.46115991 4.21706113] [-0.04840137 0.99846788 -0.02681807 0.2827338 ] [ 0.45963268 0.04610275 0.88691168 0.14791465] [ 0. 0. 0. 1. ]] SLAMing on 115.33800114499998 meters Centerline goodness [0,1] 0.872188897126553 Centerline is valid? [False, False] Translation: X:4.22, Y:0.28, Z:0.15 [[ 0.88682999 0.02985662 -0.4611303 4.21635226] [-0.04790766 0.99847351 -0.02748659 0.28415039] [ 0.45960573 0.0464676 0.88690661 0.14827746] [ 0. 0. 0. 1. ]] SLAMing on 115.36800114499998 meters Centerline goodness [0,1] 0.8665539779130043 Centerline is valid? [False, False] Translation: X:4.21, Y:0.29, Z:0.15 [[ 0.88710076 0.03289894 -0.46040189 4.212552 ] [-0.05000692 0.99843573 -0.02500793 0.28627694] [ 0.45885897 0.04520784 0.88735827 0.14845911] [ 0. 0. 0. 1. ]] SLAMing on 115.39800114499998 meters Centerline goodness [0,1] 0.8644610940602997 Centerline is valid? [False, False] Translation: X:4.21, Y:0.29, Z:0.15 [[ 0.88710414 0.03220525 -0.46044443 4.21189274] [-0.04967401 0.99843041 -0.02586918 0.2885568 ] [ 0.45888859 0.04582078 0.88731151 0.1491721 ] [ 0. 0. 0. 1. ]] SLAMing on 115.42800114499998 meters Centerline goodness [0,1] 0.8667603909208408 Centerline is valid? [False, False] Translation: X:4.21, Y:0.29, Z:0.15 [[ 0.88715399 0.03672618 -0.46000976 4.21095991] [-0.05297583 0.99834315 -0.02246124 0.28956143] [ 0.45842268 0.04429598 0.88762972 0.14876089] [ 0. 0. 0. 1. ]] SLAMing on 115.45800114499998 meters Centerline goodness [0,1] 0.8654326028764575 Centerline is valid? [False, False] Translation: X:4.21, Y:0.29, Z:0.15 [[ 0.8870321 0.03656142 -0.46025788 4.21176764] [-0.05301837 0.99833149 -0.02287541 0.29107302] [ 0.45865358 0.04469335 0.88749051 0.14910016] [ 0. 0. 0. 1. ]] SLAMing on 115.48800114499998 meters Centerline goodness [0,1] 0.882188289374872 Centerline is valid? [False, False] Translation: X:4.21, Y:0.29, Z:0.15 [[ 0.88694845 0.03654028 -0.46042074 4.21274935] [-0.05312093 0.99832082 -0.02310193 0.29222579] [ 0.45880346 0.04494819 0.88740016 0.14909793] [ 0. 0. 0. 1. ]] SLAMing on 115.51800114499999 meters Centerline goodness [0,1] 0.8751079987267518 Centerline is valid? [False, False] Translation: X:4.21, Y:0.29, Z:0.15 [[ 0.88686407 0.03648021 -0.46058801 4.21352636] [-0.05320442 0.99831001 -0.02337563 0.29342385] [ 0.45895687 0.04523632 0.88730619 0.14924173] [ 0. 0. 0. 1. ]] SLAMing on 115.54800114499999 meters Centerline goodness [0,1] 0.8773911459282201 Centerline is valid? [False, False] Translation: X:4.21, Y:0.30, Z:0.15 [[ 0.8870078 0.04035301 -0.45998783 4.21129112] [-0.05602712 0.99821941 -0.02046866 0.29542145] [ 0.45834281 0.04392765 0.88768927 0.14917151] [ 0. 0. 0. 1. ]] SLAMing on 115.57800114499999 meters Centerline goodness [0,1] 0.8785681610247027 Centerline is valid? [False, False] Translation: X:4.21, Y:0.30, Z:0.15 [[ 0.88694962 0.03971517 -0.46015548 4.21109066] [-0.05572963 0.99821943 -0.02126437 0.29785212] [ 0.45849163 0.04450472 0.88758366 0.14990753] [ 0. 0. 0. 1. ]] SLAMing on 115.60800114499999 meters Centerline goodness [0,1] 0.8778058296993344 Centerline is valid? [False, False] Translation: X:4.21, Y:0.30, Z:0.15 [[ 0.88691822 0.03906634 -0.46027155 4.21084331] [-0.0554172 0.99821955 -0.02206033 0.30002667] [ 0.45859024 0.04507267 0.88750405 0.15054162] [ 0. 0. 0. 1. ]] SLAMing on 115.63800114499998 meters Centerline goodness [0,1] 0.8771692222936369 Centerline is valid? [False, False] Translation: X:4.21, Y:0.30, Z:0.15 [[ 0.88684415 0.03862477 -0.4604515 4.21099966] [-0.05523657 0.9982163 -0.02265245 0.30192605] [ 0.45875524 0.04552295 0.88739579 0.15106572] [ 0. 0. 0. 1. ]] SLAMing on 115.66800114499998 meters Centerline goodness [0,1] 0.8754110423804815 Centerline is valid? [False, False] Translation: X:4.21, Y:0.30, Z:0.15 [[ 0.88673079 0.03829694 -0.46069713 4.21128951] [-0.05515095 0.99820909 -0.02317289 0.30348843] [ 0.45898461 0.045956 0.88725485 0.1516905 ] [ 0. 0. 0. 1. ]] SLAMing on 115.69800114499998 meters Centerline goodness [0,1] 0.8742443121509991 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.15 [[ 0.88685465 0.03718811 -0.46054953 4.20980043] [-0.05457266 0.99820956 -0.02448486 0.30650039] [ 0.45881439 0.04684792 0.88729625 0.15252082] [ 0. 0. 0. 1. ]] SLAMing on 115.72800114499998 meters Centerline goodness [0,1] 0.8764102089883484 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.15 [[ 0.88684878 0.03637064 -0.46062611 4.20903387] [-0.05414652 0.9982091 -0.02543119 0.308929 ] [ 0.45887622 0.04749492 0.88722987 0.15334813] [ 0. 0. 0. 1. ]] SLAMing on 115.75800114499998 meters Centerline goodness [0,1] 0.8804241663178457 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.15 [[ 0.8868728 0.04040962 -0.46024308 4.20725761] [-0.0571695 0.99811026 -0.02252901 0.3116488 ] [ 0.45846295 0.04629223 0.88750704 0.15368964] [ 0. 0. 0. 1. ]] SLAMing on 115.78800114499998 meters Centerline goodness [0,1] 0.8811063552619336 Centerline is valid? [False, False] Translation: X:4.21, Y:0.31, Z:0.15 [[ 0.88675144 0.04013261 -0.4605011 4.20762385] [-0.05722536 0.99809143 -0.02321092 0.31397158] [ 0.45869069 0.04693466 0.88735562 0.15449404] [ 0. 0. 0. 1. ]] SLAMing on 115.81800114499998 meters Centerline goodness [0,1] 0.8828952896690164 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.15 [[ 0.88665352 0.04006608 -0.46069539 4.20810073] [-0.05736632 0.99807408 -0.02360591 0.31531574] [ 0.45886233 0.04735867 0.88724434 0.15498338] [ 0. 0. 0. 1. ]] SLAMing on 115.84800114499998 meters Centerline goodness [0,1] 0.884875163033352 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.16 [[ 0.88660259 0.04005063 -0.46079475 4.20841563] [-0.05751531 0.99805812 -0.023916 0.31626813] [ 0.45894209 0.04770674 0.88718444 0.1553058 ] [ 0. 0. 0. 1. ]] SLAMing on 115.87800114499998 meters Centerline goodness [0,1] 0.8894344298707068 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.16 [[ 0.88652407 0.04476591 -0.46051176 4.20726186] [-0.06107219 0.99792153 -0.02056213 0.3175615 ] [ 0.45863412 0.04635328 0.88741541 0.15565484] [ 0. 0. 0. 1. ]] SLAMing on 115.90800114499999 meters Centerline goodness [0,1] 0.8888888888888888 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.16 [[ 0.88633915 0.04467606 -0.46087629 4.20796713] [-0.06126597 0.99789862 -0.0210908 0.32014678] [ 0.45896556 0.04692963 0.88721374 0.15655958] [ 0. 0. 0. 1. ]] SLAMing on 115.93800114499999 meters Centerline goodness [0,1] 0.8936015397615248 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.16 [[ 0.88616315 0.04440188 -0.46124109 4.20827596] [-0.061322 0.99788096 -0.02175328 0.3224693 ] [ 0.45929782 0.04756118 0.88700814 0.1576447 ] [ 0. 0. 0. 1. ]] SLAMing on 115.96800114499999 meters Centerline goodness [0,1] 0.8916282786499953 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.16 [[ 0.88604046 0.04432707 -0.46148393 4.2087542 ] [-0.06141851 0.99786798 -0.02207383 0.3236513 ] [ 0.45952157 0.04790196 0.88687391 0.15816425] [ 0. 0. 0. 1. ]] SLAMing on 115.99800114499998 meters Centerline goodness [0,1] 0.8959371767140036 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.16 [[ 0.88579997 0.04531433 -0.46184957 4.21117393] [-0.06225672 0.99782851 -0.02150282 0.32298881] [ 0.45987228 0.04780043 0.88669758 0.1578907 ] [ 0. 0. 0. 1. ]] SLAMing on 116.02800114499998 meters Centerline goodness [0,1] 0.8959734700597394 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.16 [[ 0.88560496 0.04579251 -0.46217627 4.2126056 ] [-0.06266691 0.99780895 -0.02121692 0.32250894] [ 0.46019204 0.04775297 0.88653423 0.15794477] [ 0. 0. 0. 1. ]] SLAMing on 116.05800114499998 meters Centerline goodness [0,1] 0.8964851111948737 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.16 [[ 0.8855176 0.04566559 -0.46235618 4.21284833] [-0.06269195 0.9978009 -0.02151947 0.32336724] [ 0.46035672 0.04804188 0.88643312 0.15839889] [ 0. 0. 0. 1. ]] SLAMing on 116.08800114499998 meters Centerline goodness [0,1] 0.8971830321332516 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.16 [[ 0.88537658 0.04533801 -0.46265839 4.21293099] [-0.06265333 0.99779019 -0.02211991 0.32522073] [ 0.46063313 0.04857154 0.88626064 0.1593663 ] [ 0. 0. 0. 1. ]] SLAMing on 116.11800114499998 meters Centerline goodness [0,1] 0.89871625448367 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.16 [[ 0.88519968 0.04529726 -0.46300073 4.21338344] [-0.06284046 0.99776931 -0.02252726 0.32678894] [ 0.4609475 0.0490363 0.88607158 0.16026201] [ 0. 0. 0. 1. ]] SLAMing on 116.14800114499998 meters Centerline goodness [0,1] 0.902174681337323 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.16 [[ 0.88511493 0.04521823 -0.46317046 4.21339493] [-0.06284865 0.99776502 -0.02269383 0.32693919] [ 0.46110911 0.04919628 0.88597862 0.16071999] [ 0. 0. 0. 1. ]] SLAMing on 116.17800114499998 meters Centerline goodness [0,1] 0.8976274061682727 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.16 [[ 0.8850951 0.04512114 -0.46321782 4.21295582] [-0.06281391 0.99776406 -0.02283168 0.32659177] [ 0.46115191 0.04930473 0.88595032 0.1610942 ] [ 0. 0. 0. 1. ]] SLAMing on 116.20800114499998 meters Centerline goodness [0,1] 0.9030717362802023 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.16 [[ 0.88502817 0.04544377 -0.46331414 4.21282307] [-0.06308774 0.99775099 -0.02264741 0.32528929] [ 0.46124296 0.04927304 0.88590468 0.16144037] [ 0. 0. 0. 1. ]] SLAMing on 116.23800114499998 meters Centerline goodness [0,1] 0.9055790976985929 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.16 [[ 0.88493839 0.04553559 -0.4634766 4.21311163] [-0.0631716 0.99774698 -0.02259009 0.32502774] [ 0.46140372 0.0492694 0.88582116 0.16167088] [ 0. 0. 0. 1. ]] SLAMing on 116.26800114499999 meters Centerline goodness [0,1] 0.903576691852441 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.16 [[ 0.884812 0.04543771 -0.46372745 4.2132458 ] [-0.06317679 0.9977423 -0.02278159 0.32553138] [ 0.46164534 0.04945424 0.88568496 0.16228194] [ 0. 0. 0. 1. ]] SLAMing on 116.29800114499999 meters Centerline goodness [0,1] 0.907444151357408 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.16 [[ 0.88475902 0.04511648 -0.46385987 4.21243248] [-0.06304905 0.99774038 -0.02321536 0.326309 ] [ 0.46176433 0.04978593 0.88560435 0.16321226] [ 0. 0. 0. 1. ]] SLAMing on 116.32800114499999 meters Centerline goodness [0,1] 0.9050152331849074 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.16 [[ 0.88473852 0.04490604 -0.46391938 4.21173027] [-0.06289725 0.9977463 -0.02337213 0.32588774] [ 0.4618243 0.04985748 0.88556905 0.16370227] [ 0. 0. 0. 1. ]] SLAMing on 116.35800114499999 meters Centerline goodness [0,1] 0.9026921905386724 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.16 [[ 0.88467821 0.04497233 -0.46402796 4.21135433] [-0.06295231 0.99774402 -0.02332115 0.32498348] [ 0.46193231 0.04984335 0.88551351 0.16415624] [ 0. 0. 0. 1. ]] SLAMing on 116.38800114499998 meters Centerline goodness [0,1] 0.904081680443997 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.16 [[ 0.88462642 0.04498254 -0.4641257 4.21110141] [-0.06299745 0.99773994 -0.02337369 0.32445522] [ 0.46202534 0.04991572 0.8854609 0.16457814] [ 0. 0. 0. 1. ]] SLAMing on 116.41800114499998 meters Centerline goodness [0,1] 0.9057450838263147 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.17 [[ 0.88460024 0.04513065 -0.46416122 4.21053121] [-0.06313862 0.99773228 -0.02331976 0.32335356] [ 0.4620562 0.04993516 0.8854437 0.16502339] [ 0. 0. 0. 1. ]] SLAMing on 116.44800114499998 meters Centerline goodness [0,1] 0.9077156177156177 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.17 [[ 0.88456345 0.04499853 -0.46424416 4.21017474] [-0.06306469 0.99773382 -0.02345353 0.32312194] [ 0.46213672 0.05002355 0.88539669 0.16541822] [ 0. 0. 0. 1. ]] SLAMing on 116.47800114499998 meters Centerline goodness [0,1] 0.9080216145712023 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.17 [[ 0.88450191 0.04482037 -0.46437863 4.2101738 ] [-0.06294906 0.99773766 -0.02360056 0.32314404] [ 0.46227026 0.05010694 0.88532226 0.16572023] [ 0. 0. 0. 1. ]] SLAMing on 116.50800114499998 meters Centerline goodness [0,1] 0.9104422061457582 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.17 [[ 0.88441352 0.0448069 -0.46454824 4.21049004] [-0.06292458 0.99774011 -0.02356205 0.32276226] [ 0.46244267 0.0500701 0.8852343 0.16587751] [ 0. 0. 0. 1. ]] SLAMing on 116.53800114499998 meters Centerline goodness [0,1] 0.9099197581114083 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.17 [[ 0.88427908 0.04502835 -0.46478271 4.21141148] [-0.06302486 0.99774116 -0.02324727 0.3219074 ] [ 0.46268605 0.04984994 0.88511954 0.1657531 ] [ 0. 0. 0. 1. ]] SLAMing on 116.56800114499998 meters Centerline goodness [0,1] 0.9101445227955037 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.17 [[ 0.88428116 0.04498015 -0.46478342 4.21177633] [-0.06278808 0.99776416 -0.02289827 0.32013902] [ 0.46271427 0.04943137 0.88512826 0.16512643] [ 0. 0. 0. 1. ]] SLAMing on 116.59800114499998 meters Centerline goodness [0,1] 0.9082380874787588 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.17 [[ 0.88426859 0.0448185 -0.46482294 4.21139612] [-0.06262934 0.99777321 -0.02293876 0.31941569] [ 0.4627598 0.04939558 0.88510646 0.16532002] [ 0. 0. 0. 1. ]] SLAMing on 116.62800114499998 meters Centerline goodness [0,1] 0.9051887885105397 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.17 [[ 0.88427806 0.04446649 -0.46483872 4.21071987] [-0.06233753 0.99778687 -0.02313843 0.31896761] [ 0.46278109 0.0494377 0.88509298 0.16562712] [ 0. 0. 0. 1. ]] SLAMing on 116.65800114499999 meters Centerline goodness [0,1] 0.905948050142503 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.17 [[ 0.88433516 0.04389241 -0.46478465 4.20929896] [-0.06189045 0.99780558 -0.02352878 0.31864175] [ 0.46273198 0.04957306 0.88511108 0.16615199] [ 0. 0. 0. 1. ]] SLAMing on 116.68800114499999 meters Centerline goodness [0,1] 0.9020420448231155 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.17 [[ 0.88453058 0.04263743 -0.46452956 4.20649038] [-0.06087485 0.99784895 -0.02432558 0.31850192] [ 0.46249315 0.04979489 0.88522345 0.16681865] [ 0. 0. 0. 1. ]] SLAMing on 116.71800114499999 meters Centerline goodness [0,1] 0.9010706340378198 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.17 [[ 0.88455164 0.04235895 -0.46451493 4.20594556] [-0.06062703 0.99786089 -0.02445433 0.31815701] [ 0.46248542 0.04979328 0.88522758 0.16699943] [ 0. 0. 0. 1. ]] SLAMing on 116.74800114499998 meters Centerline goodness [0,1] 0.8988860325621251 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.17 [[ 0.88455219 0.04211797 -0.46453579 4.2056816 ] [-0.06041213 0.99787131 -0.0245608 0.31784529] [ 0.46251248 0.04978891 0.88521369 0.16710118] [ 0. 0. 0. 1. ]] SLAMing on 116.77800114499998 meters Centerline goodness [0,1] 0.8986970383033775 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.17 [[ 0.88457768 0.04159552 -0.46453433 4.20564498] [-0.05992477 0.99789586 -0.02475622 0.31792171] [ 0.46252714 0.04973592 0.88520901 0.16687933] [ 0. 0. 0. 1. ]] SLAMing on 116.80800114499998 meters Centerline goodness [0,1] 0.8941901979876663 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.17 [[ 0.88454487 0.04136017 -0.46461781 4.20576567] [-0.05973313 0.99790409 -0.02488743 0.31788561] [ 0.46261466 0.04976712 0.88516151 0.1669381 ] [ 0. 0. 0. 1. ]] SLAMing on 116.83800114499998 meters Centerline goodness [0,1] 0.8959186980577355 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.17 [[ 0.88452237 0.04114645 -0.46467962 4.20587527] [-0.0595652 0.99791081 -0.02501996 0.31764763] [ 0.46267934 0.04980945 0.88512533 0.1669525 ] [ 0. 0. 0. 1. ]] SLAMing on 116.86800114499998 meters Centerline goodness [0,1] 0.8941921175437786 Centerline is valid? [False, False] Translation: X:4.21, Y:0.32, Z:0.17 [[ 0.88450867 0.04100628 -0.46471808 4.20586025] [-0.05944528 0.99791624 -0.0250884 0.31721684] [ 0.46272094 0.04981621 0.8851032 0.16698868] [ 0. 0. 0. 1. ]] SLAMing on 116.89800114499998 meters Centerline goodness [0,1] 0.8936952350126003 Centerline is valid? [False, False] Translation: X:4.20, Y:0.32, Z:0.17 [[ 0.88462432 0.04003346 -0.46458276 4.20422029] [-0.05874953 0.9979374 -0.02587347 0.31826684] [ 0.46258871 0.05018232 0.88515164 0.16751078] [ 0. 0. 0. 1. ]] SLAMing on 116.92800114499998 meters Centerline goodness [0,1] 0.8918600351298881 Centerline is valid? [False, False] Translation: X:4.20, Y:0.32, Z:0.17 [[ 0.88465488 0.03938518 -0.46457997 4.20341782] [-0.05834695 0.9979445 -0.02650284 0.31947719] [ 0.46258121 0.05055269 0.88513448 0.16805802] [ 0. 0. 0. 1. ]] SLAMing on 116.95800114499998 meters Centerline goodness [0,1] 0.8919457181232922 Centerline is valid? [False, False] Translation: X:4.20, Y:0.32, Z:0.17 [[ 0.88461748 0.0390063 -0.46468315 4.20323666] [-0.05812997 0.99794674 -0.0268927 0.32028682] [ 0.46268005 0.05080177 0.88506856 0.1684546 ] [ 0. 0. 0. 1. ]] SLAMing on 116.98800114499998 meters Centerline goodness [0,1] 0.8917033603707996 Centerline is valid? [False, False] Translation: X:4.20, Y:0.32, Z:0.17 [[ 0.88465452 0.03831458 -0.46467018 4.20239981] [-0.05779596 0.99794272 -0.02774808 0.32244306] [ 0.46265106 0.05140352 0.88504897 0.1692017 ] [ 0. 0. 0. 1. ]] SLAMing on 117.01800114499999 meters Centerline goodness [0,1] 0.8881531562928371 Centerline is valid? [False, False] Translation: X:4.20, Y:0.32, Z:0.17 [[ 0.88464871 0.03783995 -0.46472013 4.20185491] [-0.05756595 0.99793978 -0.02832599 0.32377118] [ 0.46269085 0.05181061 0.88500443 0.16980911] [ 0. 0. 0. 1. ]] SLAMing on 117.04800114499999 meters Centerline goodness [0,1] 0.889603579668601 Centerline is valid? [False, False] Translation: X:4.20, Y:0.32, Z:0.17 [[ 0.88456357 0.03761486 -0.46490044 4.20174053] [-0.05753242 0.99793032 -0.02872458 0.32470985] [ 0.46285777 0.05215556 0.88489688 0.17048265] [ 0. 0. 0. 1. ]] SLAMing on 117.07800114499999 meters Centerline goodness [0,1] 0.8880907548178627 Centerline is valid? [False, False] Translation: X:4.20, Y:0.33, Z:0.17 [[ 0.88438546 0.03795891 -0.46521121 4.20330069] [-0.05799195 0.99790093 -0.02882133 0.32573199] [ 0.46314067 0.05246767 0.88473039 0.17071168] [ 0. 0. 0. 1. ]] SLAMing on 117.10800114499999 meters Centerline goodness [0,1] 0.8880907548178627 Centerline is valid? [False, False] Translation: X:4.20, Y:0.33, Z:0.17 [[ 0.88438546 0.03795891 -0.46521121 4.20330069] [-0.05799195 0.99790093 -0.02882133 0.32573199] [ 0.46314067 0.05246767 0.88473039 0.17071168] [ 0. 0. 0. 1. ]] SLAMing on 117.13800114499998 meters Centerline goodness [0,1] 0.8928696137998464 Centerline is valid? [False, False] Translation: X:4.20, Y:0.33, Z:0.17 [[ 0.88423393 0.03821331 -0.46547836 4.20453783] [-0.05828614 0.99788438 -0.02880073 0.32625913] [ 0.46339301 0.05259751 0.88459054 0.17082081] [ 0. 0. 0. 1. ]] SLAMing on 117.16800114499998 meters Centerline goodness [0,1] 0.893211804746142 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.17 [[ 0.88398839 0.03896169 -0.46588252 4.20670224] [-0.05911247 0.99783828 -0.02871383 0.32795389] [ 0.46375667 0.05292216 0.88438057 0.17117469] [ 0. 0. 0. 1. ]] SLAMing on 117.19800114499998 meters Centerline goodness [0,1] 0.8927931908560266 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.17 [[ 0.88387046 0.03901299 -0.46610191 4.2073714 ] [-0.05936746 0.99781308 -0.02906118 0.3296894 ] [ 0.46394882 0.05335761 0.88425361 0.17176214] [ 0. 0. 0. 1. ]] SLAMing on 117.22800114499998 meters Centerline goodness [0,1] 0.89919966399888 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.17 [[ 0.88372063 0.03904065 -0.46638362 4.20782358] [-0.05961994 0.99778675 -0.029446 0.33143491] [ 0.4642018 0.0538278 0.88409233 0.1726129 ] [ 0. 0. 0. 1. ]] SLAMing on 117.25800114499998 meters Centerline goodness [0,1] 0.8981161988249557 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.17 [[ 0.88356583 0.03890763 -0.46668793 4.20805845] [-0.0597421 0.99776521 -0.02992449 0.33290796] [ 0.46448068 0.05432117 0.88391567 0.17353863] [ 0. 0. 0. 1. ]] SLAMing on 117.28800114499998 meters Centerline goodness [0,1] 0.8964239089891831 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.17 [[ 0.88342484 0.03902928 -0.46694461 4.20860855] [-0.06010688 0.99773126 -0.03032305 0.33433304] [ 0.46470175 0.05485472 0.88376651 0.17434116] [ 0. 0. 0. 1. ]] SLAMing on 117.31800114499998 meters Centerline goodness [0,1] 0.8921951333535916 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.17 [[ 0.88330522 0.03918427 -0.46715788 4.20940271] [-0.06029637 0.99771986 -0.03032202 0.3343855 ] [ 0.46490455 0.05495152 0.88365383 0.17453172] [ 0. 0. 0. 1. ]] SLAMing on 117.34800114499998 meters Centerline goodness [0,1] 0.8980268534734384 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.17 [[ 0.88321132 0.03933048 -0.4673231 4.21030434] [-0.06043653 0.99771349 -0.03025245 0.33442979] [ 0.46506472 0.05496269 0.88356885 0.17449897] [ 0. 0. 0. 1. ]] SLAMing on 117.37800114499998 meters Centerline goodness [0,1] 0.8996117322355803 Centerline is valid? [False, False] Translation: X:4.21, Y:0.33, Z:0.17 [[ 0.88310008 0.03934931 -0.46753168 4.21107141] [-0.06052652 0.99770492 -0.03035511 0.33489272] [ 0.46526421 0.05510467 0.88345497 0.17469049] [ 0. 0. 0. 1. ]] SLAMing on 117.40800114499999 meters Centerline goodness [0,1] 0.8929735305840152 Centerline is valid? [False, False] Translation: X:4.21, Y:0.34, Z:0.18 [[ 0.88295592 0.03892377 -0.46783949 4.21161495] [-0.06040741 0.9976923 -0.03100023 0.33741545] [ 0.46555321 0.05563281 0.88326961 0.17545966] [ 0. 0. 0. 1. ]] SLAMing on 117.43800114499999 meters Centerline goodness [0,1] 0.8961274233013363 Centerline is valid? [False, False] Translation: X:4.21, Y:0.34, Z:0.18 [[ 0.88284759 0.03870196 -0.46806227 4.21181702] [-0.06037843 0.99768185 -0.03139049 0.33851051] [ 0.46576236 0.05597388 0.88313779 0.17608323] [ 0. 0. 0. 1. ]] SLAMing on 117.46800114499999 meters Centerline goodness [0,1] 0.8919535901720365 Centerline is valid? [False, False] Translation: X:4.21, Y:0.34, Z:0.18 [[ 0.8827546 0.03869653 -0.46823808 4.21194591] [-0.06044552 0.99767417 -0.03150541 0.33848098] [ 0.46592988 0.05611444 0.88304049 0.17650898] [ 0. 0. 0. 1. ]] SLAMing on 117.49800114499998 meters Centerline goodness [0,1] 0.8890717190475071 Centerline is valid? [False, False] Translation: X:4.21, Y:0.34, Z:0.18 [[ 0.88269223 0.03881706 -0.46834567 4.21188448] [-0.06058283 0.99766624 -0.03149281 0.33763239] [ 0.4660302 0.05617216 0.88298388 0.17685258] [ 0. 0. 0. 1. ]] SLAMing on 117.52800114499998 meters Centerline goodness [0,1] 0.8864340721262209 Centerline is valid? [False, False] Translation: X:4.21, Y:0.34, Z:0.18 [[ 0.88260572 0.03863598 -0.46852364 4.21199334] [-0.06057679 0.99765543 -0.03184476 0.33855464] [ 0.4661948 0.05648803 0.88287684 0.17741586] [ 0. 0. 0. 1. ]] SLAMing on 117.55800114499998 meters Centerline goodness [0,1] 0.8851225876213535 Centerline is valid? [False, False] Translation: X:4.21, Y:0.34, Z:0.18 [[ 0.88251358 0.03844453 -0.46871292 4.21204312] [-0.06059382 0.99764103 -0.03226075 0.33962622] [ 0.466367 0.05687166 0.88276126 0.17811291] [ 0. 0. 0. 1. ]] SLAMing on 117.58800114499998 meters Centerline goodness [0,1] 0.8855359246171967 Centerline is valid? [False, False] Translation: X:4.21, Y:0.34, Z:0.18 [[ 0.88251059 0.03809508 -0.46874708 4.21117039] [-0.06045139 0.99763425 -0.03273413 0.34029868] [ 0.46639113 0.05722463 0.88272569 0.17887784] [ 0. 0. 0. 1. ]] SLAMing on 117.61800114499998 meters Centerline goodness [0,1] 0.881093458605793 Centerline is valid? [False, False] Translation: X:4.20, Y:0.34, Z:0.18 [[ 0.88274467 0.03863823 -0.4682616 4.20482636] [-0.06087795 0.99761771 -0.0324466 0.34097842] [ 0.46589239 0.05714887 0.88299393 0.18089339] [ 0. 0. 0. 1. ]] SLAMing on 117.64800114499998 meters Centerline goodness [0,1] 0.8768797881396009 Centerline is valid? [False, False] Translation: X:4.20, Y:0.34, Z:0.18 [[ 0.88276964 0.03814094 -0.46825531 4.20351991] [-0.06052479 0.99762622 -0.03284329 0.34097512] [ 0.4658911 0.05733412 0.8829826 0.18159406] [ 0. 0. 0. 1. ]] SLAMing on 117.67800114499998 meters Centerline goodness [0,1] 0.8766112438211017 Centerline is valid? [False, False] Translation: X:4.20, Y:0.34, Z:0.18 [[ 0.88276288 0.03805237 -0.46827526 4.20298346] [-0.06038473 0.99763728 -0.03276479 0.33970706] [ 0.46592208 0.05720022 0.88297494 0.18176633] [ 0. 0. 0. 1. ]] SLAMing on 117.70800114499998 meters Centerline goodness [0,1] 0.872619891330026 Centerline is valid? [False, False] Translation: X:4.20, Y:0.34, Z:0.18 [[ 0.88286795 0.03775316 -0.46810137 4.2021375 ] [-0.05990888 0.99767373 -0.03252777 0.33667981] [ 0.46578441 0.05676115 0.88307591 0.1812281 ] [ 0. 0. 0. 1. ]] SLAMing on 117.73800114499998 meters Centerline goodness [0,1] 0.8749911533652599 Centerline is valid? [False, False] Translation: X:4.20, Y:0.34, Z:0.18 [[ 0.88282513 0.03776371 -0.46818127 4.20216262] [-0.05987153 0.99767937 -0.03242338 0.33596432] [ 0.46587037 0.0566549 0.88303739 0.18131121] [ 0. 0. 0. 1. ]] SLAMing on 117.76800114499999 meters Centerline goodness [0,1] 0.869373199187568 Centerline is valid? [False, False] Translation: X:4.20, Y:0.34, Z:0.18 [[ 0.88277499 0.03749713 -0.46829722 4.20180828] [-0.05972463 0.99767915 -0.03269995 0.33626631] [ 0.46598422 0.05683558 0.8829657 0.18184167] [ 0. 0. 0. 1. ]] SLAMing on 117.79800114499999 meters Centerline goodness [0,1] 0.8699131175871784 Centerline is valid? [False, False] Translation: X:4.20, Y:0.34, Z:0.18 [[ 0.882719 0.03741802 -0.46840907 4.20144774] [-0.05985057 0.99765866 -0.0330925 0.33757406] [ 0.46607411 0.05724593 0.88289174 0.18269048] [ 0. 0. 0. 1. ]] SLAMing on 117.82800114499999 meters Centerline goodness [0,1] 0.8705371881337547 Centerline is valid? [False, False] Translation: X:4.20, Y:0.34, Z:0.18 [[ 0.88264665 0.03754539 -0.4685352 4.20153712] [-0.05998686 0.99765153 -0.03306046 0.33704242] [ 0.46619359 0.05728666 0.88282601 0.18299819] [ 0. 0. 0. 1. ]] SLAMing on 117.85800114499997 meters Centerline goodness [0,1] 0.8687921520539547 Centerline is valid? [False, False] Translation: X:4.20, Y:0.34, Z:0.18 [[ 0.88254435 0.03808834 -0.46868407 4.20229359] [-0.0603519 0.99764568 -0.03256898 0.33521648] [ 0.46634014 0.05702954 0.88276526 0.18285465] [ 0. 0. 0. 1. ]] SLAMing on 117.88800114499998 meters Centerline goodness [0,1] 0.8707904748485276 Centerline is valid? [False, False] Translation: X:4.20, Y:0.33, Z:0.18 [[ 0.88252525 0.0385934 -0.46867871 4.20281404] [-0.0606484 0.9976445 -0.03205022 0.33319496] [ 0.46633781 0.05670974 0.88278709 0.18243943] [ 0. 0. 0. 1. ]] SLAMing on 117.91800114499998 meters Centerline goodness [0,1] 0.8693888081054458 Centerline is valid? [False, False] Translation: X:4.20, Y:0.33, Z:0.18 [[ 0.88247704 0.03872701 -0.46875845 4.2025589 ] [-0.06072044 0.99764526 -0.03188972 0.33184544] [ 0.46641966 0.05660516 0.88275056 0.18268975] [ 0. 0. 0. 1. ]] SLAMing on 117.94800114499998 meters Centerline goodness [0,1] 0.8715576945650898 Centerline is valid? [False, False] Translation: X:4.20, Y:0.33, Z:0.18 [[ 0.88246687 0.03851677 -0.46879493 4.20131738] [-0.06064745 0.99763985 -0.03219639 0.33210721] [ 0.4664484 0.05684346 0.88272006 0.18368808] [ 0. 0. 0. 1. ]] SLAMing on 117.97800114499998 meters Centerline goodness [0,1] 0.8703434703153554 Centerline is valid? [False, False] Translation: X:4.20, Y:0.33, Z:0.18 [[ 0.88235074 0.03842961 -0.46902062 4.2011025 ] [-0.06067996 0.99763086 -0.03241316 0.33244763] [ 0.46666382 0.05705993 0.88259223 0.1844777 ] [ 0. 0. 0. 1. ]] SLAMing on 118.00800114499998 meters Centerline goodness [0,1] 0.8715997939978464 Centerline is valid? [False, False] Translation: X:4.20, Y:0.33, Z:0.18 [[ 0.88230948 0.03906602 -0.46904565 4.20125658] [-0.06108179 0.99762579 -0.03180879 0.33028397] [ 0.46668939 0.05671534 0.88260092 0.18436258] [ 0. 0. 0. 1. ]] SLAMing on 118.03800114499998 meters Centerline goodness [0,1] 0.8719779706898161 Centerline is valid? [False, False] Translation: X:4.20, Y:0.33, Z:0.18 [[ 0.88233788 0.0394576 -0.46895945 4.20118828] [-0.06120126 0.99763741 -0.03120911 0.32725145] [ 0.46662005 0.05623789 0.88266813 0.18388298] [ 0. 0. 0. 1. ]] SLAMing on 118.06800114499998 meters Centerline goodness [0,1] 0.8723132630797085 Centerline is valid? [False, False] Translation: X:4.20, Y:0.32, Z:0.18 [[ 0.88241562 0.03947942 -0.46881132 4.20038288] [-0.06101155 0.99766101 -0.03082363 0.32415483] [ 0.46649788 0.05580215 0.88276036 0.18355079] [ 0. 0. 0. 1. ]] SLAMing on 118.09800114499998 meters Centerline goodness [0,1] 0.8721405039209318 Centerline is valid? [False, False] Translation: X:4.20, Y:0.32, Z:0.18 [[ 0.88244652 0.03953903 -0.46874813 4.19975307] [-0.06086631 0.99768197 -0.03042976 0.32183228] [ 0.4664584 0.05538361 0.88280758 0.1834173 ] [ 0. 0. 0. 1. ]] SLAMing on 118.12800114499998 meters Centerline goodness [0,1] 0.8701094738787011 Centerline is valid? [False, False] Translation: X:4.20, Y:0.32, Z:0.18 [[ 0.88250428 0.03910591 -0.46867571 4.1980815 ] [-0.06026658 0.99772442 -0.03023112 0.31955545] [ 0.46642699 0.05492458 0.88285285 0.18357831] [ 0. 0. 0. 1. ]] SLAMing on 118.15800114499999 meters Centerline goodness [0,1] 0.8728371706731879 Centerline is valid? [False, False] Translation: X:4.20, Y:0.32, Z:0.18 [[ 0.8824677 0.0394289 -0.46871752 4.19812495] [-0.06033147 0.99773772 -0.02965724 0.31686831] [ 0.4664878 0.05444997 0.88285012 0.18331782] [ 0. 0. 0. 1. ]] SLAMing on 118.18800114499999 meters Centerline goodness [0,1] 0.8704500978473582 Centerline is valid? [False, False] Translation: X:4.20, Y:0.31, Z:0.18 [[ 0.88242741 0.04015426 -0.4687318 4.19873772] [-0.06066361 0.99774466 -0.02873184 0.31362425] [ 0.46652094 0.05378872 0.88287314 0.18268453] [ 0. 0. 0. 1. ]] SLAMing on 118.21800114499999 meters Centerline goodness [0,1] 0.8719150696263616 Centerline is valid? [False, False] Translation: X:4.20, Y:0.31, Z:0.18 [[ 0.88236935 0.04082841 -0.46878285 4.19925713] [-0.06102493 0.99774437 -0.02796649 0.31104971] [ 0.46658363 0.05328422 0.88287061 0.1823267 ] [ 0. 0. 0. 1. ]] SLAMing on 118.24800114499998 meters Centerline goodness [0,1] 0.8743603276958029 Centerline is valid? [False, False] Translation: X:4.20, Y:0.31, Z:0.18 [[ 0.88230137 0.0412093 -0.46887747 4.19925281] [-0.06125393 0.9977413 -0.02757269 0.30947854] [ 0.46668216 0.05304801 0.88283275 0.18246432] [ 0. 0. 0. 1. ]] SLAMing on 118.27800114499998 meters Centerline goodness [0,1] 0.8762367167460609 Centerline is valid? [False, False] Translation: X:4.20, Y:0.31, Z:0.18 [[ 0.88210362 0.04232057 -0.46915049 4.20015675] [-0.06211151 0.9977098 -0.02678275 0.30793741] [ 0.46694258 0.0527648 0.88271202 0.18278571] [ 0. 0. 0. 1. ]] SLAMing on 118.30800114499998 meters Centerline goodness [0,1] 0.8792890757070407 Centerline is valid? [False, False] Translation: X:4.20, Y:0.31, Z:0.18 [[ 0.88197631 0.04271928 -0.46935366 4.20054075] [-0.06245942 0.99769398 -0.02656198 0.30744398] [ 0.46713661 0.05274259 0.88261068 0.18317153] [ 0. 0. 0. 1. ]] SLAMing on 118.33800114499998 meters Centerline goodness [0,1] 0.8804703406309335 Centerline is valid? [False, False] Translation: X:4.20, Y:0.31, Z:0.18 [[ 0.88189127 0.04291413 -0.46949564 4.20042145] [-0.06266979 0.99768178 -0.02652483 0.30732262] [ 0.46726896 0.05281521 0.88253627 0.18368644] [ 0. 0. 0. 1. ]] SLAMing on 118.36800114499998 meters Centerline goodness [0,1] 0.883512422147697 Centerline is valid? [False, False] Translation: X:4.20, Y:0.31, Z:0.18 [[ 0.88183221 0.043057 -0.4695935 4.20015701] [-0.06282113 0.99767311 -0.02649288 0.30695471] [ 0.4673601 0.05286267 0.88248517 0.18414004] [ 0. 0. 0. 1. ]] SLAMing on 118.39800114499998 meters Centerline goodness [0,1] 0.8882484279595371 Centerline is valid? [False, False] Translation: X:4.20, Y:0.30, Z:0.18 [[ 0.88159906 0.04443119 -0.46990314 4.2017345 ] [-0.06376265 0.99764445 -0.02529578 0.3036128 ] [ 0.46767234 0.052263 0.88235546 0.18390213] [ 0. 0. 0. 1. ]] SLAMing on 118.42800114499998 meters Centerline goodness [0,1] 0.8882762689174778 Centerline is valid? [False, False] Translation: X:4.20, Y:0.30, Z:0.18 [[ 0.88151168 0.04480442 -0.47003163 4.20213164] [-0.06401469 0.99763681 -0.02495823 0.3023221 ] [ 0.46780261 0.0520899 0.88229664 0.18395901] [ 0. 0. 0. 1. ]] SLAMing on 118.45800114499998 meters Centerline goodness [0,1] 0.8903082098372579 Centerline is valid? [False, False] Translation: X:4.20, Y:0.30, Z:0.18 [[ 0.88147676 0.04477707 -0.47009971 4.20163241] [-0.06399194 0.9976381 -0.02496513 0.30187217] [ 0.46787152 0.05208877 0.88226017 0.18436081] [ 0. 0. 0. 1. ]] SLAMing on 118.48800114499998 meters Centerline goodness [0,1] 0.8882794260975997 Centerline is valid? [False, False] Translation: X:4.20, Y:0.30, Z:0.18 [[ 0.8815603 0.04451745 -0.46996769 4.19983994] [-0.06363821 0.99766313 -0.02486872 0.29979591] [ 0.46776234 0.05183118 0.88233322 0.18475089] [ 0. 0. 0. 1. ]] SLAMing on 118.51800114499999 meters Centerline goodness [0,1] 0.8898876913323068 Centerline is valid? [False, False] Translation: X:4.20, Y:0.30, Z:0.18 [[ 0.88157371 0.04481898 -0.46991388 4.19954319] [-0.0636508 0.99767743 -0.02425548 0.29686383] [ 0.46773536 0.05129339 0.88237895 0.18443699] [ 0. 0. 0. 1. ]] SLAMing on 118.54800114499999 meters Centerline goodness [0,1] 0.8936611775321452 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.18 [[ 0.88164074 0.04491117 -0.4697793 4.19888656] [-0.06350397 0.99769779 -0.02379823 0.2937922 ] [ 0.46762896 0.05081434 0.88246306 0.18407584] [ 0. 0. 0. 1. ]] SLAMing on 118.57800114499999 meters Centerline goodness [0,1] 0.883954670144354 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.18 [[ 0.88171923 0.03982916 -0.47009024 4.19869422] [-0.05974805 0.99783399 -0.02752261 0.29224765] [ 0.46797581 0.05235419 0.88218914 0.18457486] [ 0. 0. 0. 1. ]] SLAMing on 118.60800114499997 meters Centerline goodness [0,1] 0.883912721062448 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.18 [[ 0.88173553 0.0397694 -0.47006473 4.19824163] [-0.05954796 0.99785272 -0.02727612 0.29083574] [ 0.46797061 0.05204172 0.88221039 0.18452927] [ 0. 0. 0. 1. ]] SLAMing on 118.63800114499998 meters Centerline goodness [0,1] 0.8846050148287948 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.18 [[ 0.88176154 0.0396623 -0.47002498 4.19767052] [-0.05930976 0.99787278 -0.02706057 0.28922851] [ 0.46795185 0.05173804 0.8822382 0.18448542] [ 0. 0. 0. 1. ]] SLAMing on 118.66800114499998 meters Centerline goodness [0,1] 0.885868469961262 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.18 [[ 0.88182261 0.03475954 -0.47029848 4.1979463 ] [-0.05557296 0.99799051 -0.03043983 0.28690091] [ 0.46829535 0.05297841 0.88198229 0.18452072] [ 0. 0. 0. 1. ]] SLAMing on 118.69800114499998 meters Centerline goodness [0,1] 0.8865758320303775 Centerline is valid? [False, False] Translation: X:4.20, Y:0.28, Z:0.18 [[ 0.88184918 0.03499895 -0.47023091 4.19766507] [-0.05552353 0.99801123 -0.02984499 0.28397618] [ 0.46825118 0.05242766 0.88203865 0.18413958] [ 0. 0. 0. 1. ]] SLAMing on 118.72800114499998 meters Centerline goodness [0,1] 0.8896299435658361 Centerline is valid? [False, False] Translation: X:4.20, Y:0.28, Z:0.18 [[ 0.88184826 0.03501047 -0.47023176 4.19717806] [-0.0552994 0.99803694 -0.02939812 0.28117456] [ 0.46827942 0.05192822 0.8820532 0.18397675] [ 0. 0. 0. 1. ]] SLAMing on 118.75800114499998 meters Centerline goodness [0,1] 0.8876980324873549 Centerline is valid? [False, False] Translation: X:4.20, Y:0.28, Z:0.18 [[ 0.88196007 0.03449446 -0.47006017 4.19548719] [-0.05468045 0.99807235 -0.02935369 0.27851464] [ 0.46814152 0.05159188 0.88214613 0.18400442] [ 0. 0. 0. 1. ]] SLAMing on 118.78800114499998 meters Centerline goodness [0,1] 0.8864917654370311 Centerline is valid? [False, False] Translation: X:4.19, Y:0.28, Z:0.18 [[ 0.88239893 0.02852273 -0.46963666 4.19200672] [-0.05008683 0.99818339 -0.03348471 0.27610773] [ 0.46782844 0.05306949 0.88222457 0.18441217] [ 0. 0. 0. 1. ]] SLAMing on 118.81800114499998 meters Centerline goodness [0,1] 0.8873557617771478 Centerline is valid? [False, False] Translation: X:4.19, Y:0.27, Z:0.18 [[ 0.88254999 0.02774737 -0.46939919 4.18973349] [-0.04933614 0.99821173 -0.03375348 0.27467676] [ 0.4676232 0.05294748 0.8823407 0.18477283] [ 0. 0. 0. 1. ]] SLAMing on 118.84800114499998 meters Centerline goodness [0,1] 0.8896797153024911 Centerline is valid? [False, False] Translation: X:4.19, Y:0.27, Z:0.18 [[ 0.88258997 0.02746005 -0.46934091 4.18882906] [-0.04900701 0.99822795 -0.03375308 0.27376846] [ 0.46758235 0.05279112 0.88237171 0.1849532 ] [ 0. 0. 0. 1. ]] SLAMing on 118.87800114499998 meters Centerline goodness [0,1] 0.8857395143487858 Centerline is valid? [False, False] Translation: X:4.19, Y:0.27, Z:0.18 [[ 0.88256837 0.02767172 -0.4693691 4.18854608] [-0.04892177 0.99825278 -0.03313691 0.27061512] [ 0.46763205 0.05220795 0.88238007 0.18476262] [ 0. 0. 0. 1. ]] SLAMing on 118.90800114499999 meters Centerline goodness [0,1] 0.8857086241440807 Centerline is valid? [False, False] Translation: X:4.19, Y:0.27, Z:0.18 [[ 0.8825711 0.02807061 -0.46934027 4.18858995] [-0.04907581 0.99826355 -0.03257984 0.26791973] [ 0.46761075 0.05178728 0.88241615 0.18441916] [ 0. 0. 0. 1. ]] SLAMing on 118.93800114499999 meters Centerline goodness [0,1] 0.8882864292927075 Centerline is valid? [False, False] Translation: X:4.19, Y:0.27, Z:0.18 [[ 0.88261619 0.02816351 -0.46924991 4.18830035] [-0.0490098 0.99827692 -0.03226822 0.26597746] [ 0.46753257 0.0514783 0.88247565 0.18413483] [ 0. 0. 0. 1. ]] SLAMing on 118.96800114499999 meters Centerline goodness [0,1] 0.8908528016862813 Centerline is valid? [False, False] Translation: X:4.19, Y:0.27, Z:0.18 [[ 0.88258671 0.02816952 -0.46930499 4.18823309] [-0.04898895 0.99827985 -0.0322092 0.26558698] [ 0.46759039 0.05141817 0.88244852 0.18424862] [ 0. 0. 0. 1. ]] SLAMing on 118.99800114499998 meters Centerline goodness [0,1] 0.8927170315821772 Centerline is valid? [False, False] Translation: X:4.19, Y:0.27, Z:0.18 [[ 0.88250869 0.02790461 -0.4694675 4.18826288] [-0.0488659 0.99827573 -0.03252213 0.26665666] [ 0.4677505 0.05164201 0.8823506 0.18470354] [ 0. 0. 0. 1. ]] SLAMing on 119.02800114499998 meters Centerline goodness [0,1] 0.8927170315821772 Centerline is valid? [False, False] Translation: X:4.19, Y:0.27, Z:0.18 [[ 0.88250869 0.02790461 -0.4694675 4.18826288] [-0.0488659 0.99827573 -0.03252213 0.26665666] [ 0.4677505 0.05164201 0.8823506 0.18470354] [ 0. 0. 0. 1. ]] SLAMing on 119.05800114499998 meters Centerline goodness [0,1] 0.8930237676056338 Centerline is valid? [False, False] Translation: X:4.19, Y:0.27, Z:0.19 [[ 0.88247125 0.02784822 -0.46954124 4.18777597] [-0.04885267 0.99827357 -0.03260829 0.26676947] [ 0.46782253 0.05171422 0.88230818 0.18518243] [ 0. 0. 0. 1. ]] SLAMing on 119.08800114499998 meters Centerline goodness [0,1] 0.8936955948298602 Centerline is valid? [False, False] Translation: X:4.19, Y:0.27, Z:0.19 [[ 0.88246344 0.02784697 -0.46955598 4.18765878] [-0.04883929 0.99827502 -0.03258388 0.26640647] [ 0.46783865 0.05168686 0.88230123 0.18525583] [ 0. 0. 0. 1. ]] SLAMing on 119.11800114499998 meters Centerline goodness [0,1] 0.8958713278108589 Centerline is valid? [False, False] Translation: X:4.19, Y:0.27, Z:0.19 [[ 0.88247503 0.02774974 -0.46953996 4.18745756] [-0.04873329 0.99827989 -0.03259341 0.26607405] [ 0.46782785 0.05164509 0.88230941 0.18527365] [ 0. 0. 0. 1. ]] SLAMing on 119.14800114499998 meters Centerline goodness [0,1] 0.888954583278588 Centerline is valid? [False, False] Translation: X:4.19, Y:0.26, Z:0.19 [[ 0.88260913 0.02728299 -0.4693152 4.18589779] [-0.04828698 0.99829561 -0.0327755 0.26493533] [ 0.4676211 0.05158977 0.88242224 0.1854426 ] [ 0. 0. 0. 1. ]] SLAMing on 119.17800114499998 meters Centerline goodness [0,1] 0.8917362069343145 Centerline is valid? [False, False] Translation: X:4.19, Y:0.26, Z:0.19 [[ 0.88259201 0.02726588 -0.46934839 4.18550083] [-0.04819995 0.99830414 -0.03264366 0.26398838] [ 0.46766238 0.0514336 0.88240948 0.18562299] [ 0. 0. 0. 1. ]] SLAMing on 119.20800114499998 meters Centerline goodness [0,1] 0.891763417305586 Centerline is valid? [False, False] Translation: X:4.19, Y:0.26, Z:0.19 [[ 0.88258927 0.02713187 -0.4693613 4.18518004] [-0.04805688 0.99831056 -0.03265811 0.26341588] [ 0.46768227 0.05137974 0.88240207 0.18573118] [ 0. 0. 0. 1. ]] SLAMing on 119.23800114499998 meters Centerline goodness [0,1] 0.8910962654692804 Centerline is valid? [False, False] Translation: X:4.18, Y:0.26, Z:0.19 [[ 0.8826119 0.02683511 -0.46933582 4.18465067] [-0.04778128 0.99831997 -0.03277463 0.26302256] [ 0.46766781 0.05135275 0.88241131 0.18584286] [ 0. 0. 0. 1. ]] SLAMing on 119.26800114499999 meters Centerline goodness [0,1] 0.8899947386881796 Centerline is valid? [False, False] Translation: X:4.18, Y:0.26, Z:0.19 [[ 0.88256347 0.02684265 -0.46942646 4.18497279] [-0.04777496 0.99832157 -0.03273534 0.26292235] [ 0.46775986 0.05131785 0.88236455 0.1858524 ] [ 0. 0. 0. 1. ]] SLAMing on 119.29800114499999 meters Centerline goodness [0,1] 0.8942673199885742 Centerline is valid? [False, False] Translation: X:4.19, Y:0.26, Z:0.19 [[ 0.88248761 0.0269225 -0.46956448 4.18544566] [-0.04783431 0.9983212 -0.03265982 0.26274115] [ 0.46789689 0.05128318 0.88229391 0.18590647] [ 0. 0. 0. 1. ]] SLAMing on 119.32800114499999 meters Centerline goodness [0,1] 0.8902187280393534 Centerline is valid? [False, False] Translation: X:4.19, Y:0.26, Z:0.19 [[ 0.8824116 0.02707888 -0.46969832 4.18585293] [-0.04795012 0.99831995 -0.03252801 0.2622344 ] [ 0.46802838 0.05122519 0.88222753 0.18598122] [ 0. 0. 0. 1. ]] SLAMing on 119.35800114499997 meters Centerline goodness [0,1] 0.8906988502714942 Centerline is valid? [False, False] Translation: X:4.19, Y:0.26, Z:0.19 [[ 0.88248842 0.02720436 -0.4695467 4.18531345] [-0.04796136 0.9983268 -0.03230031 0.26092933] [ 0.46788235 0.05102475 0.8823166 0.18580608] [ 0. 0. 0. 1. ]] SLAMing on 119.38800114499998 meters Centerline goodness [0,1] 0.8949777690167992 Centerline is valid? [False, False] Translation: X:4.19, Y:0.26, Z:0.19 [[ 0.88246531 0.02706847 -0.46959799 4.18502574] [-0.04787068 0.9983275 -0.03241288 0.26089123] [ 0.46793522 0.05108322 0.88228518 0.18608759] [ 0. 0. 0. 1. ]] SLAMing on 119.41800114499998 meters Centerline goodness [0,1] 0.896595595332105 Centerline is valid? [False, False] Translation: X:4.18, Y:0.26, Z:0.19 [[ 0.88255248 0.02646922 -0.46946832 4.18359423] [-0.04742455 0.99833398 -0.03286596 0.26135912] [ 0.46781624 0.05127026 0.88233742 0.1865328 ] [ 0. 0. 0. 1. ]] SLAMing on 119.44800114499998 meters Centerline goodness [0,1] 0.8978893325727324 Centerline is valid? [False, False] Translation: X:4.18, Y:0.26, Z:0.19 [[ 0.882564 0.02621493 -0.46946093 4.18314402] [-0.04721031 0.99833954 -0.03300536 0.26122561] [ 0.46781617 0.05129274 0.88233615 0.18669966] [ 0. 0. 0. 1. ]] SLAMing on 119.47800114499998 meters Centerline goodness [0,1] 0.8940715099465428 Centerline is valid? [False, False] Translation: X:4.18, Y:0.26, Z:0.19 [[ 0.88259514 0.02604594 -0.46941179 4.18274793] [-0.04701131 0.99834922 -0.03299663 0.26046053] [ 0.46777747 0.05119033 0.88236262 0.18668226] [ 0. 0. 0. 1. ]] SLAMing on 119.50800114499998 meters Centerline goodness [0,1] 0.8958989845938375 Centerline is valid? [False, False] Translation: X:4.18, Y:0.26, Z:0.19 [[ 0.88262548 0.02590868 -0.46936233 4.18244009] [-0.04680526 0.99836186 -0.03290694 0.25921091] [ 0.46774088 0.05101313 0.88239228 0.18654258] [ 0. 0. 0. 1. ]] SLAMing on 119.53800114499998 meters Centerline goodness [0,1] 0.8991450008724481 Centerline is valid? [False, False] Translation: X:4.18, Y:0.26, Z:0.19 [[ 0.88280514 0.02495022 -0.46907629 4.18056525] [-0.04592985 0.99838828 -0.03333595 0.25812542] [ 0.46748854 0.05097375 0.88252827 0.18651484] [ 0. 0. 0. 1. ]] SLAMing on 119.56800114499998 meters Centerline goodness [0,1] 0.8983513484004804 Centerline is valid? [False, False] Translation: X:4.18, Y:0.26, Z:0.19 [[ 0.88281441 0.02810825 -0.46888021 4.17840168] [-0.04792182 0.99838908 -0.03037686 0.25678547] [ 0.46727104 0.04928672 0.88273926 0.18656626] [ 0. 0. 0. 1. ]] SLAMing on 119.59800114499998 meters Centerline goodness [0,1] 0.8985169029443838 Centerline is valid? [False, False] Translation: X:4.18, Y:0.26, Z:0.19 [[ 0.88279851 0.03148662 -0.46869541 4.17640531] [-0.0500714 0.99837408 -0.02724056 0.25562039] [ 0.46707563 0.04751616 0.88293973 0.18660865] [ 0. 0. 0. 1. ]] SLAMing on 119.62800114499998 meters Centerline goodness [0,1] 0.8938479040868119 Centerline is valid? [False, False] Translation: X:4.18, Y:0.26, Z:0.19 [[ 0.88282776 0.03103818 -0.46867022 4.17617539] [-0.04969884 0.99838564 -0.02749788 0.25584658] [ 0.46706013 0.04756826 0.88294512 0.18658335] [ 0. 0. 0. 1. ]] SLAMing on 119.65800114499999 meters Centerline goodness [0,1] 0.8958287883415507 Centerline is valid? [False, False] Translation: X:4.18, Y:0.26, Z:0.19 [[ 0.88304469 0.02990278 -0.46833524 4.17507359] [-0.04872593 0.99841614 -0.02812463 0.25608872] [ 0.46675245 0.04765537 0.88310312 0.18612429] [ 0. 0. 0. 1. ]] SLAMing on 119.68800114499999 meters Centerline goodness [0,1] 0.8926480866678316 Centerline is valid? [False, False] Translation: X:4.17, Y:0.26, Z:0.19 [[ 0.88312867 0.02903896 -0.46823124 4.17412591] [-0.04812596 0.99842456 -0.02884943 0.25732575] [ 0.46665581 0.04801183 0.88313488 0.18640425] [ 0. 0. 0. 1. ]] SLAMing on 119.71800114499999 meters Centerline goodness [0,1] 0.8909433053981314 Centerline is valid? [False, False] Translation: X:4.17, Y:0.26, Z:0.19 [[ 0.88319441 0.02817743 -0.46815988 4.17324542] [-0.04750479 0.99843454 -0.02952548 0.25846979] [ 0.46659505 0.04831658 0.88315037 0.1866805 ] [ 0. 0. 0. 1. ]] SLAMing on 119.74800114499998 meters Centerline goodness [0,1] 0.8872642231110528 Centerline is valid? [False, False] Translation: X:4.17, Y:0.26, Z:0.19 [[ 0.88347828 0.02613288 -0.46774266 4.17054992] [-0.04584456 0.99847344 -0.03080686 0.2594207 ] [ 0.46622355 0.04866065 0.88332765 0.18680717] [ 0. 0. 0. 1. ]] SLAMing on 119.77800114499998 meters Centerline goodness [0,1] 0.883946942170468 Centerline is valid? [False, False] Translation: X:4.17, Y:0.26, Z:0.19 [[ 0.88361124 0.02518167 -0.46754364 4.16907325] [-0.04511366 0.99848566 -0.03148241 0.26008655] [ 0.46604285 0.04891082 0.88340919 0.18706655] [ 0. 0. 0. 1. ]] SLAMing on 119.80800114499998 meters Centerline goodness [0,1] 0.8770225123916414 Centerline is valid? [False, False] Translation: X:4.17, Y:0.26, Z:0.19 [[ 0.88363921 0.02512534 -0.46749382 4.16846372] [-0.04502268 0.99849121 -0.0314365 0.26058453] [ 0.46599861 0.04882635 0.8834372 0.18719318] [ 0. 0. 0. 1. ]] SLAMing on 119.83800114499998 meters Centerline goodness [0,1] 0.8773192718361631 Centerline is valid? [False, False] Translation: X:4.17, Y:0.26, Z:0.19 [[ 0.88366946 0.02848923 -0.46724366 4.16646988] [-0.047158 0.99848629 -0.02830639 0.25960347] [ 0.46572997 0.04704777 0.88367534 0.18704177] [ 0. 0. 0. 1. ]] SLAMing on 119.86800114499998 meters Centerline goodness [0,1] 0.8729671678428966 Centerline is valid? [False, False] Translation: X:4.17, Y:0.26, Z:0.19 [[ 0.88374039 0.02775647 -0.46715362 4.16654826] [-0.04649672 0.99850799 -0.02863292 0.25997054] [ 0.46566187 0.04702518 0.88371243 0.18652802] [ 0. 0. 0. 1. ]] SLAMing on 119.89800114499998 meters Centerline goodness [0,1] 0.8345552029762556 Centerline is valid? [False, False] Translation: X:4.17, Y:0.26, Z:0.19 [[ 0.88373831 0.02735094 -0.46718147 4.1666781 ] [-0.04617846 0.9985152 -0.02889529 0.26036103] [ 0.46569749 0.0471096 0.88368916 0.18645393] [ 0. 0. 0. 1. ]] SLAMing on 119.92800114499998 meters Centerline goodness [0,1] 0.8535287159942173 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:0.19 [[ 0.88384743 0.03107461 -0.46674199 4.16464412] [-0.04859868 0.9984915 -0.02555178 0.25929226] [ 0.46524389 0.04526692 0.88402434 0.18603514] [ 0. 0. 0. 1. ]] SLAMing on 119.95800114499998 meters Centerline goodness [0,1] 0.8468669377760287 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:0.19 [[ 0.88395779 0.03485813 -0.46626553 4.16215081] [-0.05110038 0.99844601 -0.02223329 0.25871659] [ 0.46476595 0.04347964 0.88436539 0.1858823 ] [ 0. 0. 0. 1. ]] SLAMing on 119.98800114499998 meters Centerline goodness [0,1] 0.8545283596449031 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:0.19 [[ 0.88394778 0.03430354 -0.46632563 4.16162918] [-0.05080569 0.99844694 -0.02285808 0.26040653] [ 0.46481728 0.04389734 0.88431777 0.1864462 ] [ 0. 0. 0. 1. ]] SLAMing on 120.01800114499999 meters Centerline goodness [0,1] 0.8728143031998601 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:0.19 [[ 0.88385275 0.03437539 -0.46650042 4.16271867] [-0.0510006 0.99843246 -0.02305574 0.26152826] [ 0.46497661 0.04416968 0.88422044 0.18641958] [ 0. 0. 0. 1. ]] SLAMing on 120.04800114499999 meters Centerline goodness [0,1] 0.8736104134361282 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:0.19 [[ 0.88370267 0.03464775 -0.46676453 4.16445223] [-0.05129587 0.99841853 -0.02300376 0.26213458] [ 0.46522932 0.04427158 0.88408241 0.18620525] [ 0. 0. 0. 1. ]] SLAMing on 120.07800114499999 meters Centerline goodness [0,1] 0.8761582167832168 Centerline is valid? [False, False] Translation: X:4.17, Y:0.26, Z:0.19 [[ 0.88350431 0.03475104 -0.46713221 4.16596013] [-0.05154184 0.9984011 -0.02320962 0.26361174] [ 0.46557875 0.04458265 0.8838828 0.18644417] [ 0. 0. 0. 1. ]] SLAMing on 120.10800114499997 meters Centerline goodness [0,1] 0.8860806582200923 Centerline is valid? [False, False] Translation: X:4.17, Y:0.27, Z:0.19 [[ 0.88339948 0.03942237 -0.46695957 4.16588055] [-0.05511578 0.99827984 -0.01999038 0.26641032] [ 0.46536825 0.04339633 0.88405268 0.18649781] [ 0. 0. 0. 1. ]] SLAMing on 120.13800114499998 meters Centerline goodness [0,1] 0.883254070875978 Centerline is valid? [False, False] Translation: X:4.16, Y:0.27, Z:0.19 [[ 0.88340401 0.04401401 -0.46654059 4.1648698 ] [-0.05843785 0.99815491 -0.01648609 0.26715543] [ 0.46495416 0.04182751 0.88434614 0.18625739] [ 0. 0. 0. 1. ]] SLAMing on 120.16800114499998 meters Centerline goodness [0,1] 0.8875764374642559 Centerline is valid? [False, False] Translation: X:4.17, Y:0.27, Z:0.19 [[ 0.88326331 0.04364476 -0.46684158 4.16552763] [-0.0584532 0.99814062 -0.01727773 0.27042194] [ 0.46521947 0.04254917 0.88417216 0.18700388] [ 0. 0. 0. 1. ]] SLAMing on 120.19800114499998 meters Centerline goodness [0,1] 0.8865113819167456 Centerline is valid? [False, False] Translation: X:4.17, Y:0.27, Z:0.19 [[ 0.88315805 0.04331215 -0.46707163 4.16611784] [-0.05841083 0.99813236 -0.01788747 0.27268804] [ 0.46542457 0.04307951 0.88403853 0.18745095] [ 0. 0. 0. 1. ]] SLAMing on 120.22800114499998 meters Centerline goodness [0,1] 0.8863988319100925 Centerline is valid? [False, False] Translation: X:4.17, Y:0.27, Z:0.19 [[ 0.88311467 0.04306697 -0.46717633 4.16755473] [-0.05842419 0.99812175 -0.01842811 0.27485884] [ 0.46550521 0.04356853 0.88397211 0.18714082] [ 0. 0. 0. 1. ]] SLAMing on 120.25800114499998 meters Centerline goodness [0,1] 0.888352417443689 Centerline is valid? [False, False] Translation: X:4.17, Y:0.28, Z:0.19 [[ 0.88310839 0.04250837 -0.46723935 4.16770831] [-0.05815382 0.99812477 -0.01910683 0.27689999] [ 0.46555097 0.04404516 0.88392438 0.18735864] [ 0. 0. 0. 1. ]] SLAMing on 120.28800114499998 meters Centerline goodness [0,1] 0.8888101041435852 Centerline is valid? [False, False] Translation: X:4.17, Y:0.28, Z:0.19 [[ 0.88307656 0.04174302 -0.46736849 4.16758711] [-0.05779619 0.99812692 -0.02005617 0.27976318] [ 0.46565587 0.04472325 0.88383508 0.18794922] [ 0. 0. 0. 1. ]] SLAMing on 120.31800114499998 meters Centerline goodness [0,1] 0.8926359256710255 Centerline is valid? [False, False] Translation: X:4.17, Y:0.28, Z:0.19 [[ 0.88315394 0.04556874 -0.46686466 4.16615296] [-0.06062061 0.9980116 -0.01726238 0.2829438 ] [ 0.46514972 0.04354696 0.88416028 0.18778615] [ 0. 0. 0. 1. ]] SLAMing on 120.34800114499998 meters Centerline goodness [0,1] 0.8923869363468839 Centerline is valid? [False, False] Translation: X:4.17, Y:0.29, Z:0.19 [[ 0.8830435 0.04509039 -0.46711994 4.16671548] [-0.06045115 0.99800992 -0.01794044 0.28534695] [ 0.46538139 0.04408012 0.88401194 0.18825315] [ 0. 0. 0. 1. ]] SLAMing on 120.37800114499998 meters Centerline goodness [0,1] 0.8911510135059965 Centerline is valid? [False, False] Translation: X:4.17, Y:0.29, Z:0.19 [[ 0.88293338 0.04481656 -0.46735438 4.16751416] [-0.06043409 0.99800128 -0.01847055 0.28732805] [ 0.46559248 0.0445524 0.8838771 0.18858369] [ 0. 0. 0. 1. ]] SLAMing on 120.40800114499999 meters Centerline goodness [0,1] 0.893402034261242 Centerline is valid? [False, False] Translation: X:4.17, Y:0.29, Z:0.19 [[ 0.88284203 0.04459377 -0.46754822 4.16814439] [-0.06044097 0.99799206 -0.0189405 0.28899997] [ 0.46576478 0.04498054 0.88376463 0.18889231] [ 0. 0. 0. 1. ]] SLAMing on 120.43800114499999 meters Centerline goodness [0,1] 0.8971507991660875 Centerline is valid? [False, False] Translation: X:4.17, Y:0.29, Z:0.19 [[ 0.88279572 0.04929917 -0.46716305 4.16770566] [-0.06394863 0.99783214 -0.01554336 0.29064299] [ 0.46538403 0.04359604 0.88403455 0.18858182] [ 0. 0. 0. 1. ]] SLAMing on 120.46800114499999 meters Centerline goodness [0,1] 0.9003658563957534 Centerline is valid? [False, False] Translation: X:4.17, Y:0.29, Z:0.19 [[ 0.88266741 0.04903127 -0.4674336 4.16812606] [-0.06400175 0.99781844 -0.01619043 0.29298864] [ 0.46562003 0.04420733 0.88387991 0.18934277] [ 0. 0. 0. 1. ]] SLAMing on 120.49800114499998 meters Centerline goodness [0,1] 0.9040485829959515 Centerline is valid? [False, False] Translation: X:4.17, Y:0.30, Z:0.19 [[ 0.88250992 0.04876326 -0.4677589 4.16887182] [-0.06407213 0.99780277 -0.01686376 0.29563871] [ 0.46590879 0.04485275 0.88369521 0.19006905] [ 0. 0. 0. 1. ]] SLAMing on 120.52800114499998 meters Centerline goodness [0,1] 0.9040128193554211 Centerline is valid? [False, False] Translation: X:4.17, Y:0.30, Z:0.19 [[ 0.88240965 0.05371985 -0.46740495 4.16839744] [-0.06764549 0.99762409 -0.01304826 0.29582201] [ 0.46559349 0.04313174 0.88394703 0.1897299 ] [ 0. 0. 0. 1. ]] SLAMing on 120.55800114499998 meters Centerline goodness [0,1] 0.9103017926026775 Centerline is valid? [False, False] Translation: X:4.17, Y:0.30, Z:0.19 [[ 0.88207814 0.05854121 -0.46745168 4.16922287] [-0.07147195 0.99739289 -0.00995879 0.29992382] [ 0.46564998 0.04219412 0.88396253 0.19020003] [ 0. 0. 0. 1. ]] SLAMing on 120.58800114499998 meters Centerline goodness [0,1] 0.9123752358865925 Centerline is valid? [False, False] Translation: X:4.17, Y:0.30, Z:0.19 [[ 0.88185623 0.05852343 -0.46787242 4.17044843] [-0.07172864 0.99736954 -0.01044057 0.30225199] [ 0.46603068 0.04276693 0.88373435 0.19090021] [ 0. 0. 0. 1. ]] SLAMing on 120.61800114499998 meters Centerline goodness [0,1] 0.9130087607227596 Centerline is valid? [False, False] Translation: X:4.17, Y:0.30, Z:0.19 [[ 0.88168608 0.05863682 -0.4681788 4.17166118] [-0.07195912 0.99735123 -0.01060247 0.30325159] [ 0.46631701 0.04303778 0.88357014 0.19110691] [ 0. 0. 0. 1. ]] SLAMing on 120.64800114499998 meters Centerline goodness [0,1] 0.9152967463918467 Centerline is valid? [False, False] Translation: X:4.17, Y:0.30, Z:0.19 [[ 0.88150339 0.0587554 -0.46850782 4.17326 ] [-0.07220458 0.9973316 -0.01077883 0.30455168] [ 0.46662434 0.04332999 0.88339359 0.19120916] [ 0. 0. 0. 1. ]] SLAMing on 120.67800114499998 meters Centerline goodness [0,1] 0.9186805635093346 Centerline is valid? [False, False] Translation: X:4.17, Y:0.31, Z:0.19 [[ 0.88127716 0.06342251 -0.46832484 4.17360557] [-0.07564998 0.99710754 -0.00732298 0.30651271] [ 0.46650579 0.04188234 0.88352601 0.19095722] [ 0. 0. 0. 1. ]] SLAMing on 120.70800114499998 meters Centerline goodness [0,1] 0.9175501399788885 Centerline is valid? [False, False] Translation: X:4.17, Y:0.31, Z:0.19 [[ 0.88121051 0.06301098 -0.46850577 4.17389762] [-0.07545689 0.9971184 -0.00782061 0.307992 ] [ 0.46666294 0.0422436 0.88342582 0.1913238 ] [ 0. 0. 0. 1. ]] SLAMing on 120.73800114499998 meters Centerline goodness [0,1] 0.9149794785958315 Centerline is valid? [False, False] Translation: X:4.17, Y:0.31, Z:0.19 [[ 0.88118677 0.06265729 -0.46859784 4.17390285] [-0.07523339 0.99713268 -0.00814566 0.30839973] [ 0.46674383 0.04243205 0.88337405 0.19152792] [ 0. 0. 0. 1. ]] SLAMing on 120.76800114499999 meters Centerline goodness [0,1] 0.9146347073978653 Centerline is valid? [False, False] Translation: X:4.17, Y:0.31, Z:0.19 [[ 0.88124389 0.06228902 -0.46853952 4.17349353] [-0.07492286 0.99715435 -0.00835266 0.30820328] [ 0.46668594 0.04246505 0.88340305 0.19146641] [ 0. 0. 0. 1. ]] SLAMing on 120.79800114499999 meters Centerline goodness [0,1] 0.912753989209046 Centerline is valid? [False, False] Translation: X:4.17, Y:0.31, Z:0.19 [[ 0.88133102 0.06168385 -0.46845569 4.1732534 ] [-0.07441432 0.9971895 -0.00869486 0.3083302 ] [ 0.46660276 0.04252286 0.88344421 0.19118179] [ 0. 0. 0. 1. ]] SLAMing on 120.82800114499999 meters Centerline goodness [0,1] 0.9144751939051815 Centerline is valid? [False, False] Translation: X:4.17, Y:0.31, Z:0.19 [[ 0.88125108 0.06134874 -0.46865004 4.17343267] [-0.07423003 0.99720014 -0.00904368 0.30931389] [ 0.46678307 0.04275766 0.88333762 0.1915965 ] [ 0. 0. 0. 1. ]] SLAMing on 120.85800114499997 meters Centerline goodness [0,1] 0.9127931082139402 Centerline is valid? [False, False] Translation: X:4.17, Y:0.31, Z:0.19 [[ 0.88129811 0.06014423 -0.46871774 4.17205311] [-0.07353097 0.99723982 -0.01029293 0.3123587 ] [ 0.46680493 0.04353641 0.88328803 0.19271734] [ 0. 0. 0. 1. ]] SLAMing on 120.88800114499998 meters Centerline goodness [0,1] 0.9128791370885959 Centerline is valid? [False, False] Translation: X:4.17, Y:0.31, Z:0.19 [[ 0.8812257 0.05970587 -0.46890987 4.17187957] [-0.07331493 0.99725034 -0.01080229 0.3136939 ] [ 0.46697557 0.04389735 0.88317996 0.19336759] [ 0. 0. 0. 1. ]] SLAMing on 120.91800114499998 meters Centerline goodness [0,1] 0.9128791370885959 Centerline is valid? [False, False] Translation: X:4.17, Y:0.31, Z:0.19 [[ 0.8812257 0.05970587 -0.46890987 4.17187957] [-0.07331493 0.99725034 -0.01080229 0.3136939 ] [ 0.46697557 0.04389735 0.88317996 0.19336759] [ 0. 0. 0. 1. ]] SLAMing on 120.94800114499998 meters Centerline goodness [0,1] 0.9140385280885915 Centerline is valid? [False, False] Translation: X:4.17, Y:0.31, Z:0.19 [[ 0.8810601 0.05952472 -0.46924397 4.17228336] [-0.07329147 0.99724868 -0.01110988 0.3145948 ] [ 0.46729162 0.04418005 0.88299868 0.19405376] [ 0. 0. 0. 1. ]] SLAMing on 120.97800114499998 meters Centerline goodness [0,1] 0.9157807538312854 Centerline is valid? [False, False] Translation: X:4.17, Y:0.31, Z:0.19 [[ 0.88098233 0.05944808 -0.46939968 4.17263513] [-0.07328426 0.99724771 -0.01124347 0.31478505] [ 0.46743935 0.04430491 0.88291422 0.19428051] [ 0. 0. 0. 1. ]] SLAMing on 121.00800114499998 meters Centerline goodness [0,1] 0.9162783186453191 Centerline is valid? [False, False] Translation: X:4.17, Y:0.31, Z:0.19 [[ 0.88083928 0.05958916 -0.46965018 4.17350368] [-0.07339491 0.99724092 -0.01112396 0.31423638] [ 0.46769151 0.04426835 0.88278251 0.19433506] [ 0. 0. 0. 1. ]] SLAMing on 121.03800114499998 meters Centerline goodness [0,1] 0.9173027696423218 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:0.19 [[ 0.88085005 0.05896974 -0.46970816 4.17277157] [-0.07300215 0.99726315 -0.01170002 0.315231 ] [ 0.46773269 0.04459567 0.88274422 0.19490011] [ 0. 0. 0. 1. ]] SLAMing on 121.06800114499998 meters Centerline goodness [0,1] 0.9168554913294797 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:0.20 [[ 0.880857 0.05826641 -0.46978289 4.17171778] [-0.07256276 0.99728719 -0.01236544 0.316501 ] [ 0.46778797 0.04498093 0.88269538 0.19568618] [ 0. 0. 0. 1. ]] SLAMing on 121.09800114499998 meters Centerline goodness [0,1] 0.9154773707144999 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:0.20 [[ 0.88084216 0.0577524 -0.46987419 4.17093871] [-0.07226559 0.99730209 -0.0128928 0.31722983] [ 0.46786192 0.04531226 0.88263924 0.19639625] [ 0. 0. 0. 1. ]] SLAMing on 121.12800114499998 meters Centerline goodness [0,1] 0.916597510373444 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:0.20 [[ 0.88080806 0.05757068 -0.4699604 4.17070563] [-0.0721881 0.99730467 -0.01312527 0.31718804] [ 0.46793807 0.04548639 0.88258991 0.19676207] [ 0. 0. 0. 1. ]] SLAMing on 121.15800114499999 meters Centerline goodness [0,1] 0.9168744804655029 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:0.20 [[ 0.88073057 0.05758787 -0.4701035 4.17125309] [-0.07225252 0.99729909 -0.01319427 0.31744326] [ 0.46807397 0.04558676 0.88251267 0.19686889] [ 0. 0. 0. 1. ]] SLAMing on 121.18800114499999 meters Centerline goodness [0,1] 0.9180233362542084 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:0.20 [[ 0.8806126 0.05754056 -0.47033023 4.17150518] [-0.07228091 0.99729532 -0.01332372 0.31747918] [ 0.46829148 0.04572894 0.88238991 0.19732346] [ 0. 0. 0. 1. ]] SLAMing on 121.21800114499997 meters Centerline goodness [0,1] 0.920704845814978 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:0.20 [[ 0.88053262 0.05750659 -0.47048411 4.1717755 ] [-0.07230275 0.99729244 -0.01342032 0.31731524] [ 0.46843849 0.04583433 0.88230641 0.19759796] [ 0. 0. 0. 1. ]] SLAMing on 121.24800114499998 meters Centerline goodness [0,1] 0.920479428373862 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:0.20 [[ 0.88042426 0.05750559 -0.47068697 4.17226987] [-0.07232578 0.99729046 -0.01344332 0.31721541] [ 0.46863856 0.04587863 0.88219785 0.19784018] [ 0. 0. 0. 1. ]] SLAMing on 121.27800114499998 meters Centerline goodness [0,1] 0.9206917251570004 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:0.20 [[ 0.88046106 0.05692723 -0.47068844 4.17163487] [-0.07188411 0.9973169 -0.01384497 0.31821529] [ 0.46863738 0.04602498 0.88219086 0.19811022] [ 0. 0. 0. 1. ]] SLAMing on 121.30800114499998 meters Centerline goodness [0,1] 0.920612653220799 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:0.20 [[ 0.88045981 0.05649902 -0.47074238 4.17082503] [-0.07154978 0.99733704 -0.01412267 0.31802063] [ 0.46869089 0.04611595 0.88215768 0.19859854] [ 0. 0. 0. 1. ]] SLAMing on 121.33800114499998 meters Centerline goodness [0,1] 0.9212672594022101 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:0.20 [[ 0.88051453 0.05592343 -0.47070875 4.16964587] [-0.070851 0.99738812 -0.01403833 0.31545375] [ 0.46869424 0.04571114 0.88217697 0.19850729] [ 0. 0. 0. 1. ]] SLAMing on 121.36800114499998 meters Centerline goodness [0,1] 0.9196022596794194 Centerline is valid? [False, False] Translation: X:4.17, Y:0.31, Z:0.20 [[ 0.8804771 0.05588725 -0.47078306 4.16975322] [-0.07072679 0.99739924 -0.01387351 0.31428695] [ 0.46878331 0.04551229 0.88213992 0.19845107] [ 0. 0. 0. 1. ]] SLAMing on 121.39800114499998 meters Centerline goodness [0,1] 0.9205769539952686 Centerline is valid? [False, False] Translation: X:4.17, Y:0.31, Z:0.20 [[ 0.88044794 0.05585873 -0.47084098 4.16979278] [-0.07061894 0.99740894 -0.01372502 0.31319153] [ 0.46885434 0.04533445 0.88211133 0.19841047] [ 0. 0. 0. 1. ]] SLAMing on 121.42800114499998 meters Centerline goodness [0,1] 0.9222439360846074 Centerline is valid? [False, False] Translation: X:4.17, Y:0.31, Z:0.20 [[ 0.88032803 0.05606355 -0.47104081 4.17051404] [-0.07075143 0.9974024 -0.01351592 0.31227671] [ 0.46905949 0.04522525 0.88200787 0.19845301] [ 0. 0. 0. 1. ]] SLAMing on 121.45800114499998 meters Centerline goodness [0,1] 0.9235230737488824 Centerline is valid? [False, False] Translation: X:4.17, Y:0.31, Z:0.20 [[ 0.88011681 0.05663284 -0.47136729 4.17252236] [-0.0711558 0.99738013 -0.01302796 0.31136136] [ 0.46939456 0.04500664 0.88184077 0.19813069] [ 0. 0. 0. 1. ]] SLAMing on 121.48800114499998 meters Centerline goodness [0,1] 0.9260891520910802 Centerline is valid? [False, False] Translation: X:4.17, Y:0.31, Z:0.20 [[ 0.87997904 0.05622216 -0.47167357 4.17263056] [-0.07104649 0.99737942 -0.01366327 0.31332847] [ 0.46966934 0.04553414 0.88166737 0.1990442 ] [ 0. 0. 0. 1. ]] SLAMing on 121.51800114499999 meters Centerline goodness [0,1] 0.9244207429201913 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:0.20 [[ 0.87983034 0.0558255 -0.47199797 4.17281711] [-0.07099403 0.99737319 -0.0143726 0.3159403 ] [ 0.46995576 0.04615449 0.88148247 0.20008645] [ 0. 0. 0. 1. ]] SLAMing on 121.54800114499999 meters Centerline goodness [0,1] 0.9254457797974672 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:0.20 [[ 0.87971098 0.05536714 -0.47227435 4.17262551] [-0.07086475 0.99737203 -0.01507356 0.31793601] [ 0.47019865 0.04672798 0.88132271 0.20114097] [ 0. 0. 0. 1. ]] SLAMing on 121.57800114499999 meters Centerline goodness [0,1] 0.9254313128517391 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:0.20 [[ 0.87963623 0.05520613 -0.47243242 4.17253528] [-0.07084007 0.99736955 -0.01535157 0.31816791] [ 0.47034221 0.04697094 0.88123319 0.20165877] [ 0. 0. 0. 1. ]] SLAMing on 121.60800114499997 meters Centerline goodness [0,1] 0.9253449862005519 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:0.20 [[ 0.87971748 0.05500362 -0.47230473 4.17186328] [-0.07062477 0.99738418 -0.01539283 0.31668768] [ 0.4702226 0.04689775 0.88130092 0.20152073] [ 0. 0. 0. 1. ]] SLAMing on 121.63800114499998 meters Centerline goodness [0,1] 0.9297833644128277 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:0.20 [[ 0.879648 0.05453606 -0.47248832 4.17138658] [-0.07033557 0.99739788 -0.01582345 0.31707413] [ 0.4703959 0.0471518 0.88119487 0.20221999] [ 0. 0. 0. 1. ]] SLAMing on 121.66800114499998 meters Centerline goodness [0,1] 0.9260903570114096 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:0.20 [[ 0.87962915 0.05411502 -0.47257182 4.17079246] [-0.07007475 0.99740987 -0.01621963 0.31751309] [ 0.47047007 0.04738261 0.88114289 0.20278866] [ 0. 0. 0. 1. ]] SLAMing on 121.69800114499998 meters Centerline goodness [0,1] 0.9296793970544173 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:0.20 [[ 0.87967806 0.05351197 -0.47254945 4.16961099] [-0.06964641 0.99743194 -0.01670063 0.31774426] [ 0.47044223 0.04760255 0.88114591 0.20333964] [ 0. 0. 0. 1. ]] SLAMing on 121.72800114499998 meters Centerline goodness [0,1] 0.9292143366865404 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:0.20 [[ 0.87974873 0.0528439 -0.47249305 4.16843018] [-0.06916909 0.99745611 -0.01723189 0.31821468] [ 0.47038049 0.04784164 0.88116592 0.2038039 ] [ 0. 0. 0. 1. ]] SLAMing on 121.75800114499998 meters Centerline goodness [0,1] 0.928011075219197 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:0.20 [[ 0.87972358 0.05235556 -0.47259425 4.16814405] [-0.06887728 0.99746792 -0.01771069 0.31934503] [ 0.47047035 0.04813152 0.88110215 0.20430525] [ 0. 0. 0. 1. ]] SLAMing on 121.78800114499998 meters Centerline goodness [0,1] 0.929565457813004 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:0.20 [[ 0.87963423 0.05223969 -0.47277335 4.16843616] [-0.06881303 0.99747049 -0.0178156 0.31921218] [ 0.47064679 0.04820417 0.88100395 0.20456841] [ 0. 0. 0. 1. ]] SLAMing on 121.81800114499998 meters Centerline goodness [0,1] 0.9339876341738111 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:0.20 [[ 0.87979081 0.05185091 -0.47252472 4.16686038] [-0.06844082 0.99749327 -0.01797296 0.31730254] [ 0.47040832 0.04815242 0.88113413 0.20457742] [ 0. 0. 0. 1. ]] SLAMing on 121.84800114499998 meters Centerline goodness [0,1] 0.9326418912703524 Centerline is valid? [False, False] Translation: X:4.17, Y:0.32, Z:0.21 [[ 0.87978211 0.05136417 -0.47259408 4.16588557] [-0.06815366 0.99750403 -0.01846067 0.31776701] [ 0.47046628 0.04845038 0.88108685 0.20532155] [ 0. 0. 0. 1. ]] SLAMing on 121.87800114499998 meters Centerline goodness [0,1] 0.931251295515788 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87978108 0.05056929 -0.4726817 4.1646709 ] [-0.06771602 0.99751759 -0.01931854 0.31960888] [ 0.47053138 0.04900421 0.88102145 0.20637482] [ 0. 0. 0. 1. ]] SLAMing on 121.90800114499999 meters Centerline goodness [0,1] 0.9390790263729158 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87972319 0.04980172 -0.47287091 4.16392206] [-0.06730132 0.99752922 -0.02014896 0.32122416] [ 0.4706991 0.04955034 0.88090131 0.2075105 ] [ 0. 0. 0. 1. ]] SLAMing on 121.93800114499999 meters Centerline goodness [0,1] 0.9317931540791043 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87977429 0.0496775 -0.47278889 4.16364338] [-0.06697561 0.99755788 -0.01981274 0.31876691] [ 0.47065004 0.04909607 0.88095296 0.2069858 ] [ 0. 0. 0. 1. ]] SLAMing on 121.96800114499997 meters Centerline goodness [0,1] 0.9282106616465402 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87981734 0.04967818 -0.47270871 4.16370679] [-0.06680071 0.9975759 -0.01949332 0.31679749] [ 0.47059442 0.04872784 0.88100311 0.20645895] [ 0. 0. 0. 1. ]] SLAMing on 121.99800114499998 meters Centerline goodness [0,1] 0.9328244976780542 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87983287 0.04920712 -0.47272908 4.16353672] [-0.06636213 0.99760171 -0.01966977 0.31645388] [ 0.47062744 0.04867742 0.88098826 0.20641131] [ 0. 0. 0. 1. ]] SLAMing on 122.02800114499998 meters Centerline goodness [0,1] 0.9293690547309407 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87984179 0.04855585 -0.47277981 4.16312606] [-0.06589501 0.99762265 -0.02017169 0.31725321] [ 0.47067639 0.04890173 0.88094969 0.2067542 ] [ 0. 0. 0. 1. ]] SLAMing on 122.05800114499998 meters Centerline goodness [0,1] 0.9158949376105889 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87993867 0.04779465 -0.47267706 4.16253557] [-0.06530728 0.99765049 -0.02069923 0.31811807] [ 0.47057719 0.04908331 0.88099259 0.20676748] [ 0. 0. 0. 1. ]] SLAMing on 122.08800114499998 meters Centerline goodness [0,1] 0.9227046460176991 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87993953 0.04760857 -0.47269424 4.16255852] [-0.06520985 0.99765247 -0.02090976 0.31823998] [ 0.4705891 0.04922365 0.8809784 0.20685585] [ 0. 0. 0. 1. ]] SLAMing on 122.11800114499998 meters Centerline goodness [0,1] 0.9217181022570244 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87985693 0.04749374 -0.47285952 4.16282109] [-0.06517248 0.99765167 -0.02106388 0.31837213] [ 0.47074869 0.04935063 0.88088602 0.20711372] [ 0. 0. 0. 1. ]] SLAMing on 122.14800114499998 meters Centerline goodness [0,1] 0.9141520090366306 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87986581 0.04733823 -0.4728586 4.16286698] [-0.06512026 0.99765015 -0.02129621 0.31867774] [ 0.47073932 0.04953048 0.88088093 0.20720038] [ 0. 0. 0. 1. ]] SLAMing on 122.17800114499998 meters Centerline goodness [0,1] 0.9197846196327488 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87984327 0.04692523 -0.4729417 4.16266523] [-0.0649023 0.99765446 -0.02175468 0.31967341] [ 0.47081155 0.04983571 0.88082512 0.20762008] [ 0. 0. 0. 1. ]] SLAMing on 122.20800114499998 meters Centerline goodness [0,1] 0.916503422368694 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87982938 0.04633576 -0.47302564 4.16201538] [-0.06455035 0.99766444 -0.02233655 0.32075035] [ 0.47088588 0.05018632 0.88076548 0.20826154] [ 0. 0. 0. 1. ]] SLAMing on 122.23800114499998 meters Centerline goodness [0,1] 0.9151345989711887 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87981288 0.04591828 -0.47309703 4.16144995] [-0.06425756 0.99767592 -0.02266567 0.32105928] [ 0.47095675 0.05034161 0.88071872 0.2087277 ] [ 0. 0. 0. 1. ]] SLAMing on 122.26800114499999 meters Centerline goodness [0,1] 0.9089298043728423 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.88004341 0.04490928 -0.47276501 4.15930871] [-0.06326286 0.99773217 -0.02298526 0.31873533] [ 0.47066061 0.05013649 0.88088871 0.20847898] [ 0. 0. 0. 1. ]] SLAMing on 122.29800114499999 meters Centerline goodness [0,1] 0.9036509064240369 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.88012701 0.04475415 -0.47262406 4.15870912] [-0.06298561 0.99775368 -0.02281246 0.31692001] [ 0.47054145 0.04984638 0.88096883 0.20817509] [ 0. 0. 0. 1. ]] SLAMing on 122.32800114499999 meters Centerline goodness [0,1] 0.9079318489302667 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.8801869 0.04435783 -0.47254989 4.15779595] [-0.06261169 0.99777377 -0.02296246 0.31621709] [ 0.47047932 0.0497984 0.88100473 0.20831389] [ 0. 0. 0. 1. ]] SLAMing on 122.35800114499997 meters Centerline goodness [0,1] 0.9136942165756461 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.88026055 0.04363195 -0.47248028 4.1562353 ] [-0.06209791 0.9977922 -0.0235496 0.3167027 ] [ 0.47040962 0.05006983 0.88102656 0.20900986] [ 0. 0. 0. 1. ]] SLAMing on 122.38800114499998 meters Centerline goodness [0,1] 0.9003965797858927 Centerline is valid? [False, False] Translation: X:4.15, Y:0.32, Z:0.21 [[ 0.88053271 0.04192963 -0.47212716 4.15210349] [-0.06093487 0.9978279 -0.02502841 0.31833123] [ 0.47005222 0.05080735 0.88117508 0.21052047] [ 0. 0. 0. 1. ]] SLAMing on 122.41800114499998 meters Centerline goodness [0,1] 0.9042124542124542 Centerline is valid? [False, False] Translation: X:4.15, Y:0.32, Z:0.21 [[ 0.88049272 0.04169927 -0.47222213 4.15157109] [-0.06083935 0.99782619 -0.02532703 0.31866021] [ 0.47013949 0.05102996 0.88111566 0.21114405] [ 0. 0. 0. 1. ]] SLAMing on 122.44800114499998 meters Centerline goodness [0,1] 0.9070506954612005 Centerline is valid? [False, False] Translation: X:4.15, Y:0.32, Z:0.21 [[ 0.88041066 0.04182703 -0.47236381 4.15178592] [-0.06105041 0.99781059 -0.02543373 0.3186913 ] [ 0.47026579 0.05123013 0.88103664 0.21157583] [ 0. 0. 0. 1. ]] SLAMing on 122.47800114499998 meters Centerline goodness [0,1] 0.9121879790422587 Centerline is valid? [False, False] Translation: X:4.15, Y:0.32, Z:0.21 [[ 0.88024213 0.04303578 -0.47256928 4.15397895] [-0.06205218 0.99776676 -0.02471866 0.31752794] [ 0.47045013 0.05108236 0.8809468 0.21116535] [ 0. 0. 0. 1. ]] SLAMing on 122.50800114499998 meters Centerline goodness [0,1] 0.9127732287437785 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.88010686 0.04344404 -0.47278381 4.15542602] [-0.06244194 0.99774648 -0.02455551 0.31780078] [ 0.47065159 0.05113301 0.88083625 0.21106799] [ 0. 0. 0. 1. ]] SLAMing on 122.53800114499998 meters Centerline goodness [0,1] 0.9165825456547674 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87989276 0.04377572 -0.47315158 4.15670213] [-0.06285646 0.99771979 -0.02458205 0.3187345 ] [ 0.4709966 0.0513702 0.88063801 0.21153951] [ 0. 0. 0. 1. ]] SLAMing on 122.56800114499998 meters Centerline goodness [0,1] 0.9167797272748177 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87968788 0.04401613 -0.47351011 4.15792675] [-0.06322796 0.99769285 -0.02472238 0.32038472] [ 0.47132947 0.05168706 0.88044136 0.21207562] [ 0. 0. 0. 1. ]] SLAMing on 122.59800114499998 meters Centerline goodness [0,1] 0.921615092603244 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87971018 0.04865348 -0.47301463 4.15570522] [-0.06658295 0.99755514 -0.02122381 0.32029785] [ 0.47082556 0.05016551 0.8807989 0.21232732] [ 0. 0. 0. 1. ]] SLAMing on 122.62800114499998 meters Centerline goodness [0,1] 0.9214323521966262 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87963067 0.0487492 -0.47315262 4.15555336] [-0.06665938 0.99755167 -0.02114707 0.31927561] [ 0.47096328 0.05014167 0.88072663 0.21269601] [ 0. 0. 0. 1. ]] SLAMing on 122.65800114499999 meters Centerline goodness [0,1] 0.9203761036578374 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87961356 0.04905459 -0.47315287 4.15557344] [-0.06680905 0.99754938 -0.02077928 0.31726155] [ 0.47097404 0.04988863 0.88073525 0.21253274] [ 0. 0. 0. 1. ]] SLAMing on 122.68800114499999 meters Centerline goodness [0,1] 0.9208208460113015 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87951409 0.04940033 -0.47330179 4.15594072] [-0.06698719 0.99754605 -0.02036137 0.31538681] [ 0.47113447 0.04961327 0.880665 0.21251067] [ 0. 0. 0. 1. ]] SLAMing on 122.71800114499997 meters Centerline goodness [0,1] 0.9236155606407322 Centerline is valid? [False, False] Translation: X:4.16, Y:0.31, Z:0.21 [[ 0.8793637 0.05004626 -0.47351331 4.15740437] [-0.0674748 0.99752294 -0.01987821 0.31479885] [ 0.47134555 0.04943039 0.88056232 0.21228753] [ 0. 0. 0. 1. ]] SLAMing on 122.74800114499998 meters Centerline goodness [0,1] 0.9262774224606286 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87917123 0.05021707 -0.47385251 4.15829567] [-0.06771484 0.99750575 -0.01992417 0.31537669] [ 0.47167007 0.04960361 0.8803788 0.21278386] [ 0. 0. 0. 1. ]] SLAMing on 122.77800114499998 meters Centerline goodness [0,1] 0.9294190273681322 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87898172 0.05047903 -0.47417612 4.15903619] [-0.06804598 0.99748273 -0.01994872 0.31589035] [ 0.4719755 0.04980034 0.88020398 0.21337901] [ 0. 0. 0. 1. ]] SLAMing on 122.80800114499998 meters Centerline goodness [0,1] 0.9310992079842513 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87878687 0.0508372 -0.47449892 4.15988879] [-0.06846138 0.99745475 -0.0199266 0.31653418] [ 0.47227818 0.04999608 0.88003052 0.21394573] [ 0. 0. 0. 1. ]] SLAMing on 122.83800114499998 meters Centerline goodness [0,1] 0.9310992079842513 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87878687 0.0508372 -0.47449892 4.15988879] [-0.06846138 0.99745475 -0.0199266 0.31653418] [ 0.47227818 0.04999608 0.88003052 0.21394573] [ 0. 0. 0. 1. ]] SLAMing on 122.86800114499998 meters Centerline goodness [0,1] 0.93384049528248 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.8785642 0.05124024 -0.47486775 4.16093722] [-0.06890382 0.99742573 -0.01985414 0.31693108] [ 0.47262798 0.05016333 0.87983319 0.21449131] [ 0. 0. 0. 1. ]] SLAMing on 122.89800114499998 meters Centerline goodness [0,1] 0.9412758959365934 Centerline is valid? [False, False] Translation: X:4.16, Y:0.32, Z:0.21 [[ 0.87840193 0.05207441 -0.47507716 4.16146511] [-0.069608 0.99738622 -0.01937686 0.31574718] [ 0.47282637 0.05008984 0.87973077 0.21491364] [ 0. 0. 0. 1. ]] SLAMing on 122.92800114499998 meters Centerline goodness [0,1] 0.943598151057677 Centerline is valid? [False, False] Translation: X:4.16, Y:0.31, Z:0.22 [[ 0.87834743 0.05233512 -0.47514927 4.16137833] [-0.06976754 0.99738014 -0.01911427 0.31427244] [ 0.47290409 0.04993896 0.87969757 0.21505855] [ 0. 0. 0. 1. ]] SLAMing on 122.95800114499998 meters Centerline goodness [0,1] 0.9418143947112227 Centerline is valid? [False, False] Translation: X:4.16, Y:0.31, Z:0.22 [[ 0.87832193 0.05247008 -0.47518153 4.16110281] [-0.06981252 0.9973809 -0.01890901 0.31305014] [ 0.47294483 0.04978181 0.87968458 0.21518882] [ 0. 0. 0. 1. ]] SLAMing on 122.98800114499998 meters Centerline goodness [0,1] 0.9438214973383169 Centerline is valid? [False, False] Translation: X:4.16, Y:0.31, Z:0.22 [[ 0.87834524 0.05218121 -0.47517024 4.16023969] [-0.06957905 0.99739384 -0.01908622 0.31271698] [ 0.47293593 0.04982619 0.87968685 0.21556717] [ 0. 0. 0. 1. ]] SLAMing on 123.01800114499999 meters Centerline goodness [0,1] 0.9388419292139403 Centerline is valid? [False, False] Translation: X:4.16, Y:0.31, Z:0.22 [[ 0.87846569 0.05145853 -0.47502638 4.15817744] [-0.06890932 0.99743459 -0.01938408 0.31158993] [ 0.47281026 0.049762 0.87975803 0.21600616] [ 0. 0. 0. 1. ]] SLAMing on 123.04800114499999 meters Centerline goodness [0,1] 0.9350584722567803 Centerline is valid? [False, False] Translation: X:4.16, Y:0.31, Z:0.22 [[ 0.87846239 0.05144133 -0.47503433 4.15754004] [-0.06877192 0.99744833 -0.01916381 0.30982149] [ 0.47283639 0.04950371 0.87975857 0.21611151] [ 0. 0. 0. 1. ]] SLAMing on 123.07800114499999 meters Centerline goodness [0,1] 0.9379383442707981 Centerline is valid? [False, False] Translation: X:4.16, Y:0.31, Z:0.22 [[ 0.87852488 0.051271 -0.47493718 4.15663818] [-0.06851913 0.99746762 -0.01906484 0.30793628] [ 0.47275699 0.04929122 0.87981317 0.21609765] [ 0. 0. 0. 1. ]] SLAMing on 123.10800114499997 meters Centerline goodness [0,1] 0.9358684204629484 Centerline is valid? [False, False] Translation: X:4.15, Y:0.30, Z:0.22 [[ 0.87869901 0.05078874 -0.47466678 4.15472432] [-0.0679028 0.99751161 -0.01896859 0.30485201] [ 0.47252223 0.04889889 0.87996116 0.21589059] [ 0. 0. 0. 1. ]] SLAMing on 123.13800114499998 meters Centerline goodness [0,1] 0.9364340391244013 Centerline is valid? [False, False] Translation: X:4.15, Y:0.30, Z:0.22 [[ 0.87873548 0.05077826 -0.47460039 4.15413471] [-0.06780751 0.99752088 -0.01882108 0.3035466 ] [ 0.4724681 0.04872022 0.88000013 0.21591885] [ 0. 0. 0. 1. ]] SLAMing on 123.16800114499998 meters Centerline goodness [0,1] 0.9377647296116178 Centerline is valid? [False, False] Translation: X:4.15, Y:0.30, Z:0.22 [[ 0.87866507 0.05094329 -0.47471305 4.15413068] [-0.06787728 0.99752049 -0.01858895 0.30253799] [ 0.47258901 0.04855569 0.8799443 0.21608805] [ 0. 0. 0. 1. ]] SLAMing on 123.19800114499998 meters Centerline goodness [0,1] 0.9361611734716694 Centerline is valid? [False, False] Translation: X:4.15, Y:0.30, Z:0.22 [[ 0.87860972 0.05102382 -0.47480684 4.15394018] [-0.06794284 0.99751712 -0.01852987 0.30207823] [ 0.47268249 0.04854025 0.87989494 0.21643469] [ 0. 0. 0. 1. ]] SLAMing on 123.22800114499998 meters Centerline goodness [0,1] 0.9422401253216963 Centerline is valid? [False, False] Translation: X:4.15, Y:0.30, Z:0.22 [[ 0.87846205 0.05644867 -0.47446599 4.15224375] [-0.07170734 0.99732592 -0.01410944 0.29868696] [ 0.47240077 0.0464173 0.88016075 0.21652103] [ 0. 0. 0. 1. ]] SLAMing on 123.25800114499998 meters Centerline goodness [0,1] 0.9451666852491917 Centerline is valid? [False, False] Translation: X:4.15, Y:0.30, Z:0.22 [[ 0.87831909 0.05686486 -0.4746809 4.15244796] [-0.07211619 0.99729844 -0.01396685 0.29826158] [ 0.4726043 0.04649953 0.88004714 0.21709514] [ 0. 0. 0. 1. ]] SLAMing on 123.28800114499998 meters Centerline goodness [0,1] 0.9460335920202179 Centerline is valid? [False, False] Translation: X:4.15, Y:0.30, Z:0.22 [[ 0.87819579 0.05732216 -0.474854 4.15283841] [-0.07255111 0.99726935 -0.01379045 0.29788484] [ 0.47276684 0.0465619 0.87995653 0.21746642] [ 0. 0. 0. 1. ]] SLAMing on 123.31800114499998 meters Centerline goodness [0,1] 0.9465764402101327 Centerline is valid? [False, False] Translation: X:4.15, Y:0.30, Z:0.22 [[ 0.87802047 0.05773741 -0.47512783 4.15333884] [-0.0729475 0.99724278 -0.01361988 0.29743386] [ 0.47303142 0.04661792 0.87981137 0.21798104] [ 0. 0. 0. 1. ]] SLAMing on 123.34800114499998 meters Centerline goodness [0,1] 0.9508083705828719 Centerline is valid? [False, True] Translation: X:4.15, Y:0.30, Z:0.22 [[ 0.8777171 0.05890151 -0.47554527 4.15494613] [-0.07393014 0.99717945 -0.01294173 0.29665256] [ 0.47344168 0.0465163 0.87959605 0.21838143] [ 0. 0. 0. 1. ]] SLAMing on 123.37800114499998 meters Centerline goodness [0,1] 0.9504928464944485 Centerline is valid? [True, True] Translation: X:4.19, Y:0.26, Z:0.20 [[ 8.77767319e-01 8.39926605e-02 -4.71667008e-01 4.19072487e+00] [-7.32304786e-02 9.96465099e-01 4.11655546e-02 2.64496178e-01] [ 4.73457316e-01 -1.59337780e-03 8.80815322e-01 2.04388357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.40800114499999 meters Centerline goodness [0,1] 0.9517459047365029 Centerline is valid? [True, True] Translation: X:4.22, Y:0.26, Z:0.22 [[ 8.77565811e-01 8.45230332e-02 -4.71947141e-01 4.21556050e+00] [-7.38846912e-02 9.96420839e-01 4.10678040e-02 2.61746793e-01] [ 4.73729142e-01 -1.17003194e-03 8.80669820e-01 2.15841860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43800114499999 meters Centerline goodness [0,1] 0.9528333296339866 Centerline is valid? [True, True] Translation: X:4.24, Y:0.26, Z:0.23 [[ 8.76966924e-01 8.53092599e-02 -4.72917905e-01 4.24177868e+00] [-7.47621665e-02 9.96354287e-01 4.10944466e-02 2.56249206e-01] [ 4.74699519e-01 -6.82103252e-04 8.80147659e-01 2.25658057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46800114499997 meters Centerline goodness [0,1] 0.9523577379897181 Centerline is valid? [True, True] Translation: X:4.27, Y:0.25, Z:0.24 [[ 8.76492766e-01 8.51245347e-02 -4.73829341e-01 4.26743102e+00] [-7.45319171e-02 9.96370048e-01 4.11305272e-02 2.52408046e-01] [ 4.75610581e-01 -7.35200340e-04 8.79655634e-01 2.37732426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49800114499998 meters Centerline goodness [0,1] 0.9520194754896536 Centerline is valid? [True, True] Translation: X:4.29, Y:0.25, Z:0.25 [[ 8.77113543e-01 8.49816311e-02 -4.72704935e-01 4.29113138e+00] [-7.44813932e-02 9.96382280e-01 4.09252186e-02 2.49180682e-01] [ 4.74472713e-01 -6.88341415e-04 8.80269942e-01 2.53990234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52800114499998 meters Centerline goodness [0,1] 0.954019178929692 Centerline is valid? [True, True] Translation: X:4.32, Y:0.25, Z:0.27 [[ 8.77487748e-01 8.49272274e-02 -4.72019722e-01 4.31565024e+00] [-7.45127194e-02 9.96386983e-01 4.07533510e-02 2.45933983e-01] [ 4.73775376e-01 -5.89093122e-04 8.80645528e-01 2.67762112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55800114499998 meters Centerline goodness [0,1] 0.9511957915211529 Centerline is valid? [True, True] Translation: X:4.34, Y:0.24, Z:0.28 [[ 8.77570233e-01 8.43113825e-02 -4.71976776e-01 4.33762260e+00] [-7.38767792e-02 9.96439141e-01 4.06356842e-02 2.43333623e-01] [ 4.73722185e-01 -7.92542789e-04 8.80673983e-01 2.84708139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58800114499998 meters Centerline goodness [0,1] 0.9516882658908578 Centerline is valid? [True, True] Translation: X:4.36, Y:0.24, Z:0.30 [[ 8.78564547e-01 8.41506806e-02 -4.70152102e-01 4.36246532e+00] [-7.38509823e-02 9.96452776e-01 4.03472077e-02 2.37545641e-01] [ 4.71879613e-01 -7.26431662e-04 8.81662693e-01 2.96861988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61800114499998 meters Centerline goodness [0,1] 0.950397959632382 Centerline is valid? [True, True] Translation: X:4.39, Y:0.23, Z:0.31 [[ 8.78549758e-01 8.31983392e-02 -4.70349189e-01 4.38763615e+00] [-7.27863803e-02 9.96532302e-01 4.03176536e-02 2.31820799e-01] [ 4.72072522e-01 -1.18604988e-03 8.81558919e-01 3.10976962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64800114499998 meters Centerline goodness [0,1] 0.9522973625312678 Centerline is valid? [True, True] Translation: X:4.41, Y:0.23, Z:0.32 [[ 8.78368063e-01 8.19432831e-02 -4.70908531e-01 4.41362453e+00] [-7.13996720e-02 9.96635495e-01 4.02464423e-02 2.25583493e-01] [ 4.72622082e-01 -1.72847490e-03 8.81263513e-01 3.23059951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67800114499998 meters Centerline goodness [0,1] 0.9509368782386252 Centerline is valid? [True, True] Translation: X:4.44, Y:0.22, Z:0.34 [[ 8.77557091e-01 8.02824905e-02 -4.72703157e-01 4.43894430e+00] [-6.94915070e-02 9.96769019e-01 4.02796858e-02 2.19794565e-01] [ 4.74409615e-01 -2.49886919e-03 8.80300672e-01 3.36000610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70800114499998 meters Centerline goodness [0,1] 0.9526879846649822 Centerline is valid? [True, True] Translation: X:4.46, Y:0.21, Z:0.35 [[ 8.77219576e-01 7.66022080e-02 -4.73938728e-01 4.46392767e+00] [-6.53108263e-02 9.97052156e-01 4.02677817e-02 2.11011236e-01] [ 4.75626231e-01 -4.37035649e-03 8.79636623e-01 3.46027296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73800114499998 meters Centerline goodness [0,1] 0.9512248136153194 Centerline is valid? [True, True] Translation: X:4.49, Y:0.21, Z:0.36 [[ 0.87712529 0.07452987 -0.47444339 4.48950977] [-0.06295874 0.99720395 0.04025513 0.20508234] [ 0.47611703 -0.00543844 0.87936511 0.35862327] [ 0. 0. 0. 1. ]] SLAMing on 123.76800114499999 meters Centerline goodness [0,1] 0.9518508028497353 Centerline is valid? [True, True] Translation: X:4.52, Y:0.20, Z:0.37 [[ 0.8769552 0.07223146 -0.47511283 4.51500563] [-0.06037329 0.9973663 0.04019372 0.19867196] [ 0.47676477 -0.00656397 0.87900641 0.37177252] [ 0. 0. 0. 1. ]] SLAMing on 123.79800114499999 meters Centerline goodness [0,1] 0.9510065802332399 Centerline is valid? [True, True] Translation: X:4.54, Y:0.19, Z:0.39 [[ 0.87730018 0.07003124 -0.47480525 4.53977914] [-0.05795257 0.9975157 0.04004897 0.19356043] [ 0.47643037 -0.00761879 0.87917919 0.38663306] [ 0. 0. 0. 1. ]] SLAMing on 123.82800114499999 meters Centerline goodness [0,1] 0.9471716058189049 Centerline is valid? [True, False] Translation: X:4.54, Y:0.19, Z:0.39 [[ 0.87791368 0.06383414 -0.4745448 4.53669036] [-0.05336297 0.99794333 0.03551777 0.19199939] [ 0.47583607 -0.00585842 0.87951448 0.38709837] [ 0. 0. 0. 1. ]] SLAMing on 123.85800114499997 meters Centerline goodness [0,1] 0.9460037134591304 Centerline is valid? [False, False] Translation: X:4.53, Y:0.19, Z:0.39 [[ 0.87800985 0.06304759 -0.47447203 4.53483095] [-0.05270895 0.99799374 0.03507504 0.19069093] [ 0.47573151 -0.00578731 0.87957151 0.38765452] [ 0. 0. 0. 1. ]] SLAMing on 123.88800114499998 meters Centerline goodness [0,1] 0.9484202348066298 Centerline is valid? [False, False] Translation: X:4.53, Y:0.19, Z:0.39 [[ 0.87809864 0.06230581 -0.4744057 4.53320407] [-0.05214376 0.99804133 0.034562 0.19025266] [ 0.47562991 -0.00561155 0.87962759 0.38821378] [ 0. 0. 0. 1. ]] SLAMing on 123.91800114499998 meters Centerline goodness [0,1] 0.9485512550049511 Centerline is valid? [False, False] Translation: X:4.53, Y:0.19, Z:0.39 [[ 0.87818311 0.0614898 -0.47435581 4.53097924] [-0.05156477 0.9980935 0.03391813 0.19056138] [ 0.47553707 -0.00532628 0.87967956 0.38920846] [ 0. 0. 0. 1. ]] SLAMing on 123.94800114499998 meters Centerline goodness [0,1] 0.9479630705662083 Centerline is valid? [False, False] Translation: X:4.53, Y:0.19, Z:0.39 [[ 0.8781877 0.06109032 -0.47439892 4.53023076] [-0.05124477 0.99811839 0.03366965 0.19006461] [ 0.47556317 -0.0052578 0.87966586 0.38959513] [ 0. 0. 0. 1. ]] SLAMing on 123.97800114499998 meters Centerline goodness [0,1] 0.9475007521382215 Centerline is valid? [False, False] Translation: X:4.53, Y:0.19, Z:0.39 [[ 0.8781279 0.06112599 -0.47450501 4.53045045] [-0.05117536 0.99811512 0.03387164 0.18862032] [ 0.47568106 -0.00546066 0.87960088 0.38960366] [ 0. 0. 0. 1. ]] SLAMing on 124.00800114499998 meters Centerline goodness [0,1] 0.943490316617587 Centerline is valid? [False, False] Translation: X:4.53, Y:0.19, Z:0.39 [[ 8.78402646e-01 5.67082725e-02 -4.74545006e-01 4.53068954e+00] [-4.81664969e-02 9.98384207e-01 3.01490169e-02 1.89216991e-01] [ 4.75487938e-01 -3.62580575e-03 8.79714769e-01 3.89649834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03800114499998 meters Centerline goodness [0,1] 0.9410324160598054 Centerline is valid? [False, False] Translation: X:4.53, Y:0.19, Z:0.39 [[ 8.78582282e-01 5.11957679e-02 -4.74839097e-01 4.53067958e+00] [-4.41000097e-02 9.98686691e-01 2.60784021e-02 1.88317325e-01] [ 4.75550590e-01 -1.97161319e-03 8.79686165e-01 3.89860935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06800114499998 meters Centerline goodness [0,1] 0.9405631088748528 Centerline is valid? [False, False] Translation: X:4.53, Y:0.19, Z:0.39 [[ 8.78559265e-01 5.10192493e-02 -4.74900678e-01 4.53028545e+00] [-4.38451682e-02 9.98695297e-01 2.61783277e-02 1.86905509e-01] [ 4.75616673e-01 -2.17711220e-03 8.79649954e-01 3.90074820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09800114499998 meters Centerline goodness [0,1] 0.9355563641033324 Centerline is valid? [False, False] Translation: X:4.53, Y:0.19, Z:0.39 [[ 8.78554513e-01 5.08321908e-02 -4.74929527e-01 4.52999625e+00] [-4.36507334e-02 9.98704700e-01 2.61445084e-02 1.86453139e-01] [ 4.75643334e-01 -2.23835371e-03 8.79635384e-01 3.90244779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.12800114499998 meters Centerline goodness [0,1] 0.9332676152923024 Centerline is valid? [False, False] Translation: X:4.53, Y:0.19, Z:0.39 [[ 8.78514562e-01 5.03904984e-02 -4.75050485e-01 4.52944416e+00] [-4.33568994e-02 9.98727523e-01 2.57587573e-02 1.87096274e-01] [ 4.75743990e-01 -2.03272728e-03 8.79581448e-01 3.90802020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15800114499999 meters Centerline goodness [0,1] 0.9329559829334706 Centerline is valid? [False, False] Translation: X:4.53, Y:0.19, Z:0.39 [[ 8.78499492e-01 4.96628522e-02 -4.75154969e-01 4.52839582e+00] [-4.30030626e-02 9.98765020e-01 2.48831470e-02 1.89232721e-01] [ 4.75803930e-01 -1.42671313e-03 8.79550217e-01 3.91736388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.18800114499999 meters Centerline goodness [0,1] 0.9305829404200601 Centerline is valid? [False, False] Translation: X:4.53, Y:0.19, Z:0.39 [[ 8.78394744e-01 4.96023106e-02 -4.75354904e-01 4.52858961e+00] [-4.30433843e-02 9.98768304e-01 2.46807870e-02 1.89588815e-01] [ 4.75993635e-01 -1.21858979e-03 8.79447880e-01 3.92150756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21800114499997 meters Centerline goodness [0,1] 0.93433965491437 Centerline is valid? [False, False] Translation: X:4.53, Y:0.19, Z:0.39 [[ 8.78314750e-01 4.94631310e-02 -4.75517190e-01 4.52881646e+00] [-4.30091455e-02 9.98775425e-01 2.44512564e-02 1.89887908e-01] [ 4.76144319e-01 -1.02431117e-03 8.79366555e-01 3.92441015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24800114499998 meters Centerline goodness [0,1] 0.930962836028703 Centerline is valid? [False, False] Translation: X:4.53, Y:0.19, Z:0.39 [[ 8.78345066e-01 4.91090566e-02 -4.75497893e-01 4.52845778e+00] [-4.28353117e-02 9.98793150e-01 2.40287177e-02 1.90687545e-01] [ 4.76104066e-01 -7.37405125e-04 8.79388637e-01 3.92627525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27800114499998 meters Centerline goodness [0,1] 0.9431148629828809 Centerline is valid? [False, False] Translation: X:4.53, Y:0.19, Z:0.39 [[ 8.78294301e-01 4.85258349e-02 -4.75651516e-01 4.52790994e+00] [-4.25823819e-02 9.98821911e-01 2.32708263e-02 1.92526154e-01] [ 4.76220392e-01 -1.84259644e-04 8.79325938e-01 3.93394730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30800114499998 meters Centerline goodness [0,1] 0.9398594787391762 Centerline is valid? [False, False] Translation: X:4.53, Y:0.20, Z:0.39 [[ 8.78312621e-01 4.75446146e-02 -4.75716775e-01 4.52699487e+00] [-4.20922999e-02 9.98868935e-01 2.21153443e-02 1.95664607e-01] [ 4.76230174e-01 5.99827136e-04 8.79320455e-01 3.94184805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33800114499998 meters Centerline goodness [0,1] 0.9262070601427554 Centerline is valid? [False, False] Translation: X:4.53, Y:0.20, Z:0.39 [[ 8.78291476e-01 4.68558662e-02 -4.75824138e-01 4.52658698e+00] [-4.16510828e-02 9.98901210e-01 2.14839677e-02 1.96771170e-01] [ 4.76307957e-01 9.49404922e-04 8.79278015e-01 3.94609761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36800114499998 meters Centerline goodness [0,1] 0.9234305198869154 Centerline is valid? [False, False] Translation: X:4.53, Y:0.20, Z:0.39 [[ 8.78311450e-01 4.63344719e-02 -4.75838327e-01 4.52637054e+00] [-4.12757141e-02 9.98925349e-01 2.10822577e-02 1.97328398e-01] [ 4.76303803e-01 1.12377839e-03 8.79280060e-01 3.94700296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39800114499998 meters Centerline goodness [0,1] 0.9182540710984407 Centerline is valid? [False, False] Translation: X:4.53, Y:0.20, Z:0.39 [[ 8.78379232e-01 4.55608305e-02 -4.75787910e-01 4.52553212e+00] [-4.06437132e-02 9.98960819e-01 2.06245068e-02 1.97420747e-01] [ 4.76233150e-01 1.22164893e-03 8.79318199e-01 3.94851177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42800114499998 meters Centerline goodness [0,1] 0.9291796917106824 Centerline is valid? [False, False] Translation: X:4.52, Y:0.20, Z:0.40 [[ 8.78634372e-01 3.86976421e-02 -4.75924504e-01 4.52391499e+00] [-3.56740974e-02 9.99244986e-01 1.53888623e-02 1.98865732e-01] [ 4.76160687e-01 3.45699377e-03 8.79351494e-01 3.95575444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45800114499998 meters Centerline goodness [0,1] 0.9234027912177709 Centerline is valid? [False, False] Translation: X:4.52, Y:0.20, Z:0.40 [[ 0.87869376 0.03278889 -0.4762585 4.52374147] [-0.03154116 0.99944608 0.01061546 0.20074626] [ 0.47634276 0.00569401 0.87924124 0.39640307] [ 0. 0. 0. 1. ]] SLAMing on 124.48800114499998 meters Centerline goodness [0,1] 0.9045723507261969 Centerline is valid? [False, False] Translation: X:4.52, Y:0.20, Z:0.40 [[ 0.87879487 0.0318718 -0.47613419 4.52233433] [-0.03077382 0.9994753 0.01010471 0.2005091 ] [ 0.47620641 0.0057725 0.87931458 0.39664548] [ 0. 0. 0. 1. ]] SLAMing on 124.51800114499999 meters Centerline goodness [0,1] 0.9113014288173524 Centerline is valid? [False, False] Translation: X:4.52, Y:0.20, Z:0.40 [[ 0.87883977 0.03096819 -0.47611095 4.5213903 ] [-0.03009515 0.99950227 0.00945989 0.20141418] [ 0.47616693 0.0060149 0.87933434 0.39699263] [ 0. 0. 0. 1. ]] SLAMing on 124.54800114499999 meters Centerline goodness [0,1] 0.8939155887480361 Centerline is valid? [False, False] Translation: X:4.52, Y:0.20, Z:0.40 [[ 0.87889323 0.02913821 -0.47612777 4.51950592] [-0.02882295 0.99955279 0.0079661 0.20462524] [ 0.47614696 0.00672206 0.87934003 0.39790617] [ 0. 0. 0. 1. ]] SLAMing on 124.57800114499999 meters Centerline goodness [0,1] 0.9018580789791344 Centerline is valid? [False, False] Translation: X:4.52, Y:0.21, Z:0.40 [[ 0.87883571 0.02870402 -0.47626029 4.5194646 ] [-0.02852411 0.99956415 0.00760823 0.20512005] [ 0.4762711 0.00689852 0.87927143 0.39821193] [ 0. 0. 0. 1. ]] SLAMing on 124.60800114499997 meters Centerline goodness [0,1] 0.8967773878974448 Centerline is valid? [False, False] Translation: X:4.52, Y:0.21, Z:0.40 [[ 0.87881147 0.02846914 -0.47631913 4.5194662 ] [-0.02836384 0.99957019 0.0074119 0.20515531] [ 0.47632541 0.00699658 0.87924124 0.3983138 ] [ 0. 0. 0. 1. ]] SLAMing on 124.63800114499998 meters Centerline goodness [0,1] 0.9043626330991077 Centerline is valid? [False, False] Translation: X:4.52, Y:0.21, Z:0.40 [[ 0.87879116 0.02796182 -0.47638664 4.51912722] [-0.02806969 0.99958222 0.00689092 0.20606327] [ 0.47638029 0.00731634 0.8792089 0.39868432] [ 0. 0. 0. 1. ]] SLAMing on 124.66800114499998 meters Centerline goodness [0,1] 0.9013764937225835 Centerline is valid? [False, False] Translation: X:4.52, Y:0.21, Z:0.40 [[ 0.87877433 0.02665551 -0.47649257 4.51843578] [-0.02737585 0.99961046 0.00543121 0.20992486] [ 0.47645173 0.00827158 0.87916172 0.39948111] [ 0. 0. 0. 1. ]] SLAMing on 124.69800114499998 meters Centerline goodness [0,1] 0.8908333692978292 Centerline is valid? [False, False] Translation: X:4.52, Y:0.21, Z:0.40 [[ 0.87874361 0.02579495 -0.47659657 4.51791131] [-0.02687606 0.99962842 0.00454934 0.21190032] [ 0.47653683 0.00881134 0.87911035 0.40003605] [ 0. 0. 0. 1. ]] SLAMing on 124.72800114499998 meters Centerline goodness [0,1] 0.8908333692978292 Centerline is valid? [False, False] Translation: X:4.52, Y:0.21, Z:0.40 [[ 0.87874361 0.02579495 -0.47659657 4.51791131] [-0.02687606 0.99962842 0.00454934 0.21190032] [ 0.47653683 0.00881134 0.87911035 0.40003605] [ 0. 0. 0. 1. ]] SLAMing on 124.75800114499998 meters Centerline goodness [0,1] 0.8967755896991993 Centerline is valid? [False, False] Translation: X:4.52, Y:0.21, Z:0.40 [[ 8.78733039e-01 2.48622936e-02 -4.76665619e-01 4.51721417e+00] [-2.62992457e-02 9.99647423e-01 3.65772476e-03 2.13675557e-01] [ 4.76588497e-01 9.32178262e-03 8.79077078e-01 4.00593185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78800114499998 meters Centerline goodness [0,1] 0.8779505392178093 Centerline is valid? [False, False] Translation: X:4.52, Y:0.22, Z:0.40 [[ 8.78819348e-01 2.34264532e-02 -4.76579222e-01 4.51591199e+00] [-2.53265501e-02 9.99676261e-01 2.43696492e-03 2.15598080e-01] [ 4.76482025e-01 9.92845564e-03 8.79128151e-01 4.00958571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81800114499998 meters Centerline goodness [0,1] 0.87498375568551 Centerline is valid? [False, False] Translation: X:4.52, Y:0.22, Z:0.40 [[ 8.78823528e-01 2.26715753e-02 -4.76608022e-01 4.51570906e+00] [-2.48441564e-02 9.99689816e-01 1.74339024e-03 2.17141280e-01] [ 4.76499711e-01 1.03087919e-02 8.79114187e-01 4.01152761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84800114499998 meters Centerline goodness [0,1] 0.8865650247589263 Centerline is valid? [False, False] Translation: X:4.52, Y:0.22, Z:0.40 [[ 8.78715161e-01 2.20924119e-02 -4.76834972e-01 4.51616395e+00] [-2.45052890e-02 9.99699029e-01 1.15887831e-03 2.18728036e-01] [ 4.76717061e-01 1.06666549e-02 8.78992074e-01 4.01436057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87800114499998 meters Centerline goodness [0,1] 0.8813718018508437 Centerline is valid? [False, False] Translation: X:4.52, Y:0.22, Z:0.40 [[ 8.78647680e-01 2.18248621e-02 -4.76971624e-01 4.51695300e+00] [-2.43341653e-02 9.99703460e-01 9.16684057e-04 2.19301589e-01] [ 4.76850190e-01 1.08012640e-02 8.78918215e-01 4.01312839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.90800114499999 meters Centerline goodness [0,1] 0.8396762190743521 Centerline is valid? [False, False] Translation: X:4.52, Y:0.22, Z:0.40 [[ 8.78598910e-01 2.16363400e-02 -4.77070041e-01 4.51786309e+00] [-2.41856199e-02 9.99707167e-01 7.97670857e-04 2.19607058e-01] [ 4.76947598e-01 1.08374019e-02 8.78864916e-01 4.01003288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93800114499999 meters Centerline goodness [0,1] 0.8458685169426807 Centerline is valid? [False, False] Translation: X:4.52, Y:0.22, Z:0.40 [[ 8.78522367e-01 2.05648093e-02 -4.77258357e-01 4.51838468e+00] [-2.35890349e-02 9.99721681e-01 -3.44486459e-04 2.23730506e-01] [ 4.77118442e-01 1.15607031e-02 8.78762961e-01 4.01282516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96800114499997 meters Centerline goodness [0,1] 0.8672735248958104 Centerline is valid? [False, False] Translation: X:4.52, Y:0.23, Z:0.40 [[ 8.78409546e-01 1.96906992e-02 -4.77502822e-01 4.51823546e+00] [-2.32276373e-02 9.99729071e-01 -1.50368517e-03 2.27690717e-01] [ 4.77343845e-01 1.24121138e-02 8.78628928e-01 4.02227782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99800114499998 meters Centerline goodness [0,1] 0.8620000439280459 Centerline is valid? [False, False] Translation: X:4.52, Y:0.23, Z:0.40 [[ 8.78295583e-01 1.88754616e-02 -4.77745315e-01 4.51795206e+00] [-2.28861377e-02 9.99734761e-01 -2.57530216e-03 2.30882348e-01] [ 4.77569988e-01 1.31956216e-02 8.78494611e-01 4.03178637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02800114499998 meters Centerline goodness [0,1] 0.8598087701945268 Centerline is valid? [False, False] Translation: X:4.52, Y:0.23, Z:0.40 [[ 8.78267923e-01 1.82332154e-02 -4.77821102e-01 4.51759458e+00] [-2.26108999e-02 9.99738521e-01 -3.41127720e-03 2.32968706e-01] [ 4.77633963e-01 1.37999804e-02 8.78450544e-01 4.03724187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05800114499998 meters Centerline goodness [0,1] 0.8589423989057777 Centerline is valid? [False, False] Translation: X:4.52, Y:0.23, Z:0.40 [[ 8.78289799e-01 1.75930970e-02 -4.77804889e-01 4.51716661e+00] [-2.23778058e-02 9.99740238e-01 -4.32325340e-03 2.34937323e-01] [ 4.77604714e-01 1.44892944e-02 8.78455348e-01 4.04140166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08800114499998 meters Centerline goodness [0,1] 0.8475168676031413 Centerline is valid? [False, False] Translation: X:4.52, Y:0.24, Z:0.40 [[ 0.87826166 0.01678934 -0.47788553 4.51669761] [-0.0220175 0.99974332 -0.0053404 0.23761175] [ 0.47767321 0.01521211 0.87840589 0.40480392] [ 0. 0. 0. 1. ]] SLAMing on 125.11800114499998 meters Centerline goodness [0,1] 0.8558018773716797 Centerline is valid? [False, False] Translation: X:4.52, Y:0.24, Z:0.41 [[ 0.87818962 0.01591015 -0.47804796 4.51654222] [-0.02161928 0.99974552 -0.00644231 0.24108136] [ 0.47782381 0.01599263 0.87831011 0.40551157] [ 0. 0. 0. 1. ]] SLAMing on 125.14800114499998 meters Centerline goodness [0,1] 0.8642928898314544 Centerline is valid? [False, False] Translation: X:4.52, Y:0.25, Z:0.41 [[ 0.8780948 0.01501339 -0.47825111 4.51660259] [-0.02123537 0.99974558 -0.00760501 0.24519658] [ 0.47801525 0.01683376 0.87819021 0.40621206] [ 0. 0. 0. 1. ]] SLAMing on 125.17800114499998 meters Centerline goodness [0,1] 0.877567512963836 Centerline is valid? [False, False] Translation: X:4.52, Y:0.25, Z:0.41 [[ 0.87823336 0.01859042 -0.47787087 4.51513779] [-0.02406589 0.99969613 -0.00533761 0.25016089] [ 0.47762643 0.01618806 0.87841388 0.4062943 ] [ 0. 0. 0. 1. ]] SLAMing on 125.20800114499998 meters Centerline goodness [0,1] 0.8686583990980834 Centerline is valid? [False, False] Translation: X:4.52, Y:0.25, Z:0.41 [[ 0.87818865 0.0178625 -0.47798079 4.51505961] [-0.02378696 0.99969692 -0.00634408 0.25314118] [ 0.4777226 0.016941 0.87834738 0.40686493] [ 0. 0. 0. 1. ]] SLAMing on 125.23800114499998 meters Centerline goodness [0,1] 0.870205889664836 Centerline is valid? [False, False] Translation: X:4.51, Y:0.26, Z:0.41 [[ 0.87817004 0.01733202 -0.4780345 4.51496401] [-0.02359815 0.99969628 -0.007105 0.25506459] [ 0.47776617 0.01752013 0.87831232 0.4072307 ] [ 0. 0. 0. 1. ]] SLAMing on 125.26800114499999 meters Centerline goodness [0,1] 0.8745776548221048 Centerline is valid? [False, False] Translation: X:4.51, Y:0.26, Z:0.41 [[ 0.87826929 0.01639608 -0.47788515 4.51439306] [-0.02326626 0.99969351 -0.00846015 0.25853869] [ 0.47759997 0.01854889 0.87838158 0.40767148] [ 0. 0. 0. 1. ]] SLAMing on 125.29800114499999 meters Centerline goodness [0,1] 0.8800991404793306 Centerline is valid? [False, False] Translation: X:4.51, Y:0.26, Z:0.41 [[ 0.87829494 0.01516753 -0.47787859 4.51316992] [-0.02267186 0.99969355 -0.00993912 0.26233439] [ 0.4775814 0.01956387 0.87836966 0.40867069] [ 0. 0. 0. 1. ]] SLAMing on 125.32800114499997 meters Centerline goodness [0,1] 0.8686919293131719 Centerline is valid? [False, False] Translation: X:4.51, Y:0.27, Z:0.41 [[ 0.87829643 0.01378932 -0.47791761 4.51176396] [-0.02195763 0.99969266 -0.01150872 0.26651902] [ 0.47761203 0.02060201 0.87832927 0.40984629] [ 0. 0. 0. 1. ]] SLAMing on 125.35800114499997 meters Centerline goodness [0,1] 0.8586082934536212 Centerline is valid? [False, False] Translation: X:4.51, Y:0.27, Z:0.41 [[ 0.87855451 0.0108968 -0.47751778 4.50792105] [-0.02013043 0.99969618 -0.01422395 0.27310796] [ 0.4772177 0.02210916 0.87850694 0.41123256] [ 0. 0. 0. 1. ]] SLAMing on 125.38800114499998 meters Centerline goodness [0,1] 0.8261408502433202 Centerline is valid? [False, False] Translation: X:4.51, Y:0.27, Z:0.41 [[ 0.87869166 0.00989654 -0.47728715 4.50659415] [-0.01937664 0.99970057 -0.01494386 0.27404128] [ 0.47699635 0.02237926 0.87862031 0.41130498] [ 0. 0. 0. 1. ]] SLAMing on 125.41800114499998 meters Centerline goodness [0,1] 0.844613370691041 Centerline is valid? [False, False] Translation: X:4.51, Y:0.27, Z:0.41 [[ 0.87882123 0.00926 -0.47706131 4.5060323 ] [-0.01878626 0.99970794 -0.01520238 0.2736086 ] [ 0.4767812 0.02232238 0.87873853 0.41085696] [ 0. 0. 0. 1. ]] SLAMing on 125.44800114499998 meters Centerline goodness [0,1] 0.8192624270014255 Centerline is valid? [False, False] Translation: X:4.51, Y:0.27, Z:0.41 [[ 0.87889587 0.00878587 -0.47693275 4.50580999] [-0.01833873 0.99971356 -0.01537844 0.27321541] [ 0.47666103 0.02226239 0.87880524 0.41049169] [ 0. 0. 0. 1. ]] SLAMing on 125.47800114499998 meters Centerline goodness [0,1] 0.8185127165499447 Centerline is valid? [False, False] Translation: X:4.51, Y:0.27, Z:0.41 [[ 0.87901564 0.0078224 -0.47672877 4.50534518] [-0.0176123 0.99971573 -0.01607059 0.27427485] [ 0.47646754 0.02252259 0.87890353 0.41015646] [ 0. 0. 0. 1. ]] SLAMing on 125.50800114499998 meters Centerline goodness [0,1] 0.8161844131369079 Centerline is valid? [False, False] Translation: X:4.51, Y:0.28, Z:0.41 [[ 0.87893196 0.00724696 -0.47689211 4.50551872] [-0.01733763 0.99970918 -0.01676217 0.27654659] [ 0.47663194 0.02300099 0.87880199 0.41061241] [ 0. 0. 0. 1. ]] SLAMing on 125.53800114499998 meters Centerline goodness [0,1] 0.8039906914587222 Centerline is valid? [False, False] Translation: X:4.51, Y:0.28, Z:0.41 [[ 0.87881812 0.00653006 -0.47711222 4.50552289] [-0.01706782 0.99969667 -0.01775563 0.28009018] [ 0.47685155 0.02374724 0.878663 0.41145493] [ 0. 0. 0. 1. ]] SLAMing on 125.56800114499998 meters Centerline goodness [0,1] 0.8139997685988661 Centerline is valid? [False, False] Translation: X:4.51, Y:0.28, Z:0.41 [[ 0.87864767 0.0060898 -0.47743186 4.50612355] [-0.01701188 0.99968307 -0.01855676 0.28333592] [ 0.47716754 0.02442687 0.8784728 0.41223387] [ 0. 0. 0. 1. ]] SLAMing on 125.59800114499998 meters Centerline goodness [0,1] 0.8151149291850476 Centerline is valid? [False, False] Translation: X:4.51, Y:0.29, Z:0.41 [[ 0.87847031 0.00602226 -0.47775899 4.50730838] [-0.01721002 0.99967053 -0.01904353 0.28558474] [ 0.47748689 0.02495142 0.87828452 0.41273231] [ 0. 0. 0. 1. ]] SLAMing on 125.62800114499998 meters Centerline goodness [0,1] 0.8328479906814211 Centerline is valid? [False, False] Translation: X:4.51, Y:0.29, Z:0.41 [[ 0.8785536 0.01037044 -0.47753118 4.50999968] [-0.02066023 0.99965366 -0.01630107 0.28728904] [ 0.47719674 0.02418726 0.87846357 0.4116198 ] [ 0. 0. 0. 1. ]] SLAMing on 125.65800114499999 meters Centerline goodness [0,1] 0.8456396232148283 Centerline is valid? [False, False] Translation: X:4.51, Y:0.29, Z:0.41 [[ 0.87836807 0.01047142 -0.47787015 4.51125224] [-0.02107205 0.99963633 -0.01682759 0.28973797] [ 0.47752016 0.02485052 0.87826929 0.41224954] [ 0. 0. 0. 1. ]] SLAMing on 125.68800114499999 meters Centerline goodness [0,1] 0.8574777858532812 Centerline is valid? [False, False] Translation: X:4.51, Y:0.29, Z:0.41 [[ 0.87815826 0.01060267 -0.47825271 4.51267455] [-0.02156162 0.99961557 -0.01742995 0.29285772] [ 0.47788406 0.02561816 0.87804928 0.41301872] [ 0. 0. 0. 1. ]] SLAMing on 125.71800114499997 meters Centerline goodness [0,1] 0.8729318332230311 Centerline is valid? [False, False] Translation: X:4.51, Y:0.30, Z:0.41 [[ 0.87805322 0.0158799 -0.47829946 4.51353273] [-0.02594265 0.99955915 -0.01443892 0.29840371] [ 0.47785931 0.0250865 0.8780781 0.41360325] [ 0. 0. 0. 1. ]] SLAMing on 125.74800114499998 meters Centerline goodness [0,1] 0.8794359911695587 Centerline is valid? [False, False] Translation: X:4.51, Y:0.30, Z:0.41 [[ 0.878021 0.0208951 -0.47816579 4.51338979] [-0.02971703 0.99949902 -0.01089067 0.30011386] [ 0.47769868 0.0237719 0.87820207 0.41356471] [ 0. 0. 0. 1. ]] SLAMing on 125.77800114499998 meters Centerline goodness [0,1] 0.8847197106690777 Centerline is valid? [False, False] Translation: X:4.52, Y:0.30, Z:0.41 [[ 0.87775388 0.02135522 -0.47863565 4.51546428] [-0.03045253 0.99947287 -0.01125255 0.30347366] [ 0.47814305 0.02445264 0.87794151 0.41423796] [ 0. 0. 0. 1. ]] SLAMing on 125.80800114499998 meters Centerline goodness [0,1] 0.884951734684125 Centerline is valid? [False, False] Translation: X:4.52, Y:0.31, Z:0.41 [[ 0.87753287 0.02142111 -0.47903779 4.5169702 ] [-0.03083367 0.99945499 -0.01179057 0.30625851] [ 0.47852414 0.02511711 0.87771509 0.41486038] [ 0. 0. 0. 1. ]] SLAMing on 125.83800114499998 meters Centerline goodness [0,1] 0.883515851525245 Centerline is valid? [False, False] Translation: X:4.52, Y:0.31, Z:0.41 [[ 0.87796391 0.02255676 -0.47819512 4.51641859] [-0.03223246 0.99940793 -0.01203596 0.30971486] [ 0.4776405 0.02598054 0.87817115 0.41466735] [ 0. 0. 0. 1. ]] SLAMing on 125.86800114499998 meters Centerline goodness [0,1] 0.8842507021291918 Centerline is valid? [False, False] Translation: X:4.52, Y:0.31, Z:0.42 [[ 0.8779143 0.02203127 -0.47831067 4.51605382] [-0.03208544 0.99940242 -0.01285808 0.31189591] [ 0.47774156 0.0266351 0.87809656 0.41545396] [ 0. 0. 0. 1. ]] SLAMing on 125.89800114499998 meters Centerline goodness [0,1] 0.8845240095030117 Centerline is valid? [False, False] Translation: X:4.52, Y:0.31, Z:0.42 [[ 0.87781169 0.02145847 -0.47852499 4.51587551] [-0.03194189 0.99939475 -0.01377877 0.31445488] [ 0.47793969 0.02738016 0.87796582 0.41643342] [ 0. 0. 0. 1. ]] SLAMing on 125.92800114499998 meters Centerline goodness [0,1] 0.8834463521377387 Centerline is valid? [False, False] Translation: X:4.52, Y:0.32, Z:0.42 [[ 0.87770205 0.02073087 -0.47875812 4.51549684] [-0.03168824 0.99938794 -0.01481887 0.31754632] [ 0.47815789 0.02817755 0.87782177 0.41756935] [ 0. 0. 0. 1. ]] SLAMing on 125.95800114499998 meters Centerline goodness [0,1] 0.8842031742973435 Centerline is valid? [False, False] Translation: X:4.52, Y:0.32, Z:0.42 [[ 0.87757557 0.02015322 -0.47901459 4.5154918 ] [-0.03154278 0.99937843 -0.01574167 0.32049559] [ 0.4783996 0.02892396 0.87766578 0.41858194] [ 0. 0. 0. 1. ]] SLAMing on 125.98800114499998 meters Centerline goodness [0,1] 0.8830386726969308 Centerline is valid? [False, False] Translation: X:4.52, Y:0.32, Z:0.42 [[ 0.87747407 0.01955869 -0.47922511 4.51567285] [-0.03136464 0.99936945 -0.01664207 0.32347132] [ 0.47859744 0.02963371 0.87753423 0.41930662] [ 0. 0. 0. 1. ]] SLAMing on 126.01800114499999 meters Centerline goodness [0,1] 0.8830365556065621 Centerline is valid? [False, False] Translation: X:4.52, Y:0.32, Z:0.42 [[ 0.87742176 0.01939845 -0.4793274 4.51590963] [-0.03129872 0.99936806 -0.01684858 0.32367917] [ 0.47869765 0.02978565 0.87747443 0.41946641] [ 0. 0. 0. 1. ]] SLAMing on 126.04800114499999 meters Centerline goodness [0,1] 0.8798357884568945 Centerline is valid? [False, False] Translation: X:4.52, Y:0.32, Z:0.42 [[ 0.87739367 0.01897032 -0.47939595 4.51574714] [-0.03113746 0.99936292 -0.0174419 0.32494259] [ 0.47875966 0.03023059 0.87742538 0.41991999] [ 0. 0. 0. 1. ]] SLAMing on 126.07800114499997 meters Centerline goodness [0,1] 0.8799438107001865 Centerline is valid? [False, False] Translation: X:4.52, Y:0.33, Z:0.42 [[ 0.87734292 0.01843953 -0.47950953 4.51523882] [-0.03092631 0.99935678 -0.01815462 0.32653011] [ 0.47886634 0.03075729 0.87734886 0.42069463] [ 0. 0. 0. 1. ]] SLAMing on 126.10800114499997 meters Centerline goodness [0,1] 0.8786790575789193 Centerline is valid? [False, False] Translation: X:4.51, Y:0.33, Z:0.42 [[ 0.87730302 0.01784059 -0.47960518 4.51474341] [-0.0306738 0.99935008 -0.01893478 0.32859067] [ 0.47895567 0.03132286 0.87728008 0.42142625] [ 0. 0. 0. 1. ]] SLAMing on 126.13800114499998 meters Centerline goodness [0,1] 0.8803449951409135 Centerline is valid? [False, False] Translation: X:4.51, Y:0.33, Z:0.42 [[ 0.87717874 0.01749818 -0.47984505 4.51470765] [-0.03066571 0.99933719 -0.01961619 0.3305417 ] [ 0.47918376 0.0319217 0.87713393 0.42237757] [ 0. 0. 0. 1. ]] SLAMing on 126.16800114499998 meters Centerline goodness [0,1] 0.8806597357170618 Centerline is valid? [False, False] Translation: X:4.52, Y:0.33, Z:0.42 [[ 0.8770002 0.0172754 -0.48017935 4.51513816] [-0.0307483 0.9993229 -0.02020613 0.33238104] [ 0.47950515 0.03248549 0.87693757 0.42329725] [ 0. 0. 0. 1. ]] SLAMing on 126.19800114499998 meters Centerline goodness [0,1] 0.8821697883726587 Centerline is valid? [False, False] Translation: X:4.52, Y:0.33, Z:0.42 [[ 0.87675606 0.01797844 -0.48059919 4.51741715] [-0.03154258 0.99929906 -0.0201609 0.33386496] [ 0.47989986 0.03283553 0.87670859 0.42360645] [ 0. 0. 0. 1. ]] SLAMing on 126.22800114499998 meters Centerline goodness [0,1] 0.8856419248003117 Centerline is valid? [False, False] Translation: X:4.52, Y:0.33, Z:0.42 [[ 0.87664117 0.01808025 -0.48080492 4.51820351] [-0.03173061 0.99929077 -0.02027627 0.3345865 ] [ 0.48009732 0.03303125 0.87659312 0.42383252] [ 0. 0. 0. 1. ]] SLAMing on 126.25800114499998 meters Centerline goodness [0,1] 0.8852514753381742 Centerline is valid? [False, False] Translation: X:4.52, Y:0.34, Z:0.42 [[ 0.87657333 0.01789766 -0.48093541 4.51816572] [-0.03171499 0.99928428 -0.02061746 0.33546627] [ 0.48022219 0.03332557 0.87651358 0.42432584] [ 0. 0. 0. 1. ]] SLAMing on 126.28800114499998 meters Centerline goodness [0,1] 0.8841120589375727 Centerline is valid? [False, False] Translation: X:4.52, Y:0.34, Z:0.42 [[ 0.87648299 0.01765647 -0.48110895 4.51808794] [-0.03167477 0.99927692 -0.02103201 0.33632597] [ 0.48038972 0.03367322 0.87640848 0.4249686 ] [ 0. 0. 0. 1. ]] SLAMing on 126.31800114499998 meters Centerline goodness [0,1] 0.8819336317633321 Centerline is valid? [False, False] Translation: X:4.52, Y:0.34, Z:0.43 [[ 0.87641036 0.01740393 -0.48125043 4.51784275] [-0.03158083 0.99927263 -0.02137451 0.33690298] [ 0.48052838 0.03393113 0.87632252 0.42554528] [ 0. 0. 0. 1. ]] SLAMing on 126.34800114499998 meters Centerline goodness [0,1] 0.8844620545481063 Centerline is valid? [False, False] Translation: X:4.52, Y:0.34, Z:0.43 [[ 0.87635037 0.01713356 -0.48136936 4.51756622] [-0.03148477 0.99926751 -0.02175187 0.33750261] [ 0.48064408 0.03421806 0.87624791 0.42612747] [ 0. 0. 0. 1. ]] SLAMing on 126.37800114499998 meters Centerline goodness [0,1] 0.8821811100292113 Centerline is valid? [False, False] Translation: X:4.52, Y:0.34, Z:0.43 [[ 0.87622697 0.01691587 -0.48160165 4.51762932] [-0.03135252 0.99926746 -0.02194436 0.33748753] [ 0.48087765 0.03432767 0.87611546 0.42660143] [ 0. 0. 0. 1. ]] SLAMing on 126.40800114499999 meters Centerline goodness [0,1] 0.883078645123613 Centerline is valid? [False, False] Translation: X:4.52, Y:0.34, Z:0.43 [[ 0.87613656 0.01694293 -0.48176515 4.51810504] [-0.03134888 0.99926925 -0.02186823 0.33682015] [ 0.48104259 0.03426236 0.87602747 0.42670314] [ 0. 0. 0. 1. ]] SLAMing on 126.43800114499999 meters Centerline goodness [0,1] 0.8841885427038053 Centerline is valid? [False, False] Translation: X:4.52, Y:0.34, Z:0.43 [[ 0.87611453 0.01684224 -0.48180875 4.51810905] [-0.03121974 0.99927394 -0.02183866 0.33590635] [ 0.48109112 0.03417511 0.87600422 0.42668382] [ 0. 0. 0. 1. ]] SLAMing on 126.46800114499997 meters Centerline goodness [0,1] 0.8833486482565169 Centerline is valid? [False, False] Translation: X:4.52, Y:0.34, Z:0.43 [[ 0.87600945 0.0112139 -0.48216355 4.51802744] [-0.02731969 0.99927822 -0.02639457 0.33694214] [ 0.48151955 0.03629445 0.87568353 0.42791706] [ 0. 0. 0. 1. ]] SLAMing on 126.49800114499998 meters Centerline goodness [0,1] 0.8814337125329083 Centerline is valid? [False, False] Translation: X:4.52, Y:0.34, Z:0.43 [[ 0.87607942 0.01068415 -0.48204845 4.5168573 ] [-0.02680393 0.99928766 -0.02656545 0.33596325] [ 0.48142124 0.03619424 0.87574173 0.4280155 ] [ 0. 0. 0. 1. ]] SLAMing on 126.52800114499998 meters Centerline goodness [0,1] 0.8821565116391618 Centerline is valid? [False, False] Translation: X:4.52, Y:0.33, Z:0.43 [[ 0.8761128 0.01034218 -0.48199524 4.51604203] [-0.02642905 0.99929679 -0.0265976 0.33474402] [ 0.48138122 0.03604117 0.87577004 0.42807748] [ 0. 0. 0. 1. ]] SLAMing on 126.55800114499998 meters Centerline goodness [0,1] 0.8788997466521896 Centerline is valid? [False, False] Translation: X:4.51, Y:0.33, Z:0.43 [[ 0.87623979 0.00952383 -0.4817812 4.51374293] [-0.02567296 0.99930737 -0.02693845 0.33314283] [ 0.48119095 0.0359733 0.87587738 0.42850915] [ 0. 0. 0. 1. ]] SLAMing on 126.58800114499998 meters Centerline goodness [0,1] 0.8786564502915523 Centerline is valid? [False, False] Translation: X:4.51, Y:0.33, Z:0.43 [[ 0.87621684 0.00903556 -0.48183234 4.51271869] [-0.02533982 0.99930493 -0.02734125 0.33327252] [ 0.48125039 0.0361664 0.87583677 0.42917804] [ 0. 0. 0. 1. ]] SLAMing on 126.61800114499998 meters Centerline goodness [0,1] 0.8816699188166992 Centerline is valid? [False, False] Translation: X:4.51, Y:0.33, Z:0.43 [[ 0.87617669 0.0089361 -0.48190721 4.51225853] [-0.02525652 0.99930572 -0.02738967 0.3325874 ] [ 0.48132788 0.03616949 0.87579406 0.4295751 ] [ 0. 0. 0. 1. ]] SLAMing on 126.64800114499998 meters Centerline goodness [0,1] 0.8816699188166992 Centerline is valid? [False, False] Translation: X:4.51, Y:0.33, Z:0.43 [[ 0.87617669 0.0089361 -0.48190721 4.51225853] [-0.02525652 0.99930572 -0.02738967 0.3325874 ] [ 0.48132788 0.03616949 0.87579406 0.4295751 ] [ 0. 0. 0. 1. ]] SLAMing on 126.67800114499998 meters Centerline goodness [0,1] 0.8816969114289148 Centerline is valid? [False, False] Translation: X:4.51, Y:0.33, Z:0.43 [[ 0.87615654 0.00908348 -0.48194107 4.51211078] [-0.02524463 0.99931502 -0.0270593 0.33082947] [ 0.48136516 0.03587461 0.8757857 0.42955055] [ 0. 0. 0. 1. ]] SLAMing on 126.70800114499998 meters Centerline goodness [0,1] 0.8795817810359332 Centerline is valid? [False, False] Translation: X:4.51, Y:0.33, Z:0.43 [[ 0.87633165 0.0082736 -0.4816372 4.5100688 ] [-0.02439119 0.99933204 -0.02721281 0.32802837] [ 0.48109034 0.03559515 0.8759481 0.42939089] [ 0. 0. 0. 1. ]] SLAMing on 126.73800114499998 meters Centerline goodness [0,1] 0.8803585159554017 Centerline is valid? [False, False] Translation: X:4.51, Y:0.33, Z:0.43 [[ 0.87630706 0.00775073 -0.48169063 4.50926554] [-0.02395961 0.9993344 -0.02750813 0.32808992] [ 0.48115681 0.03564669 0.87590949 0.4298226 ] [ 0. 0. 0. 1. ]] SLAMing on 126.76800114499999 meters Centerline goodness [0,1] 0.8807317366710795 Centerline is valid? [False, False] Translation: X:4.51, Y:0.33, Z:0.43 [[ 0.87628503 0.00725296 -0.48173846 4.50860325] [-0.02360285 0.99933236 -0.02788796 0.32859693] [ 0.48121456 0.0358082 0.87587118 0.43029712] [ 0. 0. 0. 1. ]] SLAMing on 126.79800114499999 meters Centerline goodness [0,1] 0.8802879637878314 Centerline is valid? [False, False] Translation: X:4.51, Y:0.33, Z:0.43 [[ 0.87622436 0.00716055 -0.48185018 4.50874898] [-0.02345555 0.99933822 -0.02780223 0.32752304] [ 0.48133222 0.03566305 0.87581245 0.43033656] [ 0. 0. 0. 1. ]] SLAMing on 126.82800114499997 meters Centerline goodness [0,1] 0.8815042800807925 Centerline is valid? [False, False] Translation: X:4.51, Y:0.33, Z:0.43 [[ 0.87622425 0.00711028 -0.48185113 4.50867307] [-0.02339756 0.99933961 -0.02780096 0.32667042] [ 0.48133525 0.03563402 0.87581196 0.43035826] [ 0. 0. 0. 1. ]] SLAMing on 126.85800114499997 meters Centerline goodness [0,1] 0.8802063339731286 Centerline is valid? [False, False] Translation: X:4.51, Y:0.33, Z:0.43 [[ 0.87616897 0.0070098 -0.48195311 4.50872965] [-0.02334658 0.99933782 -0.02790808 0.32636143] [ 0.48143834 0.03570415 0.87575244 0.43058858] [ 0. 0. 0. 1. ]] SLAMing on 126.88800114499998 meters Centerline goodness [0,1] 0.8807694154939725 Centerline is valid? [False, False] Translation: X:4.51, Y:0.33, Z:0.43 [[ 0.87607259 0.00679914 -0.4821313 4.50886546] [-0.02328372 0.99933065 -0.02821564 0.32701989] [ 0.48161674 0.03594476 0.8756445 0.43105326] [ 0. 0. 0. 1. ]] SLAMing on 126.91800114499998 meters Centerline goodness [0,1] 0.8801670851844697 Centerline is valid? [False, False] Translation: X:4.51, Y:0.33, Z:0.43 [[ 0.87600294 0.0062806 -0.48226487 4.50842155] [-0.0231011 0.99931396 -0.02894747 0.32924837] [ 0.48175221 0.03649891 0.87554705 0.43191717] [ 0. 0. 0. 1. ]] SLAMing on 126.94800114499998 meters Centerline goodness [0,1] 0.8813726908792746 Centerline is valid? [False, False] Translation: X:4.51, Y:0.33, Z:0.43 [[ 0.87589513 0.00587817 -0.48246573 4.50818809] [-0.02286826 0.99930783 -0.02934115 0.32983894] [ 0.48195931 0.03673292 0.87542328 0.43255926] [ 0. 0. 0. 1. ]] SLAMing on 126.97800114499998 meters Centerline goodness [0,1] 0.8820760410380205 Centerline is valid? [False, False] Translation: X:4.51, Y:0.33, Z:0.43 [[ 0.87595374 0.00539787 -0.48236491 4.50760045] [-0.02247791 0.99930798 -0.02963621 0.33008535] [ 0.48187113 0.0368025 0.87546889 0.43254108] [ 0. 0. 0. 1. ]] SLAMing on 127.00800114499998 meters Centerline goodness [0,1] 0.8760993524693148 Centerline is valid? [False, False] Translation: X:4.51, Y:0.33, Z:0.43 [[ 8.76157647e-01 4.01928366e-03 -4.82007907e-01 4.50534388e+00] [-2.12606004e-02 9.99314319e-01 -3.03130087e-02 3.29910347e-01] [ 4.81555567e-01 3.68067519e-02 8.75642335e-01 4.32461720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03800114499998 meters Centerline goodness [0,1] 0.8719689855281851 Centerline is valid? [False, False] Translation: X:4.50, Y:0.33, Z:0.43 [[ 8.76229038e-01 3.42647911e-03 -4.81882695e-01 4.50439417e+00] [-2.07050928e-02 9.99318973e-01 -3.05432383e-02 3.29210634e-01] [ 4.81449864e-01 3.67402982e-02 8.75703248e-01 4.32437499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06800114499998 meters Centerline goodness [0,1] 0.871815822358935 Centerline is valid? [False, False] Translation: X:4.50, Y:0.33, Z:0.43 [[ 8.76332667e-01 2.94206628e-03 -4.81697416e-01 4.50348807e+00] [-2.01753202e-02 9.99328056e-01 -3.06005436e-02 3.27826062e-01] [ 4.81283714e-01 3.65346556e-02 8.75803178e-01 4.32183214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09800114499998 meters Centerline goodness [0,1] 0.8610020001445888 Centerline is valid? [False, False] Translation: X:4.50, Y:0.33, Z:0.43 [[ 8.76440971e-01 2.40729037e-03 -4.81503302e-01 4.50261010e+00] [-1.96169483e-02 9.99335787e-01 -3.07109126e-02 3.26773060e-01] [ 4.81109552e-01 3.63619274e-02 8.75906051e-01 4.31895511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.12800114499998 meters Centerline goodness [0,1] 0.8476082934915792 Centerline is valid? [False, False] Translation: X:4.50, Y:0.33, Z:0.43 [[ 8.76626788e-01 1.22923393e-03 -4.81169370e-01 4.50105423e+00] [-1.85161854e-02 9.99342231e-01 -3.11810346e-02 3.26303259e-01] [ 4.80814543e-01 3.62435515e-02 8.76072931e-01 4.31469405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15800114499999 meters Centerline goodness [0,1] 0.8356845874690572 Centerline is valid? [False, False] Translation: X:4.50, Y:0.33, Z:0.43 [[ 8.76607762e-01 8.14170205e-04 -4.81204914e-01 4.50082104e+00] [-1.82346913e-02 9.99336546e-01 -3.15271965e-02 3.26818287e-01] [ 4.80859988e-01 3.64116083e-02 8.76041019e-01 4.31694398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.18800114499999 meters Centerline goodness [0,1] 0.8229084000673352 Centerline is valid? [False, False] Translation: X:4.50, Y:0.33, Z:0.43 [[ 8.76554939e-01 4.86779264e-04 -4.81301571e-01 4.50075789e+00] [-1.80622252e-02 9.99328340e-01 -3.18845425e-02 3.27660225e-01] [ 4.80962780e-01 3.66419306e-02 8.75974984e-01 4.32039058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21800114499997 meters Centerline goodness [0,1] 0.8363623233757793 Centerline is valid? [False, False] Translation: X:4.50, Y:0.33, Z:0.43 [[ 8.76465316e-01 3.80201133e-04 -4.81464854e-01 4.50104501e+00] [-1.80926868e-02 9.99319380e-01 -3.21470404e-02 3.28485712e-01] [ 4.81124937e-01 3.68867587e-02 8.75875655e-01 4.32455778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24800114499998 meters Centerline goodness [0,1] 0.8543926181791831 Centerline is valid? [False, False] Translation: X:4.50, Y:0.33, Z:0.43 [[ 8.76389193e-01 2.82851727e-04 -4.81603470e-01 4.50170801e+00] [-1.81705566e-02 9.99307245e-01 -3.24786357e-02 3.29874690e-01] [ 4.81260650e-01 3.72149284e-02 8.75787209e-01 4.32669533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27800114499998 meters Centerline goodness [0,1] 0.8514720077220077 Centerline is valid? [False, False] Translation: X:4.50, Y:0.33, Z:0.43 [[ 8.76337756e-01 -7.31619947e-05 -4.81697137e-01 4.50147471e+00] [-1.79915476e-02 9.99297250e-01 -3.28832825e-02 3.30679151e-01] [ 4.81361030e-01 3.74833390e-02 8.75720594e-01 4.33129770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30800114499998 meters Centerline goodness [0,1] 0.8516105594574958 Centerline is valid? [False, False] Translation: X:4.50, Y:0.33, Z:0.43 [[ 8.76334102e-01 -7.52315720e-04 -4.81703203e-01 4.50062285e+00] [-1.75961390e-02 9.99281381e-01 -3.35722736e-02 3.32350516e-01] [ 4.81382299e-01 3.78966448e-02 8.75691114e-01 4.33736180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33800114499998 meters Centerline goodness [0,1] 0.8348989053132357 Centerline is valid? [False, False] Translation: X:4.50, Y:0.34, Z:0.44 [[ 8.76409199e-01 -2.28869332e-03 -4.81561707e-01 4.49804977e+00] [-1.67153178e-02 9.99241555e-01 -3.51697726e-02 3.35966212e-01] [ 4.81276962e-01 3.88725692e-02 8.75706235e-01 4.35143917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36800114499998 meters Centerline goodness [0,1] 0.8372064757644999 Centerline is valid? [False, False] Translation: X:4.50, Y:0.34, Z:0.44 [[ 8.76342202e-01 -2.80883907e-03 -4.81680865e-01 4.49772802e+00] [-1.64165496e-02 9.99227914e-01 -3.56941429e-02 3.37157989e-01] [ 4.81409225e-01 3.91878216e-02 8.75619479e-01 4.35698392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39800114499998 meters Centerline goodness [0,1] 0.8282423270394401 Centerline is valid? [False, False] Translation: X:4.50, Y:0.34, Z:0.44 [[ 8.76390817e-01 -3.13216822e-03 -4.81590413e-01 4.49737252e+00] [-1.61924991e-02 9.99221837e-01 -3.59656004e-02 3.37468078e-01] [ 4.81328307e-01 3.93180743e-02 8.75658124e-01 4.35711072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42800114499998 meters Centerline goodness [0,1] 0.8383671886362535 Centerline is valid? [False, False] Translation: X:4.50, Y:0.34, Z:0.44 [[ 8.76426532e-01 -3.43412553e-03 -4.81523353e-01 4.49711214e+00] [-1.59716424e-02 9.99217057e-01 -3.61963918e-02 3.37422618e-01] [ 4.81270651e-01 3.94141969e-02 8.75685492e-01 4.35692868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45800114499998 meters Centerline goodness [0,1] 0.8126987209048324 Centerline is valid? [False, False] Translation: X:4.50, Y:0.34, Z:0.44 [[ 8.76448103e-01 -3.95022047e-03 -4.81480133e-01 4.49699945e+00] [-1.56877621e-02 9.99201180e-01 -3.67545264e-02 3.38643487e-01] [ 4.81240706e-01 3.97667807e-02 8.75686009e-01 4.35796585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.48800114499998 meters Centerline goodness [0,1] 0.8102810110553743 Centerline is valid? [False, False] Translation: X:4.50, Y:0.34, Z:0.44 [[ 8.76352496e-01 -4.26016828e-03 -4.81651487e-01 4.49731890e+00] [-1.56269163e-02 9.99183022e-01 -3.72704650e-02 3.40537243e-01] [ 4.81416766e-01 4.01887925e-02 8.75569962e-01 4.36299203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.51800114499999 meters Centerline goodness [0,1] 0.8142843199453419 Centerline is valid? [False, False] Translation: X:4.50, Y:0.34, Z:0.44 [[ 0.87621305 -0.00463571 -0.48190165 4.49758931] [-0.01558988 0.99915773 -0.03795765 0.34300513] [ 0.48167172 0.04077177 0.87540277 0.43712929] [ 0. 0. 0. 1. ]] SLAMing on 127.54800114499999 meters Centerline goodness [0,1] 0.8220594360193056 Centerline is valid? [False, False] Translation: X:4.50, Y:0.35, Z:0.44 [[ 0.87612022 -0.00511662 -0.48206553 4.4973919 ] [-0.01545564 0.99913156 -0.03869426 0.34541566] [ 0.48184487 0.04135145 0.87528028 0.43798126] [ 0. 0. 0. 1. ]] SLAMing on 127.57800114499997 meters Centerline goodness [0,1] 0.8230523470140083 Centerline is valid? [False, False] Translation: X:4.50, Y:0.35, Z:0.44 [[ 0.87615133 -0.00634525 -0.48199438 4.49538794] [-0.01485648 0.99908289 -0.04015805 0.34871801] [ 0.48180715 0.04234527 0.87525353 0.43938551] [ 0. 0. 0. 1. ]] SLAMing on 127.60800114499997 meters Centerline goodness [0,1] 0.8213214689543287 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.44 [[ 0.87612181 -0.0070089 -0.48203885 4.49446715] [-0.01449947 0.99905886 -0.04087971 0.35026685] [ 0.4818717 0.04280491 0.87519564 0.44017289] [ 0. 0. 0. 1. ]] SLAMing on 127.63800114499998 meters Centerline goodness [0,1] 0.8233686956949812 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.44 [[ 0.87616735 -0.00771945 -0.48194521 4.49335017] [-0.01406023 0.99903695 -0.04156309 0.35141942] [ 0.48180191 0.04319248 0.87521502 0.44068538] [ 0. 0. 0. 1. ]] SLAMing on 127.66800114499998 meters Centerline goodness [0,1] 0.7983249168616825 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.44 [[ 0.87617539 -0.00823053 -0.48192213 4.49281834] [-0.01370074 0.99902489 -0.041971 0.35183933] [ 0.48179765 0.04337664 0.87520826 0.44091324] [ 0. 0. 0. 1. ]] SLAMing on 127.69800114499998 meters Centerline goodness [0,1] 0.8025408438171977 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.44 [[ 0.87631905 -0.00882331 -0.48165036 4.49260136] [-0.01305676 0.99902991 -0.04205673 0.35143137] [ 0.48155419 0.04314391 0.87535374 0.43994834] [ 0. 0. 0. 1. ]] SLAMing on 127.72800114499998 meters Centerline goodness [0,1] 0.8147974076089646 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.44 [[ 0.87633379 -0.00922168 -0.48161609 4.49259602] [-0.01270106 0.99902679 -0.04223917 0.35159374] [ 0.48153689 0.04313265 0.87536381 0.43973982] [ 0. 0. 0. 1. ]] SLAMing on 127.75800114499998 meters Centerline goodness [0,1] 0.7983673469387755 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.44 [[ 0.87632076 -0.00976684 -0.48162904 4.49215751] [-0.0123189 0.99901315 -0.04267291 0.35231147] [ 0.48157052 0.04332829 0.87533564 0.44002597] [ 0. 0. 0. 1. ]] SLAMing on 127.78800114499998 meters Centerline goodness [0,1] 0.7648618510717383 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.44 [[ 0.87632846 -0.01017983 -0.48160648 4.49173968] [-0.01203851 0.99900162 -0.04302133 0.35296803] [ 0.4815636 0.04349864 0.875331 0.44022173] [ 0. 0. 0. 1. ]] SLAMing on 127.81800114499998 meters Centerline goodness [0,1] 0.7609789967019615 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.44 [[ 0.87644436 -0.01108169 -0.48137561 4.4903831 ] [-0.01128763 0.99898752 -0.04354905 0.35319465] [ 0.48137083 0.04360191 0.87543189 0.44019661] [ 0. 0. 0. 1. ]] SLAMing on 127.84800114499998 meters Centerline goodness [0,1] 0.7828962032840479 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.44 [[ 0.87651111 -0.01147707 -0.48124479 4.48992029] [-0.01095382 0.99898136 -0.04377507 0.35331014] [ 0.48125698 0.0436408 0.87549255 0.44007913] [ 0. 0. 0. 1. ]] SLAMing on 127.87800114499998 meters Centerline goodness [0,1] 0.779774445408353 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.44 [[ 0.87655602 -0.01200023 -0.48115022 4.48913759] [-0.01055795 0.99896915 -0.04414939 0.35390319] [ 0.48118402 0.04377937 0.87552573 0.44024412] [ 0. 0. 0. 1. ]] SLAMing on 127.90800114499999 meters Centerline goodness [0,1] 0.7615626625709119 Centerline is valid? [False, False] Translation: X:4.49, Y:0.36, Z:0.44 [[ 0.87665109 -0.0135665 -0.48093535 4.48626507] [-0.00951253 0.99891825 -0.04551754 0.35677521] [ 0.48103261 0.04447792 0.87557372 0.44139207] [ 0. 0. 0. 1. ]] SLAMing on 127.93800114499999 meters Centerline goodness [0,1] 0.7527615737867692 Centerline is valid? [False, False] Translation: X:4.49, Y:0.36, Z:0.44 [[ 0.87669417 -0.01406658 -0.48084245 4.48535404] [-0.00915268 0.99890367 -0.04590954 0.3572417 ] [ 0.48096108 0.04464963 0.87560428 0.44165144] [ 0. 0. 0. 1. ]] SLAMing on 127.96800114499997 meters Centerline goodness [0,1] 0.7653573024780256 Centerline is valid? [False, False] Translation: X:4.48, Y:0.36, Z:0.44 [[ 0.87675773 -0.01435485 -0.48071802 4.48468122] [-0.00889606 0.99889936 -0.04605348 0.35656514] [ 0.48085002 0.04465424 0.87566504 0.44162122] [ 0. 0. 0. 1. ]] SLAMing on 127.99800114499998 meters Centerline goodness [0,1] 0.7556132542037587 Centerline is valid? [False, False] Translation: X:4.48, Y:0.36, Z:0.44 [[ 0.87684527 -0.01444505 -0.48055562 4.48432517] [-0.00870175 0.99890796 -0.04590388 0.35510998] [ 0.48069392 0.04443228 0.87576203 0.44117617] [ 0. 0. 0. 1. ]] SLAMing on 128.028001145 meters Centerline goodness [0,1] 0.7296268841116877 Centerline is valid? [False, False] Translation: X:4.48, Y:0.35, Z:0.44 [[ 0.8768962 -0.01458458 -0.48045848 4.48401141] [-0.00850088 0.99891273 -0.04583769 0.35398994] [ 0.48060461 0.04427922 0.87581879 0.44095025] [ 0. 0. 0. 1. ]] SLAMing on 128.058001145 meters Centerline goodness [0,1] 0.7487468207521545 Centerline is valid? [False, False] Translation: X:4.48, Y:0.35, Z:0.44 [[ 0.87703623 -0.01543022 -0.48017639 4.48245179] [-0.00771791 0.99890258 -0.04619589 0.35392613] [ 0.48036225 0.04422143 0.87595466 0.44077248] [ 0. 0. 0. 1. ]] SLAMing on 128.088001145 meters Centerline goodness [0,1] 0.7070173707066719 Centerline is valid? [False, False] Translation: X:4.48, Y:0.35, Z:0.44 [[ 0.8770186 -0.01582843 -0.48019562 4.48167086] [-0.00741657 0.99889209 -0.0464714 0.35394119] [ 0.48039918 0.04431769 0.87592955 0.44120167] [ 0. 0. 0. 1. ]] SLAMing on 128.118001145 meters Centerline goodness [0,1] 0.7394658753709199 Centerline is valid? [False, False] Translation: X:4.48, Y:0.35, Z:0.44 [[ 0.87702479 -0.01611735 -0.48017471 4.48112568] [-0.00717727 0.99888611 -0.04663726 0.35402496] [ 0.48039151 0.04434838 0.8759322 0.44139858] [ 0. 0. 0. 1. ]] SLAMing on 128.14800114499997 meters Centerline goodness [0,1] 0.7169556129349564 Centerline is valid? [False, False] Translation: X:4.48, Y:0.35, Z:0.44 [[ 0.8770128 -0.01629585 -0.48019059 4.48070347] [-0.00691786 0.99889278 -0.04653332 0.35301553] [ 0.48041721 0.04413221 0.87592902 0.44140004] [ 0. 0. 0. 1. ]] SLAMing on 128.17800114499997 meters Centerline goodness [0,1] 0.7257068333374345 Centerline is valid? [False, False] Translation: X:4.48, Y:0.35, Z:0.44 [[ 0.87703058 -0.01619683 -0.48016145 4.48088896] [-0.00689196 0.99890457 -0.04628348 0.35186985] [ 0.48038511 0.04390128 0.87595823 0.44107155] [ 0. 0. 0. 1. ]] SLAMing on 128.20800114499997 meters Centerline goodness [0,1] 0.7308383602117444 Centerline is valid? [False, False] Translation: X:4.48, Y:0.35, Z:0.44 [[ 0.87706673 -0.01619192 -0.4800956 4.48057405] [-0.00680867 0.99891232 -0.04612825 0.35085609] [ 0.48032031 0.04372637 0.87600251 0.44093234] [ 0. 0. 0. 1. ]] SLAMing on 128.23800114499997 meters Centerline goodness [0,1] 0.7266394249704609 Centerline is valid? [False, False] Translation: X:4.48, Y:0.35, Z:0.44 [[ 0.87709249 -0.01637079 -0.48004245 4.48012124] [-0.00663819 0.99891041 -0.04619437 0.3506051 ] [ 0.48027564 0.04370335 0.87602815 0.44099853] [ 0. 0. 0. 1. ]] SLAMing on 128.26800114499997 meters Centerline goodness [0,1] 0.7394935278657923 Centerline is valid? [False, False] Translation: X:4.48, Y:0.35, Z:0.44 [[ 0.87702699 -0.01625443 -0.48016606 4.48031704] [-0.00676079 0.99891102 -0.04616347 0.35028114] [ 0.48039353 0.04373292 0.87596203 0.44124384] [ 0. 0. 0. 1. ]] SLAMing on 128.29800114499997 meters Centerline goodness [0,1] 0.7205365697860109 Centerline is valid? [False, False] Translation: X:4.48, Y:0.35, Z:0.44 [[ 0.8768866 -0.01555238 -0.48044564 4.48193437] [-0.0073179 0.99892876 -0.04569234 0.34968391] [ 0.48064159 0.04358285 0.87583343 0.44115106] [ 0. 0. 0. 1. ]] SLAMing on 128.32800114499997 meters Centerline goodness [0,1] 0.7454549921383649 Centerline is valid? [False, False] Translation: X:4.48, Y:0.35, Z:0.44 [[ 0.87663883 -0.01485193 -0.48091972 4.4839513 ] [-0.00795503 0.99893947 -0.04535033 0.34950744] [ 0.48108323 0.04358159 0.87559098 0.44140438] [ 0. 0. 0. 1. ]] SLAMing on 128.35800114499997 meters Centerline goodness [0,1] 0.717073890172558 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.44 [[ 0.87631786 -0.01392602 -0.48153201 4.48634202] [-0.00882388 0.99895035 -0.04494805 0.3496325 ] [ 0.48165252 0.04363776 0.87527515 0.44191437] [ 0. 0. 0. 1. ]] SLAMing on 128.38800114499998 meters Centerline goodness [0,1] 0.7731407301501221 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.44 [[ 0.87633862 -0.00793739 -0.48163016 4.48708488] [-0.01330041 0.99908429 -0.0406656 0.34978579] [ 0.48151191 0.04204271 0.87543058 0.44178126] [ 0. 0. 0. 1. ]] SLAMing on 128.41800114499998 meters Centerline goodness [0,1] 0.7872187886279357 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.44 [[ 8.76430264e-01 -2.55651487e-03 -4.81522021e-01 4.48634218e+00] [-1.72129779e-02 9.99180472e-01 -3.66346579e-02 3.49323210e-01] [ 4.81221057e-01 4.03961508e-02 8.75667999e-01 4.41753707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.44800114499998 meters Centerline goodness [0,1] 0.7654967133821158 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.44 [[ 8.76457551e-01 2.95361657e-03 -4.81470080e-01 4.48600600e+00] [-2.12798004e-02 9.99241678e-01 -3.26073532e-02 3.49210236e-01] [ 4.81008660e-01 3.88245481e-02 8.75855766e-01 4.41805330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47800114499998 meters Centerline goodness [0,1] 0.8326122631657467 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.44 [[ 0.87628107 0.00927851 -0.48171091 4.48708445] [-0.02619401 0.99925331 -0.02840237 0.34958316] [ 0.48108769 0.03750639 0.8758698 0.44235905] [ 0. 0. 0. 1. ]] SLAMing on 128.50800114499998 meters Centerline goodness [0,1] 0.8402238805970149 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.44 [[ 0.87605288 0.00991443 -0.48211312 4.48852913] [-0.02689602 0.99923688 -0.02832421 0.34990498] [ 0.48146439 0.03778043 0.875651 0.44297697] [ 0. 0. 0. 1. ]] SLAMing on 128.53800114499998 meters Centerline goodness [0,1] 0.8402238805970149 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.44 [[ 0.87605288 0.00991443 -0.48211312 4.48852913] [-0.02689602 0.99923688 -0.02832421 0.34990498] [ 0.48146439 0.03778043 0.875651 0.44297697] [ 0. 0. 0. 1. ]] SLAMing on 128.56800114499998 meters Centerline goodness [0,1] 0.8610709838107098 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.44 [[ 0.87582572 0.01045329 -0.48251428 4.48985719] [-0.02749339 0.99922253 -0.02825668 0.35008805] [ 0.48184377 0.03801388 0.87543219 0.44358175] [ 0. 0. 0. 1. ]] SLAMing on 128.59800114499998 meters Centerline goodness [0,1] 0.860083123864513 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.44 [[ 0.87563201 0.01073366 -0.48285958 4.49084281] [-0.02789713 0.99920791 -0.02837774 0.3508749 ] [ 0.48217252 0.03831885 0.87523787 0.44423672] [ 0. 0. 0. 1. ]] SLAMing on 128.62800114499998 meters Centerline goodness [0,1] 0.8736236360918739 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.44 [[ 0.87550656 0.0169268 -0.48290967 4.49178893] [-0.03237523 0.99919541 -0.02367222 0.34948482] [ 0.48212043 0.03635949 0.87535015 0.44382386] [ 0. 0. 0. 1. ]] SLAMing on 128.658001145 meters Centerline goodness [0,1] 0.8827560428607027 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.44 [[ 0.87529069 0.01750903 -0.48328008 4.49314097] [-0.03293476 0.99918237 -0.02344971 0.34926682] [ 0.48247436 0.03644202 0.87515169 0.44423342] [ 0. 0. 0. 1. ]] SLAMing on 128.688001145 meters Centerline goodness [0,1] 0.8833962639109698 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.44 [[ 0.87511967 0.01791613 -0.48357479 4.49392703] [-0.03340771 0.99916692 -0.02343906 0.34917674] [ 0.482752 0.03666711 0.87498916 0.44485925] [ 0. 0. 0. 1. ]] SLAMing on 128.718001145 meters Centerline goodness [0,1] 0.8924656515053817 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.44 [[ 0.87505959 0.02390131 -0.4834247 4.49380437] [-0.03773169 0.99910913 -0.01890151 0.34731657] [ 0.48254226 0.03478038 0.87518186 0.44461492] [ 0. 0. 0. 1. ]] SLAMing on 128.748001145 meters Centerline goodness [0,1] 0.8934525726459732 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.45 [[ 0.87490964 0.02393712 -0.48369426 4.49401249] [-0.03801737 0.99909024 -0.01932299 0.34880389] [ 0.48279167 0.03529466 0.87502371 0.44559009] [ 0. 0. 0. 1. ]] SLAMing on 128.778001145 meters Centerline goodness [0,1] 0.8983845752996352 Centerline is valid? [False, False] Translation: X:4.49, Y:0.35, Z:0.45 [[ 0.8746963 0.02414752 -0.4840695 4.4945572 ] [-0.03842183 0.99906959 -0.01958888 0.34992284] [ 0.48314609 0.03573316 0.87481026 0.4466436 ] [ 0. 0. 0. 1. ]] SLAMing on 128.808001145 meters Centerline goodness [0,1] 0.8988554830060329 Centerline is valid? [False, False] Translation: X:4.50, Y:0.35, Z:0.45 [[ 0.87456365 0.02447152 -0.48429285 4.49519236] [-0.03884322 0.99905184 -0.01966281 0.35041005] [ 0.48335249 0.03600788 0.87468498 0.44720944] [ 0. 0. 0. 1. ]] SLAMing on 128.838001145 meters Centerline goodness [0,1] 0.8999876099615909 Centerline is valid? [False, False] Translation: X:4.50, Y:0.35, Z:0.45 [[ 0.87430835 0.0256145 -0.48469455 4.49683606] [-0.03990385 0.99901933 -0.01918505 0.35009008] [ 0.48372781 0.03611483 0.87447306 0.44781978] [ 0. 0. 0. 1. ]] SLAMing on 128.868001145 meters Centerline goodness [0,1] 0.9036532507739938 Centerline is valid? [False, False] Translation: X:4.50, Y:0.35, Z:0.45 [[ 0.87420185 0.02581245 -0.48487611 4.4971296 ] [-0.04012173 0.99901119 -0.0191545 0.349699 ] [ 0.48390223 0.03619897 0.87437307 0.44821089] [ 0. 0. 0. 1. ]] SLAMing on 128.89800114499997 meters Centerline goodness [0,1] 0.9033426805965705 Centerline is valid? [False, False] Translation: X:4.50, Y:0.35, Z:0.45 [[ 0.87409872 0.02597133 -0.48505353 4.49743396] [-0.040261 0.99900734 -0.01906293 0.34905414] [ 0.48407694 0.03619162 0.87427666 0.44848557] [ 0. 0. 0. 1. ]] SLAMing on 128.92800114499997 meters Centerline goodness [0,1] 0.9056505705021904 Centerline is valid? [False, False] Translation: X:4.50, Y:0.35, Z:0.45 [[ 0.87400107 0.02626176 -0.48521383 4.49764262] [-0.04052282 0.99899942 -0.0189226 0.34827825] [ 0.48423139 0.0362006 0.87419076 0.4488685 ] [ 0. 0. 0. 1. ]] SLAMing on 128.95800114499997 meters Centerline goodness [0,1] 0.905914044929936 Centerline is valid? [False, False] Translation: X:4.50, Y:0.35, Z:0.45 [[ 0.87390357 0.02647965 -0.48537757 4.49806363] [-0.0406474 0.99899885 -0.01868395 0.34721271] [ 0.48439689 0.0360573 0.87410499 0.44896585] [ 0. 0. 0. 1. ]] SLAMing on 128.98800114499997 meters Centerline goodness [0,1] 0.9093354391333317 Centerline is valid? [False, False] Translation: X:4.50, Y:0.35, Z:0.45 [[ 0.87385121 0.02684513 -0.48545176 4.49861697] [-0.04079316 0.99900208 -0.0181868 0.34523519] [ 0.48447909 0.03569567 0.87407427 0.44866608] [ 0. 0. 0. 1. ]] SLAMing on 129.01800114499997 meters Centerline goodness [0,1] 0.9092390097005899 Centerline is valid? [False, False] Translation: X:4.50, Y:0.34, Z:0.45 [[ 0.8737572 0.02720898 -0.48560068 4.49907655] [-0.0409293 0.9990058 -0.01766955 0.34293044] [ 0.48463713 0.03531419 0.87400215 0.44856401] [ 0. 0. 0. 1. ]] SLAMing on 129.04800114499997 meters Centerline goodness [0,1] 0.9110854219445605 Centerline is valid? [False, False] Translation: X:4.50, Y:0.34, Z:0.45 [[ 0.87387661 0.02709056 -0.48539239 4.49801946] [-0.0405767 0.99902673 -0.01729496 0.34020969] [ 0.48445145 0.03480928 0.87412534 0.44817401] [ 0. 0. 0. 1. ]] SLAMing on 129.07800114499997 meters Centerline goodness [0,1] 0.9112096853249682 Centerline is valid? [False, False] Translation: X:4.50, Y:0.34, Z:0.45 [[ 0.87391052 0.02658493 -0.4853593 4.49649164] [-0.04014116 0.9990398 -0.0175548 0.33947233] [ 0.48442656 0.03482421 0.87413854 0.44873458] [ 0. 0. 0. 1. ]] SLAMing on 129.10800114499997 meters Centerline goodness [0,1] 0.9093688097625394 Centerline is valid? [False, False] Translation: X:4.50, Y:0.34, Z:0.45 [[ 0.8739817 0.02620709 -0.48525166 4.49519793] [-0.03972614 0.99905569 -0.01759412 0.33834094] [ 0.48433235 0.03465411 0.8741975 0.44890066] [ 0. 0. 0. 1. ]] SLAMing on 129.13800114499998 meters Centerline goodness [0,1] 0.9089621143652752 Centerline is valid? [False, False] Translation: X:4.49, Y:0.34, Z:0.45 [[ 0.87405718 0.02599906 -0.48512689 4.49379489] [-0.03945324 0.99906744 -0.01754091 0.3363666 ] [ 0.48421843 0.03447159 0.87426782 0.44911598] [ 0. 0. 0. 1. ]] SLAMing on 129.16800114499998 meters Centerline goodness [0,1] 0.9056420940429759 Centerline is valid? [False, False] Translation: X:4.49, Y:0.33, Z:0.45 [[ 0.87434343 0.0237842 -0.48472454 4.49121011] [-0.0378665 0.99909679 -0.01928025 0.33263077] [ 0.48382817 0.03521238 0.87445434 0.44957978] [ 0. 0. 0. 1. ]] SLAMing on 129.19800114499998 meters Centerline goodness [0,1] 0.9051621811487125 Centerline is valid? [False, False] Translation: X:4.49, Y:0.33, Z:0.45 [[ 0.87432266 0.02397367 -0.48475267 4.49112805] [-0.03790177 0.99910177 -0.01895035 0.33081846] [ 0.48386294 0.0349417 0.87444596 0.44952561] [ 0. 0. 0. 1. ]] SLAMing on 129.22800114499998 meters Centerline goodness [0,1] 0.9061194930597465 Centerline is valid? [False, False] Translation: X:4.49, Y:0.33, Z:0.45 [[ 0.87424106 0.02415378 -0.48489088 4.49085996] [-0.03799044 0.99910261 -0.01872729 0.32942715] [ 0.48400341 0.03479338 0.87437413 0.44994718] [ 0. 0. 0. 1. ]] SLAMing on 129.25800114499998 meters Centerline goodness [0,1] 0.9053969174276465 Centerline is valid? [False, False] Translation: X:4.49, Y:0.33, Z:0.45 [[ 0.87412369 0.02421243 -0.48509951 4.49071585] [-0.03807011 0.99909947 -0.01873297 0.32899284] [ 0.48420909 0.03484272 0.87425828 0.45056508] [ 0. 0. 0. 1. ]] SLAMing on 129.28800114499998 meters Centerline goodness [0,1] 0.9059433393610609 Centerline is valid? [False, False] Translation: X:4.49, Y:0.33, Z:0.45 [[ 0.87401518 0.02428124 -0.48529154 4.49053001] [-0.03816144 0.99909585 -0.01874007 0.32817561] [ 0.48439773 0.03489853 0.87415155 0.45115586] [ 0. 0. 0. 1. ]] SLAMing on 129.31800114499998 meters Centerline goodness [0,1] 0.9035341133420001 Centerline is valid? [False, False] Translation: X:4.49, Y:0.33, Z:0.45 [[ 0.87391374 0.02490434 -0.48544263 4.49109333] [-0.03854544 0.99909227 -0.01813533 0.32599109] [ 0.48455033 0.03456031 0.87408041 0.45111883] [ 0. 0. 0. 1. ]] SLAMing on 129.34800114499998 meters Centerline goodness [0,1] 0.9068553504298063 Centerline is valid? [False, False] Translation: X:4.49, Y:0.32, Z:0.45 [[ 0.87386887 0.02599882 -0.48546602 4.49162396] [-0.03908285 0.99909397 -0.01684572 0.32058462] [ 0.48458821 0.03369434 0.87409322 0.45053295] [ 0. 0. 0. 1. ]] SLAMing on 129.37800114499998 meters Centerline goodness [0,1] 0.9102634533164545 Centerline is valid? [False, False] Translation: X:4.49, Y:0.32, Z:0.45 [[ 0.8738109 0.02628651 -0.48555488 4.49173988] [-0.0391648 0.99909828 -0.01639325 0.3187469 ] [ 0.48468612 0.03334126 0.87405247 0.45048896] [ 0. 0. 0. 1. ]] SLAMing on 129.408001145 meters Centerline goodness [0,1] 0.9144330142969663 Centerline is valid? [False, False] Translation: X:4.49, Y:0.32, Z:0.45 [[ 0.87371376 0.02642982 -0.48572187 4.49166625] [-0.03918526 0.9991019 -0.01612161 0.31737019] [ 0.48485955 0.03311881 0.87396474 0.45080359] [ 0. 0. 0. 1. ]] SLAMing on 129.438001145 meters Centerline goodness [0,1] 0.9156554841779682 Centerline is valid? [False, False] Translation: X:4.49, Y:0.32, Z:0.45 [[ 0.8736873 0.02648785 -0.4857663 4.49121281] [-0.03908646 0.99911058 -0.01582048 0.31562107] [ 0.4849152 0.03280904 0.87394554 0.45094126] [ 0. 0. 0. 1. ]] SLAMing on 129.468001145 meters Centerline goodness [0,1] 0.9172846819097263 Centerline is valid? [False, False] Translation: X:4.49, Y:0.31, Z:0.45 [[ 0.87351378 0.02206323 -0.48629918 4.49220484] [-0.03574191 0.99918291 -0.01886874 0.31267144] [ 0.48548552 0.03386337 0.87358862 0.45142306] [ 0. 0. 0. 1. ]] SLAMing on 129.498001145 meters Centerline goodness [0,1] 0.9173894597907043 Centerline is valid? [False, False] Translation: X:4.49, Y:0.31, Z:0.45 [[ 0.87334508 0.01740527 -0.48679094 4.4933858 ] [-0.03239829 0.99922404 -0.02239797 0.31120177] [ 0.48602337 0.03533235 0.8732313 0.45201364] [ 0. 0. 0. 1. ]] SLAMing on 129.528001145 meters Centerline goodness [0,1] 0.9182614412848992 Centerline is valid? [False, False] Translation: X:4.49, Y:0.31, Z:0.45 [[ 0.87317141 0.01277778 -0.48724574 4.49450729] [-0.02899899 0.99924738 -0.02576302 0.30893491] [ 0.48654984 0.03662516 0.87288479 0.45239504] [ 0. 0. 0. 1. ]] SLAMing on 129.558001145 meters Centerline goodness [0,1] 0.9191181600427897 Centerline is valid? [False, False] Translation: X:4.49, Y:0.30, Z:0.45 [[ 0.8730728 0.0080764 -0.48752299 4.49468652] [-0.02526476 0.999269 -0.0286909 0.30402207] [ 0.48693489 0.03736639 0.87263862 0.45246576] [ 0. 0. 0. 1. ]] SLAMing on 129.588001145 meters Centerline goodness [0,1] 0.9195695533187995 Centerline is valid? [False, False] Translation: X:4.49, Y:0.30, Z:0.45 [[ 0.8731068 0.00792122 -0.48746464 4.49387584] [-0.02493957 0.99928458 -0.02843151 0.30225239] [ 0.48689069 0.0369809 0.87267971 0.45247326] [ 0. 0. 0. 1. ]] SLAMing on 129.618001145 meters Centerline goodness [0,1] 0.9203034297740466 Centerline is valid? [False, False] Translation: X:4.49, Y:0.30, Z:0.45 [[ 0.87309415 0.00779744 -0.48748929 4.49324724] [-0.02466965 0.99929785 -0.02819953 0.30075109] [ 0.48692711 0.03664703 0.87267347 0.45259586] [ 0. 0. 0. 1. ]] SLAMing on 129.64800114499997 meters Centerline goodness [0,1] 0.9192343173431734 Centerline is valid? [False, False] Translation: X:4.49, Y:0.30, Z:0.45 [[ 0.87314097 0.00748439 -0.48741033 4.49190061] [-0.02423394 0.99931223 -0.02806751 0.29858929] [ 0.48686504 0.03631877 0.87272182 0.45277516] [ 0. 0. 0. 1. ]] SLAMing on 129.67800114499997 meters Centerline goodness [0,1] 0.9160482481332568 Centerline is valid? [False, False] Translation: X:4.49, Y:0.29, Z:0.45 [[ 8.73081361e-01 2.53250595e-03 -4.87567969e-01 4.49191777e+00] [-2.03908716e-02 9.99301293e-01 -3.13231270e-02 2.94674764e-01] [ 4.87147976e-01 3.72895742e-02 8.72522972e-01 4.52817046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.70800114499997 meters Centerline goodness [0,1] 0.9155438636623585 Centerline is valid? [False, False] Translation: X:4.49, Y:0.29, Z:0.45 [[ 8.73195059e-01 1.87554936e-03 -4.87367286e-01 4.49014139e+00] [-1.96435001e-02 9.99315461e-01 -3.13487223e-02 2.91164796e-01] [ 4.86974868e-01 3.69471487e-02 8.72634165e-01 4.52767416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.73800114499997 meters Centerline goodness [0,1] 0.9127966623349976 Centerline is valid? [False, False] Translation: X:4.49, Y:0.29, Z:0.45 [[ 8.73383760e-01 7.81004104e-04 -4.87032029e-01 4.48747119e+00] [-1.85446492e-02 9.99326859e-01 -3.16531895e-02 2.88104124e-01] [ 4.86679466e-01 3.66772198e-02 8.72810334e-01 4.52802803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.76800114499997 meters Centerline goodness [0,1] 0.906505542431401 Centerline is valid? [False, False] Translation: X:4.48, Y:0.29, Z:0.45 [[ 8.73541193e-01 -3.71115336e-04 -4.86750086e-01 4.48463651e+00] [-1.74279969e-02 9.99334665e-01 -3.20389089e-02 2.85488121e-01] [ 4.86438124e-01 3.64703857e-02 8.72953528e-01 4.53092010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.79800114499997 meters Centerline goodness [0,1] 0.8955348669046865 Centerline is valid? [False, False] Translation: X:4.48, Y:0.28, Z:0.45 [[ 0.8736457 -0.00696435 -0.48651278 4.48133382] [-0.01227444 0.99926389 -0.03634587 0.28283066] [ 0.48640778 0.03772509 0.87291711 0.45381297] [ 0. 0. 0. 1. ]] SLAMing on 129.82800114499997 meters Centerline goodness [0,1] 0.8899088776614941 Centerline is valid? [False, False] Translation: X:4.48, Y:0.28, Z:0.45 [[ 0.87379504 -0.00783097 -0.48623132 4.47926967] [-0.01132403 0.99927154 -0.03644387 0.28045913] [ 0.48616251 0.03735057 0.87306984 0.45373243] [ 0. 0. 0. 1. ]] SLAMing on 129.85800114499997 meters Centerline goodness [0,1] 0.8701947978831213 Centerline is valid? [False, False] Translation: X:4.48, Y:0.28, Z:0.45 [[ 0.87392166 -0.00864089 -0.48598999 4.47708561] [-0.01040663 0.99928017 -0.03648069 0.27753102] [ 0.48595539 0.03693879 0.87320266 0.45375729] [ 0. 0. 0. 1. ]] SLAMing on 129.88800114499998 meters Centerline goodness [0,1] 0.8574206526598123 Centerline is valid? [False, False] Translation: X:4.48, Y:0.27, Z:0.45 [[ 0.87396262 -0.01451931 -0.48577622 4.47525635] [-0.00577234 0.999173 -0.04024922 0.27387122] [ 0.48595887 0.03798037 0.87315604 0.45387689] [ 0. 0. 0. 1. ]] SLAMing on 129.91800114499998 meters Centerline goodness [0,1] 0.8446381205001895 Centerline is valid? [False, False] Translation: X:4.47, Y:0.27, Z:0.45 [[ 0.87407925 -0.01488295 -0.48555531 4.47380867] [-0.00523548 0.99918392 -0.04005111 0.27118152] [ 0.48575513 0.03754995 0.87328801 0.45369942] [ 0. 0. 0. 1. ]] SLAMing on 129.94800114499998 meters Centerline goodness [0,1] 0.8414428037715709 Centerline is valid? [False, False] Translation: X:4.47, Y:0.27, Z:0.45 [[ 0.8741948 -0.015192 -0.48533767 4.4725765 ] [-0.00478084 0.99919272 -0.03988795 0.26906316] [ 0.48555185 0.03719016 0.87341645 0.45352565] [ 0. 0. 0. 1. ]] SLAMing on 129.97800114499998 meters Centerline goodness [0,1] 0.819646269386304 Centerline is valid? [False, False] Translation: X:4.47, Y:0.27, Z:0.45 [[ 8.74249625e-01 -1.59147462e-02 -4.85215741e-01 4.47082415e+00] [-3.85203555e-03 9.99203675e-01 -3.97137025e-02 2.65949258e-01] [ 4.85461384e-01 3.65887578e-02 8.73492133e-01 4.53466166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.00800114499998 meters Centerline goodness [0,1] 0.8102351559210089 Centerline is valid? [False, False] Translation: X:4.47, Y:0.26, Z:0.45 [[ 8.74257663e-01 -1.60658095e-02 -4.85196278e-01 4.47033717e+00] [-3.56269383e-03 9.99213005e-01 -3.95054105e-02 2.64348234e-01] [ 4.85449118e-01 3.62665137e-02 8.73512389e-01 4.53414372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03800114499998 meters Centerline goodness [0,1] 0.8028140926213162 Centerline is valid? [False, False] Translation: X:4.47, Y:0.26, Z:0.45 [[ 8.74340512e-01 -1.63383812e-02 -4.85037861e-01 4.46957007e+00] [-3.13998126e-03 9.99221786e-01 -3.93187435e-02 2.62496464e-01] [ 4.85302802e-01 3.59009801e-02 8.73608785e-01 4.53139861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.06800114499998 meters Centerline goodness [0,1] 0.7938310969399052 Centerline is valid? [False, False] Translation: X:4.47, Y:0.26, Z:0.45 [[ 8.74428599e-01 -1.66251745e-02 -4.84869291e-01 4.46879956e+00] [-2.71688739e-03 9.99229211e-01 -3.91612427e-02 2.60773066e-01] [ 4.85146621e-01 3.55610459e-02 8.73709430e-01 4.52856095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09800114499998 meters Centerline goodness [0,1] 0.7753884235418923 Centerline is valid? [False, False] Translation: X:4.47, Y:0.26, Z:0.45 [[ 8.74538914e-01 -1.75961996e-02 -4.84636009e-01 4.46729618e+00] [-1.63496521e-03 9.99228853e-01 -3.92304135e-02 2.58348497e-01] [ 4.84952590e-01 3.51008862e-02 8.73835747e-01 4.52475634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.12800114499998 meters Centerline goodness [0,1] 0.7741129103619149 Centerline is valid? [False, False] Translation: X:4.47, Y:0.26, Z:0.45 [[ 8.74573656e-01 -1.76996013e-02 -4.84569545e-01 4.46708262e+00] [-1.41063137e-03 9.99236476e-01 -3.90445261e-02 2.57163280e-01] [ 4.84890637e-01 3.48308629e-02 8.73880930e-01 4.52210785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.158001145 meters Centerline goodness [0,1] 0.7690946884259874 Centerline is valid? [False, False] Translation: X:4.47, Y:0.26, Z:0.45 [[ 8.74595592e-01 -1.79179595e-02 -4.84521927e-01 4.46656030e+00] [-1.16453578e-03 9.99236402e-01 -3.90545281e-02 2.56257461e-01] [ 4.84851724e-01 3.47211612e-02 8.73906887e-01 4.52253378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.188001145 meters Centerline goodness [0,1] 0.7721729121937183 Centerline is valid? [False, False] Translation: X:4.47, Y:0.26, Z:0.45 [[ 8.74667386e-01 -1.81582467e-02 -4.84383363e-01 4.46606356e+00] [-8.81124252e-04 9.99236877e-01 -3.90498142e-02 2.55493720e-01] [ 4.84722795e-01 3.45824008e-02 8.73983907e-01 4.52059655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.218001145 meters Centerline goodness [0,1] 0.756140234314442 Centerline is valid? [False, False] Translation: X:4.47, Y:0.26, Z:0.45 [[ 8.74735457e-01 -1.87816916e-02 -4.84236644e-01 4.46541500e+00] [-2.30014044e-04 9.99232459e-01 -3.91719164e-02 2.55019680e-01] [ 4.84600688e-01 3.43764455e-02 8.74059742e-01 4.51785937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.248001145 meters Centerline goodness [0,1] 0.7508774268070549 Centerline is valid? [False, False] Translation: X:4.46, Y:0.25, Z:0.45 [[ 8.74956466e-01 -1.47599375e-02 -4.83976577e-01 4.46301055e+00] [-2.84480986e-03 9.99361332e-01 -3.56207230e-02 2.53357040e-01] [ 4.84193236e-01 3.25434032e-02 8.74355669e-01 4.51616696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.278001145 meters Centerline goodness [0,1] 0.7507166507410946 Centerline is valid? [False, False] Translation: X:4.46, Y:0.25, Z:0.45 [[ 0.87522337 -0.01101083 -0.48359364 4.45993015] [-0.00534034 0.99946002 -0.03242158 0.25234592] [ 0.4836895 0.03095868 0.87469196 0.45166806] [ 0. 0. 0. 1. ]] SLAMing on 130.308001145 meters Centerline goodness [0,1] 0.7820392890551917 Centerline is valid? [False, False] Translation: X:4.46, Y:0.25, Z:0.45 [[ 0.87525471 -0.01185741 -0.48351689 4.45777894] [-0.00480086 0.9994372 -0.03319991 0.25277425] [ 0.48363843 0.03137967 0.8747052 0.45269619] [ 0. 0. 0. 1. ]] SLAMing on 130.338001145 meters Centerline goodness [0,1] 0.7791621242797072 Centerline is valid? [False, False] Translation: X:4.46, Y:0.25, Z:0.45 [[ 0.87527506 -0.01192229 -0.48347847 4.45734476] [-0.00467645 0.99944072 -0.03311172 0.25146769] [ 0.48360283 0.03124283 0.87472978 0.45270952] [ 0. 0. 0. 1. ]] SLAMing on 130.36800114499997 meters Centerline goodness [0,1] 0.7070408775007216 Centerline is valid? [False, False] Translation: X:4.46, Y:0.25, Z:0.45 [[ 0.87529713 -0.01183405 -0.48344069 4.45734684] [-0.00464765 0.9994485 -0.03288016 0.25035108] [ 0.48356317 0.03102677 0.87475939 0.45250859] [ 0. 0. 0. 1. ]] SLAMing on 130.39800114499997 meters Centerline goodness [0,1] 0.7708588342643492 Centerline is valid? [False, False] Translation: X:4.46, Y:0.25, Z:0.45 [[ 0.87531792 -0.01195905 -0.48339995 4.45737818] [-0.0045022 0.99944923 -0.0328782 0.24997948] [ 0.4835269 0.03095524 0.87478198 0.45233446] [ 0. 0. 0. 1. ]] SLAMing on 130.42800114499997 meters Centerline goodness [0,1] 0.7596437851162584 Centerline is valid? [False, False] Translation: X:4.46, Y:0.25, Z:0.45 [[ 8.75311705e-01 -1.19018369e-02 -4.83412625e-01 4.45830024e+00] [-4.34513079e-03 9.99463105e-01 -3.24749290e-02 2.48913909e-01] [ 4.83539595e-01 3.05261766e-02 8.74790039e-01 4.51587392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.45800114499997 meters Centerline goodness [0,1] 0.7596437851162584 Centerline is valid? [False, False] Translation: X:4.46, Y:0.25, Z:0.45 [[ 8.75311705e-01 -1.19018369e-02 -4.83412625e-01 4.45830024e+00] [-4.34513079e-03 9.99463105e-01 -3.24749290e-02 2.48913909e-01] [ 4.83539595e-01 3.05261766e-02 8.74790039e-01 4.51587392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.48800114499997 meters Centerline goodness [0,1] 0.7813894624658629 Centerline is valid? [False, False] Translation: X:4.46, Y:0.25, Z:0.45 [[ 8.75274017e-01 -1.20219373e-02 -4.83477888e-01 4.45845850e+00] [-4.19866208e-03 9.99464432e-01 -3.24533531e-02 2.48604007e-01] [ 4.83609105e-01 3.04355370e-02 8.74754773e-01 4.51578025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.51800114499997 meters Centerline goodness [0,1] 0.7371293635411793 Centerline is valid? [False, False] Translation: X:4.46, Y:0.25, Z:0.45 [[ 8.75251364e-01 -1.24020794e-02 -4.83509295e-01 4.45801557e+00] [-3.89032130e-03 9.99458343e-01 -3.26785252e-02 2.48835506e-01] [ 4.83652681e-01 3.04829303e-02 8.74729030e-01 4.51827162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.54800114499997 meters Centerline goodness [0,1] 0.7122696108984061 Centerline is valid? [False, False] Translation: X:4.46, Y:0.25, Z:0.45 [[ 8.75244415e-01 -1.26109540e-02 -4.83516472e-01 4.45795818e+00] [-3.67970588e-03 9.99457506e-01 -3.27284707e-02 2.48610759e-01] [ 4.83666904e-01 3.04246096e-02 8.74723196e-01 4.51807525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.57800114499997 meters Centerline goodness [0,1] 0.7702654710112758 Centerline is valid? [False, False] Translation: X:4.46, Y:0.25, Z:0.45 [[ 8.75310207e-01 -1.29500329e-02 -4.83388393e-01 4.45699598e+00] [-3.28938603e-03 9.99458752e-01 -3.27319753e-02 2.46914067e-01] [ 4.83550640e-01 3.02406831e-02 8.74793850e-01 4.51812481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.60800114499997 meters Centerline goodness [0,1] 0.750244140625 Centerline is valid? [False, False] Translation: X:4.46, Y:0.25, Z:0.45 [[ 8.75328831e-01 -1.33247627e-02 -4.83344483e-01 4.45599171e+00] [-3.03525303e-03 9.99449109e-01 -3.30494446e-02 2.46940230e-01] [ 4.83518588e-01 3.03962045e-02 8.74806176e-01 4.52273487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63800114499998 meters Centerline goodness [0,1] 0.7492224986671405 Centerline is valid? [False, False] Translation: X:4.45, Y:0.25, Z:0.45 [[ 0.87553223 -0.00977351 -0.48306085 4.45288627] [-0.00537945 0.99953623 -0.02997317 0.24567152] [ 0.48312977 0.02884108 0.87507361 0.45250198] [ 0. 0. 0. 1. ]] SLAMing on 130.66800114499998 meters Centerline goodness [0,1] 0.7540688367129136 Centerline is valid? [False, False] Translation: X:4.45, Y:0.25, Z:0.45 [[ 0.87554334 -0.010205 -0.48303179 4.45204761] [-0.0051394 0.99952361 -0.03043258 0.24664573] [ 0.48311224 0.02912753 0.8750738 0.45296738] [ 0. 0. 0. 1. ]] SLAMing on 130.69800114499998 meters Centerline goodness [0,1] 0.7533816855032482 Centerline is valid? [False, False] Translation: X:4.45, Y:0.25, Z:0.45 [[ 0.87554269 -0.01079323 -0.48302019 4.45121777] [-0.00479938 0.99950681 -0.03103384 0.24779445] [ 0.48311693 0.02948965 0.87505908 0.45347998] [ 0. 0. 0. 1. ]] SLAMing on 130.72800114499998 meters Centerline goodness [0,1] 0.7520208430756897 Centerline is valid? [False, False] Translation: X:4.45, Y:0.25, Z:0.45 [[ 0.87548078 -0.01083879 -0.48313137 4.45157908] [-0.00477832 0.99950541 -0.03108214 0.24783639] [ 0.48322931 0.02952037 0.87499599 0.45354755] [ 0. 0. 0. 1. ]] SLAMing on 130.75800114499998 meters Centerline goodness [0,1] 0.7634143085958356 Centerline is valid? [False, False] Translation: X:4.45, Y:0.25, Z:0.45 [[ 0.87548011 -0.01085635 -0.4831322 4.45165077] [-0.00472091 0.99950779 -0.03101442 0.24721297] [ 0.4832311 0.02943333 0.87499794 0.45345572] [ 0. 0. 0. 1. ]] SLAMing on 130.78800114499998 meters Centerline goodness [0,1] 0.763816753229458 Centerline is valid? [False, False] Translation: X:4.45, Y:0.25, Z:0.45 [[ 8.75572152e-01 -1.11197918e-02 -4.82959374e-01 4.45170314e+00] [-4.39231961e-03 9.99510478e-01 -3.09759826e-02 2.46307557e-01] [ 4.83067401e-01 2.92430197e-02 8.75094699e-01 4.52853927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81800114499998 meters Centerline goodness [0,1] 0.7318569903948773 Centerline is valid? [False, False] Translation: X:4.45, Y:0.25, Z:0.45 [[ 8.75586943e-01 -1.15274802e-02 -4.82922999e-01 4.45147109e+00] [-4.10394548e-03 9.99501635e-01 -3.12991852e-02 2.47191196e-01] [ 4.83043128e-01 2.93870475e-02 8.75103273e-01 4.52916053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.84800114499998 meters Centerline goodness [0,1] 0.7414620000446139 Centerline is valid? [False, False] Translation: X:4.45, Y:0.25, Z:0.45 [[ 0.875808 -0.00766526 -0.48259879 4.44905778] [-0.00662504 0.99958877 -0.02789972 0.24588788] [ 0.48261419 0.02763203 0.87539706 0.45268877] [ 0. 0. 0. 1. ]] SLAMing on 130.87800114499998 meters Centerline goodness [0,1] 0.740867045581188 Centerline is valid? [False, False] Translation: X:4.45, Y:0.25, Z:0.45 [[ 0.87585315 -0.00812109 -0.48250938 4.44837178] [-0.00627055 0.99958246 -0.02820626 0.24610977] [ 0.48253698 0.02773014 0.87543652 0.45280828] [ 0. 0. 0. 1. ]] SLAMing on 130.908001145 meters Centerline goodness [0,1] 0.7097693472259329 Centerline is valid? [False, False] Translation: X:4.45, Y:0.25, Z:0.45 [[ 0.87589487 -0.00849144 -0.48242728 4.44789305] [-0.00599208 0.99957659 -0.02847327 0.24620053] [ 0.48246479 0.02783034 0.87547313 0.45286013] [ 0. 0. 0. 1. ]] SLAMing on 130.938001145 meters Centerline goodness [0,1] 0.7091591625142448 Centerline is valid? [False, False] Translation: X:4.44, Y:0.25, Z:0.45 [[ 0.87615668 -0.00788269 -0.48196197 4.44270956] [-0.00634003 0.99959133 -0.02787425 0.24632394] [ 0.48198473 0.02747786 0.87574864 0.45383287] [ 0. 0. 0. 1. ]] SLAMing on 130.968001145 meters Centerline goodness [0,1] 0.7133354167596768 Centerline is valid? [False, False] Translation: X:4.44, Y:0.25, Z:0.45 [[ 0.87626757 -0.00880782 -0.4817443 4.44057041] [-0.00571758 0.99957242 -0.02867536 0.24704032] [ 0.48179088 0.0278817 0.87584254 0.45448035] [ 0. 0. 0. 1. ]] SLAMing on 130.998001145 meters Centerline goodness [0,1] 0.7445007704504343 Centerline is valid? [False, False] Translation: X:4.44, Y:0.25, Z:0.45 [[ 0.87640943 -0.00965181 -0.48147 4.43837863] [-0.00511919 0.99955591 -0.02935599 0.2472381 ] [ 0.48153952 0.0281926 0.87597081 0.45497678] [ 0. 0. 0. 1. ]] SLAMing on 131.028001145 meters Centerline goodness [0,1] 0.7338581974708388 Centerline is valid? [False, False] Translation: X:4.44, Y:0.25, Z:0.46 [[ 0.87648019 -0.01017061 -0.48133049 4.43719725] [-0.00474363 0.99954586 -0.02975853 0.24733625] [ 0.48141456 0.02836602 0.8760339 0.45526742] [ 0. 0. 0. 1. ]] SLAMing on 131.058001145 meters Centerline goodness [0,1] 0.7233672764544665 Centerline is valid? [False, False] Translation: X:4.44, Y:0.25, Z:0.46 [[ 0.87644583 -0.01013239 -0.48139385 4.43771133] [-0.0047384 0.99954865 -0.02966545 0.24702102] [ 0.48147716 0.02828119 0.87600224 0.45509105] [ 0. 0. 0. 1. ]] SLAMing on 131.088001145 meters Centerline goodness [0,1] 0.7288260191579417 Centerline is valid? [False, False] Translation: X:4.44, Y:0.25, Z:0.45 [[ 0.87641741 -0.00983728 -0.48145172 4.43839501] [-0.0049249 0.99955593 -0.02938858 0.24645598] [ 0.48152703 0.02812777 0.87597977 0.45486448] [ 0. 0. 0. 1. ]] SLAMing on 131.11800114499997 meters Centerline goodness [0,1] 0.7329549248747913 Centerline is valid? [False, False] Translation: X:4.44, Y:0.25, Z:0.45 [[ 0.87637961 -0.00955635 -0.48152617 4.43896775] [-0.00511524 0.99956205 -0.02914703 0.24603279] [ 0.48159382 0.02800699 0.87594691 0.45474023] [ 0. 0. 0. 1. ]] SLAMing on 131.14800114499997 meters Centerline goodness [0,1] 0.7251605422761327 Centerline is valid? [False, False] Translation: X:4.42, Y:0.25, Z:0.44 [[ 0.8775875 -0.00806009 -0.47934874 4.41667644] [-0.00707295 0.99953217 -0.02975589 0.24561173] [ 0.47936432 0.02950381 0.87711993 0.4409152 ] [ 0. 0. 0. 1. ]] SLAMing on 131.17800114499997 meters Centerline goodness [0,1] 0.7241003271537623 Centerline is valid? [False, False] Translation: X:4.42, Y:0.24, Z:0.44 [[ 0.87760397 -0.0078212 -0.47932255 4.41684739] [-0.00709362 0.99954556 -0.02929768 0.2437632 ] [ 0.47933387 0.02911189 0.87714967 0.4405757 ] [ 0. 0. 0. 1. ]] SLAMing on 131.20800114499997 meters Centerline goodness [0,1] 0.7236675479327275 Centerline is valid? [False, False] Translation: X:4.42, Y:0.24, Z:0.44 [[ 0.87762635 -0.00766425 -0.47928411 4.41672282] [-0.0070309 0.99955878 -0.0288584 0.24178362] [ 0.47929382 0.02869669 0.87718524 0.44031807] [ 0. 0. 0. 1. ]] SLAMing on 131.23800114499997 meters Centerline goodness [0,1] 0.7154367169861438 Centerline is valid? [False, False] Translation: X:4.42, Y:0.24, Z:0.44 [[ 0.87772156 -0.00780809 -0.4791074 4.41587955] [-0.00677776 0.99956489 -0.02870689 0.2402702 ] [ 0.47912308 0.02844393 0.87728674 0.44016282] [ 0. 0. 0. 1. ]] SLAMing on 131.26800114499997 meters Centerline goodness [0,1] 0.709479111581174 Centerline is valid? [False, False] Translation: X:4.41, Y:0.24, Z:0.43 [[ 0.88017557 -0.00803349 -0.47458026 4.40783241] [-0.00673282 0.99954485 -0.02940683 0.23728246] [ 0.47460049 0.02907844 0.87972087 0.43442792] [ 0. 0. 0. 1. ]] SLAMing on 131.29800114499997 meters Centerline goodness [0,1] 0.7171630456316449 Centerline is valid? [False, False] Translation: X:4.41, Y:0.24, Z:0.43 [[ 0.88024822 -0.00812333 -0.47444397 4.40694988] [-0.00654489 0.9995505 -0.02925699 0.23569231] [ 0.47446837 0.0288586 0.87979938 0.43443022] [ 0. 0. 0. 1. ]] SLAMing on 131.32800114499997 meters Centerline goodness [0,1] 0.7032619439868204 Centerline is valid? [False, False] Translation: X:4.41, Y:0.23, Z:0.43 [[ 0.88024735 -0.00809113 -0.47444614 4.40667395] [-0.00647104 0.99955695 -0.0290521 0.2343931 ] [ 0.47447101 0.02864319 0.879805 0.43444769] [ 0. 0. 0. 1. ]] SLAMing on 131.35800114499997 meters Centerline goodness [0,1] 0.7058048651971547 Centerline is valid? [False, False] Translation: X:4.41, Y:0.23, Z:0.43 [[ 0.88024979 -0.00793639 -0.47444422 4.40664972] [-0.00653114 0.99956277 -0.02883785 0.23356933] [ 0.47446565 0.02848317 0.87981308 0.43439328] [ 0. 0. 0. 1. ]] SLAMing on 131.38800114499998 meters Centerline goodness [0,1] 0.7054377355183594 Centerline is valid? [False, False] Translation: X:4.41, Y:0.23, Z:0.43 [[ 0.88011221 -0.00696038 -0.4747147 4.40806168] [-0.0072 0.99958186 -0.02800478 0.23153531] [ 0.47471113 0.02806529 0.87969409 0.43422609] [ 0. 0. 0. 1. ]] SLAMing on 131.41800114499998 meters Centerline goodness [0,1] 0.7439326507793831 Centerline is valid? [False, False] Translation: X:4.41, Y:0.23, Z:0.43 [[ 0.88005051 -0.00643954 -0.47483642 4.40889526] [-0.0075367 0.99959272 -0.02752443 0.23032689] [ 0.47482028 0.02780159 0.87964355 0.43402386] [ 0. 0. 0. 1. ]] SLAMing on 131.44800114499998 meters Centerline goodness [0,1] 0.7427156815493143 Centerline is valid? [False, False] Translation: X:4.41, Y:0.23, Z:0.43 [[ 0.87992204 -0.00589199 -0.47508157 4.40992944] [-0.00794973 0.99960054 -0.02712119 0.2296687 ] [ 0.47505159 0.0276413 0.8795237 0.43405741] [ 0. 0. 0. 1. ]] SLAMing on 131.47800114499998 meters Centerline goodness [0,1] 0.7103659202621518 Centerline is valid? [False, False] Translation: X:4.41, Y:0.23, Z:0.43 [[ 8.80095612e-01 -1.01423899e-03 -4.74795413e-01 4.40742809e+00] [-1.13752398e-02 9.99665640e-01 -2.32209457e-02 2.27526055e-01] [ 4.74660212e-01 2.58375641e-02 8.79789806e-01 4.34332918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.50800114499998 meters Centerline goodness [0,1] 0.7479484941073766 Centerline is valid? [False, False] Translation: X:4.41, Y:0.23, Z:0.43 [[ 8.80023251e-01 -9.28528480e-04 -4.74929696e-01 4.40701635e+00] [-1.14941333e-02 9.99663546e-01 -2.32525377e-02 2.27403531e-01] [ 4.74791494e-01 2.59216790e-02 8.79716490e-01 4.34927862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53800114499998 meters Centerline goodness [0,1] 0.7720121325855936 Centerline is valid? [False, False] Translation: X:4.41, Y:0.23, Z:0.44 [[ 8.80028665e-01 -9.23480901e-04 -4.74919674e-01 4.40629618e+00] [-1.15413565e-02 9.99661196e-01 -2.33300350e-02 2.27117346e-01] [ 4.74780314e-01 2.60123168e-02 8.79719849e-01 4.35336933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.56800114499998 meters Centerline goodness [0,1] 0.7593752045201684 Centerline is valid? [False, False] Translation: X:4.40, Y:0.23, Z:0.44 [[ 8.80328450e-01 1.74711408e-03 -4.74361432e-01 4.40385770e+00] [-1.35396808e-02 9.99678337e-01 -2.14452807e-02 2.25130199e-01] [ 4.74171380e-01 2.53015931e-02 8.80068936e-01 4.35422374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59800114499998 meters Centerline goodness [0,1] 0.7665569769215682 Centerline is valid? [False, False] Translation: X:4.40, Y:0.23, Z:0.44 [[ 8.80272367e-01 1.80440166e-03 -4.74465281e-01 4.40380846e+00] [-1.36320766e-02 9.99676127e-01 -2.14897137e-02 2.25166752e-01] [ 4.74272839e-01 2.53847482e-02 8.80011869e-01 4.35742505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.62800114499998 meters Centerline goodness [0,1] 0.765198295355714 Centerline is valid? [False, False] Translation: X:4.40, Y:0.23, Z:0.44 [[ 8.80233877e-01 1.79523888e-03 -4.74536720e-01 4.40352370e+00] [-1.36908868e-02 9.99672649e-01 -2.16137776e-02 2.25320315e-01] [ 4.74342577e-01 2.55220078e-02 8.79970310e-01 4.36164076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.658001145 meters Centerline goodness [0,1] 0.7653667777124568 Centerline is valid? [False, False] Translation: X:4.40, Y:0.23, Z:0.44 [[ 8.80178187e-01 1.73087199e-03 -4.74640246e-01 4.40343933e+00] [-1.37147004e-02 9.99668558e-01 -2.17871996e-02 2.25797162e-01] [ 4.74445219e-01 2.56861666e-02 8.79910197e-01 4.36531779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.688001145 meters Centerline goodness [0,1] 0.76350527141239 Centerline is valid? [False, False] Translation: X:4.40, Y:0.22, Z:0.44 [[ 8.80137575e-01 2.22513137e-03 -4.74713491e-01 4.40408294e+00] [-1.40743782e-02 9.99671736e-01 -2.14086777e-02 2.24698694e-01] [ 4.74510023e-01 2.55238789e-02 8.79879975e-01 4.36397820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.718001145 meters Centerline goodness [0,1] 0.7607376639192746 Centerline is valid? [False, False] Translation: X:4.40, Y:0.22, Z:0.44 [[ 8.80087086e-01 2.65302597e-03 -4.74804889e-01 4.40476880e+00] [-1.42870993e-02 9.99679558e-01 -2.08964060e-02 2.22883256e-01] [ 4.74597303e-01 2.51742417e-02 8.79842973e-01 4.36109281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.748001145 meters Centerline goodness [0,1] 0.7746423927178153 Centerline is valid? [False, False] Translation: X:4.41, Y:0.22, Z:0.44 [[ 8.80081388e-01 2.87359925e-03 -4.74814167e-01 4.40518545e+00] [-1.43686194e-02 9.99684902e-01 -2.05824961e-02 2.21576884e-01] [ 4.74605408e-01 2.49366958e-02 8.79845366e-01 4.35827942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.778001145 meters Centerline goodness [0,1] 0.7766604807733806 Centerline is valid? [False, False] Translation: X:4.40, Y:0.22, Z:0.44 [[ 8.80074954e-01 2.49466323e-03 -4.74828233e-01 4.40486679e+00] [-1.40672913e-02 9.99684249e-01 -2.08209928e-02 2.22046603e-01] [ 4.74626364e-01 2.50035813e-02 8.79832163e-01 4.35997369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.808001145 meters Centerline goodness [0,1] 0.7609455958549223 Centerline is valid? [False, False] Translation: X:4.40, Y:0.22, Z:0.44 [[ 8.80049692e-01 2.15694959e-03 -4.74876707e-01 4.40448929e+00] [-1.38409135e-02 9.99681357e-01 -2.11095411e-02 2.22552621e-01] [ 4.74679858e-01 2.51501725e-02 8.79799125e-01 4.36327275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.838001145 meters Centerline goodness [0,1] 0.7772107004606301 Centerline is valid? [False, False] Translation: X:4.40, Y:0.22, Z:0.44 [[ 8.80048829e-01 2.09944102e-03 -4.74878564e-01 4.40431809e+00] [-1.37209938e-02 9.99685144e-01 -2.10082435e-02 2.21708248e-01] [ 4.74684941e-01 2.50040859e-02 8.79800547e-01 4.36327015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86800114499997 meters Centerline goodness [0,1] 0.7795329966765937 Centerline is valid? [False, False] Translation: X:4.40, Y:0.22, Z:0.44 [[ 8.80115839e-01 1.92929191e-03 -4.74755081e-01 4.40377726e+00] [-1.34920070e-02 9.99689496e-01 -2.09494044e-02 2.20287665e-01] [ 4.74567250e-01 2.48433015e-02 8.79868590e-01 4.36193935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89800114499997 meters Centerline goodness [0,1] 0.7487208152384228 Centerline is valid? [False, False] Translation: X:4.40, Y:0.22, Z:0.44 [[ 8.80341987e-01 1.04636857e-03 -4.74338373e-01 4.40181486e+00] [-1.26733799e-02 9.99692466e-01 -2.13157152e-02 2.17427904e-01] [ 4.74170193e-01 2.47765895e-02 8.80084512e-01 4.35959457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.92800114499997 meters Centerline goodness [0,1] 0.7212321846987253 Centerline is valid? [False, False] Translation: X:4.40, Y:0.22, Z:0.44 [[ 8.80332910e-01 9.04472784e-04 -4.74355509e-01 4.40154063e+00] [-1.25446998e-02 9.99692824e-01 -2.13749327e-02 2.17011774e-01] [ 4.74190466e-01 2.47677041e-02 8.80073839e-01 4.36094304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.95800114499997 meters Centerline goodness [0,1] 0.7603543933594255 Centerline is valid? [False, False] Translation: X:4.40, Y:0.22, Z:0.44 [[ 0.88051204 0.00498877 -0.47399754 4.39937946] [-0.01528766 0.99972331 -0.01787684 0.2156589 ] [ 0.4737772 0.02298709 0.88034468 0.43589922] [ 0. 0. 0. 1. ]] SLAMing on 131.98800114499997 meters Centerline goodness [0,1] 0.7231650585802895 Centerline is valid? [False, False] Translation: X:4.40, Y:0.22, Z:0.44 [[ 0.88068043 0.00913874 -0.47362271 4.39715488] [-0.01816495 0.99973005 -0.01448674 0.21588265] [ 0.47336246 0.02136152 0.88060869 0.43590674] [ 0. 0. 0. 1. ]] SLAMing on 132.01800114499997 meters Centerline goodness [0,1] 0.7591093117408907 Centerline is valid? [False, False] Translation: X:4.40, Y:0.22, Z:0.44 [[ 0.8806853 0.0088832 -0.47361852 4.39655933] [-0.01801621 0.99972889 -0.01474989 0.2161388 ] [ 0.47335909 0.02152283 0.88060658 0.43622907] [ 0. 0. 0. 1. ]] SLAMing on 132.04800114499997 meters Centerline goodness [0,1] 0.7468515209575681 Centerline is valid? [False, False] Translation: X:4.40, Y:0.22, Z:0.44 [[ 0.88070824 0.00878379 -0.47357771 4.39615601] [-0.01792682 0.99972982 -0.01479564 0.21552841] [ 0.47331979 0.02152038 0.88062776 0.43630256] [ 0. 0. 0. 1. ]] SLAMing on 132.07800114499997 meters Centerline goodness [0,1] 0.7796690409072324 Centerline is valid? [False, False] Translation: X:4.40, Y:0.21, Z:0.44 [[ 0.88074957 0.00869497 -0.47350247 4.39539704] [-0.01785627 0.99973019 -0.01485584 0.21447036] [ 0.47324555 0.02153927 0.8806672 0.43650922] [ 0. 0. 0. 1. ]] SLAMing on 132.10800114499997 meters Centerline goodness [0,1] 0.7714383988649312 Centerline is valid? [False, False] Translation: X:4.39, Y:0.21, Z:0.44 [[ 0.88073827 0.00834799 -0.47352973 4.394736 ] [-0.01763911 0.99972913 -0.01518322 0.21495005] [ 0.47327471 0.02172509 0.88064696 0.43695268] [ 0. 0. 0. 1. ]] SLAMing on 132.13800114499998 meters Centerline goodness [0,1] 0.7499838588184655 Centerline is valid? [False, False] Translation: X:4.39, Y:0.22, Z:0.44 [[ 0.88075021 0.00800736 -0.47351342 4.39399326] [-0.01743154 0.99972764 -0.0155173 0.21537495] [ 0.4732602 0.02192094 0.88064991 0.43735477] [ 0. 0. 0. 1. ]] SLAMing on 132.16800114499998 meters Centerline goodness [0,1] 0.7538517896007068 Centerline is valid? [False, False] Translation: X:4.39, Y:0.22, Z:0.44 [[ 0.88075831 0.00773965 -0.47350279 4.39342549] [-0.01720156 0.99972947 -0.01565538 0.21519404] [ 0.47325353 0.02193359 0.88065317 0.43756268] [ 0. 0. 0. 1. ]] SLAMing on 132.19800114499998 meters Centerline goodness [0,1] 0.7490542515690826 Centerline is valid? [False, False] Translation: X:4.39, Y:0.21, Z:0.44 [[ 0.88081828 0.0075265 -0.47339467 4.3932062 ] [-0.01694187 0.99973433 -0.015628 0.21486895] [ 0.47315128 0.02178562 0.88071179 0.43731085] [ 0. 0. 0. 1. ]] SLAMing on 132.22800114499998 meters Centerline goodness [0,1] 0.7420890506860823 Centerline is valid? [False, False] Translation: X:4.39, Y:0.21, Z:0.44 [[ 0.88073922 0.00767649 -0.47353933 4.39395448] [-0.01698356 0.99973745 -0.01538122 0.21409487] [ 0.47329693 0.02158923 0.88063836 0.43715418] [ 0. 0. 0. 1. ]] SLAMing on 132.25800114499998 meters Centerline goodness [0,1] 0.7466560578039654 Centerline is valid? [False, False] Translation: X:4.39, Y:0.21, Z:0.44 [[ 0.88068264 0.00797402 -0.47363963 4.39489371] [-0.01711559 0.99974109 -0.01499335 0.21297871] [ 0.47339745 0.02131101 0.88059111 0.43679019] [ 0. 0. 0. 1. ]] SLAMing on 132.28800114499998 meters Centerline goodness [0,1] 0.753228336305623 Centerline is valid? [False, False] Translation: X:4.40, Y:0.21, Z:0.44 [[ 0.8806248 0.00830779 -0.47374143 4.39565789] [-0.01723348 0.99974631 -0.01450273 0.21123634] [ 0.47350076 0.02093568 0.88054456 0.43642025] [ 0. 0. 0. 1. ]] SLAMing on 132.31800114499998 meters Centerline goodness [0,1] 0.7512211917109595 Centerline is valid? [False, False] Translation: X:4.40, Y:0.21, Z:0.44 [[ 0.88056822 0.00827742 -0.47384711 4.39543633] [-0.0171835 0.99974766 -0.01446863 0.21057903] [ 0.47360778 0.02088297 0.88048826 0.43673427] [ 0. 0. 0. 1. ]] SLAMing on 132.34800114499998 meters Centerline goodness [0,1] 0.7512211917109595 Centerline is valid? [False, False] Translation: X:4.40, Y:0.21, Z:0.44 [[ 0.88056822 0.00827742 -0.47384711 4.39543633] [-0.0171835 0.99974766 -0.01446863 0.21057903] [ 0.47360778 0.02088297 0.88048826 0.43673427] [ 0. 0. 0. 1. ]] SLAMing on 132.37800114499998 meters Centerline goodness [0,1] 0.7543257788546067 Centerline is valid? [False, False] Translation: X:4.40, Y:0.21, Z:0.44 [[ 0.88053799 0.00827008 -0.47390342 4.3953887 ] [-0.01714319 0.99974925 -0.01440636 0.20999327] [ 0.47366545 0.02080956 0.88045897 0.43683088] [ 0. 0. 0. 1. ]] SLAMing on 132.408001145 meters Centerline goodness [0,1] 0.7503530922319709 Centerline is valid? [False, False] Translation: X:4.40, Y:0.21, Z:0.44 [[ 0.88041671 0.00849435 -0.47412474 4.39583615] [-0.01733916 0.9997476 -0.01428628 0.20988726] [ 0.47388371 0.0207988 0.88034177 0.43714268] [ 0. 0. 0. 1. ]] SLAMing on 132.438001145 meters Centerline goodness [0,1] 0.746417205954593 Centerline is valid? [False, False] Translation: X:4.40, Y:0.21, Z:0.44 [[ 0.88030181 0.00848149 -0.47433826 4.39627375] [-0.01743625 0.99974308 -0.01448301 0.21114054] [ 0.47409356 0.0210201 0.88022353 0.43755413] [ 0. 0. 0. 1. ]] SLAMing on 132.468001145 meters Centerline goodness [0,1] 0.7770072133393267 Centerline is valid? [False, False] Translation: X:4.40, Y:0.21, Z:0.44 [[ 0.8801376 0.00844102 -0.47464361 4.39682594] [-0.0175532 0.99973683 -0.01476989 0.21251738] [ 0.47439402 0.02133105 0.88005414 0.43812398] [ 0. 0. 0. 1. ]] SLAMing on 132.498001145 meters Centerline goodness [0,1] 0.7611822111886316 Centerline is valid? [False, False] Translation: X:4.40, Y:0.21, Z:0.44 [[ 0.87998647 0.00850592 -0.47492259 4.39734346] [-0.0177262 0.99973126 -0.01493964 0.2133949 ] [ 0.47466788 0.02156525 0.87990076 0.43862683] [ 0. 0. 0. 1. ]] SLAMing on 132.528001145 meters Centerline goodness [0,1] 0.774057321700358 Centerline is valid? [False, False] Translation: X:4.40, Y:0.21, Z:0.44 [[ 0.87991953 0.00851202 -0.4750465 4.39709604] [-0.01785173 0.99972581 -0.01515303 0.21324466] [ 0.47478726 0.02181385 0.87983022 0.43915218] [ 0. 0. 0. 1. ]] SLAMing on 132.558001145 meters Centerline goodness [0,1] 0.7859769132107739 Centerline is valid? [False, False] Translation: X:4.40, Y:0.21, Z:0.44 [[ 0.87991598 0.00828264 -0.47505711 4.39653658] [-0.01769547 0.99972565 -0.01534585 0.21284617] [ 0.47479967 0.02190942 0.87982114 0.43945324] [ 0. 0. 0. 1. ]] SLAMing on 132.588001145 meters Centerline goodness [0,1] 0.7843254689739256 Centerline is valid? [False, False] Translation: X:4.40, Y:0.21, Z:0.44 [[ 0.87988276 0.00789532 -0.47512525 4.39581561] [-0.01745066 0.99972439 -0.01570406 0.21315319] [ 0.47487031 0.02210898 0.87977803 0.43998939] [ 0. 0. 0. 1. ]] SLAMing on 132.61800114499997 meters Centerline goodness [0,1] 0.7671636689879096 Centerline is valid? [False, False] Translation: X:4.39, Y:0.21, Z:0.44 [[ 0.88000521 0.01106274 -0.47483518 4.39233673] [-0.01960615 0.99972269 -0.0130442 0.21340094] [ 0.4745592 0.02078865 0.87997807 0.44070574] [ 0. 0. 0. 1. ]] SLAMing on 132.64800114499997 meters Centerline goodness [0,1] 0.7705863505286767 Centerline is valid? [False, False] Translation: X:4.39, Y:0.21, Z:0.44 [[ 0.87997416 0.0106378 -0.47490242 4.39201903] [-0.01931105 0.99972387 -0.01338878 0.21402903] [ 0.47462886 0.02095264 0.8799366 0.44101976] [ 0. 0. 0. 1. ]] SLAMing on 132.67800114499997 meters Centerline goodness [0,1] 0.7591585056220529 Centerline is valid? [False, False] Translation: X:4.39, Y:0.21, Z:0.44 [[ 0.87995187 0.01034883 -0.47495011 4.39189712] [-0.01906335 0.99972665 -0.01353581 0.21397749] [ 0.4746802 0.020965 0.87990862 0.44112767] [ 0. 0. 0. 1. ]] SLAMing on 132.70800114499997 meters Centerline goodness [0,1] 0.7497277793197685 Centerline is valid? [False, False] Translation: X:4.39, Y:0.21, Z:0.44 [[ 0.87995283 0.01013373 -0.47495298 4.39181048] [-0.01879196 0.99973247 -0.01348558 0.21315304] [ 0.47468925 0.02079197 0.87990784 0.4410338 ] [ 0. 0. 0. 1. ]] SLAMing on 132.73800114499997 meters Centerline goodness [0,1] 0.7324929075744971 Centerline is valid? [False, False] Translation: X:4.39, Y:0.21, Z:0.44 [[ 0.8800791 0.00878428 -0.47474584 4.3897486 ] [-0.01753231 0.99974824 -0.01400276 0.21155209] [ 0.47450332 0.02064693 0.88001154 0.44114389] [ 0. 0. 0. 1. ]] SLAMing on 132.76800114499997 meters Centerline goodness [0,1] 0.730668204241143 Centerline is valid? [False, False] Translation: X:4.39, Y:0.21, Z:0.44 [[ 0.88010462 0.00822895 -0.47470849 4.38874547] [-0.01707703 0.99975148 -0.0143302 0.21139935] [ 0.47447259 0.02071869 0.88002642 0.44150257] [ 0. 0. 0. 1. ]] SLAMing on 132.79800114499997 meters Centerline goodness [0,1] 0.7222364489970123 Centerline is valid? [False, False] Translation: X:4.39, Y:0.21, Z:0.44 [[ 0.88011349 0.00759169 -0.47470266 4.3877 ] [-0.01660495 0.99975262 -0.01479754 0.21176455] [ 0.47447289 0.02090593 0.88002183 0.44200067] [ 0. 0. 0. 1. ]] SLAMing on 132.82800114499997 meters Centerline goodness [0,1] 0.7502248682914293 Centerline is valid? [False, False] Translation: X:4.39, Y:0.21, Z:0.44 [[ 0.88009359 0.00702929 -0.4747482 4.38680635] [-0.01619691 0.99975292 -0.01522331 0.21207906] [ 0.47452389 0.02108739 0.87999 0.44253321] [ 0. 0. 0. 1. ]] SLAMing on 132.85800114499997 meters Centerline goodness [0,1] 0.743445412323695 Centerline is valid? [False, False] Translation: X:4.39, Y:0.21, Z:0.44 [[ 0.88003798 0.00689509 -0.47485326 4.38702236] [-0.01609767 0.9997531 -0.01531667 0.2120419 ] [ 0.47463041 0.02112328 0.87993169 0.44265771] [ 0. 0. 0. 1. ]] SLAMing on 132.88800114499998 meters Centerline goodness [0,1] 0.7484917205083224 Centerline is valid? [False, False] Translation: X:4.39, Y:0.21, Z:0.44 [[ 0.87994441 0.00684273 -0.47502738 4.38771297] [-0.01607984 0.99975234 -0.01538508 0.212327 ] [ 0.47480446 0.02117638 0.87983651 0.44270059] [ 0. 0. 0. 1. ]] SLAMing on 132.91800114499998 meters Centerline goodness [0,1] 0.7006421407555354 Centerline is valid? [False, False] Translation: X:4.39, Y:0.21, Z:0.44 [[ 0.87978248 0.00677402 -0.4753282 4.38868497] [-0.01609431 0.99974969 -0.0155412 0.21295411] [ 0.47510395 0.02132295 0.87967128 0.44291951] [ 0. 0. 0. 1. ]] SLAMing on 132.94800114499998 meters Centerline goodness [0,1] 0.7312356463694705 Centerline is valid? [False, False] Translation: X:4.39, Y:0.21, Z:0.44 [[ 0.87970844 0.00658836 -0.47546783 4.38885348] [-0.01600031 0.99974792 -0.01575063 0.21325382] [ 0.47524421 0.02146359 0.8795921 0.44314822] [ 0. 0. 0. 1. ]] SLAMing on 132.97800114499998 meters Centerline goodness [0,1] 0.7379483762814589 Centerline is valid? [False, False] Translation: X:4.39, Y:0.21, Z:0.44 [[ 0.87962219 0.00638275 -0.47563018 4.38882037] [-0.01592768 0.99974448 -0.01604023 0.2138011 ] [ 0.47540627 0.02168503 0.87949908 0.44359822] [ 0. 0. 0. 1. ]] SLAMing on 133.00800114499998 meters Centerline goodness [0,1] 0.744025468390372 Centerline is valid? [False, False] Translation: X:4.39, Y:0.22, Z:0.44 [[ 0.87958598 0.0059368 -0.47570291 4.38820896] [-0.015728 0.99973842 -0.01660464 0.21511646] [ 0.4754799 0.02208706 0.87944928 0.4442211 ] [ 0. 0. 0. 1. ]] SLAMing on 133.03800114499998 meters Centerline goodness [0,1] 0.7322496022018664 Centerline is valid? [False, False] Translation: X:4.39, Y:0.22, Z:0.45 [[ 0.87971634 0.01013246 -0.47539088 4.3850102 ] [-0.01884775 0.99973028 -0.01356977 0.21583288] [ 0.47512516 0.0208976 0.87967003 0.44517262] [ 0. 0. 0. 1. ]] SLAMing on 133.06800114499998 meters Centerline goodness [0,1] 0.7448961975052872 Centerline is valid? [False, False] Translation: X:4.38, Y:0.22, Z:0.45 [[ 0.87966672 0.00978014 -0.47549008 4.3842312 ] [-0.01872365 0.9997256 -0.01407624 0.21695645] [ 0.47522194 0.0212853 0.87960846 0.44596073] [ 0. 0. 0. 1. ]] SLAMing on 133.09800114499998 meters Centerline goodness [0,1] 0.7363905517256284 Centerline is valid? [False, False] Translation: X:4.38, Y:0.22, Z:0.45 [[ 0.8795699 0.00956538 -0.47567352 4.38360088] [-0.01871641 0.99971961 -0.0145051 0.2180712 ] [ 0.4754014 0.02166115 0.87950231 0.4468901 ] [ 0. 0. 0. 1. ]] SLAMing on 133.12800114499998 meters Centerline goodness [0,1] 0.7417771338364725 Centerline is valid? [False, False] Translation: X:4.38, Y:0.22, Z:0.45 [[ 0.87947373 0.00937897 -0.47585501 4.38311104] [-0.01873527 0.99971311 -0.0149224 0.21929421] [ 0.47557853 0.02203913 0.87939714 0.44775569] [ 0. 0. 0. 1. ]] SLAMing on 133.158001145 meters Centerline goodness [0,1] 0.7671455502827798 Centerline is valid? [False, False] Translation: X:4.38, Y:0.22, Z:0.45 [[ 0.87956575 0.01181466 -0.47563064 4.38086115] [-0.02058092 0.99970069 -0.01322697 0.21951966] [ 0.475332 0.0214229 0.87954565 0.44836034] [ 0. 0. 0. 1. ]] SLAMing on 133.188001145 meters Centerline goodness [0,1] 0.7670232194103835 Centerline is valid? [False, False] Translation: X:4.38, Y:0.22, Z:0.45 [[ 0.87950166 0.01169782 -0.47575203 4.38103819] [-0.02051984 0.99970027 -0.01335343 0.21973521] [ 0.47545322 0.02150672 0.87947808 0.44855442] [ 0. 0. 0. 1. ]] SLAMing on 133.218001145 meters Centerline goodness [0,1] 0.7791657614599174 Centerline is valid? [False, False] Translation: X:4.38, Y:0.22, Z:0.45 [[ 0.8794644 0.01153306 -0.47582493 4.38110339] [-0.02039514 0.99970132 -0.01346543 0.2197019 ] [ 0.47552751 0.02154689 0.87943693 0.44866537] [ 0. 0. 0. 1. ]] SLAMing on 133.248001145 meters Centerline goodness [0,1] 0.7736936307678876 Centerline is valid? [False, False] Translation: X:4.38, Y:0.22, Z:0.45 [[ 0.8795051 0.01115699 -0.47575865 4.38093604] [-0.01996577 0.99970998 -0.01346531 0.21850757] [ 0.47547044 0.02134169 0.87947279 0.44837916] [ 0. 0. 0. 1. ]] SLAMing on 133.278001145 meters Centerline goodness [0,1] 0.7437619961612284 Centerline is valid? [False, False] Translation: X:4.38, Y:0.22, Z:0.45 [[ 0.87947499 0.01104967 -0.47581683 4.38113112] [-0.01986717 0.99971141 -0.01350562 0.21827317] [ 0.47553028 0.02133099 0.8794407 0.44839863] [ 0. 0. 0. 1. ]] SLAMing on 133.308001145 meters Centerline goodness [0,1] 0.7424454148471615 Centerline is valid? [False, False] Translation: X:4.38, Y:0.22, Z:0.45 [[ 0.87944423 0.0107099 -0.47588143 4.38088014] [-0.01964494 0.9997117 -0.01380558 0.21877613] [ 0.47559638 0.0214899 0.87940109 0.44872695] [ 0. 0. 0. 1. ]] SLAMing on 133.338001145 meters Centerline goodness [0,1] 0.7759589115943613 Centerline is valid? [False, False] Translation: X:4.38, Y:0.22, Z:0.45 [[ 0.87942152 0.01022879 -0.47593399 4.38062411] [-0.01933159 0.99971179 -0.0142347 0.21968238] [ 0.47565122 0.02171886 0.8793658 0.44901247] [ 0. 0. 0. 1. ]] SLAMing on 133.36800114499997 meters Centerline goodness [0,1] 0.7614787527956848 Centerline is valid? [False, False] Translation: X:4.38, Y:0.22, Z:0.45 [[ 0.87931256 0.00988436 -0.47614254 4.38110502] [-0.01910813 0.99971177 -0.01453452 0.22026617] [ 0.47586164 0.02187858 0.87924799 0.44922395] [ 0. 0. 0. 1. ]] SLAMing on 133.39800114499997 meters Centerline goodness [0,1] 0.7689520379479972 Centerline is valid? [False, False] Translation: X:4.38, Y:0.22, Z:0.45 [[ 0.8792283 0.00958675 -0.47630421 4.38135921] [-0.01895087 0.99970997 -0.01486061 0.2210197 ] [ 0.4760236 0.02209225 0.87915497 0.44949531] [ 0. 0. 0. 1. ]] SLAMing on 133.42800114499997 meters Centerline goodness [0,1] 0.7522051868634654 Centerline is valid? [False, False] Translation: X:4.38, Y:0.22, Z:0.45 [[ 0.87914623 0.00931999 -0.47646096 4.38177693] [-0.01883196 0.99970723 -0.01519281 0.22211198] [ 0.47617987 0.02232939 0.87906435 0.44970641] [ 0. 0. 0. 1. ]] SLAMing on 133.45800114499997 meters Centerline goodness [0,1] 0.7183946046019571 Centerline is valid? [False, False] Translation: X:4.38, Y:0.22, Z:0.45 [[ 0.87906543 0.00872384 -0.47662129 4.38170691] [-0.01848837 0.99970421 -0.01580127 0.22347621] [ 0.47634246 0.0227023 0.8789667 0.45019404] [ 0. 0. 0. 1. ]] SLAMing on 133.48800114499997 meters Centerline goodness [0,1] 0.7527267919705617 Centerline is valid? [False, False] Translation: X:4.38, Y:0.22, Z:0.45 [[ 0.8790542 0.00840723 -0.47664771 4.38128412] [-0.01827098 0.99970403 -0.01606309 0.22350409] [ 0.47637159 0.02282915 0.87894763 0.45046488] [ 0. 0. 0. 1. ]] SLAMing on 133.51800114499997 meters Centerline goodness [0,1] 0.73844287604764 Centerline is valid? [False, False] Translation: X:4.38, Y:0.22, Z:0.45 [[ 0.87911841 0.00787168 -0.47653842 4.38024195] [-0.01789562 0.9997037 -0.01650029 0.22379884] [ 0.47626734 0.02303366 0.87899879 0.45075482] [ 0. 0. 0. 1. ]] SLAMing on 133.54800114499997 meters Centerline goodness [0,1] 0.7626013744945086 Centerline is valid? [False, False] Translation: X:4.38, Y:0.23, Z:0.45 [[ 0.8793385 0.0065165 -0.47615264 4.37699717] [-0.01700988 0.99969808 -0.01773151 0.22526546] [ 0.47589334 0.0236913 0.87918386 0.45168762] [ 0. 0. 0. 1. ]] SLAMing on 133.57800114499997 meters Centerline goodness [0,1] 0.7263419789510767 Centerline is valid? [False, False] Translation: X:4.38, Y:0.23, Z:0.45 [[ 0.87936832 0.00577729 -0.47610712 4.3756135 ] [-0.01653536 0.99969378 -0.01841003 0.22639329] [ 0.47585496 0.02406179 0.87919456 0.45236364] [ 0. 0. 0. 1. ]] SLAMing on 133.60800114499997 meters Centerline goodness [0,1] 0.7225360815641966 Centerline is valid? [False, False] Translation: X:4.37, Y:0.23, Z:0.45 [[ 0.87939289 0.00514567 -0.47606897 4.37445056] [-0.01612061 0.99969003 -0.01897262 0.22722325] [ 0.47582378 0.02435891 0.87920326 0.45291608] [ 0. 0. 0. 1. ]] SLAMing on 133.63800114499998 meters Centerline goodness [0,1] 0.7467126345333599 Centerline is valid? [False, False] Translation: X:4.37, Y:0.23, Z:0.45 [[ 0.87944271 0.00462257 -0.47598231 4.37336454] [-0.01571578 0.99968966 -0.01932843 0.22733585] [ 0.47574525 0.02447868 0.87924243 0.45322084] [ 0. 0. 0. 1. ]] SLAMing on 133.66800114499998 meters Centerline goodness [0,1] 0.7167185052831271 Centerline is valid? [False, False] Translation: X:4.37, Y:0.23, Z:0.45 [[ 8.79596403e-01 3.86799847e-03 -4.75704957e-01 4.37173831e+00] [-1.49894791e-02 9.99695776e-01 -1.95874987e-02 2.25106950e-01] [ 4.75484472e-01 2.43596629e-02 8.79386789e-01 4.53107604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69800114499998 meters Centerline goodness [0,1] 0.7260584955147561 Centerline is valid? [False, False] Translation: X:4.37, Y:0.22, Z:0.45 [[ 8.79608038e-01 4.03135242e-03 -4.75682088e-01 4.37202654e+00] [-1.50178650e-02 9.99700982e-01 -1.92979471e-02 2.23614315e-01] [ 4.75462053e-01 2.41183587e-02 8.79405561e-01 4.52791844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.72800114499998 meters Centerline goodness [0,1] 0.7266776859504132 Centerline is valid? [False, False] Translation: X:4.37, Y:0.22, Z:0.45 [[ 8.79606073e-01 4.16986518e-03 -4.75684526e-01 4.37237978e+00] [-1.50880755e-02 9.99703028e-01 -1.91364980e-02 2.23096976e-01] [ 4.75463465e-01 2.40097439e-02 8.79407770e-01 4.52583215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75800114499998 meters Centerline goodness [0,1] 0.720265722267438 Centerline is valid? [False, False] Translation: X:4.37, Y:0.22, Z:0.45 [[ 0.87973789 0.0083397 -0.47538584 4.37013041] [-0.01801601 0.99971282 -0.01580204 0.2224486 ] [ 0.47511753 0.02246621 0.87963549 0.45272129] [ 0. 0. 0. 1. ]] SLAMing on 133.78800114499998 meters Centerline goodness [0,1] 0.7475146037694258 Centerline is valid? [False, False] Translation: X:4.37, Y:0.22, Z:0.45 [[ 0.87956963 0.0085856 -0.4756927 4.37096875] [-0.0182998 0.9997078 -0.0157935 0.22304673] [ 0.47541811 0.02259656 0.87946974 0.45311211] [ 0. 0. 0. 1. ]] SLAMing on 133.81800114499998 meters Centerline goodness [0,1] 0.7493937657069794 Centerline is valid? [False, False] Translation: X:4.37, Y:0.22, Z:0.45 [[ 0.87943956 0.00887512 -0.47592783 4.37195273] [-0.01860137 0.99970324 -0.0157299 0.22352982] [ 0.47564699 0.02268641 0.87934366 0.45324099] [ 0. 0. 0. 1. ]] SLAMing on 133.84800114499998 meters Centerline goodness [0,1] 0.7416365080766175 Centerline is valid? [False, False] Translation: X:4.37, Y:0.22, Z:0.45 [[ 0.87926041 0.00932978 -0.47625002 4.37308308] [-0.01901497 0.99969871 -0.01552155 0.22341948] [ 0.47596172 0.02270337 0.8791729 0.45346608] [ 0. 0. 0. 1. ]] SLAMing on 133.87800114499998 meters Centerline goodness [0,1] 0.7525048996939068 Centerline is valid? [False, False] Translation: X:4.37, Y:0.22, Z:0.45 [[ 0.87910952 0.01021138 -0.47651041 4.37448389] [-0.01983556 0.99968814 -0.01517161 0.22347242] [ 0.47620688 0.02278936 0.87903791 0.45362548] [ 0. 0. 0. 1. ]] SLAMing on 133.908001145 meters Centerline goodness [0,1] 0.7576091994614519 Centerline is valid? [False, False] Translation: X:4.38, Y:0.22, Z:0.45 [[ 0.87895974 0.01033444 -0.476784 4.37512896] [-0.02001925 0.99968348 -0.01523739 0.22411132] [ 0.47647561 0.02293791 0.87888841 0.45402603] [ 0. 0. 0. 1. ]] SLAMing on 133.938001145 meters Centerline goodness [0,1] 0.7606339536013067 Centerline is valid? [False, False] Translation: X:4.38, Y:0.22, Z:0.45 [[ 0.87885552 0.01025178 -0.47697786 4.37528493] [-0.02004528 0.99967972 -0.01544813 0.22484143] [ 0.47666673 0.02313783 0.87877954 0.45446725] [ 0. 0. 0. 1. ]] SLAMing on 133.968001145 meters Centerline goodness [0,1] 0.7560576944315597 Centerline is valid? [False, False] Translation: X:4.38, Y:0.23, Z:0.45 [[ 0.87880968 0.01036621 -0.47705984 4.37522223] [-0.0202499 0.99967354 -0.01558082 0.22540668] [ 0.47674258 0.023353 0.8787327 0.45488882] [ 0. 0. 0. 1. ]] SLAMing on 133.998001145 meters Centerline goodness [0,1] 0.7534025629695095 Centerline is valid? [False, False] Translation: X:4.37, Y:0.23, Z:0.46 [[ 0.87877734 0.0102483 -0.47712196 4.37490621] [-0.02023066 0.99967066 -0.01578908 0.22577097] [ 0.47680301 0.02352758 0.87869525 0.45525418] [ 0. 0. 0. 1. ]] SLAMing on 134.028001145 meters Centerline goodness [0,1] 0.7603530060672918 Centerline is valid? [False, False] Translation: X:4.37, Y:0.23, Z:0.46 [[ 0.87875464 0.00996979 -0.47716966 4.37435735] [-0.02008295 0.99966871 -0.01609805 0.22620497] [ 0.47685108 0.02372921 0.87866374 0.45568861] [ 0. 0. 0. 1. ]] SLAMing on 134.058001145 meters Centerline goodness [0,1] 0.7538054268696228 Centerline is valid? [False, False] Translation: X:4.37, Y:0.23, Z:0.46 [[ 0.87876497 0.00975786 -0.47715502 4.37367396] [-0.01992417 0.99966942 -0.01625055 0.22593269] [ 0.47683871 0.02378733 0.87866889 0.45598931] [ 0. 0. 0. 1. ]] SLAMing on 134.088001145 meters Centerline goodness [0,1] 0.7670348081035205 Centerline is valid? [False, False] Translation: X:4.37, Y:0.23, Z:0.46 [[ 0.87895325 0.00904715 -0.47682212 4.37127214] [-0.0193727 0.99967213 -0.01674318 0.22502946] [ 0.47651431 0.02395381 0.87884033 0.45638536] [ 0. 0. 0. 1. ]] SLAMing on 134.11800114499997 meters Centerline goodness [0,1] 0.739842422369844 Centerline is valid? [False, False] Translation: X:4.37, Y:0.23, Z:0.46 [[ 0.87897469 0.00860361 -0.47679081 4.37040052] [-0.01906478 0.99967188 -0.01710745 0.22529803] [ 0.47648718 0.02412693 0.8788503 0.45674599] [ 0. 0. 0. 1. ]] SLAMing on 134.14800114499997 meters Centerline goodness [0,1] 0.765282088533756 Centerline is valid? [False, False] Translation: X:4.37, Y:0.22, Z:0.46 [[ 0.87916875 0.00770305 -0.47644829 4.36793036] [-0.01830948 0.99967704 -0.01762324 0.22421913] [ 0.47615866 0.02421732 0.87902585 0.45708771] [ 0. 0. 0. 1. ]] SLAMing on 134.17800114499997 meters Centerline goodness [0,1] 0.7656799016163036 Centerline is valid? [False, False] Translation: X:4.37, Y:0.22, Z:0.46 [[ 0.87920208 0.00764795 -0.47638767 4.36768861] [-0.01813809 0.99968362 -0.01742598 0.22257361] [ 0.47610368 0.02396172 0.87906264 0.45688167] [ 0. 0. 0. 1. ]] SLAMing on 134.20800114499997 meters Centerline goodness [0,1] 0.758564830016856 Centerline is valid? [False, False] Translation: X:4.37, Y:0.22, Z:0.46 [[ 0.87925603 0.00762906 -0.4762884 4.3676778 ] [-0.01796311 0.99969159 -0.01714815 0.22096462] [ 0.47601068 0.02363323 0.87912189 0.45645813] [ 0. 0. 0. 1. ]] SLAMing on 134.23800114499997 meters Centerline goodness [0,1] 0.7497483478489212 Centerline is valid? [False, False] Translation: X:4.37, Y:0.22, Z:0.46 [[ 0.87926938 0.0073204 -0.4762686 4.36740894] [-0.01757129 0.99969982 -0.01707375 0.2197038 ] [ 0.47600064 0.02338108 0.87913407 0.45630778] [ 0. 0. 0. 1. ]] SLAMing on 134.26800114499997 meters Centerline goodness [0,1] 0.7497483478489212 Centerline is valid? [False, False] Translation: X:4.37, Y:0.22, Z:0.46 [[ 0.87926938 0.0073204 -0.4762686 4.36740894] [-0.01757129 0.99969982 -0.01707375 0.2197038 ] [ 0.47600064 0.02338108 0.87913407 0.45630778] [ 0. 0. 0. 1. ]] SLAMing on 134.29800114499997 meters Centerline goodness [0,1] 0.741774197069933 Centerline is valid? [False, False] Translation: X:4.37, Y:0.22, Z:0.46 [[ 0.87928394 0.00704296 -0.4762459 4.36677286] [-0.01734381 0.99970099 -0.01723747 0.21960181] [ 0.47598209 0.02341654 0.87914317 0.45656594] [ 0. 0. 0. 1. ]] SLAMing on 134.32800114499997 meters Centerline goodness [0,1] 0.7377827118570278 Centerline is valid? [False, False] Translation: X:4.37, Y:0.22, Z:0.46 [[ 0.87925255 0.00691875 -0.47630566 4.36637207] [-0.01723738 0.99970177 -0.01729838 0.21932307] [ 0.47604393 0.02341991 0.8791096 0.4568887 ] [ 0. 0. 0. 1. ]] SLAMing on 134.35800114499997 meters Centerline goodness [0,1] 0.7654737300119656 Centerline is valid? [False, False] Translation: X:4.37, Y:0.22, Z:0.46 [[ 0.87925765 0.00698555 -0.47629527 4.36604351] [-0.0172662 0.99970277 -0.01721194 0.21867375] [ 0.47603347 0.02335754 0.87911692 0.45701487] [ 0. 0. 0. 1. ]] SLAMing on 134.38800114499998 meters Centerline goodness [0,1] 0.771659181149515 Centerline is valid? [False, False] Translation: X:4.37, Y:0.22, Z:0.46 [[ 0.87922149 0.00783402 -0.47634882 4.36657479] [-0.01787047 0.99970344 -0.01654335 0.21625019] [ 0.47607795 0.02305785 0.87910075 0.45685132] [ 0. 0. 0. 1. ]] SLAMing on 134.41800114499998 meters Centerline goodness [0,1] 0.7787969468297338 Centerline is valid? [False, False] Translation: X:4.37, Y:0.22, Z:0.46 [[ 0.87912079 0.00818595 -0.47652873 4.36724294] [-0.01818111 0.99970072 -0.01636816 0.21610986] [ 0.47625212 0.02305341 0.87900652 0.45698188] [ 0. 0. 0. 1. ]] SLAMing on 134.44800114499998 meters Centerline goodness [0,1] 0.7776115195281157 Centerline is valid? [False, False] Translation: X:4.37, Y:0.22, Z:0.46 [[ 0.8792679 0.0127482 -0.47615696 4.36542213] [-0.0214087 0.99968927 -0.01276837 0.21523941] [ 0.47584623 0.02142072 0.8792676 0.45689125] [ 0. 0. 0. 1. ]] SLAMing on 134.47800114499998 meters Centerline goodness [0,1] 0.7800717157448658 Centerline is valid? [False, False] Translation: X:4.36, Y:0.21, Z:0.46 [[ 0.87934669 0.01749263 -0.47586071 4.36386719] [-0.02479012 0.9996516 -0.00906268 0.21471059] [ 0.47553639 0.01976589 0.87947396 0.45690412] [ 0. 0. 0. 1. ]] SLAMing on 134.50800114499998 meters Centerline goodness [0,1] 0.7910102146814404 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.46 [[ 0.87923213 0.01810455 -0.47604946 4.36445078] [-0.02541364 0.99963722 -0.0089203 0.21505415] [ 0.47571526 0.01994116 0.87937327 0.45731176] [ 0. 0. 0. 1. ]] SLAMing on 134.53800114499998 meters Centerline goodness [0,1] 0.7981357728324574 Centerline is valid? [False, False] Translation: X:4.36, Y:0.21, Z:0.46 [[ 0.879178 0.01836664 -0.47613939 4.36481087] [-0.02557428 0.9996354 -0.00866216 0.21382105] [ 0.47580669 0.0197925 0.87932716 0.45727576] [ 0. 0. 0. 1. ]] SLAMing on 134.56800114499998 meters Centerline goodness [0,1] 0.782174372694125 Centerline is valid? [False, False] Translation: X:4.36, Y:0.21, Z:0.46 [[ 0.87920962 0.01844051 -0.47607814 4.3647277 ] [-0.0255582 0.99963737 -0.00848011 0.21251546] [ 0.47574913 0.01962349 0.87936209 0.45709608] [ 0. 0. 0. 1. ]] SLAMing on 134.59800114499998 meters Centerline goodness [0,1] 0.7669044899014937 Centerline is valid? [False, False] Translation: X:4.36, Y:0.21, Z:0.46 [[ 0.87935951 0.01768282 -0.47582999 4.36314434] [-0.02492502 0.99964958 -0.00891375 0.21182715] [ 0.47550563 0.01969846 0.87949211 0.45721395] [ 0. 0. 0. 1. ]] SLAMing on 134.62800114499998 meters Centerline goodness [0,1] 0.7666551753856761 Centerline is valid? [False, False] Translation: X:4.36, Y:0.21, Z:0.46 [[ 0.87938105 0.01708743 -0.47581192 4.36227677] [-0.0245326 0.99965445 -0.00944066 0.21243562] [ 0.47548619 0.01997484 0.87949638 0.45763976] [ 0. 0. 0. 1. ]] SLAMing on 134.658001145 meters Centerline goodness [0,1] 0.7728631972979368 Centerline is valid? [False, False] Translation: X:4.36, Y:0.21, Z:0.46 [[ 0.87940996 0.01642854 -0.47578169 4.36129339] [-0.02412382 0.99965825 -0.01007144 0.2135018 ] [ 0.47545363 0.0203346 0.87950574 0.45813051] [ 0. 0. 0. 1. ]] SLAMing on 134.688001145 meters Centerline goodness [0,1] 0.7773938054047093 Centerline is valid? [False, False] Translation: X:4.36, Y:0.21, Z:0.46 [[ 0.87945352 0.01587578 -0.47571994 4.36039567] [-0.02375035 0.9996623 -0.01054593 0.21413996] [ 0.47539187 0.02057317 0.87953358 0.45847186] [ 0. 0. 0. 1. ]] SLAMing on 134.718001145 meters Centerline goodness [0,1] 0.8007265848363034 Centerline is valid? [False, False] Translation: X:4.36, Y:0.21, Z:0.46 [[ 0.87941012 0.0157855 -0.47580318 4.36098345] [-0.023533 0.99966969 -0.01032962 0.2127714 ] [ 0.47548296 0.02028105 0.87949112 0.45810172] [ 0. 0. 0. 1. ]] SLAMing on 134.748001145 meters Centerline goodness [0,1] 0.744389721627409 Centerline is valid? [False, False] Translation: X:4.36, Y:0.21, Z:0.46 [[ 0.87935934 0.01586246 -0.47589445 4.36188366] [-0.02356378 0.99967009 -0.01022033 0.21255699] [ 0.47557533 0.02020121 0.87944301 0.4578189 ] [ 0. 0. 0. 1. ]] SLAMing on 134.778001145 meters Centerline goodness [0,1] 0.7975503550054699 Centerline is valid? [False, False] Translation: X:4.36, Y:0.21, Z:0.46 [[ 0.87930012 0.01572003 -0.47600859 4.36214579] [-0.02347967 0.99967065 -0.01035869 0.21281102] [ 0.47568898 0.02028492 0.87937962 0.45794735] [ 0. 0. 0. 1. ]] SLAMing on 134.808001145 meters Centerline goodness [0,1] 0.7785731124493689 Centerline is valid? [False, False] Translation: X:4.36, Y:0.21, Z:0.46 [[ 0.87934029 0.01484691 -0.47596243 4.36075498] [-0.02291035 0.99967542 -0.01114354 0.21398366] [ 0.47564249 0.02070343 0.87939501 0.45862523] [ 0. 0. 0. 1. ]] SLAMing on 134.838001145 meters Centerline goodness [0,1] 0.7676260382460884 Centerline is valid? [False, False] Translation: X:4.36, Y:0.21, Z:0.46 [[ 0.879352 0.01435498 -0.47595587 4.35988435] [-0.02254587 0.99967962 -0.01150396 0.21409189] [ 0.47563824 0.02084687 0.87939392 0.45902529] [ 0. 0. 0. 1. ]] SLAMing on 134.86800114499997 meters Centerline goodness [0,1] 0.7616594767454339 Centerline is valid? [False, False] Translation: X:4.36, Y:0.21, Z:0.46 [[ 0.87941867 0.01396351 -0.47584433 4.35897703] [-0.02222784 0.99968395 -0.01174435 0.21367954] [ 0.47552994 0.02090519 0.87945111 0.45920638] [ 0. 0. 0. 1. ]] SLAMing on 134.89800114499997 meters Centerline goodness [0,1] 0.7541183257483495 Centerline is valid? [False, False] Translation: X:4.36, Y:0.21, Z:0.46 [[ 0.87946781 0.01349324 -0.47576706 4.3583661 ] [-0.02174351 0.99969346 -0.01184112 0.21199528] [ 0.47546144 0.02075873 0.87949161 0.45911003] [ 0. 0. 0. 1. ]] SLAMing on 134.92800114499997 meters Centerline goodness [0,1] 0.7444359007219445 Centerline is valid? [False, False] Translation: X:4.36, Y:0.21, Z:0.46 [[ 0.87941348 0.01341863 -0.4758696 4.35899572] [-0.02159526 0.99969811 -0.01171873 0.21136564] [ 0.47556869 0.02058214 0.87943777 0.45886081] [ 0. 0. 0. 1. ]] SLAMing on 134.95800114499997 meters Centerline goodness [0,1] 0.7451905626134301 Centerline is valid? [False, False] Translation: X:4.36, Y:0.21, Z:0.46 [[ 0.87940565 0.01311097 -0.47589265 4.3589824 ] [-0.02137574 0.99969999 -0.01195838 0.21189872] [ 0.47559309 0.02068882 0.87942208 0.45893046] [ 0. 0. 0. 1. ]] SLAMing on 134.98800114499997 meters Centerline goodness [0,1] 0.7665339668678567 Centerline is valid? [False, False] Translation: X:4.36, Y:0.21, Z:0.46 [[ 0.8795484 0.0169487 -0.47550746 4.3567608 ] [-0.0239877 0.99967406 -0.00873838 0.21127264] [ 0.47520437 0.01909216 0.87966829 0.45884935] [ 0. 0. 0. 1. ]] SLAMing on 135.01800114499997 meters Centerline goodness [0,1] 0.7297112152933873 Centerline is valid? [False, False] Translation: X:4.35, Y:0.21, Z:0.46 [[ 0.87971408 0.02037202 -0.47506644 4.35362618] [-0.02641785 0.99963266 -0.00605309 0.21164435] [ 0.47476861 0.01787523 0.87992911 0.45922144] [ 0. 0. 0. 1. ]] SLAMing on 135.04800114499997 meters Centerline goodness [0,1] 0.7433472335669146 Centerline is valid? [False, False] Translation: X:4.35, Y:0.21, Z:0.46 [[ 0.8797271 0.02009818 -0.47505399 4.35335692] [-0.02626707 0.99963479 -0.00635089 0.21201155] [ 0.47475285 0.01806532 0.87993373 0.45938837] [ 0. 0. 0. 1. ]] SLAMing on 135.07800114499997 meters Centerline goodness [0,1] 0.7545313976462503 Centerline is valid? [False, False] Translation: X:4.35, Y:0.21, Z:0.46 [[ 0.8797355 0.01977815 -0.47505187 4.35294498] [-0.0260767 0.99963768 -0.00667213 0.21227118] [ 0.47474779 0.01825749 0.8799325 0.45961336] [ 0. 0. 0. 1. ]] SLAMing on 135.10800114499997 meters Centerline goodness [0,1] 0.7386307490709114 Centerline is valid? [False, False] Translation: X:4.35, Y:0.21, Z:0.46 [[ 0.87980759 0.0191752 -0.47494306 4.35244547] [-0.02569438 0.99964364 -0.00723823 0.21318953] [ 0.47463501 0.01857162 0.87998676 0.45967946] [ 0. 0. 0. 1. ]] SLAMing on 135.13800114499998 meters Centerline goodness [0,1] 0.7450041003064439 Centerline is valid? [False, False] Translation: X:4.35, Y:0.21, Z:0.46 [[ 0.8797876 0.01868168 -0.47499977 4.35226235] [-0.0254195 0.99964671 -0.00776566 0.21461774] [ 0.47468688 0.01890639 0.87995165 0.46001355] [ 0. 0. 0. 1. ]] SLAMing on 135.16800114499998 meters Centerline goodness [0,1] 0.7318546647104514 Centerline is valid? [False, False] Translation: X:4.35, Y:0.21, Z:0.46 [[ 0.87989054 0.02248872 -0.47464397 4.35027257] [-0.02800857 0.99959728 -0.00456092 0.21454187] [ 0.47435025 0.01730721 0.88016606 0.45991701] [ 0. 0. 0. 1. ]] SLAMing on 135.19800114499998 meters Centerline goodness [0,1] 0.726225717928218 Centerline is valid? [False, False] Translation: X:4.35, Y:0.22, Z:0.46 [[ 0.87989014 0.02180198 -0.47467674 4.34973803] [-0.02760775 0.99960498 -0.0052634 0.21627109] [ 0.47437448 0.01773597 0.88014447 0.46037637] [ 0. 0. 0. 1. ]] SLAMing on 135.22800114499998 meters Centerline goodness [0,1] 0.716995841995842 Centerline is valid? [False, False] Translation: X:4.35, Y:0.22, Z:0.46 [[ 0.87988571 0.02107586 -0.47471776 4.3491444 ] [-0.02715184 0.99961364 -0.00594627 0.21737619] [ 0.47440903 0.0181215 0.880118 0.46080159] [ 0. 0. 0. 1. ]] SLAMing on 135.25800114499998 meters Centerline goodness [0,1] 0.707002363758593 Centerline is valid? [False, False] Translation: X:4.35, Y:0.22, Z:0.46 [[ 0.87987346 0.02074943 -0.47475484 4.34923378] [-0.02694297 0.99961746 -0.00624514 0.21787247] [ 0.47444365 0.01828624 0.88009592 0.46088123] [ 0. 0. 0. 1. ]] SLAMing on 135.28800114499998 meters Centerline goodness [0,1] 0.7091975241611468 Centerline is valid? [False, False] Translation: X:4.35, Y:0.22, Z:0.46 [[ 0.87987691 0.0203697 -0.47476488 4.34927229] [-0.02669863 0.99962179 -0.00659171 0.21851828] [ 0.47445105 0.01847547 0.88008798 0.460935 ] [ 0. 0. 0. 1. ]] SLAMing on 135.31800114499998 meters Centerline goodness [0,1] 0.7195029220708684 Centerline is valid? [False, False] Translation: X:4.35, Y:0.22, Z:0.46 [[ 0.87984721 0.01996613 -0.47483707 4.3492637 ] [-0.02647666 0.99962473 -0.0070272 0.21951812] [ 0.47451857 0.01875496 0.88004567 0.46117852] [ 0. 0. 0. 1. ]] SLAMing on 135.34800114499998 meters Centerline goodness [0,1] 0.7013643694695088 Centerline is valid? [False, False] Translation: X:4.35, Y:0.22, Z:0.46 [[ 0.87983438 0.01938466 -0.47488493 4.34925779] [-0.02622083 0.99962593 -0.00777573 0.22163218] [ 0.47455656 0.01929323 0.88001355 0.46148117] [ 0. 0. 0. 1. ]] SLAMing on 135.37800114499998 meters Centerline goodness [0,1] 0.7030325524528961 Centerline is valid? [False, False] Translation: X:4.35, Y:0.22, Z:0.46 [[ 0.879769 0.0189317 -0.47502432 4.34929231] [-0.02604547 0.99962548 -0.00839826 0.22362722] [ 0.47468742 0.01976076 0.87993259 0.46197086] [ 0. 0. 0. 1. ]] SLAMing on 135.408001145 meters Centerline goodness [0,1] 0.7177019858840034 Centerline is valid? [False, False] Translation: X:4.35, Y:0.22, Z:0.46 [[ 0.8798754 0.02293427 -0.47465071 4.34709363] [-0.02888239 0.99956907 -0.00524285 0.22383667] [ 0.47432592 0.01832211 0.88015863 0.46207436] [ 0. 0. 0. 1. ]] SLAMing on 135.438001145 meters Centerline goodness [0,1] 0.6987652147117733 Centerline is valid? [False, False] Translation: X:4.35, Y:0.23, Z:0.46 [[ 8.79922823e-01 2.70976673e-02 -4.74343274e-01 4.34532785e+00] [-3.19527040e-02 9.99487013e-01 -2.17594940e-03 2.25084771e-01] [ 4.74040979e-01 1.70712178e-02 8.80337278e-01 4.62349897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.468001145 meters Centerline goodness [0,1] 0.7191916523576807 Centerline is valid? [False, False] Translation: X:4.35, Y:0.23, Z:0.46 [[ 8.79879794e-01 2.68098169e-02 -4.74439439e-01 4.34547889e+00] [-3.18150154e-02 9.99490589e-01 -2.52346139e-03 2.25835647e-01] [ 4.74130101e-01 1.73146408e-02 8.80284528e-01 4.62529866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.498001145 meters Centerline goodness [0,1] 0.7162492565915548 Centerline is valid? [False, False] Translation: X:4.35, Y:0.23, Z:0.46 [[ 8.79891718e-01 2.65895411e-02 -4.74429723e-01 4.34549272e+00] [-3.16619363e-02 9.99494977e-01 -2.70422085e-03 2.25931628e-01] [ 4.74118221e-01 1.74007852e-02 8.80289228e-01 4.62484985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.528001145 meters Centerline goodness [0,1] 0.7100795989269537 Centerline is valid? [False, False] Translation: X:4.35, Y:0.23, Z:0.46 [[ 8.79934706e-01 2.62570793e-02 -4.74368506e-01 4.34521884e+00] [-3.14187510e-02 9.99501937e-01 -2.95645211e-03 2.25992202e-01] [ 4.74054612e-01 1.75055508e-02 8.80321407e-01 4.62462517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.558001145 meters Centerline goodness [0,1] 0.7200079230583005 Centerline is valid? [False, False] Translation: X:4.34, Y:0.23, Z:0.46 [[ 8.80067257e-01 2.50937372e-02 -4.74185541e-01 4.34342523e+00] [-3.05903237e-02 9.99524477e-01 -3.87978460e-03 2.26872494e-01] [ 4.73862696e-01 1.79199606e-02 8.80416390e-01 4.62913148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.588001145 meters Centerline goodness [0,1] 0.6854246997906797 Centerline is valid? [False, False] Translation: X:4.34, Y:0.23, Z:0.46 [[ 0.88004393 0.02459128 -0.47425515 4.34312984] [-0.03027494 0.99953214 -0.00435104 0.22790579] [ 0.47392627 0.01818715 0.88037669 0.46326938] [ 0. 0. 0. 1. ]] SLAMing on 135.61800114499997 meters Centerline goodness [0,1] 0.7456310679611651 Centerline is valid? [False, False] Translation: X:4.34, Y:0.23, Z:0.46 [[ 0.87995918 0.02409448 -0.47443787 4.34313865] [-0.02997784 0.99953885 -0.00483923 0.22927928] [ 0.47410249 0.01848095 0.88027569 0.46371033] [ 0. 0. 0. 1. ]] SLAMing on 135.64800114499997 meters Centerline goodness [0,1] 0.7065368875124434 Centerline is valid? [False, False] Translation: X:4.34, Y:0.23, Z:0.46 [[ 0.87987044 0.02364208 -0.47462519 4.34372032] [-0.02970445 0.99954479 -0.00527732 0.23089777] [ 0.47428437 0.01874183 0.88017219 0.46388856] [ 0. 0. 0. 1. ]] SLAMing on 135.67800114499997 meters Centerline goodness [0,1] 0.7380620925864545 Centerline is valid? [False, False] Translation: X:4.34, Y:0.23, Z:0.46 [[ 0.87983097 0.02349459 -0.47470567 4.34388321] [-0.02960829 0.99954696 -0.00540617 0.23089196] [ 0.47436359 0.01881173 0.880128 0.46399012] [ 0. 0. 0. 1. ]] SLAMing on 135.70800114499997 meters Centerline goodness [0,1] 0.7341685598958907 Centerline is valid? [False, False] Translation: X:4.34, Y:0.23, Z:0.46 [[ 0.87980209 0.02339565 -0.47476408 4.34397411] [-0.02953165 0.99954888 -0.0054699 0.23048369] [ 0.47442193 0.018833 0.8800961 0.46404263] [ 0. 0. 0. 1. ]] SLAMing on 135.73800114499997 meters Centerline goodness [0,1] 0.6952135509592723 Centerline is valid? [False, False] Translation: X:4.34, Y:0.23, Z:0.46 [[ 0.87980037 0.0231365 -0.47477997 4.34382767] [-0.02932728 0.99955397 -0.00563623 0.23000275] [ 0.4744378 0.01888276 0.88008648 0.46408756] [ 0. 0. 0. 1. ]] SLAMing on 135.76800114499997 meters Centerline goodness [0,1] 0.7116090867107954 Centerline is valid? [False, False] Translation: X:4.34, Y:0.23, Z:0.46 [[ 0.87990527 0.0218615 -0.47464595 4.34215775] [-0.02842092 0.99957394 -0.00664817 0.23162467] [ 0.47429839 0.01933964 0.8801517 0.46462446] [ 0. 0. 0. 1. ]] SLAMing on 135.79800114499997 meters Centerline goodness [0,1] 0.7051675084360733 Centerline is valid? [False, False] Translation: X:4.34, Y:0.23, Z:0.47 [[ 0.87989978 0.02085966 -0.47470121 4.34099818] [-0.027812 0.99958407 -0.0076275 0.23388066] [ 0.47434467 0.01991383 0.88011396 0.46548069] [ 0. 0. 0. 1. ]] SLAMing on 135.82800114499997 meters Centerline goodness [0,1] 0.6908512471555133 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.47 [[ 0.87986837 0.02004885 -0.47479437 4.33983956] [-0.02732762 0.99959096 -0.00843325 0.23547001] [ 0.47443108 0.02039515 0.88005635 0.46639506] [ 0. 0. 0. 1. ]] SLAMing on 135.85800114499997 meters Centerline goodness [0,1] 0.6865072361454289 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.47 [[ 0.88000776 0.01922454 -0.47457008 4.33796822] [-0.02675219 0.99960055 -0.0091141 0.23513415] [ 0.4742053 0.02071627 0.88017053 0.466805 ] [ 0. 0. 0. 1. ]] SLAMing on 135.88800114499998 meters Centerline goodness [0,1] 0.6803101254638628 Centerline is valid? [False, False] Translation: X:4.34, Y:0.23, Z:0.47 [[ 0.88003602 0.01924461 -0.47451686 4.33806731] [-0.02675968 0.99960058 -0.00908832 0.23436546] [ 0.47415243 0.02069597 0.88019949 0.46661543] [ 0. 0. 0. 1. ]] SLAMing on 135.91800114499998 meters Centerline goodness [0,1] 0.6854635483443123 Centerline is valid? [False, False] Translation: X:4.34, Y:0.23, Z:0.47 [[ 0.87999265 0.01916302 -0.47460058 4.33824725] [-0.02675293 0.99959934 -0.00924364 0.23454204] [ 0.47423328 0.02083129 0.88015274 0.46677334] [ 0. 0. 0. 1. ]] SLAMing on 135.94800114499998 meters Centerline goodness [0,1] 0.6884397664956661 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.47 [[ 0.87987955 0.01894376 -0.47481902 4.33847728] [-0.02675843 0.99959482 -0.00970498 0.23627749] [ 0.47444279 0.02124462 0.88002995 0.46738103] [ 0. 0. 0. 1. ]] SLAMing on 135.97800114499998 meters Centerline goodness [0,1] 0.6839817238167059 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.47 [[ 0.87979328 0.02371527 -0.47476455 4.3377997 ] [-0.0303857 0.99951788 -0.00638063 0.23855221] [ 0.47438434 0.02003969 0.88008972 0.46791736] [ 0. 0. 0. 1. ]] SLAMing on 136.00800114499998 meters Centerline goodness [0,1] 0.7112179273204708 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.47 [[ 0.87966364 0.02391428 -0.47499473 4.33876795] [-0.03066252 0.9995089 -0.00646357 0.23956467] [ 0.47460688 0.0202503 0.8799649 0.468142 ] [ 0. 0. 0. 1. ]] SLAMing on 136.03800114499998 meters Centerline goodness [0,1] 0.7200550609444728 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.47 [[ 0.87955952 0.02428306 -0.47516879 4.33993954] [-0.03098606 0.9995001 -0.0062781 0.23935711] [ 0.47477881 0.02024557 0.87987227 0.46802273] [ 0. 0. 0. 1. ]] SLAMing on 136.06800114499998 meters Centerline goodness [0,1] 0.70914429343595 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.47 [[ 0.87948935 0.02462128 -0.47528126 4.34071676] [-0.03122444 0.99949438 -0.0060022 0.23825051] [ 0.47489316 0.02011926 0.87981345 0.46786765] [ 0. 0. 0. 1. ]] SLAMing on 136.09800114499998 meters Centerline goodness [0,1] 0.7019203083124765 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.47 [[ 0.87952319 0.02441578 -0.47522924 4.34016673] [-0.03098328 0.99950195 -0.00599056 0.23641756] [ 0.47484629 0.019993 0.87984162 0.46787525] [ 0. 0. 0. 1. ]] SLAMing on 136.12800114499998 meters Centerline goodness [0,1] 0.7116097387753291 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.47 [[ 0.87953798 0.02399048 -0.47522352 4.33960014] [-0.03066066 0.99951007 -0.0062886 0.23664859] [ 0.47483983 0.02010173 0.87984263 0.46812286] [ 0. 0. 0. 1. ]] SLAMing on 136.158001145 meters Centerline goodness [0,1] 0.7116097387753291 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.47 [[ 0.87953798 0.02399048 -0.47522352 4.33960014] [-0.03066066 0.99951007 -0.0062886 0.23664859] [ 0.47483983 0.02010173 0.87984263 0.46812286] [ 0. 0. 0. 1. ]] SLAMing on 136.188001145 meters Centerline goodness [0,1] 0.6904080410037942 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.47 [[ 0.87957989 0.02315528 -0.47518739 4.33831701] [-0.03007012 0.9995236 -0.00695477 0.23756353] [ 0.47479997 0.02040622 0.87985713 0.46876257] [ 0. 0. 0. 1. ]] SLAMing on 136.218001145 meters Centerline goodness [0,1] 0.7056827255789193 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.47 [[ 0.87957994 0.0230304 -0.47519336 4.33804974] [-0.02995654 0.99952664 -0.00700697 0.23712187] [ 0.47480705 0.02039834 0.87985349 0.46888915] [ 0. 0. 0. 1. ]] SLAMing on 136.248001145 meters Centerline goodness [0,1] 0.7119431720108875 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.47 [[ 0.87956916 0.02279618 -0.47522461 4.33752048] [-0.02977884 0.9995308 -0.0071694 0.23654279] [ 0.4748382 0.02045762 0.87983531 0.46920061] [ 0. 0. 0. 1. ]] SLAMing on 136.278001145 meters Centerline goodness [0,1] 0.6967292817679558 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.47 [[ 0.87964474 0.02268522 -0.47509 4.33692151] [-0.02964392 0.99953488 -0.00715959 0.23546875] [ 0.47470661 0.02038142 0.87990808 0.46913696] [ 0. 0. 0. 1. ]] SLAMing on 136.308001145 meters Centerline goodness [0,1] 0.7062255519458993 Centerline is valid? [False, False] Translation: X:4.34, Y:0.23, Z:0.47 [[ 0.87975291 0.02230637 -0.47490762 4.33533265] [-0.0293044 0.99954361 -0.0073371 0.23411959] [ 0.47452721 0.02037172 0.88000507 0.46945116] [ 0. 0. 0. 1. ]] SLAMing on 136.338001145 meters Centerline goodness [0,1] 0.7048887122416534 Centerline is valid? [False, False] Translation: X:4.34, Y:0.23, Z:0.47 [[ 0.87972386 0.02225352 -0.47496391 4.33527459] [-0.02927785 0.99954395 -0.00739645 0.23410151] [ 0.47458271 0.02041276 0.87997419 0.46962851] [ 0. 0. 0. 1. ]] SLAMing on 136.36800114499997 meters Centerline goodness [0,1] 0.7073676775702997 Centerline is valid? [False, False] Translation: X:4.34, Y:0.23, Z:0.47 [[ 0.87972598 0.02217133 -0.47496383 4.33506401] [-0.02920346 0.99954586 -0.00743168 0.23391459] [ 0.47458336 0.02040843 0.87997394 0.4697363 ] [ 0. 0. 0. 1. ]] SLAMing on 136.39800114499997 meters Centerline goodness [0,1] 0.7050533964549157 Centerline is valid? [False, False] Translation: X:4.33, Y:0.23, Z:0.47 [[ 0.87972529 0.02212555 -0.47496723 4.33463847] [-0.0291169 0.99954886 -0.00736746 0.23309708] [ 0.47458994 0.02031091 0.87997264 0.46992012] [ 0. 0. 0. 1. ]] SLAMing on 136.42800114499997 meters Centerline goodness [0,1] 0.7059795540671543 Centerline is valid? [False, False] Translation: X:4.33, Y:0.23, Z:0.47 [[ 0.87974985 0.02210173 -0.47492285 4.33400908] [-0.02901436 0.99955285 -0.00722967 0.23170805] [ 0.4745507 0.02013989 0.87999774 0.47004719] [ 0. 0. 0. 1. ]] SLAMing on 136.45800114499997 meters Centerline goodness [0,1] 0.7076020822808443 Centerline is valid? [False, False] Translation: X:4.33, Y:0.23, Z:0.47 [[ 0.8798043 0.02202566 -0.47482552 4.3330721 ] [-0.02874436 0.99956302 -0.00689386 0.22752049] [ 0.47446619 0.0197138 0.88005296 0.46996616] [ 0. 0. 0. 1. ]] SLAMing on 136.48800114499997 meters Centerline goodness [0,1] 0.7020011410014482 Centerline is valid? [False, False] Translation: X:4.33, Y:0.23, Z:0.47 [[ 0.87977201 0.02227151 -0.47487387 4.33327427] [-0.02879913 0.99956425 -0.00647512 0.22563873] [ 0.47452273 0.01937259 0.88003004 0.46983066] [ 0. 0. 0. 1. ]] SLAMing on 136.51800114499997 meters Centerline goodness [0,1] 0.7294632119820706 Centerline is valid? [False, False] Translation: X:4.33, Y:0.22, Z:0.47 [[ 0.87974653 0.02253279 -0.47490875 4.33305762] [-0.02882198 0.99956676 -0.00596538 0.22317323] [ 0.47456859 0.01893584 0.88001482 0.4699068 ] [ 0. 0. 0. 1. ]] SLAMing on 136.54800114499997 meters Centerline goodness [0,1] 0.7039470811684059 Centerline is valid? [False, False] Translation: X:4.33, Y:0.22, Z:0.47 [[ 0.87968352 0.02282017 -0.47501174 4.33331572] [-0.02897139 0.99956437 -0.00563235 0.22204027] [ 0.47467628 0.01871643 0.87996143 0.46996134] [ 0. 0. 0. 1. ]] SLAMing on 136.57800114499997 meters Centerline goodness [0,1] 0.7278679937139864 Centerline is valid? [False, False] Translation: X:4.33, Y:0.22, Z:0.47 [[ 0.87962166 0.02328682 -0.47510362 4.33373071] [-0.02924911 0.99955883 -0.00516015 0.22043457] [ 0.47477386 0.01843534 0.87991472 0.46993159] [ 0. 0. 0. 1. ]] SLAMing on 136.60800114499997 meters Centerline goodness [0,1] 0.726271482159993 Centerline is valid? [False, False] Translation: X:4.33, Y:0.22, Z:0.47 [[ 0.87957153 0.02364964 -0.47517852 4.33386167] [-0.02945262 0.9995548 -0.00476994 0.21881808] [ 0.47485416 0.01819076 0.87987648 0.46997832] [ 0. 0. 0. 1. ]] SLAMing on 136.63800114499998 meters Centerline goodness [0,1] 0.7286124152321336 Centerline is valid? [False, False] Translation: X:4.33, Y:0.21, Z:0.47 [[ 8.79541390e-01 2.44232251e-02 -4.75195169e-01 4.33368100e+00] [-2.98865293e-02 9.99545516e-01 -3.94430453e-03 2.14841640e-01] [ 4.74882868e-01 1.76711135e-02 8.79871578e-01 4.69994684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.66800114499998 meters Centerline goodness [0,1] 0.7283744525863938 Centerline is valid? [False, False] Translation: X:4.33, Y:0.21, Z:0.47 [[ 8.79423889e-01 2.49366864e-02 -4.75385933e-01 4.33431094e+00] [-3.02453588e-02 9.99536306e-01 -3.52001931e-03 2.13661952e-01] [ 4.75077722e-01 1.74738072e-02 8.79770325e-01 4.70123821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69800114499998 meters Centerline goodness [0,1] 0.7329912086960287 Centerline is valid? [False, False] Translation: X:4.33, Y:0.21, Z:0.47 [[ 8.79296184e-01 2.54027033e-02 -4.75597439e-01 4.33474447e+00] [-3.06455596e-02 9.99524961e-01 -3.27143819e-03 2.13380103e-01] [ 4.75288408e-01 1.74515128e-02 8.79656964e-01 4.70514061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.72800114499998 meters Centerline goodness [0,1] 0.7277777777777779 Centerline is valid? [False, False] Translation: X:4.34, Y:0.21, Z:0.47 [[ 8.79107755e-01 2.59002496e-02 -4.75918830e-01 4.33553631e+00] [-3.10773762e-02 9.99512448e-01 -3.01047235e-03 2.13379647e-01] [ 4.75608823e-01 1.74368381e-02 8.79484056e-01 4.70967677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75800114499998 meters Centerline goodness [0,1] 0.7437045690550363 Centerline is valid? [False, False] Translation: X:4.33, Y:0.21, Z:0.47 [[ 8.79225207e-01 2.89157193e-02 -4.75528039e-01 4.33337458e+00] [-3.32861271e-02 9.99445566e-01 -7.70332115e-04 2.10911760e-01] [ 4.75242116e-01 1.65057822e-02 8.79700228e-01 4.71326840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.78800114499998 meters Centerline goodness [0,1] 0.7429663377453415 Centerline is valid? [False, False] Translation: X:4.33, Y:0.21, Z:0.47 [[ 8.79171997e-01 2.93144596e-02 -4.75602000e-01 4.33345398e+00] [-3.35120630e-02 9.99438253e-01 -3.46665948e-04 2.09067793e-01] [ 4.75324670e-01 1.62431832e-02 8.79660513e-01 4.71429974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81800114499998 meters Centerline goodness [0,1] 0.7441009300723389 Centerline is valid? [False, False] Translation: X:4.33, Y:0.21, Z:0.47 [[ 8.79176910e-01 2.96232960e-02 -4.75573780e-01 4.33323282e+00] [-3.36369054e-02 9.99434117e-01 7.09502115e-05 2.06729448e-01] [ 4.75306763e-01 1.59344525e-02 8.79675835e-01 4.71414701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.84800114499998 meters Centerline goodness [0,1] 0.7352016875457402 Centerline is valid? [False, False] Translation: X:4.33, Y:0.20, Z:0.47 [[ 8.79170405e-01 3.03196836e-02 -4.75541917e-01 4.33332464e+00] [-3.39549850e-02 9.99422915e-01 9.46222822e-04 2.02735183e-01] [ 4.75296179e-01 1.53151276e-02 8.79692554e-01 4.71126191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87800114499998 meters Centerline goodness [0,1] 0.7356124007659044 Centerline is valid? [False, False] Translation: X:4.33, Y:0.20, Z:0.47 [[ 8.79101318e-01 3.05121305e-02 -4.75657317e-01 4.33336886e+00] [-3.40746652e-02 9.99418647e-01 1.13381848e-03 2.01986520e-01] [ 4.75415387e-01 1.52111225e-02 8.79629940e-01 4.71374426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.908001145 meters Centerline goodness [0,1] 0.7391865719819238 Centerline is valid? [False, False] Translation: X:4.33, Y:0.20, Z:0.47 [[ 8.78997214e-01 3.09519597e-02 -4.75821262e-01 4.33386479e+00] [-3.43763316e-02 9.99407823e-01 1.50672314e-03 2.01084785e-01] [ 4.75586128e-01 1.50325841e-02 8.79540708e-01 4.71550452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.938001145 meters Centerline goodness [0,1] 0.7826320424425972 Centerline is valid? [False, False] Translation: X:4.33, Y:0.20, Z:0.47 [[ 8.78904808e-01 3.13089104e-02 -4.75968581e-01 4.33419282e+00] [-3.46070846e-02 9.99399309e-01 1.83577318e-03 2.00092975e-01] [ 4.75740147e-01 1.48584151e-02 8.79460368e-01 4.71741815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.968001145 meters Centerline goodness [0,1] 0.796676756617505 Centerline is valid? [False, False] Translation: X:4.33, Y:0.20, Z:0.47 [[ 8.78795775e-01 3.22817428e-02 -4.76104899e-01 4.33463493e+00] [-3.52650251e-02 9.99374431e-01 2.66914567e-03 1.97390992e-01] [ 4.75893227e-01 1.44442173e-02 8.79384444e-01 4.71876652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.998001145 meters Centerline goodness [0,1] 0.7877183581609688 Centerline is valid? [False, False] Translation: X:4.34, Y:0.20, Z:0.47 [[ 8.78687520e-01 3.28832520e-02 -4.76263514e-01 4.33533851e+00] [-3.56944136e-02 9.99357802e-01 3.14510483e-03 1.95979600e-01] [ 4.76061080e-01 1.42363825e-02 8.79296977e-01 4.71916332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.028001145 meters Centerline goodness [0,1] 0.7863755906690328 Centerline is valid? [False, False] Translation: X:4.34, Y:0.19, Z:0.47 [[ 8.78610362e-01 3.33625406e-02 -4.76372514e-01 4.33588217e+00] [-3.60424811e-02 9.99344085e-01 3.51271363e-03 1.94695980e-01] [ 4.76177248e-01 1.40833407e-02 8.79236537e-01 4.71935085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.058001145 meters Centerline goodness [0,1] 0.8219989310529129 Centerline is valid? [False, False] Translation: X:4.34, Y:0.19, Z:0.47 [[ 8.78528147e-01 3.37658654e-02 -4.76495710e-01 4.33620773e+00] [-3.63498696e-02 9.99331914e-01 3.79630549e-03 1.93409040e-01] [ 4.76305556e-01 1.39853957e-02 8.79168600e-01 4.72085161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.088001145 meters Centerline goodness [0,1] 0.8581167447805709 Centerline is valid? [False, False] Translation: X:4.34, Y:0.19, Z:0.47 [[ 8.78460543e-01 3.43066384e-02 -4.76581713e-01 4.33613489e+00] [-3.67627381e-02 9.99315311e-01 4.17249376e-03 1.92102806e-01] [ 4.76398547e-01 1.38550776e-02 8.79120277e-01 4.72477780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11800114499997 meters Centerline goodness [0,1] 0.8265976041266999 Centerline is valid? [False, False] Translation: X:4.34, Y:0.19, Z:0.47 [[ 8.78396961e-01 3.44720167e-02 -4.76686961e-01 4.33627894e+00] [-3.68783173e-02 9.99310470e-01 4.30984178e-03 1.91638319e-01] [ 4.76506840e-01 1.37936611e-02 8.79062550e-01 4.72676545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14800114499997 meters Centerline goodness [0,1] 0.8400314873518712 Centerline is valid? [False, False] Translation: X:4.34, Y:0.19, Z:0.47 [[ 0.87831662 0.03477918 -0.47681266 4.3369019 ] [-0.03706524 0.9993022 0.00461376 0.19074059] [ 0.47664041 0.01362083 0.87899283 0.47264033] [ 0. 0. 0. 1. ]] SLAMing on 137.17800114499997 meters Centerline goodness [0,1] 0.8568371541166999 Centerline is valid? [False, False] Translation: X:4.34, Y:0.19, Z:0.47 [[ 0.87827447 0.03507839 -0.4768684 4.33713695] [-0.03720817 0.99929513 0.00497973 0.1890422 ] [ 0.47670695 0.01336983 0.8789606 0.47261845] [ 0. 0. 0. 1. ]] SLAMing on 137.20800114499997 meters Centerline goodness [0,1] 0.8051873809019691 Centerline is valid? [False, False] Translation: X:4.34, Y:0.19, Z:0.47 [[ 0.87830715 0.03481925 -0.4768272 4.33674616] [-0.03699807 0.9993037 0.00482217 0.18863459] [ 0.47666309 0.01340634 0.87898383 0.47269709] [ 0. 0. 0. 1. ]] SLAMing on 137.23800114499997 meters Centerline goodness [0,1] 0.8391818431795588 Centerline is valid? [False, False] Translation: X:4.34, Y:0.19, Z:0.47 [[ 0.87838569 0.03444951 -0.47670936 4.33581879] [-0.03665691 0.99931699 0.00467178 0.18763003] [ 0.4765447 0.01337107 0.87904856 0.47281658] [ 0. 0. 0. 1. ]] SLAMing on 137.26800114499997 meters Centerline goodness [0,1] 0.8224963500560716 Centerline is valid? [False, False] Translation: X:4.33, Y:0.19, Z:0.47 [[ 8.78703156e-01 3.23827019e-02 -4.76268963e-01 4.33187541e+00] [-3.49959573e-02 9.99381725e-01 3.38384920e-03 1.86211813e-01] [ 4.76084076e-01 1.36940893e-02 8.79293139e-01 4.73437961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.29800114499997 meters Centerline goodness [0,1] 0.829331191341845 Centerline is valid? [False, False] Translation: X:4.33, Y:0.19, Z:0.47 [[ 8.78759820e-01 3.17623248e-02 -4.76206189e-01 4.33131110e+00] [-3.44599412e-02 9.99401369e-01 3.06862697e-03 1.86079759e-01] [ 4.76018583e-01 1.37134512e-02 8.79328294e-01 4.73499475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.32800114499997 meters Centerline goodness [0,1] 0.770028295113814 Centerline is valid? [False, False] Translation: X:4.33, Y:0.19, Z:0.47 [[ 8.78747026e-01 3.11838796e-02 -4.76268023e-01 4.33106680e+00] [-3.39786905e-02 9.99418789e-01 2.74442505e-03 1.86261771e-01] [ 4.76076793e-01 1.37713084e-02 8.79295877e-01 4.73678706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.35800114499997 meters Centerline goodness [0,1] 0.7793466047616019 Centerline is valid? [False, False] Translation: X:4.33, Y:0.19, Z:0.47 [[ 8.78742421e-01 3.08014996e-02 -4.76301402e-01 4.33100934e+00] [-3.36355254e-02 9.99430846e-01 2.57611210e-03 1.86014600e-01] [ 4.76109661e-01 1.37569089e-02 8.79278305e-01 4.73702347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.38800114499998 meters Centerline goodness [0,1] 0.7762103170406718 Centerline is valid? [False, False] Translation: X:4.33, Y:0.19, Z:0.47 [[ 8.78995287e-01 2.92305048e-02 -4.75933675e-01 4.32939592e+00] [-3.22862108e-02 9.99477122e-01 1.75611383e-03 1.85260577e-01] [ 4.75736151e-01 1.38224792e-02 8.79479422e-01 4.73354197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41800114499998 meters Centerline goodness [0,1] 0.7548437533013586 Centerline is valid? [False, False] Translation: X:4.33, Y:0.18, Z:0.47 [[ 8.79036600e-01 2.88240696e-02 -4.75882159e-01 4.32917282e+00] [-3.19300977e-02 9.99488890e-01 1.55839603e-03 1.84697374e-01] [ 4.75683850e-01 1.38250767e-02 8.79507670e-01 4.73244701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.44800114499998 meters Centerline goodness [0,1] 0.78521104411298 Centerline is valid? [False, False] Translation: X:4.33, Y:0.18, Z:0.47 [[ 8.79031471e-01 2.85978986e-02 -4.75905278e-01 4.32918941e+00] [-3.17357852e-02 9.99495252e-01 1.44295512e-03 1.84288626e-01] [ 4.75706331e-01 1.38348247e-02 8.79495358e-01 4.73238250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47800114499998 meters Centerline goodness [0,1] 0.7571706986400034 Centerline is valid? [False, False] Translation: X:4.33, Y:0.18, Z:0.47 [[ 8.79017464e-01 2.84166790e-02 -4.75942003e-01 4.32922649e+00] [-3.16053244e-02 9.99499576e-01 1.30441628e-03 1.84239057e-01] [ 4.75740897e-01 1.38956967e-02 8.79475701e-01 4.73284269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.50800114499998 meters Centerline goodness [0,1] 0.7448576285592861 Centerline is valid? [False, False] Translation: X:4.33, Y:0.19, Z:0.47 [[ 8.79073024e-01 2.78181549e-02 -4.75874740e-01 4.32848335e+00] [-3.12666102e-02 9.99510855e-01 6.70164110e-04 1.85649299e-01] [ 4.75660611e-01 1.42898668e-02 8.79512810e-01 4.73651315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53800114499998 meters Centerline goodness [0,1] 0.745814566159599 Centerline is valid? [False, False] Translation: X:4.33, Y:0.19, Z:0.47 [[ 8.79055095e-01 2.74353321e-02 -4.75930082e-01 4.32828393e+00] [-3.10523339e-02 9.99517725e-01 2.63459900e-04 1.86860947e-01] [ 4.75707781e-01 1.45471440e-02 8.79483080e-01 4.73950416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.56800114499998 meters Centerline goodness [0,1] 0.7416507126143373 Centerline is valid? [False, False] Translation: X:4.33, Y:0.19, Z:0.47 [[ 8.79035134e-01 2.70775997e-02 -4.75987433e-01 4.32813728e+00] [-3.08813452e-02 9.99523043e-01 -1.70388020e-04 1.88179117e-01] [ 4.75755793e-01 1.48489093e-02 8.79452065e-01 4.74272922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59800114499998 meters Centerline goodness [0,1] 0.7321778801057389 Centerline is valid? [False, False] Translation: X:4.33, Y:0.19, Z:0.47 [[ 8.79035801e-01 2.67744397e-02 -4.76003350e-01 4.32816559e+00] [-3.07613023e-02 9.99526588e-01 -5.85125424e-04 1.89290933e-01] [ 4.75762338e-01 1.51568292e-02 8.79443272e-01 4.74443048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.62800114499998 meters Centerline goodness [0,1] 0.727371400600166 Centerline is valid? [False, False] Translation: X:4.33, Y:0.19, Z:0.47 [[ 8.79016556e-01 2.68369545e-02 -4.76035369e-01 4.32882953e+00] [-3.08012602e-02 9.99525390e-01 -5.26431964e-04 1.88883484e-01] [ 4.75795310e-01 1.51252317e-02 8.79425978e-01 4.74174528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.658001145 meters Centerline goodness [0,1] 0.7587243386130593 Centerline is valid? [False, False] Translation: X:4.33, Y:0.19, Z:0.47 [[ 8.78949671e-01 2.69862922e-02 -4.76150413e-01 4.32960357e+00] [-3.08914322e-02 9.99522675e-01 -3.75098382e-04 1.88231433e-01] [ 4.75913012e-01 1.50386608e-02 8.79363772e-01 4.73999846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.688001145 meters Centerline goodness [0,1] 0.7492265346619156 Centerline is valid? [False, False] Translation: X:4.33, Y:0.19, Z:0.47 [[ 8.78881796e-01 2.70733417e-02 -4.76270746e-01 4.33040352e+00] [-3.09704967e-02 9.99520243e-01 -3.33954354e-04 1.88174103e-01] [ 4.76033211e-01 1.50438480e-02 8.79298621e-01 4.73863484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.718001145 meters Centerline goodness [0,1] 0.7908602608918066 Centerline is valid? [False, False] Translation: X:4.33, Y:0.19, Z:0.47 [[ 8.78933455e-01 3.09511126e-02 -4.75939083e-01 4.32840785e+00] [-3.38072724e-02 9.99425089e-01 2.56120128e-03 1.89431455e-01] [ 4.75744732e-01 1.38390767e-02 8.79474519e-01 4.74163541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.748001145 meters Centerline goodness [0,1] 0.7427943123105172 Centerline is valid? [False, False] Translation: X:4.33, Y:0.19, Z:0.47 [[ 8.78837180e-01 3.05282851e-02 -4.76144132e-01 4.32837457e+00] [-3.37010590e-02 9.99430198e-01 1.87579002e-03 1.91982219e-01] [ 4.75930088e-01 1.43980475e-02 8.79365252e-01 4.74886892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.778001145 meters Centerline goodness [0,1] 0.7472536848616711 Centerline is valid? [False, False] Translation: X:4.33, Y:0.19, Z:0.48 [[ 8.78747154e-01 3.00024929e-02 -4.76343668e-01 4.32814121e+00] [-3.34972727e-02 9.99438142e-01 1.15463407e-03 1.94111706e-01] [ 4.76110672e-01 1.49415823e-02 8.79258425e-01 4.75661127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.808001145 meters Centerline goodness [0,1] 0.7719647365943425 Centerline is valid? [False, False] Translation: X:4.33, Y:0.20, Z:0.48 [[ 8.78682610e-01 2.95201979e-02 -4.76492842e-01 4.32791256e+00] [-3.32629351e-02 9.99446467e-01 5.79850945e-04 1.95281399e-01] [ 4.76246205e-01 1.53400455e-02 8.79178159e-01 4.76178381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83800114499996 meters Centerline goodness [0,1] 0.7651748311532871 Centerline is valid? [False, False] Translation: X:4.33, Y:0.19, Z:0.48 [[ 8.78608535e-01 2.95123139e-02 -4.76629904e-01 4.32924365e+00] [-3.32520299e-02 9.99446825e-01 5.88446430e-04 1.94349986e-01] [ 4.76383611e-01 1.53318978e-02 8.79103855e-01 4.75691148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.86800114499997 meters Centerline goodness [0,1] 0.7587945065037698 Centerline is valid? [False, False] Translation: X:4.33, Y:0.19, Z:0.48 [[ 8.78568985e-01 2.91911503e-02 -4.76722577e-01 4.32973070e+00] [-3.30456954e-02 9.99453797e-01 2.98460716e-04 1.94791702e-01] [ 4.76470902e-01 1.54914108e-02 8.79053750e-01 4.75627893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89800114499997 meters Centerline goodness [0,1] 0.7434333055038211 Centerline is valid? [False, False] Translation: X:4.33, Y:0.20, Z:0.48 [[ 8.78582328e-01 2.79613617e-02 -4.76771701e-01 4.32964460e+00] [-3.22781199e-02 9.99478552e-01 -8.64573943e-04 1.98059304e-01] [ 4.76498915e-01 1.61488935e-02 8.79026733e-01 4.75888756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.92800114499997 meters Centerline goodness [0,1] 0.7627133215836307 Centerline is valid? [False, False] Translation: X:4.33, Y:0.20, Z:0.48 [[ 8.78534432e-01 2.70929780e-02 -4.76910079e-01 4.32950212e+00] [-3.17418820e-02 9.99494667e-01 -1.69224617e-03 2.00207258e-01] [ 4.76623232e-01 1.66247200e-02 8.78950461e-01 4.76345236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.95800114499997 meters Centerline goodness [0,1] 0.7520725054765689 Centerline is valid? [False, False] Translation: X:4.33, Y:0.20, Z:0.48 [[ 8.78471219e-01 2.64354872e-02 -4.77063394e-01 4.32949086e+00] [-3.13498571e-02 9.99505727e-01 -2.34251115e-03 2.01857634e-01] [ 4.76765669e-01 1.70136979e-02 8.78865764e-01 4.76745747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.98800114499997 meters Centerline goodness [0,1] 0.7381581491267641 Centerline is valid? [False, False] Translation: X:4.33, Y:0.20, Z:0.48 [[ 8.78478058e-01 2.58575854e-02 -4.77082474e-01 4.32929002e+00] [-3.09851192e-02 9.99515693e-01 -2.88144096e-03 2.02954400e-01] [ 4.76776913e-01 1.73137400e-02 8.78853805e-01 4.76922806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.01800114499997 meters Centerline goodness [0,1] 0.7273314389046758 Centerline is valid? [False, False] Translation: X:4.33, Y:0.21, Z:0.48 [[ 0.87866434 0.02423227 -0.47682468 4.32684833] [-0.02993766 0.99954221 -0.00437055 0.20508906] [ 0.47650049 0.01811526 0.87898756 0.47767605] [ 0. 0. 0. 1. ]] SLAMing on 138.04800114499997 meters Centerline goodness [0,1] 0.715049607009406 Centerline is valid? [False, False] Translation: X:4.33, Y:0.21, Z:0.48 [[ 0.87867656 0.0235683 -0.47683544 4.32634641] [-0.02949996 0.9995525 -0.00495594 0.20575545] [ 0.47650525 0.01842129 0.87897861 0.47796762] [ 0. 0. 0. 1. ]] SLAMing on 138.07800114499997 meters Centerline goodness [0,1] 0.715049607009406 Centerline is valid? [False, False] Translation: X:4.33, Y:0.21, Z:0.48 [[ 0.87867656 0.0235683 -0.47683544 4.32634641] [-0.02949996 0.9995525 -0.00495594 0.20575545] [ 0.47650525 0.01842129 0.87897861 0.47796762] [ 0. 0. 0. 1. ]] SLAMing on 138.10800114499997 meters Centerline goodness [0,1] 0.747384251799334 Centerline is valid? [False, False] Translation: X:4.33, Y:0.21, Z:0.48 [[ 0.87872394 0.02276769 -0.47678702 4.32563828] [-0.02896571 0.99956442 -0.00565261 0.20694869] [ 0.47645065 0.01877756 0.87900067 0.47823042] [ 0. 0. 0. 1. ]] SLAMing on 138.13800114499998 meters Centerline goodness [0,1] 0.7012931127224218 Centerline is valid? [False, False] Translation: X:4.33, Y:0.21, Z:0.48 [[ 0.87875379 0.02194375 -0.47677065 4.32509296] [-0.02843191 0.99957526 -0.00639767 0.20862407] [ 0.47642776 0.01917748 0.87900445 0.47851467] [ 0. 0. 0. 1. ]] SLAMing on 138.16800114499998 meters Centerline goodness [0,1] 0.6858899676375405 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.48 [[ 0.87892747 0.02293243 -0.47640383 4.32126244] [-0.02904731 0.99956305 -0.0054745 0.2110889 ] [ 0.47607012 0.01864994 0.87920954 0.47918184] [ 0. 0. 0. 1. ]] SLAMing on 138.19800114499998 meters Centerline goodness [0,1] 0.7035625053846817 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.48 [[ 0.87892815 0.02217641 -0.47643836 4.32076428] [-0.02856044 0.99957308 -0.00616162 0.21252637] [ 0.47609831 0.01902291 0.87918629 0.47952221] [ 0. 0. 0. 1. ]] SLAMing on 138.22800114499998 meters Centerline goodness [0,1] 0.6684878849393168 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.48 [[ 0.87892227 0.02181249 -0.47646601 4.3209415 ] [-0.02833378 0.99957734 -0.00650605 0.2131732 ] [ 0.47612271 0.01921839 0.87916882 0.47952486] [ 0. 0. 0. 1. ]] SLAMing on 138.25800114499998 meters Centerline goodness [0,1] 0.6552206975291355 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.48 [[ 0.87899675 0.02133314 -0.4763503 4.32129976] [-0.02794396 0.99958637 -0.00679821 0.21290875] [ 0.47600824 0.01928672 0.87922931 0.47898198] [ 0. 0. 0. 1. ]] SLAMing on 138.28800114499998 meters Centerline goodness [0,1] 0.6528050385005284 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.48 [[ 0.87895871 0.02088479 -0.47644036 4.32122802] [-0.02766243 0.99959128 -0.00721577 0.21354844] [ 0.47609493 0.01952186 0.87917718 0.47921401] [ 0. 0. 0. 1. ]] SLAMing on 138.31800114499998 meters Centerline goodness [0,1] 0.6878667587159131 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.87896035 0.020184 -0.47646754 4.3206378 ] [-0.02725328 0.9995971 -0.00793062 0.21525982] [ 0.4761155 0.019956 0.8791563 0.47966645] [ 0. 0. 0. 1. ]] SLAMing on 138.34800114499998 meters Centerline goodness [0,1] 0.6753086952767464 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.87893094 0.01951686 -0.47654956 4.32012903] [-0.02687797 0.99960143 -0.00863455 0.21706264] [ 0.47619111 0.02039786 0.8791052 0.48020465] [ 0. 0. 0. 1. ]] SLAMing on 138.37800114499998 meters Centerline goodness [0,1] 0.6711535960463 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.87910475 0.02305968 -0.47607046 4.31796204] [-0.02932415 0.99955351 -0.00573364 0.2180117 ] [ 0.47572568 0.01900083 0.87938845 0.48001371] [ 0. 0. 0. 1. ]] SLAMing on 138.408001145 meters Centerline goodness [0,1] 0.6593016203101985 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.87906268 0.02259521 -0.47617041 4.31802935] [-0.02906136 0.99955828 -0.00621947 0.2192187 ] [ 0.47581954 0.01930547 0.87933103 0.48028651] [ 0. 0. 0. 1. ]] SLAMing on 138.438001145 meters Centerline goodness [0,1] 0.6560590962263333 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.87907246 0.02231087 -0.47616576 4.31799209] [-0.02885439 0.99956291 -0.0064347 0.21948897] [ 0.47581407 0.01939604 0.879332 0.48028832] [ 0. 0. 0. 1. ]] SLAMing on 138.468001145 meters Centerline goodness [0,1] 0.6635885902121494 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.87905367 0.02207694 -0.47621136 4.31806532] [-0.02865211 0.99956798 -0.00655034 0.21897494] [ 0.47586102 0.01940256 0.87930645 0.48028517] [ 0. 0. 0. 1. ]] SLAMing on 138.498001145 meters Centerline goodness [0,1] 0.6397352135756948 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.87917191 0.02134877 -0.47602625 4.31766996] [-0.02796423 0.99958567 -0.00681779 0.21785337] [ 0.47568347 0.01930572 0.87940464 0.47980927] [ 0. 0. 0. 1. ]] SLAMing on 138.528001145 meters Centerline goodness [0,1] 0.6766231520705455 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.87917511 0.02088685 -0.47604082 4.31709926] [-0.02764908 0.99959172 -0.0072054 0.21831903] [ 0.47569597 0.0194969 0.87939366 0.48015824] [ 0. 0. 0. 1. ]] SLAMing on 138.558001145 meters Centerline goodness [0,1] 0.6630716134598792 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.87914226 0.02048587 -0.4761189 4.31640161] [-0.02745133 0.99959365 -0.00767893 0.21963919] [ 0.47576812 0.01982097 0.87934739 0.48087544] [ 0. 0. 0. 1. ]] SLAMing on 138.58800114499996 meters Centerline goodness [0,1] 0.6647804583054362 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.87905221 0.02055746 -0.47628207 4.31687027] [-0.02756645 0.99959006 -0.00773349 0.22020004] [ 0.47592784 0.01992755 0.87925854 0.48110958] [ 0. 0. 0. 1. ]] SLAMing on 138.61800114499997 meters Centerline goodness [0,1] 0.6661699600475111 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.87894148 0.02065625 -0.47648211 4.31721143] [-0.0277522 0.99958394 -0.00785948 0.22083819] [ 0.47612151 0.02013145 0.87914904 0.48155568] [ 0. 0. 0. 1. ]] SLAMing on 138.64800114499997 meters Centerline goodness [0,1] 0.6678302090066797 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.87876717 0.02105095 -0.47678625 4.31815778] [-0.028147 0.99957379 -0.00774494 0.2212139 ] [ 0.47642 0.0202261 0.87898515 0.48190053] [ 0. 0. 0. 1. ]] SLAMing on 138.67800114499997 meters Centerline goodness [0,1] 0.6767877167256102 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 8.78664541e-01 2.68868195e-02 -4.76681993e-01 4.31841663e+00] [-3.24582243e-02 9.99467118e-01 -3.45597022e-03 2.20015628e-01] [ 4.76335058e-01 1.85088896e-02 8.79069015e-01 4.81742322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.70800114499997 meters Centerline goodness [0,1] 0.6887712274811132 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 8.78604614e-01 3.21776659e-02 -4.76464615e-01 4.31811628e+00] [-3.62903192e-02 9.99341127e-01 5.70080089e-04 2.19224674e-01] [ 4.76169029e-01 1.67901780e-02 8.79193463e-01 4.81550416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.73800114499997 meters Centerline goodness [0,1] 0.7556396669190008 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.8784852 0.03765794 -0.47628315 4.31815088] [-0.04026283 0.99917789 0.0047381 0.21820177] [ 0.47607002 0.01501415 0.8792792 0.48134257] [ 0. 0. 0. 1. ]] SLAMing on 138.76800114499997 meters Centerline goodness [0,1] 0.7314072854853381 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.87817514 0.03859272 -0.47677985 4.32060927] [-0.04110174 0.99914159 0.00517022 0.21861668] [ 0.47657011 0.01505612 0.87900753 0.48147304] [ 0. 0. 0. 1. ]] SLAMing on 138.79800114499997 meters Centerline goodness [0,1] 0.7172276542355283 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.87793341 0.03933853 -0.47716393 4.32250645] [-0.04179265 0.99911131 0.00547485 0.21883679] [ 0.47695525 0.01513539 0.87879725 0.4816113 ] [ 0. 0. 0. 1. ]] SLAMing on 138.82800114499997 meters Centerline goodness [0,1] 0.7281486132461514 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.8776617 0.04543875 -0.47712186 4.32376056] [-0.04625434 0.9988792 0.0100439 0.21764717] [ 0.47704348 0.01325381 0.87877975 0.4812486 ] [ 0. 0. 0. 1. ]] SLAMing on 138.85800114499997 meters Centerline goodness [0,1] 0.7379645499316598 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.87751834 0.04564455 -0.47736584 4.32437392] [-0.04659463 0.99886525 0.00985642 0.21906254] [ 0.47727404 0.0135935 0.87864937 0.48177995] [ 0. 0. 0. 1. ]] SLAMing on 138.88800114499998 meters Centerline goodness [0,1] 0.7890981859311785 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.87739822 0.04559931 -0.47759089 4.32448977] [-0.04672787 0.99886225 0.00952381 0.22044611] [ 0.47748179 0.01396063 0.87853073 0.48244652] [ 0. 0. 0. 1. ]] SLAMing on 138.91800114499998 meters Centerline goodness [0,1] 0.7430372866615936 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.87733283 0.04552747 -0.47771787 4.3238973 ] [-0.04677411 0.99886227 0.00929252 0.22066584] [ 0.47759742 0.0141922 0.87846416 0.48320806] [ 0. 0. 0. 1. ]] SLAMing on 138.94800114499998 meters Centerline goodness [0,1] 0.7427122112642327 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.87731309 0.04537495 -0.47776862 4.32357273] [-0.04665429 0.99886877 0.00919524 0.22016757] [ 0.47764539 0.01422285 0.87843758 0.48346529] [ 0. 0. 0. 1. ]] SLAMing on 138.97800114499998 meters Centerline goodness [0,1] 0.741448757865401 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.8773214 0.04519481 -0.47777044 4.32322429] [-0.04651343 0.99887642 0.00907717 0.21961903] [ 0.47764387 0.01425915 0.87843782 0.48364114] [ 0. 0. 0. 1. ]] SLAMing on 139.00800114499998 meters Centerline goodness [0,1] 0.7866175380456111 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.87748584 0.04433963 -0.47754853 4.32130729] [-0.04581674 0.99891318 0.00856018 0.21918431] [ 0.47740908 0.01436828 0.87856367 0.48397512] [ 0. 0. 0. 1. ]] SLAMing on 139.03800114499998 meters Centerline goodness [0,1] 0.80891288193382 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.87752117 0.04401398 -0.47751374 4.32071745] [-0.04553237 0.99892755 0.00840009 0.21870092] [ 0.47737135 0.01437107 0.87858413 0.48413807] [ 0. 0. 0. 1. ]] SLAMing on 139.06800114499998 meters Centerline goodness [0,1] 0.7646661141885114 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.8775681 0.04374167 -0.4774525 4.32019215] [-0.04524071 0.9989411 0.00836429 0.21772844] [ 0.47731279 0.01426006 0.87861775 0.48416418] [ 0. 0. 0. 1. ]] SLAMing on 139.09800114499998 meters Centerline goodness [0,1] 0.7719233201753429 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.48 [[ 0.87762665 0.04348996 -0.47736787 4.31975032] [-0.04493983 0.99895448 0.00838786 0.21663513] [ 0.47723356 0.01409142 0.87866351 0.48406174] [ 0. 0. 0. 1. ]] SLAMing on 139.12800114499998 meters Centerline goodness [0,1] 0.7532034518828452 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.48 [[ 0.87777945 0.04236508 -0.47718805 4.31767473] [-0.04389031 0.99900467 0.00795682 0.21466402] [ 0.47705018 0.0139596 0.87876519 0.48427033] [ 0. 0. 0. 1. ]] SLAMing on 139.158001145 meters Centerline goodness [0,1] 0.7469628148566709 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.48 [[ 0.87779686 0.04242884 -0.47715036 4.3175896 ] [-0.04381219 0.99900586 0.00823316 0.21285813] [ 0.47702533 0.01367796 0.87878311 0.48411913] [ 0. 0. 0. 1. ]] SLAMing on 139.188001145 meters Centerline goodness [0,1] 0.7741207121146331 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.48 [[ 0.87778715 0.04261205 -0.47715189 4.31764484] [-0.04382237 0.99900233 0.00859856 0.2110449 ] [ 0.47704226 0.01336222 0.87877878 0.48396527] [ 0. 0. 0. 1. ]] SLAMing on 139.218001145 meters Centerline goodness [0,1] 0.7656807806313422 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.48 [[ 0.87773685 0.04270132 -0.47723643 4.31786036] [-0.04383115 0.99900044 0.00877222 0.21006853] [ 0.47713399 0.01321812 0.87873115 0.48402249] [ 0. 0. 0. 1. ]] SLAMing on 139.248001145 meters Centerline goodness [0,1] 0.734233261339093 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.48 [[ 0.87760726 0.04301844 -0.47744624 4.31807865] [-0.0441817 0.99898477 0.00879804 0.21066221] [ 0.47734 0.01337316 0.87861692 0.48464093] [ 0. 0. 0. 1. ]] SLAMing on 139.278001145 meters Centerline goodness [0,1] 0.7437652494979812 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.48 [[ 0.87749666 0.04333345 -0.477621 4.3188837 ] [-0.04447281 0.9989707 0.0089278 0.21072511] [ 0.47751626 0.01340704 0.87852062 0.48476319] [ 0. 0. 0. 1. ]] SLAMing on 139.308001145 meters Centerline goodness [0,1] 0.742525455606719 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.48 [[ 0.87738359 0.04368665 -0.47779651 4.31980408] [-0.04478502 0.99895521 0.00909877 0.21054329] [ 0.47769481 0.01341502 0.87842342 0.4848115 ] [ 0. 0. 0. 1. ]] SLAMing on 139.33800114499996 meters Centerline goodness [0,1] 0.7921965940935547 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.48 [[ 0.8773448 0.04412796 -0.47782719 4.32007073] [-0.0451536 0.99893634 0.00934594 0.20952371] [ 0.47773136 0.013376 0.87840414 0.48485143] [ 0. 0. 0. 1. ]] SLAMing on 139.36800114499997 meters Centerline goodness [0,1] 0.7884875700994822 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87729393 0.04420061 -0.47791387 4.32015654] [-0.04525052 0.99893217 0.00932259 0.20908744] [ 0.4778156 0.0134472 0.87835723 0.48506949] [ 0. 0. 0. 1. ]] SLAMing on 139.39800114499997 meters Centerline goodness [0,1] 0.7480501063578351 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87721924 0.04443977 -0.47802877 4.3204747 ] [-0.04552836 0.9989196 0.00931617 0.2092286 ] [ 0.47792632 0.01359155 0.87829477 0.48534012] [ 0. 0. 0. 1. ]] SLAMing on 139.42800114499997 meters Centerline goodness [0,1] 0.7611430779800756 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87704959 0.05005397 -0.47778512 4.32056289] [-0.04967201 0.99867511 0.01344294 0.20884723] [ 0.47782498 0.01194242 0.87837388 0.48517857] [ 0. 0. 0. 1. ]] SLAMing on 139.45800114499997 meters Centerline goodness [0,1] 0.8587340572216478 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87689034 0.05033281 -0.47804804 4.32114353] [-0.05001964 0.9986584 0.01339519 0.20948193] [ 0.47808091 0.01216568 0.87823154 0.48569778] [ 0. 0. 0. 1. ]] SLAMing on 139.48800114499997 meters Centerline goodness [0,1] 0.8730022340608352 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87678942 0.05058991 -0.47820599 4.32166914] [-0.05032007 0.99864344 0.01338581 0.20954161] [ 0.47823446 0.01232682 0.87814569 0.48596141] [ 0. 0. 0. 1. ]] SLAMing on 139.51800114499997 meters Centerline goodness [0,1] 0.7827243665386513 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87666821 0.05086714 -0.47839877 4.32204954] [-0.05056757 0.99862917 0.01351681 0.20897135] [ 0.47843053 0.01234171 0.87803867 0.48627217] [ 0. 0. 0. 1. ]] SLAMing on 139.54800114499997 meters Centerline goodness [0,1] 0.8682868286828683 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.8766084 0.05099417 -0.47849484 4.32251108] [-0.05073262 0.99862126 0.01348232 0.20903682] [ 0.47852264 0.01245658 0.87798685 0.48638398] [ 0. 0. 0. 1. ]] SLAMing on 139.57800114499997 meters Centerline goodness [0,1] 0.8882177814902867 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87649967 0.05134515 -0.47865646 4.32347935] [-0.05119734 0.99859908 0.01336818 0.21069949] [ 0.47867229 0.01278873 0.8779005 0.48664882] [ 0. 0. 0. 1. ]] SLAMing on 139.60800114499997 meters Centerline goodness [0,1] 0.8585129840936825 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87640442 0.05117384 -0.47884918 4.32375351] [-0.05114469 0.99860517 0.01311274 0.21122413] [ 0.47885229 0.01299853 0.87779925 0.48701511] [ 0. 0. 0. 1. ]] SLAMing on 139.63800114499998 meters Centerline goodness [0,1] 0.8566766907671636 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87663667 0.05037657 -0.47850847 4.32178545] [-0.05054443 0.99864312 0.01253711 0.20993365] [ 0.47849076 0.01319544 0.87799343 0.48712417] [ 0. 0. 0. 1. ]] SLAMing on 139.66800114499998 meters Centerline goodness [0,1] 0.8468313229944476 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87665268 0.0501841 -0.47849935 4.32139686] [-0.05031647 0.99865443 0.0125528 0.208611 ] [ 0.47848545 0.01307196 0.87799818 0.48718674] [ 0. 0. 0. 1. ]] SLAMing on 139.69800114499998 meters Centerline goodness [0,1] 0.8871255956432947 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87669539 0.04992816 -0.47844789 4.32110052] [-0.05004742 0.99866849 0.01250991 0.20752896] [ 0.47843543 0.0129777 0.87802684 0.48711162] [ 0. 0. 0. 1. ]] SLAMing on 139.72800114499998 meters Centerline goodness [0,1] 0.854907387694273 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87671884 0.04974212 -0.47842429 4.32110597] [-0.04981606 0.99867962 0.01254484 0.2065459 ] [ 0.4784166 0.01283492 0.87803919 0.48693763] [ 0. 0. 0. 1. ]] SLAMing on 139.75800114499998 meters Centerline goodness [0,1] 0.8845654993514915 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87679897 0.04897083 -0.47835701 4.31988086] [-0.04926679 0.9987143 0.01193835 0.20716353] [ 0.47832662 0.01309958 0.8780843 0.48742765] [ 0. 0. 0. 1. ]] SLAMing on 139.78800114499998 meters Centerline goodness [0,1] 0.852914874590129 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.8767868 0.04853552 -0.47842367 4.31943343] [-0.049007 0.99873215 0.01150715 0.20788129] [ 0.4783756 0.01335679 0.87805375 0.48785848] [ 0. 0. 0. 1. ]] SLAMing on 139.81800114499998 meters Centerline goodness [0,1] 0.8592264062433366 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87675826 0.0483165 -0.47849813 4.31951089] [-0.04887077 0.99874117 0.01130167 0.20817402] [ 0.47844184 0.01347574 0.87801584 0.488006 ] [ 0. 0. 0. 1. ]] SLAMing on 139.84800114499998 meters Centerline goodness [0,1] 0.8648176178395548 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87669379 0.04828947 -0.47861898 4.31991226] [-0.04881794 0.99874325 0.01134597 0.20751689] [ 0.47856536 0.01341825 0.8779494 0.48803348] [ 0. 0. 0. 1. ]] SLAMing on 139.87800114499998 meters Centerline goodness [0,1] 0.8682922677560747 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87675027 0.04810833 -0.47853375 4.31939338] [-0.04863335 0.99875274 0.01130333 0.20617657] [ 0.47848068 0.0133625 0.8779964 0.48800957] [ 0. 0. 0. 1. ]] SLAMing on 139.908001145 meters Centerline goodness [0,1] 0.8341246353978156 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87675498 0.04768531 -0.47856747 4.31893895] [-0.04835974 0.99877026 0.01092224 0.20652166] [ 0.47849979 0.01356727 0.87798285 0.48832865] [ 0. 0. 0. 1. ]] SLAMing on 139.938001145 meters Centerline goodness [0,1] 0.8624253120415063 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87674651 0.04729564 -0.47862165 4.3189098 ] [-0.04810289 0.99878634 0.0105808 0.2071002 ] [ 0.4785412 0.01374641 0.87795749 0.48846608] [ 0. 0. 0. 1. ]] SLAMing on 139.968001145 meters Centerline goodness [0,1] 0.8624253120415063 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87674651 0.04729564 -0.47862165 4.3189098 ] [-0.04810289 0.99878634 0.0105808 0.2071002 ] [ 0.4785412 0.01374641 0.87795749 0.48846608] [ 0. 0. 0. 1. ]] SLAMing on 139.998001145 meters Centerline goodness [0,1] 0.8668213358307437 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87672926 0.04692659 -0.47868956 4.3189055 ] [-0.04785397 0.99880156 0.01026841 0.20746877] [ 0.47859774 0.01390458 0.87792418 0.48862759] [ 0. 0. 0. 1. ]] SLAMing on 140.028001145 meters Centerline goodness [0,1] 0.8180446012882927 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.8766942 0.04688441 -0.4787579 4.31913052] [-0.0478251 0.99880328 0.01023548 0.20722049] [ 0.47866485 0.01392326 0.8778873 0.48869407] [ 0. 0. 0. 1. ]] SLAMing on 140.058001145 meters Centerline goodness [0,1] 0.8798577543067652 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87666749 0.04664066 -0.47883063 4.31920627] [-0.04767555 0.99881279 0.01000288 0.20729708] [ 0.47872869 0.01405931 0.87785031 0.48885328] [ 0. 0. 0. 1. ]] SLAMing on 140.08800114499996 meters Centerline goodness [0,1] 0.870513121650189 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87669522 0.04607672 -0.47883445 4.31900273] [-0.04736351 0.99883352 0.009397 0.20869147] [ 0.47870888 0.01444097 0.87785492 0.48908379] [ 0. 0. 0. 1. ]] SLAMing on 140.11800114499997 meters Centerline goodness [0,1] 0.8665682562094859 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87663133 0.04584762 -0.47897338 4.31922273] [-0.04727776 0.99884051 0.00908045 0.20955383] [ 0.47883433 0.01468458 0.87778246 0.48937813] [ 0. 0. 0. 1. ]] SLAMing on 140.14800114499997 meters Centerline goodness [0,1] 0.8297070412883331 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87653598 0.04574456 -0.47915772 4.31995702] [-0.04726523 0.99884277 0.00889466 0.21017749] [ 0.47901011 0.01485101 0.87768375 0.48949758] [ 0. 0. 0. 1. ]] SLAMing on 140.17800114499997 meters Centerline goodness [0,1] 0.8555705445279544 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87654063 0.0455104 -0.4791715 4.32067213] [-0.04709779 0.99885228 0.00871306 0.21050243] [ 0.47901808 0.01493057 0.87767805 0.48918723] [ 0. 0. 0. 1. ]] SLAMing on 140.20800114499997 meters Centerline goodness [0,1] 0.8642618312757202 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87656061 0.04488671 -0.47919379 4.32045654] [-0.04666204 0.99887699 0.00821004 0.21126614] [ 0.47902417 0.01516356 0.87767073 0.48932402] [ 0. 0. 0. 1. ]] SLAMing on 140.23800114499997 meters Centerline goodness [0,1] 0.8189856845448887 Centerline is valid? [False, False] Translation: X:4.32, Y:0.21, Z:0.49 [[ 0.87663123 0.04379901 -0.47916524 4.31927637] [-0.04590957 0.9989188 0.00731667 0.2128579 ] [ 0.47896763 0.01558425 0.87769422 0.48981203] [ 0. 0. 0. 1. ]] SLAMing on 140.26800114499997 meters Centerline goodness [0,1] 0.800537750053775 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.49 [[ 0.87696833 0.04097061 -0.47879845 4.31513647] [-0.04386999 0.99902406 0.00513377 0.21595508] [ 0.4785415 0.01650273 0.87790984 0.49086137] [ 0. 0. 0. 1. ]] SLAMing on 140.29800114499997 meters Centerline goodness [0,1] 0.81999311472588 Centerline is valid? [False, False] Translation: X:4.31, Y:0.22, Z:0.49 [[ 0.87710767 0.03990008 -0.4786336 4.31382086] [-0.04304474 0.99906344 0.00440387 0.21605869] [ 0.47836105 0.01673999 0.87800369 0.49100832] [ 0. 0. 0. 1. ]] SLAMing on 140.32800114499997 meters Centerline goodness [0,1] 0.8019482614024902 Centerline is valid? [False, False] Translation: X:4.31, Y:0.22, Z:0.49 [[ 8.77199618e-01 3.93384811e-02 -4.78511561e-01 4.31358253e+00] [-4.25323102e-02 9.99086408e-01 4.16544914e-03 2.15236122e-01] [ 4.78238259e-01 1.66982717e-02 8.78071372e-01 4.90716248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.35800114499997 meters Centerline goodness [0,1] 0.7911907942938413 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.49 [[ 8.77158463e-01 3.38024266e-02 -4.79009839e-01 4.31546675e+00] [-3.86044170e-02 9.99254556e-01 -1.77370819e-04 2.16990388e-01] [ 4.78646769e-01 1.86474779e-02 8.77809514e-01 4.90824250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.38800114499998 meters Centerline goodness [0,1] 0.774124652126076 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.49 [[ 8.77100364e-01 3.33487637e-02 -4.79148006e-01 4.31617533e+00] [-3.83201160e-02 9.99265336e-01 -5.97569271e-04 2.18504428e-01] [ 4.78776065e-01 1.88851354e-02 8.77733918e-01 4.90829228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41800114499998 meters Centerline goodness [0,1] 0.768925163017662 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.49 [[ 8.77064264e-01 3.26696003e-02 -4.79260862e-01 4.31649553e+00] [-3.79435973e-02 9.99279010e-01 -1.32063245e-03 2.20920776e-01] [ 4.78872175e-01 1.93431607e-02 8.77671512e-01 4.91079384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.44800114499998 meters Centerline goodness [0,1] 0.784474351472596 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.49 [[ 8.77062044e-01 3.17475321e-02 -4.79326888e-01 4.31653564e+00] [-3.74039473e-02 9.99297686e-01 -2.25388392e-03 2.23760482e-01] [ 4.78918694e-01 1.99055137e-02 8.77633554e-01 4.91356948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47800114499998 meters Centerline goodness [0,1] 0.7766660169363048 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.49 [[ 8.77065523e-01 3.13240257e-02 -4.79348384e-01 4.31659629e+00] [-3.71296276e-02 9.99306985e-01 -2.63440651e-03 2.24250416e-01] [ 4.78933669e-01 2.01085741e-02 8.77620753e-01 4.91410833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.50800114499998 meters Centerline goodness [0,1] 0.75271892196369 Centerline is valid? [False, False] Translation: X:4.32, Y:0.22, Z:0.49 [[ 8.77093959e-01 3.07963216e-02 -4.79330547e-01 4.31637991e+00] [-3.68041311e-02 9.99317563e-01 -3.14058017e-03 2.24959573e-01] [ 4.78906716e-01 2.03959282e-02 8.77628830e-01 4.91528506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53800114499998 meters Centerline goodness [0,1] 0.7445736013036393 Centerline is valid? [False, False] Translation: X:4.32, Y:0.23, Z:0.49 [[ 8.77097643e-01 3.01163284e-02 -4.79367012e-01 4.31597987e+00] [-3.63920335e-02 9.99330353e-01 -3.80336066e-03 2.26311444e-01] [ 4.78931462e-01 2.07810590e-02 8.77606291e-01 4.91888148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.56800114499998 meters Centerline goodness [0,1] 0.7380583836578081 Centerline is valid? [False, False] Translation: X:4.31, Y:0.23, Z:0.49 [[ 0.87716263 0.02848832 -0.47934761 4.31463559] [-0.03537119 0.99936002 -0.00533265 0.23006036] [ 0.47888892 0.0216327 0.87760893 0.49267018] [ 0. 0. 0. 1. ]] SLAMing on 140.59800114499998 meters Centerline goodness [0,1] 0.7519545752347674 Centerline is valid? [False, False] Translation: X:4.31, Y:0.23, Z:0.49 [[ 0.87723501 0.02768138 -0.47926243 4.31399544] [-0.03482586 0.99937525 -0.00602254 0.23124733] [ 0.4787963 0.02197391 0.87765099 0.49284718] [ 0. 0. 0. 1. ]] SLAMing on 140.62800114499998 meters Centerline goodness [0,1] 0.7383071553228622 Centerline is valid? [False, False] Translation: X:4.31, Y:0.23, Z:0.49 [[ 0.87729223 0.02694013 -0.47919993 4.31368865] [-0.03425324 0.99939189 -0.0065241 0.2316596 ] [ 0.47873277 0.0221377 0.87768153 0.49278385] [ 0. 0. 0. 1. ]] SLAMing on 140.658001145 meters Centerline goodness [0,1] 0.7456946414929608 Centerline is valid? [False, False] Translation: X:4.32, Y:0.23, Z:0.49 [[ 0.87725258 0.02128895 -0.47955676 4.31530087] [-0.03020284 0.99948457 -0.01087994 0.23275684] [ 0.47907796 0.02402843 0.87744341 0.49276501] [ 0. 0. 0. 1. ]] SLAMing on 140.688001145 meters Centerline goodness [0,1] 0.7275298007482816 Centerline is valid? [False, False] Translation: X:4.32, Y:0.23, Z:0.49 [[ 0.87733632 0.02089822 -0.47942074 4.31531354] [-0.0298709 0.99949219 -0.0110951 0.23247639] [ 0.47894542 0.02405487 0.87751504 0.49240836] [ 0. 0. 0. 1. ]] SLAMing on 140.718001145 meters Centerline goodness [0,1] 0.713847425910614 Centerline is valid? [False, False] Translation: X:4.32, Y:0.23, Z:0.49 [[ 0.87733337 0.02032899 -0.47945061 4.31513368] [-0.02952648 0.9994961 -0.01165045 0.23356878] [ 0.47897217 0.02437782 0.87749153 0.49266687] [ 0. 0. 0. 1. ]] SLAMing on 140.748001145 meters Centerline goodness [0,1] 0.7124286896311458 Centerline is valid? [False, False] Translation: X:4.31, Y:0.23, Z:0.49 [[ 0.87749798 0.02414085 -0.47897236 4.31281274] [-0.03221353 0.99944364 -0.00864327 0.23424102] [ 0.47849722 0.02301384 0.87778743 0.49266404] [ 0. 0. 0. 1. ]] SLAMing on 140.778001145 meters Centerline goodness [0,1] 0.7051844096926869 Centerline is valid? [False, False] Translation: X:4.31, Y:0.24, Z:0.49 [[ 0.87762354 0.02788676 -0.47853865 4.31035079] [-0.03510731 0.99936464 -0.00614779 0.23822513] [ 0.47806317 0.02219565 0.87804497 0.49325881] [ 0. 0. 0. 1. ]] SLAMing on 140.808001145 meters Centerline goodness [0,1] 0.7087086432138885 Centerline is valid? [False, False] Translation: X:4.31, Y:0.24, Z:0.49 [[ 0.87752933 0.02762815 -0.4787264 4.31060204] [-0.03507317 0.99936285 -0.00661585 0.23952513] [ 0.47823859 0.02259606 0.87793922 0.49378003] [ 0. 0. 0. 1. ]] SLAMing on 140.83800114499996 meters Centerline goodness [0,1] 0.7033479274216385 Centerline is valid? [False, False] Translation: X:4.31, Y:0.24, Z:0.49 [[ 0.87755547 0.0274096 -0.47869103 4.3106636 ] [-0.03497775 0.99936427 -0.00689952 0.23988733] [ 0.4781976 0.02279825 0.87795632 0.49376457] [ 0. 0. 0. 1. ]] SLAMing on 140.86800114499997 meters Centerline goodness [0,1] 0.7016324128762287 Centerline is valid? [False, False] Translation: X:4.31, Y:0.24, Z:0.49 [[ 0.87754579 0.02720556 -0.47872041 4.31086536] [-0.03488219 0.99936586 -0.00714908 0.24010198] [ 0.47822234 0.02297246 0.8779383 0.49381848] [ 0. 0. 0. 1. ]] SLAMing on 140.89800114499997 meters Centerline goodness [0,1] 0.7105572998430141 Centerline is valid? [False, False] Translation: X:4.31, Y:0.24, Z:0.49 [[ 0.87755648 0.02644563 -0.47874341 4.31101767] [-0.03436739 0.99937889 -0.0077915 0.24161266] [ 0.47824 0.02329064 0.8779203 0.49381881] [ 0. 0. 0. 1. ]] SLAMing on 140.92800114499997 meters Centerline goodness [0,1] 0.7250547045951861 Centerline is valid? [False, False] Translation: X:4.31, Y:0.24, Z:0.49 [[ 0.87748793 0.0262498 -0.47887982 4.31186285] [-0.03427289 0.99938033 -0.00801978 0.24258874] [ 0.47837256 0.02344986 0.87784383 0.49378432] [ 0. 0. 0. 1. ]] SLAMing on 140.95800114499997 meters Centerline goodness [0,1] 0.6921410281662399 Centerline is valid? [False, False] Translation: X:4.31, Y:0.24, Z:0.49 [[ 0.87745352 0.02582585 -0.47896592 4.31238968] [-0.03403388 0.99938485 -0.00846236 0.24422498] [ 0.47845274 0.02372639 0.87779271 0.49384769] [ 0. 0. 0. 1. ]] SLAMing on 140.98800114499997 meters Centerline goodness [0,1] 0.6872064955014263 Centerline is valid? [False, False] Translation: X:4.31, Y:0.25, Z:0.49 [[ 0.87742846 0.02524754 -0.47904264 4.31243242] [-0.03369338 0.99939132 -0.00904169 0.24607343] [ 0.47852278 0.024074 0.87774506 0.49410931] [ 0. 0. 0. 1. ]] SLAMing on 141.01800114499997 meters Centerline goodness [0,1] 0.7017628592127505 Centerline is valid? [False, False] Translation: X:4.31, Y:0.25, Z:0.49 [[ 0.87740627 0.02446853 -0.47912372 4.31245785] [-0.03319961 0.9994011 -0.00975878 0.24788608] [ 0.47859798 0.02446913 0.87769313 0.49437882] [ 0. 0. 0. 1. ]] SLAMing on 141.04800114499997 meters Centerline goodness [0,1] 0.658885277582572 Centerline is valid? [False, False] Translation: X:4.31, Y:0.25, Z:0.49 [[ 0.87733324 0.02442507 -0.47925964 4.31307137] [-0.03320618 0.99939995 -0.00985367 0.24787432] [ 0.47873139 0.02455933 0.87761786 0.49443308] [ 0. 0. 0. 1. ]] SLAMing on 141.07800114499997 meters Centerline goodness [0,1] 0.6791416836880367 Centerline is valid? [False, False] Translation: X:4.31, Y:0.25, Z:0.49 [[ 0.87732212 0.02422157 -0.47929032 4.31347215] [-0.03312323 0.99939999 -0.01012479 0.24837813] [ 0.47875751 0.02475834 0.87759801 0.49442042] [ 0. 0. 0. 1. ]] SLAMing on 141.10800114499997 meters Centerline goodness [0,1] 0.6830948595654478 Centerline is valid? [False, False] Translation: X:4.31, Y:0.25, Z:0.49 [[ 0.87740123 0.0280198 -0.47893837 4.31168806] [-0.03589335 0.99932903 -0.00729085 0.24967386] [ 0.47841273 0.0235877 0.87781825 0.494544 ] [ 0. 0. 0. 1. ]] SLAMing on 141.13800114499998 meters Centerline goodness [0,1] 0.6861404324061166 Centerline is valid? [False, False] Translation: X:4.31, Y:0.25, Z:0.50 [[ 0.87728888 0.02781352 -0.47915616 4.31232281] [-0.03593305 0.9993239 -0.00778232 0.25200405] [ 0.47861574 0.02404489 0.87769517 0.49503003] [ 0. 0. 0. 1. ]] SLAMing on 141.16800114499998 meters Centerline goodness [0,1] 0.6846302507941444 Centerline is valid? [False, False] Translation: X:4.31, Y:0.25, Z:0.50 [[ 0.87712147 0.02767559 -0.47947052 4.31316881] [-0.03603413 0.99931661 -0.00823748 0.25431835] [ 0.47891488 0.02450257 0.87751932 0.49560957] [ 0. 0. 0. 1. ]] SLAMing on 141.19800114499998 meters Centerline goodness [0,1] 0.7138118348991496 Centerline is valid? [False, False] Translation: X:4.31, Y:0.26, Z:0.50 [[ 0.87696677 0.02776138 -0.47974847 4.31450257] [-0.0363641 0.9993012 -0.00864646 0.25677701] [ 0.47917319 0.02502828 0.87736346 0.49604642] [ 0. 0. 0. 1. ]] SLAMing on 141.22800114499998 meters Centerline goodness [0,1] 0.7095066506517194 Centerline is valid? [False, False] Translation: X:4.32, Y:0.26, Z:0.50 [[ 0.87687509 0.02792412 -0.47990657 4.31567502] [-0.03656652 0.99929363 -0.00866809 0.25701815] [ 0.47932552 0.02514934 0.87727678 0.49595766] [ 0. 0. 0. 1. ]] SLAMing on 141.25800114499998 meters Centerline goodness [0,1] 0.7168570285765077 Centerline is valid? [False, False] Translation: X:4.32, Y:0.26, Z:0.50 [[ 0.87677012 0.02804267 -0.48009141 4.31674964] [-0.03675127 0.99928616 -0.00874783 0.25738389] [ 0.47950339 0.02531381 0.87717485 0.49600805] [ 0. 0. 0. 1. ]] SLAMing on 141.28800114499998 meters Centerline goodness [0,1] 0.7198350791174504 Centerline is valid? [False, False] Translation: X:4.32, Y:0.26, Z:0.50 [[ 0.87673131 0.0278467 -0.48017368 4.31715077] [-0.03672664 0.99928386 -0.00910636 0.25853128] [ 0.47957623 0.025619 0.87712616 0.49617116] [ 0. 0. 0. 1. ]] SLAMing on 141.31800114499998 meters Centerline goodness [0,1] 0.7107187444266096 Centerline is valid? [False, False] Translation: X:4.32, Y:0.26, Z:0.50 [[ 0.87669902 0.02710274 -0.48027521 4.31686751] [-0.03644567 0.99928422 -0.01013699 0.26258664] [ 0.4796567 0.02639104 0.87705927 0.49701665] [ 0. 0. 0. 1. ]] SLAMing on 141.34800114499998 meters Centerline goodness [0,1] 0.6998817993264792 Centerline is valid? [False, False] Translation: X:4.32, Y:0.26, Z:0.50 [[ 0.87665971 0.02634221 -0.48038925 4.31644071] [-0.03599492 0.99929263 -0.01089057 0.26460364] [ 0.47976256 0.02683889 0.87698778 0.4976053 ] [ 0. 0. 0. 1. ]] SLAMing on 141.37800114499998 meters Centerline goodness [0,1] 0.6979440752798466 Centerline is valid? [False, False] Translation: X:4.32, Y:0.27, Z:0.50 [[ 0.87666639 0.02593583 -0.48039918 4.31669956] [-0.03568696 0.99930055 -0.01117378 0.26521205] [ 0.47977336 0.02693967 0.87697878 0.49749379] [ 0. 0. 0. 1. ]] SLAMing on 141.408001145 meters Centerline goodness [0,1] 0.6969663196843725 Centerline is valid? [False, False] Translation: X:4.32, Y:0.26, Z:0.50 [[ 0.87666554 0.02571531 -0.48041259 4.31711731] [-0.03542539 0.99931007 -0.01115426 0.26424121] [ 0.4797943 0.02679736 0.87697168 0.49716145] [ 0. 0. 0. 1. ]] SLAMing on 141.438001145 meters Centerline goodness [0,1] 0.6842972997059086 Centerline is valid? [False, False] Translation: X:4.32, Y:0.26, Z:0.50 [[ 0.8767267 0.02523749 -0.48032631 4.31711258] [-0.03493694 0.99932606 -0.01126248 0.26297707] [ 0.47971836 0.02665524 0.87701756 0.49674528] [ 0. 0. 0. 1. ]] SLAMing on 141.468001145 meters Centerline goodness [0,1] 0.6650963406193485 Centerline is valid? [False, False] Translation: X:4.32, Y:0.26, Z:0.50 [[ 0.87691394 0.02345565 -0.48007476 4.31580687] [-0.03341183 0.99936716 -0.01220329 0.26333186] [ 0.47948472 0.02674141 0.87714269 0.49637896] [ 0. 0. 0. 1. ]] SLAMing on 141.498001145 meters Centerline goodness [0,1] 0.6672023570376322 Centerline is valid? [False, False] Translation: X:4.32, Y:0.26, Z:0.50 [[ 0.87693482 0.02279644 -0.48006837 4.31552866] [-0.03292388 0.99937736 -0.01268539 0.26417632] [ 0.47948028 0.02692998 0.87713935 0.49652062] [ 0. 0. 0. 1. ]] SLAMing on 141.528001145 meters Centerline goodness [0,1] 0.6502189781021898 Centerline is valid? [False, False] Translation: X:4.32, Y:0.27, Z:0.50 [[ 0.87694434 0.0221919 -0.48007932 4.31527551] [-0.03250956 0.99938443 -0.01318706 0.26520555] [ 0.47949115 0.02717149 0.87712596 0.49669768] [ 0. 0. 0. 1. ]] SLAMing on 141.558001145 meters Centerline goodness [0,1] 0.6485317193454383 Centerline is valid? [False, False] Translation: X:4.31, Y:0.27, Z:0.50 [[ 0.87703588 0.02123429 -0.47995539 4.31431869] [-0.03190629 0.99939157 -0.01408797 0.26744044] [ 0.47936422 0.02766925 0.87717977 0.49710189] [ 0. 0. 0. 1. ]] SLAMing on 141.58800114499996 meters Centerline goodness [0,1] 0.6636965548198855 Centerline is valid? [False, False] Translation: X:4.31, Y:0.27, Z:0.50 [[ 0.8769952 0.0208531 -0.48004643 4.31432301] [-0.03174415 0.99938968 -0.01458004 0.26882969] [ 0.47944941 0.02802529 0.87712191 0.4975179 ] [ 0. 0. 0. 1. ]] SLAMing on 141.61800114499997 meters Centerline goodness [0,1] 0.6859256926952141 Centerline is valid? [False, False] Translation: X:4.31, Y:0.27, Z:0.50 [[ 0.87689693 0.02040174 -0.4802453 4.31428766] [-0.03156209 0.9993866 -0.0151745 0.27037775] [ 0.47964113 0.02846402 0.87700296 0.49821043] [ 0. 0. 0. 1. ]] SLAMing on 141.64800114499997 meters Centerline goodness [0,1] 0.6803446032351423 Centerline is valid? [False, False] Translation: X:4.31, Y:0.27, Z:0.50 [[ 0.87679869 0.02013937 -0.48043569 4.31466849] [-0.03152007 0.99938088 -0.01563134 0.2718318 ] [ 0.47982344 0.02884891 0.87689065 0.49867998] [ 0. 0. 0. 1. ]] SLAMing on 141.67800114499997 meters Centerline goodness [0,1] 0.6612576976671012 Centerline is valid? [False, False] Translation: X:4.31, Y:0.27, Z:0.50 [[ 0.87671139 0.019777 -0.48061003 4.31473944] [-0.03139486 0.99937665 -0.01614524 0.27312146] [ 0.47999114 0.02924341 0.87678579 0.49923756] [ 0. 0. 0. 1. ]] SLAMing on 141.70800114499997 meters Centerline goodness [0,1] 0.6760890653552012 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87658575 0.01973277 -0.48084097 4.31570972] [-0.03160418 0.99936255 -0.01660337 0.2754167 ] [ 0.48020682 0.02975086 0.87665061 0.49975561] [ 0. 0. 0. 1. ]] SLAMing on 141.73800114499997 meters Centerline goodness [0,1] 0.6367595622249802 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87647572 0.01959041 -0.48104732 4.31632585] [-0.03165596 0.99935459 -0.01697943 0.2768568 ] [ 0.48040422 0.03011008 0.87653019 0.50015741] [ 0. 0. 0. 1. ]] SLAMing on 141.76800114499997 meters Centerline goodness [0,1] 0.6742217305912364 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.876357 0.01957531 -0.48126418 4.31716469] [-0.0317793 0.99934656 -0.01722025 0.27786745] [ 0.48061261 0.03038532 0.87640644 0.50043912] [ 0. 0. 0. 1. ]] SLAMing on 141.79800114499997 meters Centerline goodness [0,1] 0.6795603897575346 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87623255 0.01969771 -0.48148575 4.31819846] [-0.03197154 0.99933904 -0.01730022 0.27880002] [ 0.48082673 0.03055286 0.87628316 0.50062076] [ 0. 0. 0. 1. ]] SLAMing on 141.82800114499997 meters Centerline goodness [0,1] 0.6838731596828992 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87607735 0.0198251 -0.48176284 4.31974258] [-0.0322497 0.99932624 -0.01752209 0.28076253] [ 0.48109087 0.03088741 0.87612644 0.50091385] [ 0. 0. 0. 1. ]] SLAMing on 141.85800114499997 meters Centerline goodness [0,1] 0.6926897865680782 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87601198 0.01976256 -0.48188428 4.32032634] [-0.03225192 0.99932397 -0.01764712 0.28106901] [ 0.48120975 0.03100078 0.87605715 0.50101194] [ 0. 0. 0. 1. ]] SLAMing on 141.88800114499998 meters Centerline goodness [0,1] 0.6926897865680782 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87601198 0.01976256 -0.48188428 4.32032634] [-0.03225192 0.99932397 -0.01764712 0.28106901] [ 0.48120975 0.03100078 0.87605715 0.50101194] [ 0. 0. 0. 1. ]] SLAMing on 141.91800114499998 meters Centerline goodness [0,1] 0.677825024880123 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.8759433 0.01970544 -0.48201145 4.32090469] [-0.03224773 0.9993223 -0.01774874 0.28136023] [ 0.48133504 0.03109067 0.87598513 0.50114662] [ 0. 0. 0. 1. ]] SLAMing on 141.94800114499998 meters Centerline goodness [0,1] 0.6832256023143335 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87593928 0.01934619 -0.4820333 4.32071945] [-0.03199467 0.99932536 -0.01803245 0.28163175] [ 0.48135924 0.03121783 0.87596731 0.50136662] [ 0. 0. 0. 1. ]] SLAMing on 141.97800114499998 meters Centerline goodness [0,1] 0.6639242366024003 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87590013 0.01925476 -0.4821081 4.32109266] [-0.03194223 0.99932543 -0.01812132 0.28166511] [ 0.48143396 0.03127208 0.87592431 0.5014425 ] [ 0. 0. 0. 1. ]] SLAMing on 142.00800114499998 meters Centerline goodness [0,1] 0.6717488180604881 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87586833 0.01911042 -0.48217161 4.32139423] [-0.03185993 0.99932541 -0.01826647 0.28181523] [ 0.48149727 0.03136097 0.87588634 0.50151918] [ 0. 0. 0. 1. ]] SLAMing on 142.03800114499998 meters Centerline goodness [0,1] 0.643672175684854 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87589306 0.01859646 -0.48214678 4.32125945] [-0.03151478 0.9993282 -0.0187072 0.2832895 ] [ 0.48147499 0.03158026 0.8758907 0.50168488] [ 0. 0. 0. 1. ]] SLAMing on 142.06800114499998 meters Centerline goodness [0,1] 0.6391388901451767 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87592822 0.01817405 -0.48209901 4.32086214] [-0.03123836 0.99932975 -0.01908465 0.28365562] [ 0.48142903 0.03177677 0.87590885 0.50186302] [ 0. 0. 0. 1. ]] SLAMing on 142.09800114499998 meters Centerline goodness [0,1] 0.6655436724173016 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87593522 0.01801198 -0.48209237 4.3208047 ] [-0.03112875 0.99933053 -0.01922214 0.28318283] [ 0.4814234 0.03184429 0.8759095 0.50191788] [ 0. 0. 0. 1. ]] SLAMing on 142.12800114499998 meters Centerline goodness [0,1] 0.6494976011586856 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87599141 0.01802523 -0.48198977 4.32089938] [-0.03112805 0.99933096 -0.0192011 0.28234688] [ 0.48132119 0.0318234 0.87596643 0.50169106] [ 0. 0. 0. 1. ]] SLAMing on 142.158001145 meters Centerline goodness [0,1] 0.6540862014381982 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87610726 0.01744603 -0.48180048 4.31984413] [-0.03073523 0.99933334 -0.01970309 0.28273056] [ 0.48113554 0.03207027 0.87605941 0.50193402] [ 0. 0. 0. 1. ]] SLAMing on 142.188001145 meters Centerline goodness [0,1] 0.655841216674965 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87604438 0.01715464 -0.48192527 4.31965381] [-0.03062648 0.99932877 -0.02010069 0.28365029] [ 0.48125696 0.03236877 0.87598174 0.50254415] [ 0. 0. 0. 1. ]] SLAMing on 142.218001145 meters Centerline goodness [0,1] 0.6498538508599008 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87596077 0.01695622 -0.48208424 4.31958032] [-0.03055552 0.99932546 -0.02037124 0.28450511] [ 0.48141363 0.03257474 0.87588801 0.50311722] [ 0. 0. 0. 1. ]] SLAMing on 142.248001145 meters Centerline goodness [0,1] 0.639216130493883 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87589141 0.01710407 -0.48220502 4.32024853] [-0.03063899 0.99932624 -0.02020693 0.28403673] [ 0.48153451 0.03247335 0.87582532 0.50315502] [ 0. 0. 0. 1. ]] SLAMing on 142.278001145 meters Centerline goodness [0,1] 0.69232512292946 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87586744 0.01748539 -0.48223489 4.3211873 ] [-0.0307787 0.99933271 -0.01966747 0.28210604] [ 0.4815692 0.03206865 0.87582116 0.50263641] [ 0. 0. 0. 1. ]] SLAMing on 142.308001145 meters Centerline goodness [0,1] 0.6703373575538757 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87583786 0.01782983 -0.482276 4.32195021] [-0.03087454 0.9993403 -0.01912395 0.2795991 ] [ 0.48161687 0.03163953 0.87581056 0.50219214] [ 0. 0. 0. 1. ]] SLAMing on 142.33800114499996 meters Centerline goodness [0,1] 0.6729020583578376 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87591324 0.01789082 -0.48213681 4.32192483] [-0.03077964 0.99934871 -0.01883517 0.27769435] [ 0.48148583 0.03133798 0.87589345 0.5017275 ] [ 0. 0. 0. 1. ]] SLAMing on 142.36800114499997 meters Centerline goodness [0,1] 0.6258653737738189 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87599954 0.01749352 -0.48199459 4.32091161] [-0.030408 0.99935708 -0.01899422 0.27726294] [ 0.48135243 0.03129542 0.87596829 0.50193307] [ 0. 0. 0. 1. ]] SLAMing on 142.39800114499997 meters Centerline goodness [0,1] 0.665077284642502 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87596664 0.01743034 -0.48205667 4.3208987 ] [-0.03041236 0.99935438 -0.01912873 0.27778621] [ 0.48141203 0.03141661 0.87593119 0.50227348] [ 0. 0. 0. 1. ]] SLAMing on 142.42800114499997 meters Centerline goodness [0,1] 0.6556615474821279 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87589904 0.01738074 -0.48218127 4.32098041] [-0.03046354 0.99934923 -0.01931546 0.27825316] [ 0.48153177 0.03160734 0.87585851 0.50274239] [ 0. 0. 0. 1. ]] SLAMing on 142.45800114499997 meters Centerline goodness [0,1] 0.654528225260593 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87580297 0.01764241 -0.48234625 4.32160942] [-0.03071094 0.99934369 -0.01921007 0.27795162] [ 0.48169077 0.03163755 0.87576999 0.50300779] [ 0. 0. 0. 1. ]] SLAMing on 142.48800114499997 meters Centerline goodness [0,1] 0.6565355716509849 Centerline is valid? [False, False] Translation: X:4.32, Y:0.28, Z:0.50 [[ 0.87572611 0.01824012 -0.48246356 4.32247969] [-0.03109694 0.99934212 -0.01866314 0.27580118] [ 0.48180573 0.03134694 0.87571719 0.50289206] [ 0. 0. 0. 1. ]] SLAMing on 142.51800114499997 meters Centerline goodness [0,1] 0.6531453411112863 Centerline is valid? [False, False] Translation: X:4.32, Y:0.27, Z:0.50 [[ 0.87564514 0.01858643 -0.48259728 4.32323283] [-0.03132347 0.9993409 -0.01834669 0.27406596] [ 0.4819382 0.03118181 0.87565019 0.50285426] [ 0. 0. 0. 1. ]] SLAMing on 142.54800114499997 meters Centerline goodness [0,1] 0.6494901060309313 Centerline is valid? [False, False] Translation: X:4.32, Y:0.27, Z:0.50 [[ 0.87570685 0.01865035 -0.48248283 4.32299963] [-0.03129634 0.99934492 -0.01817325 0.27239026] [ 0.48182783 0.03101439 0.87571688 0.50271618] [ 0. 0. 0. 1. ]] SLAMing on 142.57800114499997 meters Centerline goodness [0,1] 0.6361775818639799 Centerline is valid? [False, False] Translation: X:4.32, Y:0.27, Z:0.50 [[ 0.87565742 0.01874391 -0.48256891 4.32309286] [-0.03140073 0.99934184 -0.01816259 0.27244137] [ 0.48191086 0.03105722 0.87566967 0.50306769] [ 0. 0. 0. 1. ]] SLAMing on 142.60800114499997 meters Centerline goodness [0,1] 0.6336047871861783 Centerline is valid? [False, False] Translation: X:4.32, Y:0.27, Z:0.50 [[ 0.87562001 0.01868853 -0.48263893 4.32296557] [-0.03139841 0.99933999 -0.01826807 0.27266451] [ 0.48197898 0.03114998 0.87562888 0.50346441] [ 0. 0. 0. 1. ]] SLAMing on 142.63800114499998 meters Centerline goodness [0,1] 0.6680334332124271 Centerline is valid? [False, False] Translation: X:4.32, Y:0.27, Z:0.50 [[ 0.87556112 0.01877982 -0.48274221 4.32317439] [-0.03150517 0.99933668 -0.01826513 0.27243679] [ 0.48207899 0.03120111 0.87557201 0.50374502] [ 0. 0. 0. 1. ]] SLAMing on 142.66800114499998 meters Centerline goodness [0,1] 0.6609495122060873 Centerline is valid? [False, False] Translation: X:4.32, Y:0.27, Z:0.50 [[ 0.87548982 0.01907285 -0.48286002 4.32354677] [-0.03173512 0.99933302 -0.01806662 0.27164608] [ 0.48219337 0.03114077 0.87551117 0.50397631] [ 0. 0. 0. 1. ]] SLAMing on 142.69800114499998 meters Centerline goodness [0,1] 0.6282672046626316 Centerline is valid? [False, False] Translation: X:4.32, Y:0.27, Z:0.50 [[ 0.87554396 0.01952366 -0.48274382 4.32354511] [-0.03199176 0.99933304 -0.01760676 0.26919177] [ 0.48207811 0.03085932 0.87558461 0.50374529] [ 0. 0. 0. 1. ]] SLAMing on 142.72800114499998 meters Centerline goodness [0,1] 0.6560739693440159 Centerline is valid? [False, False] Translation: X:4.32, Y:0.27, Z:0.50 [[ 0.87553332 0.01983338 -0.48275051 4.32387152] [-0.0321352 0.9993351 -0.01722473 0.26729361] [ 0.4820879 0.03059411 0.87558852 0.50358176] [ 0. 0. 0. 1. ]] SLAMing on 142.75800114499998 meters Centerline goodness [0,1] 0.6543735646279738 Centerline is valid? [False, False] Translation: X:4.32, Y:0.27, Z:0.50 [[ 0.87550544 0.02032196 -0.48278075 4.32479698] [-0.03243932 0.99933314 -0.01676205 0.26576402] [ 0.48211816 0.03033635 0.87558083 0.5032611 ] [ 0. 0. 0. 1. ]] SLAMing on 142.78800114499998 meters Centerline goodness [0,1] 0.6903136572524874 Centerline is valid? [False, False] Translation: X:4.33, Y:0.26, Z:0.50 [[ 0.87536723 0.02132438 -0.48298808 4.32631271] [-0.0331718 0.99932159 -0.01599955 0.26450359] [ 0.48231924 0.03002707 0.87548074 0.50325988] [ 0. 0. 0. 1. ]] SLAMing on 142.81800114499998 meters Centerline goodness [0,1] 0.7245592948717949 Centerline is valid? [False, False] Translation: X:4.33, Y:0.26, Z:0.50 [[ 0.87525151 0.02172408 -0.48317994 4.32700003] [-0.03351563 0.99931358 -0.01578177 0.26421762] [ 0.48250544 0.03000709 0.87537882 0.50360056] [ 0. 0. 0. 1. ]] SLAMing on 142.84800114499998 meters Centerline goodness [0,1] 0.7316015390432133 Centerline is valid? [False, False] Translation: X:4.33, Y:0.26, Z:0.50 [[ 0.87513177 0.02211854 -0.48337889 4.3276332 ] [-0.03386911 0.99930465 -0.01559187 0.26350515] [ 0.4826979 0.03001655 0.87527238 0.50395962] [ 0. 0. 0. 1. ]] SLAMing on 142.87800114499998 meters Centerline goodness [0,1] 0.7137784878947251 Centerline is valid? [False, False] Translation: X:4.33, Y:0.26, Z:0.50 [[ 0.87506518 0.02258788 -0.48347774 4.32826408] [-0.03420718 0.99929877 -0.0152261 0.26211606] [ 0.48279478 0.02986224 0.87522423 0.50398838] [ 0. 0. 0. 1. ]] SLAMing on 142.908001145 meters Centerline goodness [0,1] 0.7215593385429349 Centerline is valid? [False, False] Translation: X:4.33, Y:0.26, Z:0.50 [[ 0.87500931 0.02343116 -0.48353871 4.32906729] [-0.03484731 0.99928546 -0.01463648 0.25970661] [ 0.48285026 0.02965708 0.8752006 0.50394803] [ 0. 0. 0. 1. ]] SLAMing on 142.938001145 meters Centerline goodness [0,1] 0.7456610289559904 Centerline is valid? [False, False] Translation: X:4.33, Y:0.26, Z:0.50 [[ 0.87488571 0.02395811 -0.4837365 4.33026285] [-0.03529361 0.99927409 -0.01434078 0.25954147] [ 0.48304177 0.02961935 0.87509619 0.50401441] [ 0. 0. 0. 1. ]] SLAMing on 142.968001145 meters Centerline goodness [0,1] 0.7359025470653378 Centerline is valid? [False, False] Translation: X:4.33, Y:0.26, Z:0.50 [[ 0.87467972 0.02436998 -0.48408831 4.33155254] [-0.03571252 0.99926089 -0.01422271 0.26017793] [ 0.48338391 0.02972833 0.87490355 0.50446218] [ 0. 0. 0. 1. ]] SLAMing on 142.998001145 meters Centerline goodness [0,1] 0.7435346736338677 Centerline is valid? [False, False] Translation: X:4.33, Y:0.26, Z:0.50 [[ 0.87454754 0.02468699 -0.48431101 4.33263226] [-0.0360556 0.99924929 -0.01417246 0.26085848] [ 0.48359755 0.02985661 0.87478111 0.50474471] [ 0. 0. 0. 1. ]] SLAMing on 143.028001145 meters Centerline goodness [0,1] 0.7362962962962962 Centerline is valid? [False, False] Translation: X:4.33, Y:0.26, Z:0.50 [[ 0.87456902 0.02488252 -0.48426221 4.33226796] [-0.03618547 0.99924693 -0.01400669 0.25956381] [ 0.483549 0.02977307 0.8748108 0.50493238] [ 0. 0. 0. 1. ]] SLAMing on 143.058001145 meters Centerline goodness [0,1] 0.726721409442022 Centerline is valid? [False, False] Translation: X:4.33, Y:0.26, Z:0.50 [[ 0.87459931 0.0250013 -0.48420139 4.3322017 ] [-0.03621643 0.99924839 -0.01382142 0.25810358] [ 0.4834919 0.02962424 0.87484741 0.50483097] [ 0. 0. 0. 1. ]] SLAMing on 143.08800114499996 meters Centerline goodness [0,1] 0.7255899329898048 Centerline is valid? [False, False] Translation: X:4.33, Y:0.26, Z:0.50 [[ 0.87462493 0.02487794 -0.48416145 4.33190338] [-0.03612631 0.99925033 -0.01391618 0.25748119] [ 0.48345229 0.02966241 0.874868 0.5049985 ] [ 0. 0. 0. 1. ]] SLAMing on 143.11800114499997 meters Centerline goodness [0,1] 0.7207591356988202 Centerline is valid? [False, False] Translation: X:4.33, Y:0.26, Z:0.51 [[ 0.8746184 0.0246313 -0.48418586 4.33133876] [-0.03598376 0.99925196 -0.01416643 0.25750907] [ 0.48347473 0.02981305 0.87485048 0.5055038 ] [ 0. 0. 0. 1. ]] SLAMing on 143.14800114499997 meters Centerline goodness [0,1] 0.719047619047619 Centerline is valid? [False, False] Translation: X:4.33, Y:0.26, Z:0.51 [[ 0.87468529 0.02449218 -0.48407208 4.3302227 ] [-0.03601683 0.99924567 -0.01452198 0.25779325] [ 0.48335125 0.03013691 0.87490762 0.50628038] [ 0. 0. 0. 1. ]] SLAMing on 143.17800114499997 meters Centerline goodness [0,1] 0.7191135001762425 Centerline is valid? [False, False] Translation: X:4.33, Y:0.26, Z:0.51 [[ 0.8745831 0.02475504 -0.48424332 4.33069724] [-0.03625643 0.99923877 -0.01439992 0.25744429] [ 0.48351823 0.03015086 0.87481486 0.50656271] [ 0. 0. 0. 1. ]] SLAMing on 143.20800114499997 meters Centerline goodness [0,1] 0.7463838206199165 Centerline is valid? [False, False] Translation: X:4.33, Y:0.26, Z:0.51 [[ 0.87447259 0.02527253 -0.48441613 4.33213585] [-0.03664632 0.9992299 -0.01402333 0.25700645] [ 0.48368867 0.03001509 0.87472531 0.50637869] [ 0. 0. 0. 1. ]] SLAMing on 143.23800114499997 meters Centerline goodness [0,1] 0.7088654898771185 Centerline is valid? [False, False] Translation: X:4.33, Y:0.26, Z:0.51 [[ 0.8743203 0.02578213 -0.48466411 4.33380617] [-0.03699154 0.99922334 -0.01357713 0.25628577] [ 0.48393765 0.02979924 0.87459497 0.5061637 ] [ 0. 0. 0. 1. ]] SLAMing on 143.26800114499997 meters Centerline goodness [0,1] 0.7149009096102299 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.51 [[ 0.87419782 0.02665108 -0.484838 4.33648611] [-0.03740725 0.99922165 -0.01252172 0.25368859] [ 0.48412691 0.02908292 0.87451433 0.50501395] [ 0. 0. 0. 1. ]] SLAMing on 143.29800114499997 meters Centerline goodness [0,1] 0.695561323244765 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.50 [[ 0.87417745 0.02697256 -0.48485695 4.33733869] [-0.03750523 0.99922397 -0.01203366 0.25180748] [ 0.48415611 0.02870422 0.87451068 0.50452576] [ 0. 0. 0. 1. ]] SLAMing on 143.32800114499997 meters Centerline goodness [0,1] 0.714006586169045 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.50 [[ 0.87425316 0.02686157 -0.48472659 4.33713919] [-0.03728513 0.99923412 -0.01187401 0.25024066] [ 0.48403639 0.02845398 0.87458512 0.50418769] [ 0. 0. 0. 1. ]] SLAMing on 143.35800114499997 meters Centerline goodness [0,1] 0.7066895368782161 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.50 [[ 0.8743063 0.0266548 -0.48464214 4.33687589] [-0.03699741 0.99924585 -0.01178678 0.24895034] [ 0.48396248 0.02823576 0.8746331 0.50398754] [ 0. 0. 0. 1. ]] SLAMing on 143.38800114499998 meters Centerline goodness [0,1] 0.7356856209293656 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.50 [[ 0.8744681 0.02567419 -0.48440311 4.33527272] [-0.03601398 0.99927863 -0.01205074 0.24693464] [ 0.48374428 0.02798327 0.87476191 0.50381995] [ 0. 0. 0. 1. ]] SLAMing on 143.41800114499998 meters Centerline goodness [0,1] 0.7169402020290554 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.50 [[ 0.87449565 0.02561068 -0.48435673 4.335275 ] [-0.03584926 0.99928651 -0.01188713 0.24575945] [ 0.48370671 0.02775908 0.87478983 0.50363215] [ 0. 0. 0. 1. ]] SLAMing on 143.44800114499998 meters Centerline goodness [0,1] 0.7200447191897935 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.50 [[ 0.87447372 0.02553382 -0.48440039 4.33539854] [-0.03572213 0.99929194 -0.01181321 0.24504897] [ 0.48375577 0.02763416 0.87476666 0.50366029] [ 0. 0. 0. 1. ]] SLAMing on 143.47800114499998 meters Centerline goodness [0,1] 0.7131441048034934 Centerline is valid? [False, False] Translation: X:4.33, Y:0.24, Z:0.50 [[ 0.87450791 0.02507271 -0.48436274 4.33487957] [-0.03530001 0.99930465 -0.01200519 0.24486768] [ 0.48372494 0.02759665 0.87478489 0.50379411] [ 0. 0. 0. 1. ]] SLAMing on 143.50800114499998 meters Centerline goodness [0,1] 0.7058013765978368 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.50 [[ 0.87451932 0.0253196 -0.4843293 4.33535586] [-0.03542407 0.99930363 -0.01172148 0.24381041] [ 0.48369524 0.02740757 0.87480726 0.50356199] [ 0. 0. 0. 1. ]] SLAMing on 143.53800114499998 meters Centerline goodness [0,1] 0.6966019947185789 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.50 [[ 0.87448362 0.02560054 -0.48437899 4.33605399] [-0.03562575 0.999299 -0.01150245 0.24270071] [ 0.48374497 0.02731507 0.87478265 0.50339794] [ 0. 0. 0. 1. ]] SLAMing on 143.56800114499998 meters Centerline goodness [0,1] 0.7164931649751157 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.50 [[ 0.87440145 0.0261456 -0.48449821 4.33707313] [-0.03613852 0.99928295 -0.01129565 0.24256508] [ 0.48385547 0.02738598 0.87471932 0.50347863] [ 0. 0. 0. 1. ]] SLAMing on 143.59800114499998 meters Centerline goodness [0,1] 0.6982919727063324 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.50 [[ 0.87420623 0.02647151 -0.48483267 4.33830911] [-0.03652457 0.99926888 -0.01129844 0.24333623] [ 0.48417912 0.02758547 0.87453395 0.50393441] [ 0. 0. 0. 1. ]] SLAMing on 143.62800114499998 meters Centerline goodness [0,1] 0.7041408542549723 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.50 [[ 0.87399974 0.02683722 -0.48518473 4.33973716] [-0.03695239 0.99925322 -0.01129303 0.24435058] [ 0.48451933 0.02779884 0.87433875 0.5043796 ] [ 0. 0. 0. 1. ]] SLAMing on 143.658001145 meters Centerline goodness [0,1] 0.7203109349823629 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.50 [[ 0.87376278 0.02776893 -0.48555894 4.34223978] [-0.03777204 0.99922774 -0.01082529 0.24473241] [ 0.48488336 0.02779928 0.87413691 0.5043817 ] [ 0. 0. 0. 1. ]] SLAMing on 143.688001145 meters Centerline goodness [0,1] 0.722638223770135 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.50 [[ 0.87359153 0.02836451 -0.48583258 4.34377563] [-0.03822308 0.99921519 -0.0103927 0.2439769 ] [ 0.48515651 0.02764899 0.8739901 0.50435073] [ 0. 0. 0. 1. ]] SLAMing on 143.718001145 meters Centerline goodness [0,1] 0.7175537692809038 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.50 [[ 0.87346041 0.02874231 -0.48604608 4.34494001] [-0.0385407 0.99920525 -0.0101725 0.24354514] [ 0.48536742 0.02761783 0.87387398 0.50441371] [ 0. 0. 0. 1. ]] SLAMing on 143.748001145 meters Centerline goodness [0,1] 0.7311900610287707 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.50 [[ 0.87340421 0.02869269 -0.48614999 4.34507547] [-0.03860838 0.9992004 -0.01038975 0.24393861] [ 0.48546316 0.02784391 0.87381362 0.50490724] [ 0. 0. 0. 1. ]] SLAMing on 143.778001145 meters Centerline goodness [0,1] 0.7311900610287707 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.50 [[ 0.87340421 0.02869269 -0.48614999 4.34507547] [-0.03860838 0.9992004 -0.01038975 0.24393861] [ 0.48546316 0.02784391 0.87381362 0.50490724] [ 0. 0. 0. 1. ]] SLAMing on 143.808001145 meters Centerline goodness [0,1] 0.7038093164997823 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.51 [[ 0.87334698 0.02845327 -0.48626687 4.34514845] [-0.0384927 0.99920195 -0.01066682 0.24451123] [ 0.4855753 0.02803356 0.87374524 0.50529433] [ 0. 0. 0. 1. ]] SLAMing on 143.83800114499996 meters Centerline goodness [0,1] 0.7225308843715276 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.51 [[ 0.87335011 0.02815359 -0.48627868 4.34506004] [-0.03830422 0.99920619 -0.01094383 0.2448778 ] [ 0.48558456 0.02818432 0.87373524 0.50548812] [ 0. 0. 0. 1. ]] SLAMing on 143.86800114499997 meters Centerline goodness [0,1] 0.726251499618279 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.51 [[ 0.87332686 0.02796066 -0.48633157 4.34513133] [-0.0381498 0.99921083 -0.01105964 0.24450285] [ 0.48563854 0.02821213 0.87370435 0.50559746] [ 0. 0. 0. 1. ]] SLAMing on 143.89800114499997 meters Centerline goodness [0,1] 0.7035779576913033 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.51 [[ 0.87333174 0.0280684 -0.4863166 4.34603006] [-0.03815687 0.99921284 -0.01085157 0.24283738] [ 0.4856292 0.02803334 0.87371529 0.50509962] [ 0. 0. 0. 1. ]] SLAMing on 143.92800114499997 meters Centerline goodness [0,1] 0.7160647029368863 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.51 [[ 0.87331538 0.02786414 -0.48635773 4.34617566] [-0.0380288 0.99921567 -0.01103889 0.24301406] [ 0.48566868 0.02813603 0.87369005 0.50519145] [ 0. 0. 0. 1. ]] SLAMing on 143.95800114499997 meters Centerline goodness [0,1] 0.7101398753758335 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.51 [[ 0.87326138 0.02760932 -0.4864692 4.34620638] [-0.03792039 0.99921618 -0.0113609 0.24381603] [ 0.48577423 0.02836814 0.87362386 0.50559733] [ 0. 0. 0. 1. ]] SLAMing on 143.98800114499997 meters Centerline goodness [0,1] 0.6934517976524901 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.51 [[ 0.87333606 0.02681464 -0.48637959 4.34492857] [-0.03734359 0.99923085 -0.01196491 0.24429808] [ 0.48568466 0.02861255 0.87366569 0.50610889] [ 0. 0. 0. 1. ]] SLAMing on 144.01800114499997 meters Centerline goodness [0,1] 0.6830608240680183 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.51 [[ 0.87326876 0.02660852 -0.48651173 4.34477452] [-0.03718391 0.99923527 -0.01209299 0.24387836] [ 0.4858179 0.02865084 0.87359035 0.50650062] [ 0. 0. 0. 1. ]] SLAMing on 144.04800114499997 meters Centerline goodness [0,1] 0.6758632732352556 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.51 [[ 0.87323491 0.02653801 -0.48657632 4.3449377 ] [-0.03710355 0.9992383 -0.0120892 0.24322274] [ 0.48588487 0.02861042 0.87355443 0.50657835] [ 0. 0. 0. 1. ]] SLAMing on 144.07800114499997 meters Centerline goodness [0,1] 0.6826692793381233 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.51 [[ 0.87318473 0.02668931 -0.48665811 4.34537315] [-0.03713639 0.99924016 -0.01183151 0.24179247] [ 0.48597255 0.02840382 0.87351239 0.50650801] [ 0. 0. 0. 1. ]] SLAMing on 144.10800114499997 meters Centerline goodness [0,1] 0.7102038155664683 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.51 [[ 0.87327543 0.02578898 -0.48654389 4.34442395] [-0.03629095 0.99926714 -0.01217139 0.23899216] [ 0.48587344 0.02828612 0.87357135 0.50636531] [ 0. 0. 0. 1. ]] SLAMing on 144.13800114499998 meters Centerline goodness [0,1] 0.6655465464163379 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.51 [[ 0.87322148 0.02584689 -0.48663763 4.34461603] [-0.03627728 0.99926945 -0.01202146 0.23806208] [ 0.4859714 0.02815128 0.87352121 0.50649496] [ 0. 0. 0. 1. ]] SLAMing on 144.16800114499998 meters Centerline goodness [0,1] 0.7345119305856833 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.51 [[ 0.87316003 0.02591635 -0.48674418 4.34503168] [-0.03632602 0.99926843 -0.01195914 0.2379432 ] [ 0.48607816 0.02812372 0.8734627 0.50664163] [ 0. 0. 0. 1. ]] SLAMing on 144.19800114499998 meters Centerline goodness [0,1] 0.7304068429508055 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.51 [[ 0.87302509 0.02627101 -0.48696717 4.34606779] [-0.0365986 0.9992615 -0.01170488 0.23763517] [ 0.48630005 0.02804098 0.87334184 0.5067733 ] [ 0. 0. 0. 1. ]] SLAMing on 144.22800114499998 meters Centerline goodness [0,1] 0.7206326446370765 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.51 [[ 0.87292903 0.02677541 -0.48711187 4.34714545] [-0.03688963 0.99925679 -0.01118125 0.23596908] [ 0.48645047 0.02772982 0.873268 0.50657629] [ 0. 0. 0. 1. ]] SLAMing on 144.25800114499998 meters Centerline goodness [0,1] 0.7133156889968761 Centerline is valid? [False, False] Translation: X:4.35, Y:0.23, Z:0.51 [[ 0.87286357 0.02708322 -0.48721215 4.34758987] [-0.03708921 0.99925251 -0.01090048 0.23482095] [ 0.48655274 0.02758495 0.87321561 0.50664999] [ 0. 0. 0. 1. ]] SLAMing on 144.28800114499998 meters Centerline goodness [0,1] 0.7134454871772694 Centerline is valid? [False, False] Translation: X:4.35, Y:0.23, Z:0.51 [[ 0.87280174 0.02728047 -0.48731191 4.34787834] [-0.03722049 0.99924953 -0.01072437 0.23372283] [ 0.48665363 0.02749824 0.87316212 0.50682662] [ 0. 0. 0. 1. ]] SLAMing on 144.31800114499998 meters Centerline goodness [0,1] 0.7031384907615266 Centerline is valid? [False, False] Translation: X:4.35, Y:0.23, Z:0.51 [[ 0.87275754 0.02768673 -0.48736816 4.34838695] [-0.03747485 0.99924405 -0.0103426 0.23218582] [ 0.48671338 0.02729063 0.87313533 0.50670707] [ 0. 0. 0. 1. ]] SLAMing on 144.34800114499998 meters Centerline goodness [0,1] 0.7227566867989645 Centerline is valid? [False, False] Translation: X:4.35, Y:0.23, Z:0.51 [[ 0.87268793 0.02844531 -0.48744911 4.34897149] [-0.03805233 0.99922754 -0.00981534 0.2302895 ] [ 0.48679338 0.02711431 0.87309623 0.50678007] [ 0. 0. 0. 1. ]] SLAMing on 144.37800114499998 meters Centerline goodness [0,1] 0.7319139784946236 Centerline is valid? [False, False] Translation: X:4.35, Y:0.23, Z:0.51 [[ 0.87252092 0.02888335 -0.48772224 4.34993322] [-0.03849181 0.99921197 -0.00968649 0.23080581] [ 0.48705812 0.02722498 0.87294512 0.50719486] [ 0. 0. 0. 1. ]] SLAMing on 144.408001145 meters Centerline goodness [0,1] 0.7280469707723078 Centerline is valid? [False, False] Translation: X:4.35, Y:0.23, Z:0.51 [[ 0.87254574 0.03344698 -0.48738612 4.34866749] [-0.04170737 0.99911123 -0.00610262 0.23013574] [ 0.48674884 0.02565241 0.87316523 0.50705412] [ 0. 0. 0. 1. ]] SLAMing on 144.438001145 meters Centerline goodness [0,1] 0.7339829266189533 Centerline is valid? [False, False] Translation: X:4.35, Y:0.23, Z:0.51 [[ 0.87231175 0.03390491 -0.48777317 4.35010239] [-0.04213869 0.99909428 -0.00591232 0.23039917] [ 0.48713093 0.02571151 0.87295039 0.50744499] [ 0. 0. 0. 1. ]] SLAMing on 144.468001145 meters Centerline goodness [0,1] 0.7333792331855932 Centerline is valid? [False, False] Translation: X:4.35, Y:0.23, Z:0.51 [[ 0.87205674 0.03508851 -0.48814531 4.35269149] [-0.04295014 0.99906513 -0.00491504 0.22736345] [ 0.48751649 0.0252521 0.87274853 0.5070057 ] [ 0. 0. 0. 1. ]] SLAMing on 144.498001145 meters Centerline goodness [0,1] 0.7341899776900636 Centerline is valid? [False, False] Translation: X:4.35, Y:0.23, Z:0.51 [[ 0.87198065 0.03563235 -0.48824183 4.35398257] [-0.0432646 0.99905415 -0.00435694 0.22527941] [ 0.48762478 0.02492276 0.8726975 0.50657277] [ 0. 0. 0. 1. ]] SLAMing on 144.528001145 meters Centerline goodness [0,1] 0.7355398526600657 Centerline is valid? [False, False] Translation: X:4.35, Y:0.22, Z:0.51 [[ 8.71934771e-01 3.58095499e-02 -4.88310794e-01 4.35479593e+00] [-4.33318552e-02 9.99052280e-01 -4.10996201e-03 2.24164129e-01] [ 4.87700836e-01 2.47430314e-02 8.72660115e-01 5.06276494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.558001145 meters Centerline goodness [0,1] 0.7269312498658482 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.51 [[ 8.71881487e-01 3.58571129e-02 -4.88402436e-01 4.35533152e+00] [-4.33358872e-02 9.99052494e-01 -4.01435286e-03 2.23593466e-01] [ 4.87795729e-01 2.46653928e-02 8.72609274e-01 5.06264385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58800114499996 meters Centerline goodness [0,1] 0.715001498865145 Centerline is valid? [False, False] Translation: X:4.35, Y:0.22, Z:0.51 [[ 0.87196514 0.035073 -0.48831002 4.35372032] [-0.04281863 0.9990718 -0.00470174 0.22471126] [ 0.48769187 0.02500853 0.87265756 0.50701167] [ 0. 0. 0. 1. ]] SLAMing on 144.61800114499997 meters Centerline goodness [0,1] 0.7179070662163896 Centerline is valid? [False, False] Translation: X:4.35, Y:0.23, Z:0.51 [[ 0.87201955 0.03434568 -0.48826456 4.35239895] [-0.04234194 0.99908889 -0.00534262 0.22546465] [ 0.4876362 0.02533294 0.87267931 0.50766744] [ 0. 0. 0. 1. ]] SLAMing on 144.64800114499997 meters Centerline goodness [0,1] 0.7146682662439212 Centerline is valid? [False, False] Translation: X:4.35, Y:0.23, Z:0.51 [[ 0.87206188 0.03379404 -0.48822744 4.35127233] [-0.04197885 0.99910151 -0.00582613 0.22570945] [ 0.48759189 0.02557597 0.87269698 0.5082285 ] [ 0. 0. 0. 1. ]] SLAMing on 144.67800114499997 meters Centerline goodness [0,1] 0.7566452109573808 Centerline is valid? [False, False] Translation: X:4.35, Y:0.23, Z:0.51 [[ 0.87205314 0.03362934 -0.48825443 4.35098641] [-0.04184629 0.99910649 -0.00592499 0.22509454] [ 0.48761892 0.02559855 0.87268122 0.50848471] [ 0. 0. 0. 1. ]] SLAMing on 144.70800114499997 meters Centerline goodness [0,1] 0.7474848879680458 Centerline is valid? [False, False] Translation: X:4.35, Y:0.22, Z:0.51 [[ 0.87209957 0.03320354 -0.48820063 4.35015931] [-0.04143603 0.99912274 -0.00606704 0.22257306] [ 0.48757091 0.02552015 0.87271034 0.50854737] [ 0. 0. 0. 1. ]] SLAMing on 144.73800114499997 meters Centerline goodness [0,1] 0.69457928802589 Centerline is valid? [False, False] Translation: X:4.35, Y:0.22, Z:0.51 [[ 0.87208087 0.03328937 -0.48822819 4.35046069] [-0.04144231 0.99912347 -0.00590064 0.22150549] [ 0.48760382 0.02537914 0.87269606 0.50840503] [ 0. 0. 0. 1. ]] SLAMing on 144.76800114499997 meters Centerline goodness [0,1] 0.7414854416494494 Centerline is valid? [False, False] Translation: X:4.35, Y:0.22, Z:0.51 [[ 0.87202069 0.03325479 -0.48833803 4.35082614] [-0.04138598 0.99912602 -0.00586418 0.22093895] [ 0.48771623 0.02532404 0.87263485 0.50846106] [ 0. 0. 0. 1. ]] SLAMing on 144.79800114499997 meters Centerline goodness [0,1] 0.6957529121673327 Centerline is valid? [False, False] Translation: X:4.35, Y:0.22, Z:0.51 [[ 0.87190241 0.03371698 -0.4885175 4.35195014] [-0.04166841 0.99911684 -0.00541144 0.22002836] [ 0.4879036 0.025074 0.87253732 0.50834173] [ 0. 0. 0. 1. ]] SLAMing on 144.82800114499997 meters Centerline goodness [0,1] 0.7454835281615303 Centerline is valid? [False, False] Translation: X:4.35, Y:0.22, Z:0.51 [[ 0.87177009 0.03395638 -0.48873702 4.35278415] [-0.04185696 0.99910985 -0.00524513 0.21988934] [ 0.48812386 0.02502959 0.87241539 0.50851815] [ 0. 0. 0. 1. ]] SLAMing on 144.85800114499997 meters Centerline goodness [0,1] 0.7341436510966866 Centerline is valid? [False, False] Translation: X:4.35, Y:0.22, Z:0.51 [[ 0.87164902 0.03438018 -0.48892329 4.3539536 ] [-0.04216462 0.99909858 -0.00491603 0.21942099] [ 0.48831355 0.02490032 0.87231293 0.50848267] [ 0. 0. 0. 1. ]] SLAMing on 144.88800114499998 meters Centerline goodness [0,1] 0.7449781288486856 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.51 [[ 0.87148659 0.03485402 -0.48917922 4.35500489] [-0.04249369 0.99908652 -0.0045188 0.21851236] [ 0.48857487 0.0247251 0.87217158 0.50858585] [ 0. 0. 0. 1. ]] SLAMing on 144.91800114499998 meters Centerline goodness [0,1] 0.7641341256366723 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.51 [[ 8.71346307e-01 3.55101882e-02 -4.89381896e-01 4.35591274e+00] [-4.29797225e-02 9.99067809e-01 -4.03189517e-03 2.17184690e-01] [ 4.88782525e-01 2.45466750e-02 8.72060264e-01 5.08750291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.94800114499998 meters Centerline goodness [0,1] 0.7475343075911511 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.51 [[ 8.71216903e-01 3.57109335e-02 -4.89597628e-01 4.35635599e+00] [-4.31922009e-02 9.99058822e-01 -3.98787134e-03 2.17364026e-01] [ 4.88994419e-01 2.46211000e-02 8.71939367e-01 5.09161686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97800114499998 meters Centerline goodness [0,1] 0.7804055487209943 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.51 [[ 8.71106085e-01 3.58038878e-02 -4.89787985e-01 4.35648244e+00] [-4.33458146e-02 9.99051876e-01 -4.06065811e-03 2.17466062e-01] [ 4.89178218e-01 2.47675232e-02 8.71832117e-01 5.09724206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.00800114499998 meters Centerline goodness [0,1] 0.7795966029723992 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.51 [[ 8.71050944e-01 3.57916863e-02 -4.89886933e-01 4.35640642e+00] [-4.33861980e-02 9.99049749e-01 -4.15180189e-03 2.17267233e-01] [ 4.89272818e-01 2.48707624e-02 8.71776092e-01 5.10140903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03800114499998 meters Centerline goodness [0,1] 0.7710879221303637 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.51 [[ 0.87101932 0.03559504 -0.48995749 4.35593356] [-0.04333153 0.99905083 -0.00445211 0.21791556] [ 0.48933396 0.02510848 0.87173496 0.51079349] [ 0. 0. 0. 1. ]] SLAMing on 145.06800114499998 meters Centerline goodness [0,1] 0.7646771763807261 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.51 [[ 0.87090602 0.03548809 -0.4901666 4.35629928] [-0.04330177 0.99905142 -0.00460525 0.21835592] [ 0.48953821 0.02523582 0.8716166 0.51118617] [ 0. 0. 0. 1. ]] SLAMing on 145.09800114499998 meters Centerline goodness [0,1] 0.7732749644048706 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.51 [[ 0.87082243 0.03542235 -0.49031984 4.35674419] [-0.04324952 0.99905354 -0.00463743 0.21790833] [ 0.4896915 0.02524447 0.87153023 0.51134037] [ 0. 0. 0. 1. ]] SLAMing on 145.12800114499998 meters Centerline goodness [0,1] 0.7599049800627811 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.51 [[ 0.87084378 0.03534105 -0.49028779 4.35710334] [-0.04308934 0.999061 -0.00452025 0.21675873] [ 0.48966766 0.02506261 0.87154888 0.51098001] [ 0. 0. 0. 1. ]] SLAMing on 145.158001145 meters Centerline goodness [0,1] 0.754640137454129 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.51 [[ 0.87070348 0.03546279 -0.49052812 4.35776608] [-0.0432524 0.99905383 -0.0045477 0.21712411] [ 0.48990273 0.02517622 0.87141349 0.51135213] [ 0. 0. 0. 1. ]] SLAMing on 145.188001145 meters Centerline goodness [0,1] 0.7519162579357497 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.51 [[ 0.87059231 0.03527452 -0.49073897 4.35797857] [-0.04322915 0.99905327 -0.00487805 0.21827066] [ 0.4901023 0.02546102 0.87129299 0.51191749] [ 0. 0. 0. 1. ]] SLAMing on 145.218001145 meters Centerline goodness [0,1] 0.7603230456164152 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.51 [[ 0.87057354 0.03505804 -0.49078779 4.35740414] [-0.04323238 0.99905087 -0.00532246 0.21955244] [ 0.49013537 0.02585152 0.87126289 0.51265634] [ 0. 0. 0. 1. ]] SLAMing on 145.248001145 meters Centerline goodness [0,1] 0.7696467195385724 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.51 [[ 0.87050703 0.03495677 -0.49091296 4.35754216] [-0.04316977 0.9990531 -0.00541015 0.21929748] [ 0.49025899 0.02590217 0.87119183 0.51289788] [ 0. 0. 0. 1. ]] SLAMing on 145.278001145 meters Centerline goodness [0,1] 0.7529189887902354 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.51 [[ 0.87039488 0.03511706 -0.49110034 4.35823669] [-0.04323459 0.99905148 -0.00518717 0.21842832] [ 0.49045237 0.02574741 0.87108757 0.51293653] [ 0. 0. 0. 1. ]] SLAMing on 145.30800114499996 meters Centerline goodness [0,1] 0.7551370952350658 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.51 [[ 0.87027733 0.03540898 -0.49128767 4.35928986] [-0.0433913 0.99904634 -0.00485917 0.21733574] [ 0.49064708 0.02554643 0.87098382 0.51284063] [ 0. 0. 0. 1. ]] SLAMing on 145.33800114499996 meters Centerline goodness [0,1] 0.7472918830687045 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.51 [[ 0.87018019 0.03555686 -0.49144903 4.36022923] [-0.04338859 0.99904794 -0.00454348 0.21632669] [ 0.49081959 0.02527693 0.87089449 0.51262957] [ 0. 0. 0. 1. ]] SLAMing on 145.36800114499997 meters Centerline goodness [0,1] 0.7540341366312312 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.51 [[ 0.87005559 0.03555082 -0.49167002 4.36088151] [-0.04337323 0.99904873 -0.00451546 0.2160824 ] [ 0.49104178 0.02525402 0.87076989 0.51281213] [ 0. 0. 0. 1. ]] SLAMing on 145.39800114499997 meters Centerline goodness [0,1] 0.7546950096335034 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.51 [[ 0.86996802 0.03544746 -0.49183241 4.36120859] [-0.0433054 0.99905131 -0.00459604 0.2160575 ] [ 0.49120289 0.02529741 0.87067776 0.51306075] [ 0. 0. 0. 1. ]] SLAMing on 145.42800114499997 meters Centerline goodness [0,1] 0.747253675849248 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.51 [[ 0.86990026 0.03531644 -0.49196167 4.36152581] [-0.04321347 0.99905484 -0.00469212 0.21601904] [ 0.49133098 0.02534105 0.87060421 0.51320933] [ 0. 0. 0. 1. ]] SLAMing on 145.45800114499997 meters Centerline goodness [0,1] 0.7434513985866024 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.51 [[ 0.86992974 0.03486565 -0.4919417 4.36107599] [-0.04282785 0.99907032 -0.00492738 0.21547602] [ 0.49131255 0.02535528 0.8706142 0.51333183] [ 0. 0. 0. 1. ]] SLAMing on 145.48800114499997 meters Centerline goodness [0,1] 0.7307887288242998 Centerline is valid? [False, False] Translation: X:4.36, Y:0.21, Z:0.51 [[ 0.86990364 0.03477242 -0.49199444 4.36086618] [-0.04273015 0.99907443 -0.00494086 0.2146672 ] [ 0.49136726 0.02532107 0.87058432 0.51353494] [ 0. 0. 0. 1. ]] SLAMing on 145.51800114499997 meters Centerline goodness [0,1] 0.7283791493227967 Centerline is valid? [False, False] Translation: X:4.36, Y:0.21, Z:0.51 [[ 0.86987842 0.03454847 -0.49205482 4.36053621] [-0.04257092 0.99908038 -0.00511086 0.2142857 ] [ 0.49142574 0.02539305 0.87054921 0.51386524] [ 0. 0. 0. 1. ]] SLAMing on 145.54800114499997 meters Centerline goodness [0,1] 0.7203525979791148 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.51 [[ 0.86992638 0.0339416 -0.49201226 4.35901755] [-0.04227617 0.99908898 -0.00582604 0.21579935] [ 0.49136628 0.02586862 0.87056877 0.51480288] [ 0. 0. 0. 1. ]] SLAMing on 145.57800114499997 meters Centerline goodness [0,1] 0.7591411923661544 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.52 [[ 0.86976346 0.03366362 -0.49231929 4.35919728] [-0.04220201 0.9990896 -0.00624146 0.21698676] [ 0.49166098 0.02620546 0.8703923 0.51557816] [ 0. 0. 0. 1. ]] SLAMing on 145.60800114499997 meters Centerline goodness [0,1] 0.7579420326540944 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.52 [[ 0.86961831 0.03374232 -0.49257025 4.35991003] [-0.04232571 0.9990841 -0.00628498 0.21725202] [ 0.49190704 0.02631392 0.87024999 0.5159112 ] [ 0. 0. 0. 1. ]] SLAMing on 145.63800114499998 meters Centerline goodness [0,1] 0.753912951392566 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.52 [[ 0.86944325 0.03399815 -0.49286161 4.36123079] [-0.04250158 0.99907803 -0.00605831 0.2168492 ] [ 0.49220124 0.02621475 0.87008662 0.51590588] [ 0. 0. 0. 1. ]] SLAMing on 145.66800114499998 meters Centerline goodness [0,1] 0.762882669263666 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.52 [[ 0.86930503 0.03439772 -0.49307765 4.36304648] [-0.04269901 0.99907238 -0.00558258 0.21568019] [ 0.49242824 0.02590689 0.86996739 0.51534642] [ 0. 0. 0. 1. ]] SLAMing on 145.69800114499998 meters Centerline goodness [0,1] 0.762882669263666 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.52 [[ 0.86930503 0.03439772 -0.49307765 4.36304648] [-0.04269901 0.99907238 -0.00558258 0.21568019] [ 0.49242824 0.02590689 0.86996739 0.51534642] [ 0. 0. 0. 1. ]] SLAMing on 145.72800114499998 meters Centerline goodness [0,1] 0.7618139436321254 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.52 [[ 0.86920405 0.03451536 -0.49324742 4.36402556] [-0.04277611 0.99906971 -0.0054697 0.21525032] [ 0.49259977 0.02585349 0.86987187 0.5152711 ] [ 0. 0. 0. 1. ]] SLAMing on 145.75800114499998 meters Centerline goodness [0,1] 0.7512807485498962 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.52 [[ 0.86913706 0.03428811 -0.49338129 4.36418285] [-0.04259108 0.99907692 -0.00559614 0.21510955] [ 0.49273398 0.02587745 0.86979514 0.5154524 ] [ 0. 0. 0. 1. ]] SLAMing on 145.78800114499998 meters Centerline goodness [0,1] 0.7726599212565091 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.52 [[ 0.86908936 0.03391243 -0.49349127 4.3641373 ] [-0.04231071 0.99908733 -0.00585687 0.21539642] [ 0.49284226 0.02597011 0.86973103 0.51571554] [ 0. 0. 0. 1. ]] SLAMing on 145.81800114499998 meters Centerline goodness [0,1] 0.7514806716623856 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.52 [[ 0.8691892 0.03274089 -0.49339453 4.36257797] [-0.04145135 0.99911791 -0.00672293 0.21625792] [ 0.4927392 0.02629536 0.86977965 0.51621063] [ 0. 0. 0. 1. ]] SLAMing on 145.84800114499998 meters Centerline goodness [0,1] 0.7561017093290245 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.52 [[ 0.86916561 0.03237682 -0.49346012 4.36229857] [-0.04117108 0.99912785 -0.00696289 0.21609484] [ 0.49280431 0.02636819 0.86974055 0.51647899] [ 0. 0. 0. 1. ]] SLAMing on 145.87800114499998 meters Centerline goodness [0,1] 0.7622015634903867 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.52 [[ 0.86916919 0.03196262 -0.49348081 4.3616599 ] [-0.04083121 0.9991401 -0.0072021 0.2156885 ] [ 0.49282627 0.02640926 0.86972686 0.51677036] [ 0. 0. 0. 1. ]] SLAMing on 145.908001145 meters Centerline goodness [0,1] 0.7214315878378379 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.52 [[ 0.86917949 0.03135942 -0.49350136 4.36077995] [-0.04037979 0.99915529 -0.00762785 0.21565199] [ 0.49284529 0.02655745 0.86971157 0.51720466] [ 0. 0. 0. 1. ]] SLAMing on 145.938001145 meters Centerline goodness [0,1] 0.7055513243632056 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.52 [[ 0.86921435 0.03068232 -0.49348253 4.36000865] [-0.03978654 0.99917653 -0.00795566 0.21555228] [ 0.49283206 0.02654914 0.86971932 0.51739517] [ 0. 0. 0. 1. ]] SLAMing on 145.968001145 meters Centerline goodness [0,1] 0.7195750432982724 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.52 [[ 0.8691445 0.0304776 -0.49361822 4.36028051] [-0.039585 0.99918413 -0.00800689 0.21529146] [ 0.49297146 0.02649902 0.86964184 0.51746712] [ 0. 0. 0. 1. ]] SLAMing on 145.998001145 meters Centerline goodness [0,1] 0.7141043544496636 Centerline is valid? [False, False] Translation: X:4.36, Y:0.21, Z:0.52 [[ 0.86908059 0.03041825 -0.49373439 4.36058669] [-0.03950876 0.99918731 -0.00798561 0.21470475] [ 0.49309023 0.02644698 0.86957609 0.51755744] [ 0. 0. 0. 1. ]] SLAMing on 146.028001145 meters Centerline goodness [0,1] 0.7128042328042328 Centerline is valid? [False, False] Translation: X:4.36, Y:0.21, Z:0.52 [[ 0.86896096 0.03036079 -0.49394845 4.36126184] [-0.03944564 0.99918987 -0.0079776 0.21443581] [ 0.49330608 0.02641633 0.86945459 0.5176859 ] [ 0. 0. 0. 1. ]] SLAMing on 146.05800114499996 meters Centerline goodness [0,1] 0.7304961532755442 Centerline is valid? [False, False] Translation: X:4.36, Y:0.21, Z:0.52 [[ 0.86905351 0.03424169 -0.49353166 4.35943712] [-0.04210381 0.99910161 -0.00482143 0.21495315] [ 0.49292318 0.02496964 0.86971447 0.51751474] [ 0. 0. 0. 1. ]] SLAMing on 146.08800114499996 meters Centerline goodness [0,1] 0.7322264342743388 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.52 [[ 0.86894202 0.03398988 -0.49374533 4.35963984] [-0.04206392 0.99910113 -0.00524924 0.21630042] [ 0.4931231 0.02533015 0.86959071 0.51808175] [ 0. 0. 0. 1. ]] SLAMing on 146.11800114499997 meters Centerline goodness [0,1] 0.7245459548706659 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.52 [[ 0.86882092 0.03393878 -0.49396191 4.35981828] [-0.04212502 0.9990975 -0.00544769 0.21687196] [ 0.49333122 0.02554122 0.86946648 0.51857949] [ 0. 0. 0. 1. ]] SLAMing on 146.14800114499997 meters Centerline goodness [0,1] 0.7341000063536438 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.52 [[ 0.86867445 0.03400502 -0.49421488 4.36048188] [-0.04226419 0.99909109 -0.00554357 0.21712065] [ 0.49357718 0.02570316 0.8693221 0.51892159] [ 0. 0. 0. 1. ]] SLAMing on 146.17800114499997 meters Centerline goodness [0,1] 0.7343001314506212 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.52 [[ 0.86856358 0.03438507 -0.49438343 4.36136781] [-0.0428242 0.99906608 -0.00574975 0.2188842 ] [ 0.49372401 0.0261656 0.86922492 0.51931304] [ 0. 0. 0. 1. ]] SLAMing on 146.20800114499997 meters Centerline goodness [0,1] 0.7270987089776039 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.52 [[ 0.86837416 0.03434506 -0.49471884 4.36238271] [-0.04297898 0.99905746 -0.00608254 0.22071685] [ 0.49404364 0.02654443 0.8690318 0.51984931] [ 0. 0. 0. 1. ]] SLAMing on 146.23800114499997 meters Centerline goodness [0,1] 0.7338471036552914 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.52 [[ 0.86816618 0.03448548 -0.49507397 4.36368121] [-0.04320784 0.999047 -0.0061788 0.22197569] [ 0.49438909 0.0267553 0.86882886 0.5202169 ] [ 0. 0. 0. 1. ]] SLAMing on 146.26800114499997 meters Centerline goodness [0,1] 0.7242224115892628 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.52 [[ 0.8680229 0.03454784 -0.4953208 4.36469459] [-0.04331466 0.99904209 -0.006225 0.22261051] [ 0.49463127 0.02685809 0.86868783 0.52036897] [ 0. 0. 0. 1. ]] SLAMing on 146.29800114499997 meters Centerline goodness [0,1] 0.7193341432742929 Centerline is valid? [False, False] Translation: X:4.37, Y:0.22, Z:0.52 [[ 0.86793618 0.03446159 -0.49547875 4.36533804] [-0.04328603 0.99904261 -0.00633915 0.22306874] [ 0.49478592 0.02694929 0.86859693 0.52043934] [ 0. 0. 0. 1. ]] SLAMing on 146.32800114499997 meters Centerline goodness [0,1] 0.7526918402592695 Centerline is valid? [False, False] Translation: X:4.37, Y:0.22, Z:0.52 [[ 0.86788331 0.03419443 -0.49558985 4.36529981] [-0.0431076 0.99904891 -0.00655876 0.22331054] [ 0.49489423 0.02705592 0.86853191 0.52071358] [ 0. 0. 0. 1. ]] SLAMing on 146.35800114499997 meters Centerline goodness [0,1] 0.7597140723354315 Centerline is valid? [False, False] Translation: X:4.37, Y:0.22, Z:0.52 [[ 0.86780875 0.03412748 -0.49572501 4.36557003] [-0.0430915 0.99904895 -0.00665724 0.22333631] [ 0.49502635 0.02713874 0.86845403 0.52093024] [ 0. 0. 0. 1. ]] SLAMing on 146.38800114499998 meters Centerline goodness [0,1] 0.7480898109019507 Centerline is valid? [False, False] Translation: X:4.36, Y:0.22, Z:0.52 [[ 8.67929164e-01 3.75597265e-02 -4.95265821e-01 4.36246833e+00] [-4.54707452e-02 9.98957953e-01 -3.92677681e-03 2.23529568e-01] [ 4.94602243e-01 2.59282701e-02 8.68732609e-01 5.21217787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41800114499998 meters Centerline goodness [0,1] 0.7436428022868846 Centerline is valid? [False, False] Translation: X:4.36, Y:0.23, Z:0.52 [[ 0.86789212 0.03698636 -0.49537387 4.36198131] [-0.04521142 0.99896674 -0.00462376 0.22536409] [ 0.49469101 0.02640948 0.86866757 0.52187069] [ 0. 0. 0. 1. ]] SLAMing on 146.44800114499998 meters Centerline goodness [0,1] 0.7624338850025593 Centerline is valid? [False, False] Translation: X:4.36, Y:0.23, Z:0.52 [[ 0.86780231 0.03663169 -0.49555754 4.36203234] [-0.04506906 0.99897096 -0.00507922 0.22649268] [ 0.49486153 0.02674207 0.86856026 0.52239305] [ 0. 0. 0. 1. ]] SLAMing on 146.47800114499998 meters Centerline goodness [0,1] 0.7389259449290234 Centerline is valid? [False, False] Translation: X:4.36, Y:0.23, Z:0.52 [[ 0.86771022 0.03658013 -0.49572257 4.36266311] [-0.04505936 0.998971 -0.00515607 0.22682391] [ 0.49502386 0.02681092 0.86846563 0.5224997 ] [ 0. 0. 0. 1. ]] SLAMing on 146.50800114499998 meters Centerline goodness [0,1] 0.7553591254590486 Centerline is valid? [False, False] Translation: X:4.36, Y:0.23, Z:0.52 [[ 0.86773002 0.03603148 -0.4957281 4.36328021] [-0.04455479 0.99899246 -0.00537865 0.22689486] [ 0.49503483 0.02675428 0.86846112 0.52199663] [ 0. 0. 0. 1. ]] SLAMing on 146.53800114499998 meters Centerline goodness [0,1] 0.7241673965520925 Centerline is valid? [False, False] Translation: X:4.36, Y:0.23, Z:0.52 [[ 0.8677165 0.03563682 -0.4957803 4.36339801] [-0.04419747 0.99900742 -0.00554565 0.2267934 ] [ 0.49509057 0.02672429 0.86843028 0.52193255] [ 0. 0. 0. 1. ]] SLAMing on 146.56800114499998 meters Centerline goodness [0,1] 0.7313063159243285 Centerline is valid? [False, False] Translation: X:4.36, Y:0.23, Z:0.52 [[ 0.86776816 0.03508265 -0.49572938 4.36314996] [-0.04369083 0.99902838 -0.00577925 0.2266464 ] [ 0.49504497 0.02667388 0.86845782 0.52173979] [ 0. 0. 0. 1. ]] SLAMing on 146.59800114499998 meters Centerline goodness [0,1] 0.7246178806250534 Centerline is valid? [False, False] Translation: X:4.36, Y:0.23, Z:0.52 [[ 0.8677899 0.03439352 -0.49573963 4.36264911] [-0.04314784 0.99904935 -0.00621785 0.22710113] [ 0.4950545 0.02678589 0.86844894 0.52191323] [ 0. 0. 0. 1. ]] SLAMing on 146.62800114499998 meters Centerline goodness [0,1] 0.705594750498574 Centerline is valid? [False, False] Translation: X:4.36, Y:0.23, Z:0.52 [[ 0.86793094 0.0333014 -0.49556725 4.36071727] [-0.04236362 0.99907732 -0.00705861 0.22902645] [ 0.49487494 0.02712041 0.86854089 0.52241892] [ 0. 0. 0. 1. ]] SLAMing on 146.658001145 meters Centerline goodness [0,1] 0.6793169287537811 Centerline is valid? [False, False] Translation: X:4.36, Y:0.23, Z:0.52 [[ 0.86801686 0.03243961 -0.49547392 4.35956483] [-0.04174623 0.9990984 -0.00772204 0.22996366] [ 0.49477671 0.02738703 0.86858849 0.52270466] [ 0. 0. 0. 1. ]] SLAMing on 146.688001145 meters Centerline goodness [0,1] 0.687269688919359 Centerline is valid? [False, False] Translation: X:4.36, Y:0.23, Z:0.52 [[ 0.86804404 0.03181228 -0.49546697 4.35879948] [-0.04130283 0.99911293 -0.00821169 0.23042679] [ 0.49476622 0.0275923 0.86858796 0.5230369 ] [ 0. 0. 0. 1. ]] SLAMing on 146.718001145 meters Centerline goodness [0,1] 0.6767455824326642 Centerline is valid? [False, False] Translation: X:4.36, Y:0.23, Z:0.52 [[ 0.86821079 0.03048125 -0.49525844 4.35716948] [-0.04036847 0.99914182 -0.00927446 0.23189872] [ 0.49455072 0.02804501 0.86869619 0.52330374] [ 0. 0. 0. 1. ]] SLAMing on 146.748001145 meters Centerline goodness [0,1] 0.686613665663945 Centerline is valid? [False, False] Translation: X:4.36, Y:0.23, Z:0.52 [[ 0.86820151 0.03009901 -0.49529809 4.35711414] [-0.04010185 0.99914971 -0.00957619 0.23248171] [ 0.4945887 0.02817643 0.86867031 0.52342522] [ 0. 0. 0. 1. ]] SLAMing on 146.778001145 meters Centerline goodness [0,1] 0.6709594056207602 Centerline is valid? [False, False] Translation: X:4.36, Y:0.23, Z:0.52 [[ 0.86815345 0.02980627 -0.49540002 4.35740372] [-0.03992889 0.9991539 -0.00985739 0.23325327] [ 0.49468705 0.0283385 0.86860903 0.52354489] [ 0. 0. 0. 1. ]] SLAMing on 146.80800114499996 meters Centerline goodness [0,1] 0.6584327636246372 Centerline is valid? [False, False] Translation: X:4.36, Y:0.23, Z:0.52 [[ 0.86816902 0.03398089 -0.49510388 4.356935 ] [-0.04268708 0.99906874 -0.00628223 0.23302229] [ 0.49442934 0.02658858 0.86881107 0.52269411] [ 0. 0. 0. 1. ]] SLAMing on 146.83800114499996 meters Centerline goodness [0,1] 0.6694773069477307 Centerline is valid? [False, False] Translation: X:4.36, Y:0.23, Z:0.52 [[ 0.86813293 0.0339457 -0.49516957 4.35746086] [-0.04273752 0.99906559 -0.00643795 0.23375317] [ 0.49448833 0.02675132 0.8687725 0.5227032 ] [ 0. 0. 0. 1. ]] SLAMing on 146.86800114499997 meters Centerline goodness [0,1] 0.6753523858787016 Centerline is valid? [False, False] Translation: X:4.36, Y:0.24, Z:0.52 [[ 0.86802361 0.03373188 -0.49537579 4.35776108] [-0.04272628 0.99906342 -0.0068375 0.23505736] [ 0.49468119 0.02710068 0.86865187 0.52317985] [ 0. 0. 0. 1. ]] SLAMing on 146.89800114499997 meters Centerline goodness [0,1] 0.6771410034602077 Centerline is valid? [False, False] Translation: X:4.36, Y:0.24, Z:0.52 [[ 0.86795208 0.03361785 -0.49550886 4.35788256] [-0.04280947 0.99905727 -0.00720555 0.23663232] [ 0.49479949 0.02746654 0.868573 0.52367541] [ 0. 0. 0. 1. ]] SLAMing on 146.92800114499997 meters Centerline goodness [0,1] 0.676766148726039 Centerline is valid? [False, False] Translation: X:4.36, Y:0.24, Z:0.52 [[ 0.8678278 0.03346506 -0.49573682 4.35823377] [-0.04289958 0.99905004 -0.00765764 0.23832368] [ 0.49500963 0.02791241 0.86843904 0.52430154] [ 0. 0. 0. 1. ]] SLAMing on 146.95800114499997 meters Centerline goodness [0,1] 0.6600918027107782 Centerline is valid? [False, False] Translation: X:4.36, Y:0.24, Z:0.52 [[ 0.8679094 0.03768554 -0.4952909 4.35648763] [-0.04589381 0.99893657 -0.00441398 0.23859616] [ 0.49459785 0.02656172 0.86871597 0.5240845 ] [ 0. 0. 0. 1. ]] SLAMing on 146.98800114499997 meters Centerline goodness [0,1] 0.6655816678601654 Centerline is valid? [False, False] Translation: X:4.36, Y:0.24, Z:0.52 [[ 0.86788747 0.03720918 -0.49536534 4.35627394] [-0.04564983 0.99894527 -0.00494378 0.2399981 ] [ 0.49465891 0.02690399 0.86867067 0.52443812] [ 0. 0. 0. 1. ]] SLAMing on 147.01800114499997 meters Centerline goodness [0,1] 0.6620200750102976 Centerline is valid? [False, False] Translation: X:4.36, Y:0.24, Z:0.52 [[ 0.8678151 0.03688508 -0.49551635 4.35640177] [-0.04554583 0.99894762 -0.00540667 0.24164003] [ 0.49479545 0.02726069 0.86858179 0.52488581] [ 0. 0. 0. 1. ]] SLAMing on 147.04800114499997 meters Centerline goodness [0,1] 0.6568911758934217 Centerline is valid? [False, False] Translation: X:4.36, Y:0.24, Z:0.53 [[ 0.86775458 0.03627118 -0.49566763 4.35656837] [-0.04521999 0.99895864 -0.00606545 0.24361617] [ 0.49493146 0.02767741 0.86849111 0.52523616] [ 0. 0. 0. 1. ]] SLAMing on 147.07800114499997 meters Centerline goodness [0,1] 0.6519820916282708 Centerline is valid? [False, False] Translation: X:4.36, Y:0.24, Z:0.53 [[ 0.86774126 0.03602964 -0.49570856 4.35684676] [-0.04504866 0.99896524 -0.00625009 0.24380366] [ 0.49497043 0.02775447 0.86846644 0.52517168] [ 0. 0. 0. 1. ]] SLAMing on 147.10800114499997 meters Centerline goodness [0,1] 0.6582193268186753 Centerline is valid? [False, False] Translation: X:4.36, Y:0.24, Z:0.53 [[ 0.86776211 0.035913 -0.49568053 4.35689855] [-0.04493332 0.99897022 -0.00628513 0.24353913] [ 0.49494436 0.02772657 0.86848219 0.52503923] [ 0. 0. 0. 1. ]] SLAMing on 147.13800114499998 meters Centerline goodness [0,1] 0.6903624918602127 Centerline is valid? [False, False] Translation: X:4.36, Y:0.24, Z:0.52 [[ 0.86790848 0.03539855 -0.49546122 4.35623024] [-0.04458976 0.99898267 -0.00673573 0.24415456] [ 0.49471874 0.02793849 0.86860394 0.52488424] [ 0. 0. 0. 1. ]] SLAMing on 147.16800114499998 meters Centerline goodness [0,1] 0.6755382710148391 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 0.86785974 0.03498444 -0.49557599 4.35603202] [-0.04437568 0.99898905 -0.00718919 0.24536021] [ 0.49482347 0.02823073 0.86853483 0.52533467] [ 0. 0. 0. 1. ]] SLAMing on 147.19800114499998 meters Centerline goodness [0,1] 0.6911626893320257 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 0.86784619 0.0344263 -0.49563879 4.35564678] [-0.04410956 0.99899589 -0.0078456 0.24712168] [ 0.49487103 0.02867119 0.86849331 0.52583546] [ 0. 0. 0. 1. ]] SLAMing on 147.22800114499998 meters Centerline goodness [0,1] 0.67501689667953 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 0.86778153 0.0340457 -0.49577828 4.3555077 ] [-0.04394641 0.99899926 -0.00831873 0.24849117] [ 0.49499891 0.02900652 0.86840929 0.5263535 ] [ 0. 0. 0. 1. ]] SLAMing on 147.25800114499998 meters Centerline goodness [0,1] 0.6956616287919974 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 0.86772643 0.03382805 -0.49588961 4.35586035] [-0.04385276 0.99900111 -0.00858646 0.24913963] [ 0.4951038 0.02919682 0.86834312 0.52647651] [ 0. 0. 0. 1. ]] SLAMing on 147.28800114499998 meters Centerline goodness [0,1] 0.6818567789414096 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 0.86760917 0.03409083 -0.49607675 4.35697201] [-0.04405014 0.9989941 -0.00838936 0.24858926] [ 0.49529174 0.02913094 0.86823815 0.52638259] [ 0. 0. 0. 1. ]] SLAMing on 147.31800114499998 meters Centerline goodness [0,1] 0.6745409105726394 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 0.86753067 0.03409117 -0.496214 4.3575772 ] [-0.04407125 0.99899294 -0.00841637 0.24868594] [ 0.49542735 0.02917023 0.86815945 0.52641685] [ 0. 0. 0. 1. ]] SLAMing on 147.34800114499998 meters Centerline goodness [0,1] 0.6794127243066884 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 0.86743732 0.03391844 -0.496389 4.3578738 ] [-0.04402931 0.99899254 -0.00867948 0.24961016] [ 0.49559451 0.02938457 0.86805681 0.52674663] [ 0. 0. 0. 1. ]] SLAMing on 147.37800114499998 meters Centerline goodness [0,1] 0.7080692398478822 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 0.86749463 0.03845402 -0.49595801 4.35668588] [-0.04720676 0.998872 -0.00512336 0.25014539] [ 0.49520156 0.02785705 0.86833139 0.52636373] [ 0. 0. 0. 1. ]] SLAMing on 147.408001145 meters Centerline goodness [0,1] 0.6946518227461254 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 0.86734021 0.0383428 -0.49623663 4.35743452] [-0.04725087 0.99886842 -0.00540704 0.25133371] [ 0.49546777 0.02813736 0.86817047 0.52677056] [ 0. 0. 0. 1. ]] SLAMing on 147.438001145 meters Centerline goodness [0,1] 0.7004139018461336 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 0.86721459 0.03842986 -0.49644939 4.35832563] [-0.04737081 0.99886263 -0.00542755 0.25169789] [ 0.49567616 0.02822406 0.8680487 0.52691179] [ 0. 0. 0. 1. ]] SLAMing on 147.468001145 meters Centerline goodness [0,1] 0.687394847816112 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 0.86721729 0.03844582 -0.49644344 4.35831709] [-0.0474035 0.99886094 -0.00545301 0.25127867] [ 0.49566831 0.0282621 0.86805194 0.52692517] [ 0. 0. 0. 1. ]] SLAMing on 147.498001145 meters Centerline goodness [0,1] 0.6893586292916694 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 0.86717927 0.03808796 -0.49653742 4.35771866] [-0.04721528 0.99886767 -0.005839 0.25179288] [ 0.49575278 0.02850761 0.86799568 0.52744713] [ 0. 0. 0. 1. ]] SLAMing on 147.528001145 meters Centerline goodness [0,1] 0.6856617244475591 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 0.86719985 0.03760152 -0.49653857 4.35704322] [-0.04695665 0.99887664 -0.00636711 0.25304677] [ 0.49574136 0.02883735 0.86799131 0.52788358] [ 0. 0. 0. 1. ]] SLAMing on 147.55800114499996 meters Centerline goodness [0,1] 0.6858381882693065 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 0.86719311 0.03702736 -0.49659348 4.35632517] [-0.04665843 0.99888638 -0.00699918 0.25445079] [ 0.4957813 0.02923991 0.86795503 0.5284867 ] [ 0. 0. 0. 1. ]] SLAMing on 147.58800114499996 meters Centerline goodness [0,1] 0.6858381882693065 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 0.86719311 0.03702736 -0.49659348 4.35632517] [-0.04665843 0.99888638 -0.00699918 0.25445079] [ 0.4957813 0.02923991 0.86795503 0.5284867 ] [ 0. 0. 0. 1. ]] SLAMing on 147.61800114499997 meters Centerline goodness [0,1] 0.6771629404164934 Centerline is valid? [False, False] Translation: X:4.36, Y:0.26, Z:0.53 [[ 0.86721745 0.0362737 -0.49660659 4.35558383] [-0.04610764 0.99890792 -0.0075538 0.2555321 ] [ 0.49579025 0.02944814 0.86794288 0.5288112 ] [ 0. 0. 0. 1. ]] SLAMing on 147.64800114499997 meters Centerline goodness [0,1] 0.6651842439644218 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 0.86722948 0.03602373 -0.49660379 4.35548375] [-0.04580983 0.99892175 -0.00753669 0.25470669] [ 0.49579682 0.02928537 0.86794463 0.52866048] [ 0. 0. 0. 1. ]] SLAMing on 147.67800114499997 meters Centerline goodness [0,1] 0.6608693745065357 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 0.86729862 0.03587465 -0.49649382 4.35539788] [-0.04556197 0.99893403 -0.00741082 0.25330593] [ 0.49569871 0.02904863 0.86800862 0.52826296] [ 0. 0. 0. 1. ]] SLAMing on 147.70800114499997 meters Centerline goodness [0,1] 0.6526977589870534 Centerline is valid? [False, False] Translation: X:4.35, Y:0.25, Z:0.53 [[ 0.86738091 0.03556864 -0.49637207 4.35477721] [-0.04520013 0.99895052 -0.00740256 0.25192347] [ 0.49558784 0.02885692 0.86807832 0.52809537] [ 0. 0. 0. 1. ]] SLAMing on 147.73800114499997 meters Centerline goodness [0,1] 0.6458424411996153 Centerline is valid? [False, False] Translation: X:4.35, Y:0.25, Z:0.53 [[ 0.86761589 0.03434427 -0.49604751 4.35264183] [-0.04406532 0.99899737 -0.00790638 0.25104276] [ 0.49527862 0.02871819 0.86825938 0.52793861] [ 0. 0. 0. 1. ]] SLAMing on 147.76800114499997 meters Centerline goodness [0,1] 0.6246939489331934 Centerline is valid? [False, False] Translation: X:4.35, Y:0.25, Z:0.53 [[ 0.86763454 0.03407567 -0.49603341 4.35258935] [-0.04379879 0.99900848 -0.00798225 0.25080628] [ 0.49526959 0.02865134 0.86826674 0.52784732] [ 0. 0. 0. 1. ]] SLAMing on 147.79800114499997 meters Centerline goodness [0,1] 0.6325554997707974 Centerline is valid? [False, False] Translation: X:4.35, Y:0.25, Z:0.53 [[ 0.86758601 0.03426043 -0.49610558 4.35315304] [-0.04384665 0.99900869 -0.00768843 0.24990146] [ 0.49535038 0.02842294 0.86822816 0.52765379] [ 0. 0. 0. 1. ]] SLAMing on 147.82800114499997 meters Centerline goodness [0,1] 0.6184622115279449 Centerline is valid? [False, False] Translation: X:4.35, Y:0.25, Z:0.53 [[ 0.86759545 0.03423687 -0.49609069 4.35327086] [-0.04376364 0.99901307 -0.00759146 0.24922775] [ 0.49534117 0.02829706 0.86823752 0.52748159] [ 0. 0. 0. 1. ]] SLAMing on 147.85800114499997 meters Centerline goodness [0,1] 0.6427258805513016 Centerline is valid? [False, False] Translation: X:4.35, Y:0.25, Z:0.53 [[ 0.86757673 0.03391397 -0.49614561 4.35278004] [-0.04346442 0.99902519 -0.0077151 0.24894907] [ 0.49540031 0.02825813 0.86820505 0.52769638] [ 0. 0. 0. 1. ]] SLAMing on 147.88800114499998 meters Centerline goodness [0,1] 0.6662808726224532 Centerline is valid? [False, False] Translation: X:4.35, Y:0.25, Z:0.53 [[ 0.86752051 0.03392033 -0.49624346 4.35272669] [-0.04344942 0.99902619 -0.00766954 0.24831075] [ 0.49550006 0.02821498 0.86814953 0.527897 ] [ 0. 0. 0. 1. ]] SLAMing on 147.91800114499998 meters Centerline goodness [0,1] 0.6418044062097426 Centerline is valid? [False, False] Translation: X:4.35, Y:0.25, Z:0.53 [[ 0.86746995 0.0341043 -0.49631923 4.35296589] [-0.04353575 0.99902413 -0.00744467 0.24732115] [ 0.49558099 0.02806565 0.86810817 0.52789546] [ 0. 0. 0. 1. ]] SLAMing on 147.94800114499998 meters Centerline goodness [0,1] 0.6789712819843909 Centerline is valid? [False, False] Translation: X:4.35, Y:0.25, Z:0.53 [[ 0.86738881 0.0342641 -0.49645001 4.35317258] [-0.0436471 0.99902028 -0.00730884 0.24673314] [ 0.4957132 0.02800822 0.86803454 0.52807106] [ 0. 0. 0. 1. ]] SLAMing on 147.97800114499998 meters Centerline goodness [0,1] 0.658882873480747 Centerline is valid? [False, False] Translation: X:4.35, Y:0.25, Z:0.53 [[ 0.86728365 0.03430726 -0.49663074 4.35341518] [-0.04373694 0.99901592 -0.00736731 0.24703875] [ 0.49588926 0.02811065 0.86793066 0.5284577 ] [ 0. 0. 0. 1. ]] SLAMing on 148.00800114499998 meters Centerline goodness [0,1] 0.6699429364924385 Centerline is valid? [False, False] Translation: X:4.35, Y:0.25, Z:0.53 [[ 0.86716234 0.03438134 -0.49683739 4.35373437] [-0.04385233 0.99901057 -0.00740638 0.24735785] [ 0.49609117 0.02821001 0.86781205 0.52886837] [ 0. 0. 0. 1. ]] SLAMing on 148.03800114499998 meters Centerline goodness [0,1] 0.6662824082129807 Centerline is valid? [False, False] Translation: X:4.35, Y:0.25, Z:0.53 [[ 0.86704629 0.03436011 -0.49704136 4.3536287 ] [-0.04394064 0.99900531 -0.00759019 0.24753977] [ 0.49628616 0.02842136 0.86769365 0.52950963] [ 0. 0. 0. 1. ]] SLAMing on 148.06800114499998 meters Centerline goodness [0,1] 0.6799087254156253 Centerline is valid? [False, False] Translation: X:4.35, Y:0.25, Z:0.53 [[ 0.86694013 0.03450853 -0.49721622 4.35402876] [-0.04414155 0.99899614 -0.00763088 0.24790753] [ 0.49645376 0.02856341 0.86759311 0.52985411] [ 0. 0. 0. 1. ]] SLAMing on 148.09800114499998 meters Centerline goodness [0,1] 0.675983841542872 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 0.86667452 0.03534552 -0.4976203 4.35568508] [-0.0449675 0.99896132 -0.0073618 0.24861404] [ 0.49684323 0.02875702 0.86736373 0.53033183] [ 0. 0. 0. 1. ]] SLAMing on 148.12800114499998 meters Centerline goodness [0,1] 0.6729195682451253 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 0.86648004 0.03579801 -0.49792654 4.35677926] [-0.04539854 0.99894313 -0.0071833 0.24885748] [ 0.49714314 0.02882932 0.86718946 0.530672 ] [ 0. 0. 0. 1. ]] SLAMing on 148.158001145 meters Centerline goodness [0,1] 0.6712620683656606 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 0.86632544 0.03623426 -0.49816395 4.35775987] [-0.04581469 0.99892532 -0.00701599 0.24924112] [ 0.49737436 0.02890136 0.86705447 0.53093186] [ 0. 0. 0. 1. ]] SLAMing on 148.188001145 meters Centerline goodness [0,1] 0.696210815645383 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 8.66256066e-01 4.14443001e-02 -4.97878296e-01 4.35731096e+00] [-4.95478206e-02 9.98767038e-01 -3.06882092e-03 2.49072624e-01] [ 4.97137246e-01 2.73271692e-02 8.67241480e-01 5.30651649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.218001145 meters Centerline goodness [0,1] 0.6896844396082699 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 8.66084391e-01 4.15243642e-02 -4.98170207e-01 4.35798840e+00] [-4.97763077e-02 9.98754980e-01 -3.28766677e-03 2.50269014e-01] [ 4.97413456e-01 2.76444704e-02 8.67073028e-01 5.31216933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.248001145 meters Centerline goodness [0,1] 0.6881778859738735 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 8.65916380e-01 4.16675443e-02 -4.98450237e-01 4.35882430e+00] [-5.00233001e-02 9.98742222e-01 -3.41229478e-03 2.51190378e-01] [ 4.97681116e-01 2.78888877e-02 8.66911597e-01 5.31664141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.278001145 meters Centerline goodness [0,1] 0.6966065677919688 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 8.65835708e-01 4.15213311e-02 -4.98602553e-01 4.35875425e+00] [-5.00337763e-02 9.98740619e-01 -3.71436153e-03 2.51905023e-01] [ 4.97820398e-01 2.81629955e-02 8.66822760e-01 5.32174952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30800114499996 meters Centerline goodness [0,1] 0.7022366174990151 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 0.86587084 0.04109581 -0.49857679 4.35786113] [-0.04992235 0.99874351 -0.00437673 0.25316066] [ 0.49777047 0.02867981 0.86683449 0.53277872] [ 0. 0. 0. 1. ]] SLAMing on 148.33800114499996 meters Centerline goodness [0,1] 0.6970049114190493 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 0.86572227 0.04120829 -0.49882545 4.35859202] [-0.05007974 0.99873549 -0.00440827 0.2534604 ] [ 0.49801303 0.02879738 0.86669126 0.53310071] [ 0. 0. 0. 1. ]] SLAMing on 148.36800114499997 meters Centerline goodness [0,1] 0.6927734545772493 Centerline is valid? [False, False] Translation: X:4.36, Y:0.25, Z:0.53 [[ 0.86562448 0.04104824 -0.49900832 4.35912967] [-0.05007629 0.99873428 -0.00471128 0.25461004] [ 0.49818333 0.02906669 0.86658439 0.53341756] [ 0. 0. 0. 1. ]] SLAMing on 148.39800114499997 meters Centerline goodness [0,1] 0.7036656538940742 Centerline is valid? [False, False] Translation: X:4.36, Y:0.26, Z:0.53 [[ 0.86553717 0.0404953 -0.4992049 4.35856225] [-0.04994573 0.99873634 -0.00558039 0.25745734] [ 0.4983481 0.02976319 0.866466 0.53450267] [ 0. 0. 0. 1. ]] SLAMing on 148.42800114499997 meters Centerline goodness [0,1] 0.7072263316846851 Centerline is valid? [False, False] Translation: X:4.36, Y:0.26, Z:0.53 [[ 0.86546214 0.04016741 -0.49936146 4.35849167] [-0.04979286 0.99874177 -0.00596155 0.25822164] [ 0.49849369 0.03002413 0.86637324 0.53497753] [ 0. 0. 0. 1. ]] SLAMing on 148.45800114499997 meters Centerline goodness [0,1] 0.6984616731219502 Centerline is valid? [False, False] Translation: X:4.36, Y:0.26, Z:0.53 [[ 0.86540958 0.04024327 -0.49944643 4.35918608] [-0.04984103 0.99873981 -0.00588722 0.25820007] [ 0.49858011 0.02998778 0.86632477 0.53483615] [ 0. 0. 0. 1. ]] SLAMing on 148.48800114499997 meters Centerline goodness [0,1] 0.7022407732864675 Centerline is valid? [False, False] Translation: X:4.36, Y:0.26, Z:0.53 [[ 0.86531694 0.04013642 -0.49961551 4.36076005] [-0.04974802 0.99874421 -0.00592813 0.25898037] [ 0.49875017 0.02998459 0.86622699 0.53439671] [ 0. 0. 0. 1. ]] SLAMing on 148.51800114499997 meters Centerline goodness [0,1] 0.7111091502691256 Centerline is valid? [False, False] Translation: X:4.36, Y:0.26, Z:0.53 [[ 0.86531927 0.03956801 -0.49965681 4.36053227] [-0.04937199 0.99875988 -0.00641159 0.25999035] [ 0.49878349 0.03021713 0.86619972 0.53461703] [ 0. 0. 0. 1. ]] SLAMing on 148.54800114499997 meters Centerline goodness [0,1] 0.6969430006166857 Centerline is valid? [False, False] Translation: X:4.36, Y:0.26, Z:0.53 [[ 0.86535543 0.03905546 -0.49963452 4.36000785] [-0.04899214 0.99877615 -0.00678085 0.26031608] [ 0.49875821 0.03034601 0.86620977 0.53477095] [ 0. 0. 0. 1. ]] SLAMing on 148.57800114499997 meters Centerline goodness [0,1] 0.6926647892281967 Centerline is valid? [False, False] Translation: X:4.36, Y:0.26, Z:0.53 [[ 0.8654353 0.03844445 -0.49954355 4.35912495] [-0.0485271 0.99879588 -0.0072044 0.2604225 ] [ 0.49866507 0.03047635 0.86625882 0.53490505] [ 0. 0. 0. 1. ]] SLAMing on 148.60800114499997 meters Centerline goodness [0,1] 0.6900573148332558 Centerline is valid? [False, False] Translation: X:4.36, Y:0.26, Z:0.54 [[ 0.8655074 0.03792865 -0.49945807 4.3582116 ] [-0.04812324 0.99881292 -0.00754296 0.26043124] [ 0.49857908 0.03056403 0.86630522 0.53507133] [ 0. 0. 0. 1. ]] SLAMing on 148.63800114499998 meters Centerline goodness [0,1] 0.6761807979498962 Centerline is valid? [False, False] Translation: X:4.36, Y:0.26, Z:0.54 [[ 0.86566546 0.03650062 -0.49929051 4.35628703] [-0.04715672 0.99884927 -0.00873905 0.26272002] [ 0.49839698 0.03110999 0.86639057 0.53563907] [ 0. 0. 0. 1. ]] SLAMing on 148.66800114499998 meters Centerline goodness [0,1] 0.6490224235060201 Centerline is valid? [False, False] Translation: X:4.35, Y:0.26, Z:0.54 [[ 0.86571348 0.03562848 -0.49927025 4.35498655] [-0.04656174 0.99887066 -0.00945558 0.26402218] [ 0.49836951 0.03143271 0.86639472 0.53620449] [ 0. 0. 0. 1. ]] SLAMing on 148.69800114499998 meters Centerline goodness [0,1] 0.667358061740109 Centerline is valid? [False, False] Translation: X:4.35, Y:0.26, Z:0.54 [[ 0.86575637 0.03496871 -0.49924252 4.35399015] [-0.04605891 0.9988896 -0.00990684 0.26439764] [ 0.49834173 0.03157147 0.86640566 0.53654229] [ 0. 0. 0. 1. ]] SLAMing on 148.72800114499998 meters Centerline goodness [0,1] 0.643046123996825 Centerline is valid? [False, False] Translation: X:4.35, Y:0.26, Z:0.54 [[ 0.86588956 0.0340084 -0.49907785 4.35298096] [-0.04512475 0.99892907 -0.01022098 0.26257315] [ 0.49819577 0.031371 0.86649687 0.53612737] [ 0. 0. 0. 1. ]] SLAMing on 148.75800114499998 meters Centerline goodness [0,1] 0.6598239171791356 Centerline is valid? [False, False] Translation: X:4.35, Y:0.26, Z:0.54 [[ 0.86591974 0.03382205 -0.49903815 4.35278701] [-0.04490534 0.99893901 -0.01021616 0.26162337] [ 0.49816314 0.03125585 0.8665198 0.53601013] [ 0. 0. 0. 1. ]] SLAMing on 148.78800114499998 meters Centerline goodness [0,1] 0.6338444567015995 Centerline is valid? [False, False] Translation: X:4.35, Y:0.26, Z:0.54 [[ 0.86593117 0.03357095 -0.49903528 4.35263509] [-0.04463704 0.99895065 -0.01025355 0.26121113] [ 0.49816739 0.03115433 0.86652101 0.53597407] [ 0. 0. 0. 1. ]] SLAMing on 148.81800114499998 meters Centerline goodness [0,1] 0.625203861242121 Centerline is valid? [False, False] Translation: X:4.35, Y:0.26, Z:0.54 [[ 0.86603469 0.03266661 -0.49891563 4.35129685] [-0.0438012 0.99898379 -0.01062294 0.26087297] [ 0.49806161 0.03105293 0.86658545 0.53601853] [ 0. 0. 0. 1. ]] SLAMing on 148.84800114499998 meters Centerline goodness [0,1] 0.6284125267595065 Centerline is valid? [False, False] Translation: X:4.35, Y:0.26, Z:0.54 [[ 0.8660622 0.03243749 -0.49888283 4.35091009] [-0.04354392 0.99899488 -0.01063749 0.26018527] [ 0.49803634 0.03093604 0.86660416 0.53600944] [ 0. 0. 0. 1. ]] SLAMing on 148.87800114499998 meters Centerline goodness [0,1] 0.6009569800004411 Centerline is valid? [False, False] Translation: X:4.35, Y:0.26, Z:0.54 [[ 0.86610627 0.03216333 -0.49882407 4.35026656] [-0.04327813 0.99900545 -0.01072947 0.25966754] [ 0.49798287 0.03088103 0.86663685 0.53611779] [ 0. 0. 0. 1. ]] SLAMing on 148.908001145 meters Centerline goodness [0,1] 0.5965347621766437 Centerline is valid? [False, False] Translation: X:4.35, Y:0.26, Z:0.54 [[ 0.86610371 0.03207324 -0.49883431 4.34998354] [-0.04315518 0.99901113 -0.0106956 0.25889929] [ 0.49799799 0.03079078 0.86663137 0.53621438] [ 0. 0. 0. 1. ]] SLAMing on 148.938001145 meters Centerline goodness [0,1] 0.6343513465939095 Centerline is valid? [False, False] Translation: X:4.35, Y:0.26, Z:0.54 [[ 0.86611808 0.03206847 -0.49880966 4.34967042] [-0.04308906 0.99901509 -0.01059188 0.2580838 ] [ 0.49797871 0.03066705 0.86664683 0.53624941] [ 0. 0. 0. 1. ]] SLAMing on 148.968001145 meters Centerline goodness [0,1] 0.6369875027406271 Centerline is valid? [False, False] Translation: X:4.35, Y:0.26, Z:0.54 [[ 0.86617614 0.03161408 -0.49873785 4.34819194] [-0.0427808 0.99902423 -0.01097264 0.25819058] [ 0.4979043 0.03084064 0.86668343 0.536838 ] [ 0. 0. 0. 1. ]] SLAMing on 148.998001145 meters Centerline goodness [0,1] 0.5968584080544601 Centerline is valid? [False, False] Translation: X:4.35, Y:0.26, Z:0.54 [[ 0.86610347 0.03167157 -0.49886039 4.34799308] [-0.04292206 0.99901682 -0.01109432 0.25862764] [ 0.49801855 0.03102094 0.86661135 0.53735854] [ 0. 0. 0. 1. ]] SLAMing on 149.028001145 meters Centerline goodness [0,1] 0.6389476467477525 Centerline is valid? [False, False] Translation: X:4.35, Y:0.26, Z:0.54 [[ 0.8659263 0.03232204 -0.49912616 4.34830867] [-0.04353394 0.9989932 -0.01083431 0.25801021] [ 0.49827345 0.03111065 0.86646159 0.53806171] [ 0. 0. 0. 1. ]] SLAMing on 149.05800114499996 meters Centerline goodness [0,1] 0.6408619664986464 Centerline is valid? [False, False] Translation: X:4.35, Y:0.26, Z:0.54 [[ 0.86582514 0.03292947 -0.49926193 4.34944175] [-0.04395361 0.99898011 -0.01033577 0.25684342] [ 0.49841238 0.03089334 0.86638946 0.53785525] [ 0. 0. 0. 1. ]] SLAMing on 149.08800114499996 meters Centerline goodness [0,1] 0.6522112211221123 Centerline is valid? [False, False] Translation: X:4.35, Y:0.26, Z:0.54 [[ 0.86569438 0.03354399 -0.49944774 4.35048485] [-0.04437428 0.9989667 -0.00982131 0.25579572] [ 0.49860221 0.03066489 0.86628835 0.5377826 ] [ 0. 0. 0. 1. ]] SLAMing on 149.11800114499997 meters Centerline goodness [0,1] 0.6469789247688735 Centerline is valid? [False, False] Translation: X:4.35, Y:0.26, Z:0.54 [[ 0.8655328 0.03402634 -0.49969509 4.35148926] [-0.04471373 0.99895537 -0.00942654 0.25514003] [ 0.49885234 0.03050221 0.86615008 0.53789143] [ 0. 0. 0. 1. ]] SLAMing on 149.14800114499997 meters Centerline goodness [0,1] 0.6438933391857786 Centerline is valid? [False, False] Translation: X:4.35, Y:0.25, Z:0.54 [[ 0.86542853 0.03957691 -0.49946683 4.35147896] [-0.0485682 0.9988073 -0.00501055 0.25333753] [ 0.49867282 0.02859448 0.86631852 0.53736819] [ 0. 0. 0. 1. ]] SLAMing on 149.17800114499997 meters Centerline goodness [0,1] 0.6832358033620445 Centerline is valid? [False, False] Translation: X:4.35, Y:0.25, Z:0.54 [[ 0.86528094 0.04000677 -0.49968826 4.35213146] [-0.04899404 0.99878718 -0.00487375 0.25354078] [ 0.49888724 0.02869891 0.8661916 0.53776224] [ 0. 0. 0. 1. ]] SLAMing on 149.20800114499997 meters Centerline goodness [0,1] 0.6513105987551504 Centerline is valid? [False, False] Translation: X:4.35, Y:0.25, Z:0.54 [[ 0.86514261 0.04035866 -0.49989944 4.35257835] [-0.04935635 0.99876978 -0.00478351 0.25340463] [ 0.49909139 0.02881163 0.86607025 0.53820599] [ 0. 0. 0. 1. ]] SLAMing on 149.23800114499997 meters Centerline goodness [0,1] 0.67448885775579 Centerline is valid? [False, False] Translation: X:4.35, Y:0.25, Z:0.54 [[ 0.86501336 0.04097547 -0.50007289 4.3531225 ] [-0.04987593 0.99874556 -0.00443791 0.25260036] [ 0.49926373 0.02878045 0.86597195 0.53847281] [ 0. 0. 0. 1. ]] SLAMing on 149.26800114499997 meters Centerline goodness [0,1] 0.6615826896067416 Centerline is valid? [False, False] Translation: X:4.35, Y:0.25, Z:0.54 [[ 8.65525486e-01 4.39003664e-02 -4.98937262e-01 4.35164526e+00] [-5.21710881e-02 9.98634684e-01 -2.63555745e-03 2.50536149e-01] [ 4.98140353e-01 2.83112420e-02 8.66634099e-01 5.37470736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.29800114499997 meters Centerline goodness [0,1] 0.6682670274752853 Centerline is valid? [False, False] Translation: X:4.35, Y:0.25, Z:0.54 [[ 8.65354083e-01 4.42070577e-02 -4.99207419e-01 4.35238367e+00] [-5.24617076e-02 9.98619788e-01 -2.50779576e-03 2.50537776e-01] [ 4.98407545e-01 2.83594049e-02 8.66478888e-01 5.37829190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.32800114499997 meters Centerline goodness [0,1] 0.7043411867364746 Centerline is valid? [False, False] Translation: X:4.35, Y:0.25, Z:0.54 [[ 8.65224676e-01 4.44697856e-02 -4.99408348e-01 4.35304533e+00] [-5.27058947e-02 9.98607214e-01 -2.39201432e-03 2.50591024e-01] [ 4.98606407e-01 2.83913936e-02 8.66363422e-01 5.38086980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35800114499997 meters Centerline goodness [0,1] 0.7098176258599977 Centerline is valid? [False, False] Translation: X:4.35, Y:0.25, Z:0.54 [[ 8.65115748e-01 4.47664029e-02 -4.99570527e-01 4.35272905e+00] [-5.29903835e-02 9.98592418e-01 -2.28080872e-03 2.50105439e-01] [ 4.98765237e-01 2.84455974e-02 8.66270216e-01 5.38729499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38800114499998 meters Centerline goodness [0,1] 0.699304347826087 Centerline is valid? [False, False] Translation: X:4.35, Y:0.25, Z:0.54 [[ 8.65128367e-01 4.47772343e-02 -4.99547703e-01 4.35220823e+00] [-5.29620052e-02 9.98594080e-01 -2.21130430e-03 2.49102587e-01] [ 4.98746363e-01 2.83701102e-02 8.66283558e-01 5.38888332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41800114499998 meters Centerline goodness [0,1] 0.6989343192692474 Centerline is valid? [False, False] Translation: X:4.35, Y:0.25, Z:0.54 [[ 8.65180337e-01 4.48413816e-02 -4.99451935e-01 4.35165490e+00] [-5.28992836e-02 9.98597890e-01 -1.97999241e-03 2.47122919e-01] [ 4.98662863e-01 2.81337001e-02 8.66339336e-01 5.38768784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44800114499998 meters Centerline goodness [0,1] 0.6942495274923421 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.54 [[ 8.65241261e-01 4.49303965e-02 -4.99338382e-01 4.35151247e+00] [-5.27807448e-02 9.98604839e-01 -1.60285473e-03 2.44776534e-01] [ 4.98569707e-01 2.77423078e-02 8.66405570e-01 5.38330328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47800114499998 meters Centerline goodness [0,1] 0.6971159070657017 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.54 [[ 8.65421751e-01 4.44067995e-02 -4.99072369e-01 4.35004127e+00] [-5.20517144e-02 9.98643405e-01 -1.40285936e-03 2.41988424e-01] [ 4.98333034e-01 2.71916374e-02 8.66559174e-01 5.37881536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.50800114499998 meters Centerline goodness [0,1] 0.6971159070657017 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.54 [[ 8.65421751e-01 4.44067995e-02 -4.99072369e-01 4.35004127e+00] [-5.20517144e-02 9.98643405e-01 -1.40285936e-03 2.41988424e-01] [ 4.98333034e-01 2.71916374e-02 8.66559174e-01 5.37881536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53800114499998 meters Centerline goodness [0,1] 0.7045375972342265 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.54 [[ 8.65415188e-01 4.41249774e-02 -4.99108745e-01 4.34956356e+00] [-5.17641769e-02 9.98658260e-01 -1.46607660e-03 2.41910374e-01] [ 4.98374380e-01 2.71047183e-02 8.66538119e-01 5.38107091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.56800114499998 meters Centerline goodness [0,1] 0.6943320276148636 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.54 [[ 8.65427221e-01 4.36481911e-02 -4.99129803e-01 4.34889377e+00] [-5.13497780e-02 9.98679282e-01 -1.70086331e-03 2.42025710e-01] [ 4.98396354e-01 2.71021780e-02 8.66525560e-01 5.38357528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59800114499998 meters Centerline goodness [0,1] 0.7023778642455685 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.54 [[ 8.65657431e-01 4.27346543e-02 -4.98809545e-01 4.34644740e+00] [-5.04619649e-02 9.98723961e-01 -2.01008926e-03 2.40189012e-01] [ 4.98087144e-01 2.69109585e-02 8.66709292e-01 5.38388290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.62800114499998 meters Centerline goodness [0,1] 0.6980940444290777 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.54 [[ 8.65739488e-01 4.25389180e-02 -4.98683847e-01 4.34563860e+00] [-5.02324019e-02 9.98735531e-01 -2.01138478e-03 2.38622597e-01] [ 4.97967715e-01 2.67914227e-02 8.66781619e-01 5.38342949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.658001145 meters Centerline goodness [0,1] 0.6897718213354593 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.54 [[ 8.65787617e-01 4.24255209e-02 -4.98609945e-01 4.34510961e+00] [-5.00444832e-02 9.98745151e-01 -1.91654930e-03 2.36957454e-01] [ 4.97902954e-01 2.66120017e-02 8.66824347e-01 5.38239180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.688001145 meters Centerline goodness [0,1] 0.6818945463944172 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.54 [[ 8.65813806e-01 4.25231337e-02 -4.98556151e-01 4.34494399e+00] [-5.00088285e-02 9.98747393e-01 -1.66172908e-03 2.35507774e-01] [ 4.97860995e-01 2.63709571e-02 8.66855814e-01 5.38079135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.718001145 meters Centerline goodness [0,1] 0.6830509205363687 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.54 [[ 8.65843075e-01 4.21632424e-02 -4.98535887e-01 4.34431280e+00] [-4.97962395e-02 9.98757364e-01 -2.01566289e-03 2.36411736e-01] [ 4.97831401e-01 2.65704602e-02 8.66866718e-01 5.38436550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.748001145 meters Centerline goodness [0,1] 0.6814383443020436 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.54 [[ 8.65793394e-01 4.18146896e-02 -4.98651512e-01 4.34397092e+00] [-4.96368653e-02 9.98764372e-01 -2.43105222e-03 2.37822792e-01] [ 4.97933711e-01 2.68562869e-02 8.66799146e-01 5.38959182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.778001145 meters Centerline goodness [0,1] 0.6804315395758114 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.54 [[ 8.65690658e-01 4.16125946e-02 -4.98846746e-01 4.34382821e+00] [-4.95545699e-02 9.98767818e-01 -2.68140052e-03 2.38390162e-01] [ 4.98120496e-01 2.70413994e-02 8.66686064e-01 5.39516813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80800114499996 meters Centerline goodness [0,1] 0.6749395718232044 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.54 [[ 8.65600619e-01 4.18214222e-02 -4.98985508e-01 4.34422615e+00] [-4.96850581e-02 9.98761854e-01 -2.48058469e-03 2.37580688e-01] [ 4.98263949e-01 2.69393196e-02 8.66606779e-01 5.39625026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83800114499996 meters Centerline goodness [0,1] 0.6781000928785883 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.54 [[ 8.65534455e-01 4.23766752e-02 -4.99053429e-01 4.34549327e+00] [-5.00149061e-02 9.98746595e-01 -1.93579352e-03 2.35862372e-01] [ 4.98345881e-01 2.66356064e-02 8.66569055e-01 5.39043078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86800114499997 meters Centerline goodness [0,1] 0.6734861591695502 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.54 [[ 8.65374129e-01 4.26939161e-02 -4.99304362e-01 4.34665560e+00] [-5.02872145e-02 9.98733252e-01 -1.75728644e-03 2.35762113e-01] [ 4.98596844e-01 2.66293358e-02 8.66424876e-01 5.39128695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89800114499997 meters Centerline goodness [0,1] 0.6801198069298398 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.54 [[ 8.65307197e-01 4.26786215e-02 -4.99421655e-01 4.34660915e+00] [-5.04613725e-02 9.98723841e-01 -2.08327360e-03 2.37217138e-01] [ 4.98695402e-01 2.70041738e-02 8.66356549e-01 5.39679794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92800114499997 meters Centerline goodness [0,1] 0.6691398498835304 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.54 [[ 8.65331482e-01 4.70211132e-02 -4.98989419e-01 4.34450304e+00] [-5.34974133e-02 9.98567110e-01 1.32415882e-03 2.37139896e-01] [ 4.98336686e-01 2.55488069e-02 8.66607066e-01 5.39754268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95800114499997 meters Centerline goodness [0,1] 0.6950184102230885 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.54 [[ 0.86532601 0.05147452 -0.4985592 4.34289425] [-0.05665262 0.99838265 0.00475025 0.23710064] [ 0.49799737 0.02413417 0.86684264 0.53970301] [ 0. 0. 0. 1. ]] SLAMing on 149.98800114499997 meters Centerline goodness [0,1] 0.6960463958797689 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.54 [[ 0.86517417 0.05158551 -0.49881117 4.34375128] [-0.05682061 0.99837337 0.0046949 0.2378649 ] [ 0.49824198 0.02428085 0.86669797 0.53998716] [ 0. 0. 0. 1. ]] SLAMing on 150.01800114499997 meters Centerline goodness [0,1] 0.6681648263791353 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.54 [[ 0.86510642 0.05170758 -0.49891604 4.34433032] [-0.05687621 0.99836946 0.0048491 0.2371021 ] [ 0.49835327 0.02418147 0.86663676 0.53992303] [ 0. 0. 0. 1. ]] SLAMing on 150.04800114499997 meters Centerline goodness [0,1] 0.6876551471064389 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.54 [[ 8.65111542e-01 4.69543504e-02 -4.99376921e-01 4.34592446e+00] [-5.34062253e-02 9.98571927e-01 1.37161787e-03 2.35720149e-01] [ 4.98728178e-01 2.54832339e-02 8.66383754e-01 5.39842248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07800114499997 meters Centerline goodness [0,1] 0.6925030672205601 Centerline is valid? [False, False] Translation: X:4.35, Y:0.24, Z:0.54 [[ 8.65213397e-01 4.64375156e-02 -4.99248770e-01 4.34515412e+00] [-5.29375815e-02 9.98597170e-01 1.14184954e-03 2.35172788e-01] [ 4.98601433e-01 2.54410789e-02 8.66457940e-01 5.39771563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.10800114499997 meters Centerline goodness [0,1] 0.6622704435204435 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.54 [[ 8.65265380e-01 4.58245993e-02 -4.99215312e-01 4.34429671e+00] [-5.25054601e-02 9.98620418e-01 6.61485260e-04 2.35727545e-01] [ 4.98556916e-01 2.56391694e-02 8.66477717e-01 5.40090213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13800114499998 meters Centerline goodness [0,1] 0.6504367378707947 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.54 [[ 8.65302615e-01 4.68525765e-02 -4.99055328e-01 4.34035836e+00] [-5.30823798e-02 9.98588670e-01 1.71149356e-03 2.37165671e-01] [ 4.98431184e-01 2.50100846e-02 8.66568434e-01 5.41091496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.16800114499998 meters Centerline goodness [0,1] 0.6936 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.54 [[ 8.65318434e-01 4.63766894e-02 -4.99072349e-01 4.33981906e+00] [-5.27639119e-02 9.98606154e-01 1.31135652e-03 2.37812366e-01] [ 4.98437535e-01 2.51982685e-02 8.66559329e-01 5.41406908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19800114499998 meters Centerline goodness [0,1] 0.68291997318745 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.54 [[ 8.65339610e-01 4.60455174e-02 -4.99066297e-01 4.33912913e+00] [-5.25353820e-02 9.98618518e-01 1.04386797e-03 2.37785625e-01] [ 4.98424911e-01 2.53153383e-02 8.66563178e-01 5.41705042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22800114499998 meters Centerline goodness [0,1] 0.668446769869411 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.54 [[ 8.65336005e-01 4.61799046e-02 -4.99060131e-01 4.33985772e+00] [-5.26067155e-02 9.98614600e-01 1.18911917e-03 2.37067541e-01] [ 4.98423647e-01 2.52249267e-02 8.66566542e-01 5.41297223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25800114499998 meters Centerline goodness [0,1] 0.6865842342633952 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.54 [[ 8.65227450e-01 4.63089889e-02 -4.99236353e-01 4.34085053e+00] [-5.27582846e-02 9.98606597e-01 1.19491652e-03 2.37390648e-01] [ 4.98596051e-01 2.53049790e-02 8.66465023e-01 5.41334528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28800114499998 meters Centerline goodness [0,1] 0.6750676626610371 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.54 [[ 8.65109676e-01 4.63153402e-02 -4.99439824e-01 4.34163176e+00] [-5.28944439e-02 9.98599625e-01 9.83073653e-04 2.38495681e-01] [ 4.98785953e-01 2.55671252e-02 8.66348022e-01 5.41636387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31800114499998 meters Centerline goodness [0,1] 0.6880841121495327 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.54 [[ 8.64918490e-01 4.61975016e-02 -4.99781750e-01 4.34236534e+00] [-5.29663051e-02 9.98596093e-01 6.42496588e-04 2.40055675e-01] [ 4.99109784e-01 2.59158854e-02 8.66151136e-01 5.42249191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.34800114499998 meters Centerline goodness [0,1] 0.6849118847122146 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.54 [[ 8.64837265e-01 4.59634181e-02 -4.99943866e-01 4.34275455e+00] [-5.30481626e-02 9.98591954e-01 4.13478090e-05 2.42362278e-01] [ 4.99241823e-01 2.64853444e-02 8.66057809e-01 5.42760235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37800114499998 meters Centerline goodness [0,1] 0.6908086476140762 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.54 [[ 8.64733292e-01 4.59493561e-02 -5.00124975e-01 4.34330234e+00] [-5.31636812e-02 9.98585796e-01 -1.76017441e-04 2.43283802e-01] [ 4.99409608e-01 2.67406929e-02 8.65953220e-01 5.43090499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.408001145 meters Centerline goodness [0,1] 0.6801044272816273 Centerline is valid? [False, False] Translation: X:4.34, Y:0.24, Z:0.54 [[ 8.64642718e-01 4.58946457e-02 -5.00286570e-01 4.34376081e+00] [-5.32721288e-02 9.98579924e-01 -4.63506975e-04 2.44313248e-01] [ 4.99554853e-01 2.70520985e-02 8.65859765e-01 5.43423897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.438001145 meters Centerline goodness [0,1] 0.688694024979329 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.54 [[ 8.64476273e-01 4.60332104e-02 -5.00561402e-01 4.34448122e+00] [-5.35289573e-02 9.98566109e-01 -6.13930064e-04 2.45302669e-01] [ 4.99815391e-01 2.73252579e-02 8.65700818e-01 5.43915827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.468001145 meters Centerline goodness [0,1] 0.6970563205097431 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.54 [[ 8.64429143e-01 5.04817231e-02 -5.00213806e-01 4.34340436e+00] [-5.67595809e-02 9.98384306e-01 2.66990664e-03 2.46176437e-01] [ 4.99540395e-01 2.60839809e-02 8.65897811e-01 5.43900129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.498001145 meters Centerline goodness [0,1] 0.6911025652230913 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.54 [[ 8.64369469e-01 5.03245253e-02 -5.00332753e-01 4.34341264e+00] [-5.67288182e-02 9.98386701e-01 2.41574903e-03 2.46872373e-01] [ 4.99647138e-01 2.62951860e-02 8.65829834e-01 5.44263489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.528001145 meters Centerline goodness [0,1] 0.6875792419009312 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.54 [[ 8.64359987e-01 5.00588808e-02 -5.00375781e-01 4.34323856e+00] [-5.65664786e-02 9.98396481e-01 2.16799028e-03 2.46951065e-01] [ 4.99681946e-01 2.64305718e-02 8.65805624e-01 5.44465121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55800114499996 meters Centerline goodness [0,1] 0.6871590065907206 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.54 [[ 8.64455762e-01 4.92798230e-02 -5.00287652e-01 4.34235178e+00] [-5.58858938e-02 9.98435571e-01 1.78266494e-03 2.46379552e-01] [ 4.99592837e-01 2.64179876e-02 8.65857429e-01 5.44415640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58800114499996 meters Centerline goodness [0,1] 0.6777001588648778 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.54 [[ 8.64520869e-01 4.86826709e-02 -5.00233609e-01 4.34148017e+00] [-5.54169641e-02 9.98462322e-01 1.39672884e-03 2.46382016e-01] [ 4.99532408e-01 2.65139267e-02 8.65889361e-01 5.44633236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61800114499997 meters Centerline goodness [0,1] 0.6707518829727024 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.54 [[ 8.64583364e-01 4.81011258e-02 -5.00181855e-01 4.34070138e+00] [-5.49667185e-02 9.98487677e-01 1.00977462e-03 2.46450845e-01] [ 4.99473990e-01 2.66203209e-02 8.65919795e-01 5.44837730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64800114499997 meters Centerline goodness [0,1] 0.6638105827719275 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.55 [[ 8.64640588e-01 4.72948763e-02 -5.00159823e-01 4.33957167e+00] [-5.43867063e-02 9.98519868e-01 3.99712089e-04 2.47066206e-01] [ 4.99438425e-01 2.68564381e-02 8.65933018e-01 5.45259505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67800114499997 meters Centerline goodness [0,1] 0.6442931117009704 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.55 [[ 8.64833989e-01 4.63332138e-02 -4.99915398e-01 4.33779742e+00] [-5.35817091e-02 9.98563458e-01 -1.45282659e-04 2.46883207e-01] [ 4.99190517e-01 2.69119668e-02 8.66074231e-01 5.45318121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.70800114499997 meters Centerline goodness [0,1] 0.642813575567464 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.55 [[ 8.64838699e-01 4.61523571e-02 -4.99923979e-01 4.33767158e+00] [-5.33983230e-02 9.98573274e-01 -1.88880436e-04 2.46110136e-01] [ 4.99202007e-01 2.68584532e-02 8.66069270e-01 5.45328381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.73800114499997 meters Centerline goodness [0,1] 0.6615758945058765 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.55 [[ 8.64816072e-01 4.61450421e-02 -4.99963795e-01 4.33795058e+00] [-5.33367501e-02 9.98576578e-01 -9.42477733e-05 2.45232276e-01] [ 4.99247787e-01 2.67479510e-02 8.66046300e-01 5.45273125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.76800114499997 meters Centerline goodness [0,1] 0.6477309826967026 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.55 [[ 8.64838802e-01 4.57488269e-02 -4.99960890e-01 4.33793624e+00] [-5.30881306e-02 9.98589726e-01 -4.56769222e-04 2.46252309e-01] [ 4.99234912e-01 2.69370208e-02 8.66047862e-01 5.45358211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.79800114499997 meters Centerline goodness [0,1] 0.6564450533916183 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.55 [[ 8.64710537e-01 4.55624953e-02 -5.00199706e-01 4.33801424e+00] [-5.30860990e-02 9.98589609e-01 -8.11425508e-04 2.47344804e-01] [ 4.99457258e-01 2.72552993e-02 8.65909693e-01 5.46055414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.82800114499997 meters Centerline goodness [0,1] 0.6450036008118194 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.55 [[ 8.64593954e-01 4.53731170e-02 -5.00418399e-01 4.33783309e+00] [-5.31025051e-02 9.98588339e-01 -1.20507036e-03 2.48273974e-01] [ 4.99657300e-01 2.76153672e-02 8.65782868e-01 5.46839186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85800114499997 meters Centerline goodness [0,1] 0.6411307020029204 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.55 [[ 8.64475521e-01 4.54812037e-02 -5.00613157e-01 4.33819053e+00] [-5.32645599e-02 9.98579645e-01 -1.25706637e-03 2.48384235e-01] [ 4.99844935e-01 2.77516426e-02 8.65670195e-01 5.47247930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88800114499998 meters Centerline goodness [0,1] 0.6637077202265125 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.55 [[ 8.64371345e-01 4.58784061e-02 -5.00756777e-01 4.33965721e+00] [-5.36020788e-02 9.98561836e-01 -1.03778023e-03 2.48017932e-01] [ 4.99988995e-01 2.77386317e-02 8.65587415e-01 5.46975268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91800114499998 meters Centerline goodness [0,1] 0.6745991709253614 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.55 [[ 8.64214402e-01 4.62119095e-02 -5.00996934e-01 4.34074661e+00] [-5.38952901e-02 9.98546220e-01 -8.62995983e-04 2.47855072e-01] [ 5.00228713e-01 2.77471887e-02 8.65448628e-01 5.47119226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94800114499998 meters Centerline goodness [0,1] 0.6758860258552458 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.55 [[ 8.64152534e-01 5.07607043e-02 -5.00663309e-01 4.34000020e+00] [-5.72121923e-02 9.98358982e-01 2.47140965e-03 2.49022585e-01] [ 4.99967162e-01 2.65083706e-02 8.65638575e-01 5.47025802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97800114499998 meters Centerline goodness [0,1] 0.6152530104625913 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.55 [[ 8.63947279e-01 5.05201561e-02 -5.01041727e-01 4.34042000e+00] [-5.72872082e-02 9.98355962e-01 1.88401738e-03 2.51285889e-01] [ 5.00313176e-01 2.70755901e-02 8.65421076e-01 5.48032097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00800114499998 meters Centerline goodness [0,1] 0.6711861422314177 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.55 [[ 8.63830625e-01 5.03473506e-02 -5.01260208e-01 4.34036679e+00] [-5.73370761e-02 9.98353800e-01 1.46619757e-03 2.52637122e-01] [ 5.00508852e-01 2.74742483e-02 8.65295357e-01 5.48808855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03800114499998 meters Centerline goodness [0,1] 0.6666960857861524 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.55 [[ 8.63750083e-01 5.01468908e-02 -5.01419070e-01 4.34041686e+00] [-5.72633483e-02 9.98358383e-01 1.20327879e-03 2.52850917e-01] [ 5.00656272e-01 2.76736027e-02 8.65203715e-01 5.49217371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.06800114499998 meters Centerline goodness [0,1] 0.6886201209455745 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.55 [[ 8.63669579e-01 5.00378569e-02 -5.01568611e-01 4.34087432e+00] [-5.72014864e-02 9.98362046e-01 1.10197000e-03 2.52576189e-01] [ 5.00802205e-01 2.77387321e-02 8.65117168e-01 5.49326998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09800114499998 meters Centerline goodness [0,1] 0.6533591276820261 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.55 [[ 8.63827823e-01 4.91215977e-02 -5.01386637e-01 4.33977368e+00] [-5.65811670e-02 9.98397947e-01 3.32111038e-04 2.53656403e-01] [ 5.00599703e-01 2.80821543e-02 8.65223283e-01 5.49430700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.12800114499998 meters Centerline goodness [0,1] 0.664143470128727 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.55 [[ 8.63883575e-01 4.83432972e-02 -5.01366228e-01 4.33861147e+00] [-5.60542543e-02 9.98427675e-01 -3.13271658e-04 2.54614274e-01] [ 5.00562773e-01 2.83743403e-02 8.65235117e-01 5.49928020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.158001145 meters Centerline goodness [0,1] 0.6477445514445008 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.55 [[ 8.64137406e-01 4.68097592e-02 -5.01074235e-01 4.33590889e+00] [-5.48985971e-02 9.98490955e-01 -1.39861552e-03 2.55539694e-01] [ 5.00252623e-01 2.87168686e-02 8.65403175e-01 5.50358176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.188001145 meters Centerline goodness [0,1] 0.6373628789377652 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.55 [[ 8.64229072e-01 4.63239483e-02 -5.00961279e-01 4.33518025e+00] [-5.44671395e-02 9.98514232e-01 -1.63079223e-03 2.55269283e-01] [ 5.00141421e-01 2.86953059e-02 8.65468161e-01 5.50319601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.218001145 meters Centerline goodness [0,1] 0.631194311548084 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.55 [[ 8.64242899e-01 4.60341180e-02 -5.00964142e-01 4.33506170e+00] [-5.41721508e-02 9.98530165e-01 -1.69960517e-03 2.54736819e-01] [ 5.00149568e-01 2.86071768e-02 8.65466371e-01 5.50254137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.248001145 meters Centerline goodness [0,1] 0.621371365880417 Centerline is valid? [False, False] Translation: X:4.33, Y:0.25, Z:0.55 [[ 8.64360111e-01 4.54067379e-02 -5.00819156e-01 4.33442191e+00] [-5.35176150e-02 9.98565227e-01 -1.83080481e-03 2.53752705e-01] [ 5.00017464e-01 2.83851215e-02 8.65550011e-01 5.49882358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.278001145 meters Centerline goodness [0,1] 0.6460239423267709 Centerline is valid? [False, False] Translation: X:4.33, Y:0.25, Z:0.55 [[ 8.64344008e-01 4.51267206e-02 -5.00872254e-01 4.33429242e+00] [-5.32388177e-02 9.98579992e-01 -1.90470276e-03 2.53308033e-01] [ 5.00075059e-01 2.83121651e-02 8.65519126e-01 5.49937355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30800114499996 meters Centerline goodness [0,1] 0.6431349284819722 Centerline is valid? [False, False] Translation: X:4.33, Y:0.25, Z:0.55 [[ 8.64311101e-01 4.48284166e-02 -5.00955820e-01 4.33431218e+00] [-5.29638299e-02 9.98594389e-01 -2.01978064e-03 2.53162497e-01] [ 5.00161128e-01 2.82782577e-02 8.65470500e-01 5.50038820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33800114499996 meters Centerline goodness [0,1] 0.6070234113712374 Centerline is valid? [False, False] Translation: X:4.33, Y:0.25, Z:0.55 [[ 8.64285470e-01 4.44203329e-02 -5.01036387e-01 4.33398530e+00] [-5.26953465e-02 9.98607833e-01 -2.36575622e-03 2.53703691e-01] [ 5.00233773e-01 2.84469747e-02 8.65422984e-01 5.50383904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36800114499997 meters Centerline goodness [0,1] 0.6343939227127602 Centerline is valid? [False, False] Translation: X:4.33, Y:0.25, Z:0.55 [[ 8.64265013e-01 4.38172354e-02 -5.01124772e-01 4.33320305e+00] [-5.23546202e-02 9.98624122e-01 -2.97594194e-03 2.54878817e-01] [ 5.00304888e-01 2.88081996e-02 8.65369925e-01 5.51051348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39800114499997 meters Centerline goodness [0,1] 0.6343939227127602 Centerline is valid? [False, False] Translation: X:4.33, Y:0.25, Z:0.55 [[ 8.64265013e-01 4.38172354e-02 -5.01124772e-01 4.33320305e+00] [-5.23546202e-02 9.98624122e-01 -2.97594194e-03 2.54878817e-01] [ 5.00304888e-01 2.88081996e-02 8.65369925e-01 5.51051348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42800114499997 meters Centerline goodness [0,1] 0.6276109230025064 Centerline is valid? [False, False] Translation: X:4.33, Y:0.25, Z:0.55 [[ 8.64215718e-01 4.38265210e-02 -5.01208967e-01 4.33336041e+00] [-5.23924849e-02 9.98622012e-01 -3.01726515e-03 2.54699654e-01] [ 5.00386071e-01 2.88671512e-02 8.65321020e-01 5.51203567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45800114499997 meters Centerline goodness [0,1] 0.6358499692199455 Centerline is valid? [False, False] Translation: X:4.33, Y:0.25, Z:0.55 [[ 8.64071404e-01 4.45208349e-02 -5.01396554e-01 4.33474884e+00] [-5.28995715e-02 9.98596722e-01 -2.49432747e-03 2.53216143e-01] [ 5.00581906e-01 2.86789399e-02 8.65214004e-01 5.50996350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.48800114499997 meters Centerline goodness [0,1] 0.6284734435455505 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.55 [[ 8.63906986e-01 4.48688958e-02 -5.01648783e-01 4.33571434e+00] [-5.31903950e-02 9.98581775e-01 -2.28504939e-03 2.53096353e-01] [ 5.00834804e-01 2.86569670e-02 8.65068366e-01 5.51197475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.51800114499997 meters Centerline goodness [0,1] 0.6544301575459692 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.55 [[ 8.63728751e-01 4.49531376e-02 -5.01948065e-01 4.33634324e+00] [-5.33743320e-02 9.98571655e-01 -2.41462445e-03 2.54004095e-01] [ 5.01122565e-01 2.88767232e-02 8.64894392e-01 5.51770410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.54800114499997 meters Centerline goodness [0,1] 0.635862402249363 Centerline is valid? [False, False] Translation: X:4.34, Y:0.25, Z:0.55 [[ 8.63521527e-01 4.52226085e-02 -5.02280289e-01 4.33712344e+00] [-5.37182311e-02 9.98553132e-01 -2.44817801e-03 2.54937194e-01] [ 5.01442843e-01 2.90956631e-02 8.64701404e-01 5.52403089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57800114499997 meters Centerline goodness [0,1] 0.6837747979831341 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.55 [[ 8.63309944e-01 4.55251572e-02 -5.02616554e-01 4.33804750e+00] [-5.40680512e-02 9.98534307e-01 -2.42541732e-03 2.55694072e-01] [ 5.01769455e-01 2.92693845e-02 8.64506054e-01 5.52958057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.60800114499997 meters Centerline goodness [0,1] 0.6701888786157707 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.55 [[ 8.63035340e-01 4.65345486e-02 -5.02995565e-01 4.33966268e+00] [-5.49921489e-02 9.98484823e-01 -1.98039018e-03 2.55835837e-01] [ 5.02141281e-01 2.93699537e-02 8.64286723e-01 5.53459143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63800114499998 meters Centerline goodness [0,1] 0.66112729519774 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.55 [[ 8.62892105e-01 4.67650925e-02 -5.03219873e-01 4.34039534e+00] [-5.52347900e-02 9.98471541e-01 -1.92371237e-03 2.55984016e-01] [ 5.02360759e-01 2.94552002e-02 8.64156270e-01 5.53729884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.66800114499998 meters Centerline goodness [0,1] 0.681640625 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.55 [[ 8.62717902e-01 4.69509261e-02 -5.03501175e-01 4.34105387e+00] [-5.54565784e-02 9.98459261e-01 -1.91617419e-03 2.56098254e-01] [ 5.02635445e-01 2.95755701e-02 8.63992416e-01 5.54205262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69800114499998 meters Centerline goodness [0,1] 0.6820313191188181 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.55 [[ 8.62791586e-01 4.78796280e-02 -5.03287413e-01 4.34164235e+00] [-5.62482912e-02 9.98415767e-01 -1.44405916e-03 2.56036728e-01] [ 5.02420948e-01 2.95549791e-02 8.64117871e-01 5.53781913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72800114499998 meters Centerline goodness [0,1] 0.6792281849527009 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.55 [[ 8.62589344e-01 4.79935487e-02 -5.03623116e-01 4.34251827e+00] [-5.64940868e-02 9.98401624e-01 -1.61700336e-03 2.57017660e-01] [ 5.02740531e-01 2.98465379e-02 8.63921954e-01 5.54390108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75800114499998 meters Centerline goodness [0,1] 0.6650249569327267 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.55 [[ 8.62443980e-01 4.81528435e-02 -5.03856811e-01 4.34325891e+00] [-5.68040366e-02 9.98383695e-01 -1.81655894e-03 2.58409896e-01] [ 5.02954952e-01 3.01877810e-02 8.63785282e-01 5.54901111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.78800114499998 meters Centerline goodness [0,1] 0.6582873356830928 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.55 [[ 8.62296738e-01 5.32524379e-02 -5.03595585e-01 4.34307736e+00] [-6.05109558e-02 9.98165650e-01 1.93876688e-03 2.58943491e-01] [ 5.02775059e-01 2.88012579e-02 8.63937340e-01 5.54727589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81800114499998 meters Centerline goodness [0,1] 0.7003478915996366 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.56 [[ 8.62130800e-01 5.33942368e-02 -5.03864604e-01 4.34393384e+00] [-6.07301388e-02 9.98152485e-01 1.86214106e-03 2.59655536e-01] [ 5.03033134e-01 2.89943582e-02 8.63780640e-01 5.55128247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.84800114499998 meters Centerline goodness [0,1] 0.6958246531625372 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.56 [[ 8.62064791e-01 5.33167545e-02 -5.03985733e-01 4.34438186e+00] [-6.07088658e-02 9.98153977e-01 1.75273766e-03 2.60006938e-01] [ 5.03148814e-01 2.90854288e-02 8.63710200e-01 5.55226872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87800114499998 meters Centerline goodness [0,1] 0.7015111111111111 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.56 [[ 8.62015901e-01 5.30664857e-02 -5.04095759e-01 4.34433978e+00] [-6.05620916e-02 9.98163283e-01 1.51465581e-03 2.60156327e-01] [ 5.03250255e-01 2.92234362e-02 8.63646439e-01 5.55509214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.908001145 meters Centerline goodness [0,1] 0.7178697962798937 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.56 [[ 8.62154990e-01 5.20713573e-02 -5.03961652e-01 4.34260747e+00] [-5.98521971e-02 9.98206971e-01 7.46329502e-04 2.60482436e-01] [ 5.03096897e-01 2.95197604e-02 8.63725707e-01 5.55947781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.938001145 meters Centerline goodness [0,1] 0.668875049688618 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.56 [[ 8.62235006e-01 5.14335226e-02 -5.03890252e-01 4.34161461e+00] [-5.94154286e-02 9.98233318e-01 2.23448352e-04 2.61115660e-01] [ 5.03011531e-01 2.97461903e-02 8.63767656e-01 5.56277249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.968001145 meters Centerline goodness [0,1] 0.6963569037007473 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.56 [[ 8.62247261e-01 5.08030681e-02 -5.03933239e-01 4.34082317e+00] [-5.89931957e-02 9.98258339e-01 -3.01895249e-04 2.61912779e-01] [ 5.03040221e-01 2.99889405e-02 8.63742554e-01 5.56722442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.998001145 meters Centerline goodness [0,1] 0.6589880071559511 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.56 [[ 8.62157169e-01 5.03636123e-02 -5.04131453e-01 4.34086380e+00] [-5.87524622e-02 9.98272302e-01 -7.48331379e-04 2.62812588e-01] [ 5.03222777e-01 3.02641434e-02 8.63626608e-01 5.57248401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.028001145 meters Centerline goodness [0,1] 0.6988461453281067 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.56 [[ 8.62093499e-01 5.01441299e-02 -5.04262198e-01 4.34176019e+00] [-5.86209226e-02 9.98279863e-01 -9.49587667e-04 2.63916462e-01] [ 5.03347182e-01 3.03789487e-02 8.63550076e-01 5.57128577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05800114499996 meters Centerline goodness [0,1] 0.6897201232078356 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.56 [[ 8.62076967e-01 4.98669407e-02 -5.04317946e-01 4.34220003e+00] [-5.84461460e-02 9.98289846e-01 -1.19649853e-03 2.64318364e-01] [ 5.03395819e-01 3.05069141e-02 8.63517213e-01 5.57049511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08800114499996 meters Centerline goodness [0,1] 0.7005555924474843 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.56 [[ 8.62053574e-01 4.94566429e-02 -5.04398330e-01 4.34180446e+00] [-5.82149347e-02 9.98302776e-01 -1.60922148e-03 2.65101404e-01] [ 5.03462666e-01 3.07507510e-02 8.63469591e-01 5.57465032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11800114499997 meters Centerline goodness [0,1] 0.6945887972402203 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.56 [[ 8.62024049e-01 4.90601104e-02 -5.04487506e-01 4.34141935e+00] [-5.79837572e-02 9.98315535e-01 -1.99394985e-03 2.65735434e-01] [ 5.03539891e-01 3.09709138e-02 8.63416690e-01 5.57877607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14800114499997 meters Centerline goodness [0,1] 0.6969878051479539 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.56 [[ 8.61994452e-01 4.86717169e-02 -5.04575693e-01 4.34104061e+00] [-5.77862526e-02 9.98326045e-01 -2.42022463e-03 2.66575138e-01] [ 5.03613259e-01 3.12437586e-02 8.63364067e-01 5.58365105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17800114499997 meters Centerline goodness [0,1] 0.6930497649250421 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.56 [[ 8.61980561e-01 4.81972870e-02 -5.04644958e-01 4.34043809e+00] [-5.74984364e-02 9.98341489e-01 -2.86376224e-03 2.67310923e-01] [ 5.03669974e-01 3.14848034e-02 8.63322225e-01 5.58810515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20800114499997 meters Centerline goodness [0,1] 0.6940356484872701 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.56 [[ 8.61937046e-01 4.77640792e-02 -5.04760460e-01 4.34025012e+00] [-5.73309310e-02 9.98349344e-01 -3.42819274e-03 2.69344178e-01] [ 5.03763530e-01 3.18932734e-02 8.63252643e-01 5.59349256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.23800114499997 meters Centerline goodness [0,1] 0.6945540822209411 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.56 [[ 8.61768191e-01 4.76481775e-02 -5.05059635e-01 4.34081638e+00] [-5.73641977e-02 9.98346488e-01 -3.69312885e-03 2.70375897e-01] [ 5.04048542e-01 3.21549618e-02 8.63076547e-01 5.59931764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.26800114499997 meters Centerline goodness [0,1] 0.6974412555854435 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.56 [[ 8.61660752e-01 4.76254132e-02 -5.05245058e-01 4.34132828e+00] [-5.73969233e-02 9.98344280e-01 -3.78057595e-03 2.70825423e-01] [ 5.04228462e-01 3.22570857e-02 8.62967635e-01 5.60184279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.29800114499997 meters Centerline goodness [0,1] 0.6904121166292285 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.56 [[ 8.61582547e-01 4.76813379e-02 -5.05373133e-01 4.34210516e+00] [-5.74454735e-02 9.98341628e-01 -3.74327954e-03 2.70792674e-01] [ 5.04356552e-01 3.22565433e-02 8.62892800e-01 5.60132037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.32800114499997 meters Centerline goodness [0,1] 0.6974196851971414 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.56 [[ 8.61493660e-01 4.75105012e-02 -5.05540726e-01 4.34285614e+00] [-5.73669825e-02 9.98345403e-01 -3.93519466e-03 2.71437029e-01] [ 5.04517297e-01 3.23914912e-02 8.62793769e-01 5.60165474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35800114499997 meters Centerline goodness [0,1] 0.7075734295321442 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.56 [[ 0.86138423 0.04705157 -0.50577006 4.34267254] [-0.05713313 0.99835675 -0.00442755 0.27253504] [ 0.50473064 0.03271005 0.86265696 0.56086231] [ 0. 0. 0. 1. ]] SLAMing on 152.38800114499998 meters Centerline goodness [0,1] 0.6803935128382448 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.56 [[ 0.86130557 0.04673232 -0.5059336 4.34267634] [-0.0569857 0.99836348 -0.00479562 0.27348493] [ 0.50488152 0.03296147 0.86255909 0.56129632] [ 0. 0. 0. 1. ]] SLAMing on 152.41800114499998 meters Centerline goodness [0,1] 0.6958736399991063 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.56 [[ 0.86120676 0.04656933 -0.50611681 4.34288376] [-0.05694808 0.99836442 -0.00504015 0.27410663] [ 0.50505429 0.03316299 0.86245022 0.56171424] [ 0. 0. 0. 1. ]] SLAMing on 152.44800114499998 meters Centerline goodness [0,1] 0.6910338354266303 Centerline is valid? [False, False] Translation: X:4.34, Y:0.28, Z:0.56 [[ 0.86122135 0.04609565 -0.50613533 4.34249904] [-0.05682301 0.99836764 -0.00576287 0.27591724] [ 0.50504349 0.03372324 0.86243482 0.56224286] [ 0. 0. 0. 1. ]] SLAMing on 152.47800114499998 meters Centerline goodness [0,1] 0.6931582121557327 Centerline is valid? [False, False] Translation: X:4.34, Y:0.28, Z:0.56 [[ 0.86108032 0.0460758 -0.50637704 4.34298933] [-0.05698369 0.99835673 -0.00605763 0.27709111] [ 0.50526582 0.03407134 0.8622909 0.56281356] [ 0. 0. 0. 1. ]] SLAMing on 152.50800114499998 meters Centerline goodness [0,1] 0.7090831861572511 Centerline is valid? [False, False] Translation: X:4.34, Y:0.28, Z:0.56 [[ 0.86087309 0.04611688 -0.50672553 4.3439395 ] [-0.05715714 0.99834566 -0.00624491 0.27811147] [ 0.50559924 0.03433906 0.86208482 0.56335129] [ 0. 0. 0. 1. ]] SLAMing on 152.53800114499998 meters Centerline goodness [0,1] 0.7015551715625772 Centerline is valid? [False, False] Translation: X:4.34, Y:0.28, Z:0.56 [[ 0.86072172 0.04620714 -0.50697438 4.34457172] [-0.05745577 0.99832653 -0.00655579 0.27976839] [ 0.50582305 0.03477132 0.86193619 0.56397336] [ 0. 0. 0. 1. ]] SLAMing on 152.56800114499998 meters Centerline goodness [0,1] 0.7018405460812364 Centerline is valid? [False, False] Translation: X:4.34, Y:0.28, Z:0.56 [[ 0.86061882 0.04596465 -0.50717107 4.34451504] [-0.05737601 0.99832891 -0.00688334 0.28048135] [ 0.50600715 0.03502339 0.86181792 0.56455055] [ 0. 0. 0. 1. ]] SLAMing on 152.59800114499998 meters Centerline goodness [0,1] 0.6824908490714334 Centerline is valid? [False, False] Translation: X:4.34, Y:0.28, Z:0.56 [[ 0.8605328 0.04593059 -0.5073201 4.3446995 ] [-0.05739855 0.99832696 -0.00697702 0.28057946] [ 0.50615087 0.03512339 0.86172945 0.5648749 ] [ 0. 0. 0. 1. ]] SLAMing on 152.62800114499998 meters Centerline goodness [0,1] 0.7318582875663996 Centerline is valid? [False, False] Translation: X:4.34, Y:0.28, Z:0.57 [[ 0.86048583 0.04578145 -0.50741324 4.34452458] [-0.05728824 0.9983326 -0.00707629 0.28029657] [ 0.50624322 0.03515785 0.8616738 0.56514852] [ 0. 0. 0. 1. ]] SLAMing on 152.658001145 meters Centerline goodness [0,1] 0.7314188807235726 Centerline is valid? [False, False] Translation: X:4.34, Y:0.28, Z:0.57 [[ 0.86044978 0.04553264 -0.50749676 4.34438238] [-0.05713118 0.99834004 -0.00729355 0.28041039] [ 0.50632224 0.03526963 0.8616228 0.5653983 ] [ 0. 0. 0. 1. ]] SLAMing on 152.688001145 meters Centerline goodness [0,1] 0.7150717542165428 Centerline is valid? [False, False] Translation: X:4.34, Y:0.28, Z:0.57 [[ 0.86054087 0.04508397 -0.50738234 4.34355677] [-0.05672276 0.99836185 -0.00749364 0.27996745] [ 0.50621333 0.03522871 0.86168846 0.56536191] [ 0. 0. 0. 1. ]] SLAMing on 152.718001145 meters Centerline goodness [0,1] 0.7147673634524612 Centerline is valid? [False, False] Translation: X:4.34, Y:0.28, Z:0.57 [[ 0.86045291 0.04503561 -0.5075358 4.34357551] [-0.05668199 0.99836406 -0.00750736 0.27957593] [ 0.5063674 0.03522787 0.86159796 0.56567331] [ 0. 0. 0. 1. ]] SLAMing on 152.748001145 meters Centerline goodness [0,1] 0.7158590308370044 Centerline is valid? [False, False] Translation: X:4.34, Y:0.28, Z:0.57 [[ 0.86039636 0.04492207 -0.50764172 4.34353425] [-0.05664007 0.99836534 -0.0076516 0.27956323] [ 0.50646817 0.03533627 0.86153429 0.56598626] [ 0. 0. 0. 1. ]] SLAMing on 152.77800114499996 meters Centerline goodness [0,1] 0.7157370651954518 Centerline is valid? [False, False] Translation: X:4.34, Y:0.28, Z:0.57 [[ 0.86029476 0.04490262 -0.50781559 4.34377278] [-0.05669723 0.99836116 -0.0077731 0.27973176] [ 0.50663433 0.03547889 0.86143073 0.56635381] [ 0. 0. 0. 1. ]] SLAMing on 152.80800114499996 meters Centerline goodness [0,1] 0.7029056992959957 Centerline is valid? [False, False] Translation: X:4.34, Y:0.28, Z:0.57 [[ 0.86017241 0.04512833 -0.50800281 4.34435747] [-0.05696144 0.99834621 -0.00776169 0.27994888] [ 0.50681241 0.03561296 0.86132044 0.56668728] [ 0. 0. 0. 1. ]] SLAMing on 152.83800114499996 meters Centerline goodness [0,1] 0.7129065495923305 Centerline is valid? [False, False] Translation: X:4.35, Y:0.28, Z:0.57 [[ 0.85999804 0.04545608 -0.50826875 4.34545355] [-0.05724164 0.99833166 -0.00756974 0.27956298] [ 0.50707669 0.0356041 0.86116524 0.56686592] [ 0. 0. 0. 1. ]] SLAMing on 152.86800114499997 meters Centerline goodness [0,1] 0.7184217613789389 Centerline is valid? [False, False] Translation: X:4.35, Y:0.28, Z:0.57 [[ 0.85984122 0.04579858 -0.50850326 4.3464795 ] [-0.05751104 0.99831794 -0.00733294 0.27898555] [ 0.50731209 0.03554972 0.86102884 0.56696393] [ 0. 0. 0. 1. ]] SLAMing on 152.89800114499997 meters Centerline goodness [0,1] 0.7146090073941296 Centerline is valid? [False, False] Translation: X:4.35, Y:0.28, Z:0.57 [[ 0.85972876 0.04595237 -0.5086795 4.34710174] [-0.05762516 0.99831226 -0.00720923 0.27855864] [ 0.5074897 0.03551072 0.86092578 0.56708243] [ 0. 0. 0. 1. ]] SLAMing on 152.92800114499997 meters Centerline goodness [0,1] 0.7112210851602212 Centerline is valid? [False, False] Translation: X:4.35, Y:0.28, Z:0.57 [[ 0.85970728 0.04565712 -0.50874239 4.34669205] [-0.05749352 0.99831724 -0.00756238 0.2791832 ] [ 0.50754102 0.03575082 0.86088558 0.5675157 ] [ 0. 0. 0. 1. ]] SLAMing on 152.95800114499997 meters Centerline goodness [0,1] 0.7056181793685723 Centerline is valid? [False, False] Translation: X:4.35, Y:0.28, Z:0.57 [[ 0.85959225 0.04547524 -0.50895301 4.34678305] [-0.05743628 0.99831865 -0.00780621 0.27981908] [ 0.50774229 0.03594253 0.86075891 0.56804489] [ 0. 0. 0. 1. ]] SLAMing on 152.98800114499997 meters Centerline goodness [0,1] 0.7067244048553928 Centerline is valid? [False, False] Translation: X:4.35, Y:0.28, Z:0.57 [[ 0.85958116 0.04529066 -0.50898819 4.34640197] [-0.0573483 0.99832204 -0.00801759 0.27975768] [ 0.50777101 0.03608138 0.86073616 0.5683303 ] [ 0. 0. 0. 1. ]] SLAMing on 153.01800114499997 meters Centerline goodness [0,1] 0.6985823532042394 Centerline is valid? [False, False] Translation: X:4.35, Y:0.28, Z:0.57 [[ 0.85958081 0.04506616 -0.50900871 4.3460753 ] [-0.05716996 0.99833115 -0.00815557 0.27964089] [ 0.50779171 0.03611038 0.86072273 0.56848863] [ 0. 0. 0. 1. ]] SLAMing on 153.04800114499997 meters Centerline goodness [0,1] 0.6903557842917879 Centerline is valid? [False, False] Translation: X:4.35, Y:0.28, Z:0.57 [[ 0.85960282 0.04472134 -0.50900195 4.34543362] [-0.05687763 0.99834633 -0.00833944 0.2793714 ] [ 0.50778728 0.03611943 0.86072496 0.56867645] [ 0. 0. 0. 1. ]] SLAMing on 153.07800114499997 meters Centerline goodness [0,1] 0.6857833590759519 Centerline is valid? [False, False] Translation: X:4.34, Y:0.28, Z:0.57 [[ 0.85969628 0.044187 -0.50889076 4.34430837] [-0.05642673 0.99836939 -0.00863623 0.27905254] [ 0.50767935 0.03613958 0.86078778 0.56882319] [ 0. 0. 0. 1. ]] SLAMing on 153.10800114499997 meters Centerline goodness [0,1] 0.6675734736654328 Centerline is valid? [False, False] Translation: X:4.34, Y:0.28, Z:0.57 [[ 0.8599257 0.04273534 -0.50862705 4.34189726] [-0.05512815 0.99843584 -0.00931452 0.27890832] [ 0.50743342 0.03604946 0.86093656 0.56883383] [ 0. 0. 0. 1. ]] SLAMing on 153.13800114499998 meters Centerline goodness [0,1] 0.657908225802857 Centerline is valid? [False, False] Translation: X:4.34, Y:0.28, Z:0.57 [[ 0.85995101 0.042461 -0.50860725 4.3414087 ] [-0.05481359 0.99845308 -0.00932288 0.27816937] [ 0.50742461 0.03589581 0.86094817 0.56883593] [ 0. 0. 0. 1. ]] SLAMing on 153.16800114499998 meters Centerline goodness [0,1] 0.6476357813264535 Centerline is valid? [False, False] Translation: X:4.34, Y:0.28, Z:0.57 [[ 0.86000384 0.04215006 -0.50854377 4.34073275] [-0.05442912 0.99847444 -0.00928827 0.2767574 ] [ 0.50737645 0.03566754 0.86098604 0.56874754] [ 0. 0. 0. 1. ]] SLAMing on 153.19800114499998 meters Centerline goodness [0,1] 0.6387712336706942 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.57 [[ 0.86011155 0.04170284 -0.50839846 4.33968059] [-0.05391535 0.99850211 -0.00930931 0.27475526] [ 0.50724871 0.03541753 0.86107162 0.56855448] [ 0. 0. 0. 1. ]] SLAMing on 153.22800114499998 meters Centerline goodness [0,1] 0.6229475547687542 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.57 [[ 0.85999511 0.03677688 -0.50897532 4.34084169] [-0.05027464 0.99865356 -0.01278763 0.27271121] [ 0.50781973 0.03658585 0.86068612 0.56890955] [ 0. 0. 0. 1. ]] SLAMing on 153.25800114499998 meters Centerline goodness [0,1] 0.6176816156421113 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.57 [[ 0.85995639 0.03699724 -0.50902477 4.3413684 ] [-0.05034182 0.99865427 -0.01246368 0.27169454] [ 0.50787864 0.03634345 0.86066163 0.56869741] [ 0. 0. 0. 1. ]] SLAMing on 153.28800114499998 meters Centerline goodness [0,1] 0.6163659679844344 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.57 [[ 0.85983463 0.03695338 -0.50923359 4.34153627] [-0.05033322 0.99865403 -0.01251803 0.27188334] [ 0.50808559 0.0363948 0.8605373 0.56915133] [ 0. 0. 0. 1. ]] SLAMing on 153.31800114499998 meters Centerline goodness [0,1] 0.6163659679844344 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.57 [[ 0.85983463 0.03695338 -0.50923359 4.34153627] [-0.05033322 0.99865403 -0.01251803 0.27188334] [ 0.50808559 0.0363948 0.8605373 0.56915133] [ 0. 0. 0. 1. ]] SLAMing on 153.34800114499998 meters Centerline goodness [0,1] 0.6165797383309759 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.57 [[ 0.85978132 0.04174583 -0.50895321 4.33987052] [-0.05354959 0.9985285 -0.00855981 0.27028815] [ 0.50784695 0.0346138 0.86075162 0.56906721] [ 0. 0. 0. 1. ]] SLAMing on 153.37800114499998 meters Centerline goodness [0,1] 0.6444101773323053 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.57 [[ 0.85967705 0.04229755 -0.50908378 4.34052301] [-0.05392913 0.99851186 -0.00810678 0.2689424 ] [ 0.50798329 0.03442366 0.86067879 0.56911377] [ 0. 0. 0. 1. ]] SLAMing on 153.408001145 meters Centerline goodness [0,1] 0.6162342948929522 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.57 [[ 0.85959354 0.04286451 -0.50917735 4.340868 ] [-0.05432904 0.9984937 -0.00766129 0.26725937] [ 0.50808198 0.03424871 0.86062752 0.56919 ] [ 0. 0. 0. 1. ]] SLAMing on 153.438001145 meters Centerline goodness [0,1] 0.6167337866684273 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.57 [[ 0.85949312 0.04317413 -0.5093207 4.34076331] [-0.05463297 0.99847792 -0.00755565 0.26651517] [ 0.50821926 0.03431974 0.86054363 0.56968789] [ 0. 0. 0. 1. ]] SLAMing on 153.468001145 meters Centerline goodness [0,1] 0.7126917405752767 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.57 [[ 8.59465895e-01 4.83292774e-02 -5.08903386e-01 4.33860896e+00] [-5.83840915e-02 9.98286971e-01 -3.79767089e-03 2.65824623e-01] [ 5.07848081e-01 3.29758305e-02 8.60815265e-01 5.70067513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.498001145 meters Centerline goodness [0,1] 0.6747849745480077 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.57 [[ 8.59254730e-01 4.84815710e-02 -5.09245369e-01 4.33908341e+00] [-5.86073052e-02 9.98273690e-01 -3.85026088e-03 2.66303137e-01] [ 5.08179586e-01 3.31538536e-02 8.60612764e-01 5.70784658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52800114499996 meters Centerline goodness [0,1] 0.7234810154428264 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.57 [[ 8.59065569e-01 4.88696033e-02 -5.09527340e-01 4.33995973e+00] [-5.89482126e-02 9.98254396e-01 -3.64275550e-03 2.66267615e-01] [ 5.08459887e-01 3.31650918e-02 8.60446756e-01 5.71164414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55800114499996 meters Centerline goodness [0,1] 0.7226534157120557 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.57 [[ 8.58873975e-01 4.92614498e-02 -5.09812520e-01 4.34108442e+00] [-5.92676199e-02 9.98236370e-01 -3.39113959e-03 2.65829454e-01] [ 5.08746346e-01 3.31279361e-02 8.60278847e-01 5.71411170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58800114499996 meters Centerline goodness [0,1] 0.7167441248684672 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.57 [[ 8.58578670e-01 5.05205657e-02 -5.10186574e-01 4.34377353e+00] [-6.01307286e-02 9.98187749e-01 -2.34806502e-03 2.63754301e-01] [ 5.09143362e-01 3.26938890e-02 8.60060548e-01 5.71016237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61800114499997 meters Centerline goodness [0,1] 0.6836613654336174 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.57 [[ 8.58472135e-01 5.09509519e-02 -5.10323029e-01 4.34487847e+00] [-6.04419352e-02 9.98169674e-01 -2.01837267e-03 2.62976447e-01] [ 5.09286134e-01 3.25776282e-02 8.59980425e-01 5.70864700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64800114499997 meters Centerline goodness [0,1] 0.7127409393613047 Centerline is valid? [False, False] Translation: X:4.35, Y:0.26, Z:0.57 [[ 8.58348541e-01 5.11980483e-02 -5.10506163e-01 4.34524536e+00] [-6.06624594e-02 9.98156544e-01 -1.89197814e-03 2.62390319e-01] [ 5.09468202e-01 3.25925361e-02 8.59872012e-01 5.71184341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67800114499997 meters Centerline goodness [0,1] 0.7140279855671918 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.57 [[ 8.58282458e-01 5.08348397e-02 -5.10653544e-01 4.34403639e+00] [-6.05532448e-02 9.98162061e-01 -2.40942118e-03 2.63228375e-01] [ 5.09592511e-01 3.29896930e-02 8.59783201e-01 5.72268021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70800114499997 meters Centerline goodness [0,1] 0.716830507356337 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.57 [[ 8.58217418e-01 5.06503176e-02 -5.10781174e-01 4.34341609e+00] [-6.05007454e-02 9.98164572e-01 -2.67324044e-03 2.63721916e-01] [ 5.09708272e-01 3.31968633e-02 8.59706604e-01 5.72956598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.73800114499997 meters Centerline goodness [0,1] 0.7107343640196767 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.57 [[ 8.58137510e-01 5.05404284e-02 -5.10926296e-01 4.34315302e+00] [-6.05000736e-02 9.98164048e-01 -2.87662608e-03 2.63975705e-01] [ 5.09842873e-01 3.33796193e-02 8.59619710e-01 5.73517687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.76800114499997 meters Centerline goodness [0,1] 0.7353429808070651 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.57 [[ 8.58091624e-01 5.07265297e-02 -5.10984915e-01 4.34307405e+00] [-6.05273980e-02 9.98163271e-01 -2.55329348e-03 2.62120387e-01] [ 5.09916854e-01 3.31195471e-02 8.59585887e-01 5.73535619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.79800114499997 meters Centerline goodness [0,1] 0.7396802516052943 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.57 [[ 8.58054044e-01 5.08000910e-02 -5.11040710e-01 4.34304675e+00] [-6.04953558e-02 9.98165710e-01 -2.35084166e-03 2.60630638e-01] [ 5.09983891e-01 3.29327388e-02 8.59553294e-01 5.73532691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.82800114499997 meters Centerline goodness [0,1] 0.7299013617318435 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.57 [[ 8.58092959e-01 5.06048404e-02 -5.10994740e-01 4.34233025e+00] [-6.02344888e-02 9.98181611e-01 -2.29742026e-03 2.59247534e-01] [ 5.09949292e-01 3.27509071e-02 8.59580768e-01 5.73576238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85800114499997 meters Centerline goodness [0,1] 0.7177127404370394 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.57 [[ 8.58143109e-01 5.03413460e-02 -5.10936545e-01 4.34141529e+00] [-5.99720045e-02 9.98197232e-01 -2.37597073e-03 2.58573100e-01] [ 5.09895835e-01 3.26808117e-02 8.59615148e-01 5.73778074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88800114499998 meters Centerline goodness [0,1] 0.7317009410944579 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.57 [[ 8.58181562e-01 4.95327637e-02 -5.10950988e-01 4.33991353e+00] [-5.94478328e-02 9.98226672e-01 -3.07682766e-03 2.60018564e-01] [ 5.09892500e-01 3.30154057e-02 8.59604340e-01 5.74563020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91800114499998 meters Centerline goodness [0,1] 0.7162735079899989 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.57 [[ 8.58150861e-01 4.95827857e-02 -5.10997697e-01 4.33990915e+00] [-5.94913352e-02 9.98224167e-01 -3.04855707e-03 2.59804236e-01] [ 5.09939095e-01 3.30160572e-02 8.59576675e-01 5.74726589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94800114499998 meters Centerline goodness [0,1] 0.7215834857590802 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.57 [[ 8.58144684e-01 4.97744044e-02 -5.10989441e-01 4.33974538e+00] [-5.95310069e-02 9.98222696e-01 -2.74032477e-03 2.57841564e-01] [ 5.09944859e-01 3.27713111e-02 8.59582620e-01 5.74629736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97800114499998 meters Centerline goodness [0,1] 0.7372215225604725 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.57 [[ 8.58067563e-01 4.98847213e-02 -5.11108181e-01 4.34000595e+00] [-5.96126097e-02 9.98218062e-01 -2.65270035e-03 2.57243598e-01] [ 5.10065089e-01 3.27446886e-02 8.59512298e-01 5.74788728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.00800114499998 meters Centerline goodness [0,1] 0.7418718571180857 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.57967469e-01 4.99965809e-02 -5.11265258e-01 4.34039857e+00] [-5.97608147e-02 9.98209151e-01 -2.67139280e-03 2.57404495e-01] [ 5.10216098e-01 3.28455964e-02 8.59418815e-01 5.75094020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03800114499998 meters Centerline goodness [0,1] 0.7347057933092576 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.57789016e-01 5.01583336e-02 -5.11548772e-01 4.34104854e+00] [-6.00109253e-02 9.98193920e-01 -2.75431967e-03 2.58253432e-01] [ 5.10486722e-01 3.30611403e-02 8.59249828e-01 5.75659482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.06800114499998 meters Centerline goodness [0,1] 0.7431822640769079 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.57711809e-01 5.48350892e-02 -5.11198167e-01 4.33967215e+00] [-6.33560077e-02 9.97990708e-01 7.50616038e-04 2.58631666e-01] [ 5.10212181e-01 3.17436628e-02 8.59462548e-01 5.75744295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09800114499998 meters Centerline goodness [0,1] 0.7439226639898747 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.57576902e-01 5.50260938e-02 -5.11403937e-01 4.34047709e+00] [-6.35554924e-02 9.97977982e-01 8.03880735e-04 2.58842250e-01] [ 5.10414104e-01 3.18131395e-02 8.59340076e-01 5.75969502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.12800114499998 meters Centerline goodness [0,1] 0.7307272091600385 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.57443109e-01 5.51453113e-02 -5.11615392e-01 4.34134395e+00] [-6.36365463e-02 9.97972720e-01 9.16309863e-04 2.58230170e-01] [ 5.10628735e-01 3.17717530e-02 8.59214089e-01 5.76054925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.158001145 meters Centerline goodness [0,1] 0.7374841779058094 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.57334273e-01 5.51849510e-02 -5.11793479e-01 4.34183114e+00] [-6.36612090e-02 9.97971101e-01 9.65330664e-04 2.57719627e-01] [ 5.10808373e-01 3.17537806e-02 8.59107969e-01 5.76196153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.188001145 meters Centerline goodness [0,1] 0.7383632159839463 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.57335864e-01 5.44391740e-02 -5.11870679e-01 4.34066852e+00] [-6.32817201e-02 9.97995692e-01 1.49203522e-04 2.59287935e-01] [ 5.10852855e-01 3.22641395e-02 8.59062504e-01 5.77065556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.218001145 meters Centerline goodness [0,1] 0.746466276939185 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.57343468e-01 5.37627256e-02 -5.11929437e-01 4.33931798e+00] [-6.29371282e-02 9.98017319e-01 -5.91105770e-04 2.60652069e-01] [ 5.10882664e-01 3.27261492e-02 8.59027300e-01 5.77997671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.248001145 meters Centerline goodness [0,1] 0.7638291836690161 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.57337602e-01 5.37184808e-02 -5.11943904e-01 4.33904083e+00] [-6.29670449e-02 9.98015342e-01 -7.26929822e-04 2.60611949e-01] [ 5.10888821e-01 3.28588190e-02 8.59018574e-01 5.78251378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27800114499996 meters Centerline goodness [0,1] 0.7325259741674108 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.57266528e-01 5.39456255e-02 -5.12039032e-01 4.33959477e+00] [-6.31258342e-02 9.98005428e-01 -5.42219525e-04 2.59889535e-01] [ 5.10988483e-01 3.27877177e-02 8.58962011e-01 5.78232409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30800114499996 meters Centerline goodness [0,1] 0.7431914244629396 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.57143163e-01 5.39102586e-02 -5.12249238e-01 4.34008190e+00] [-6.31572018e-02 9.98003380e-01 -6.48401957e-04 2.60196031e-01] [ 5.11191516e-01 3.29080018e-02 8.58836595e-01 5.78568999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33800114499996 meters Centerline goodness [0,1] 0.721542762295798 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.57042276e-01 5.38434100e-02 -5.12425043e-01 4.34029941e+00] [-6.32302618e-02 9.97998569e-01 -8.88639855e-04 2.61064361e-01] [ 5.11351613e-01 3.31623715e-02 8.58731498e-01 5.79088042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36800114499997 meters Centerline goodness [0,1] 0.7632740462351965 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.56923741e-01 5.86677682e-02 -5.12093542e-01 4.33882692e+00] [-6.66450357e-02 9.97772855e-01 2.78736825e-03 2.60412100e-01] [ 5.11116564e-01 3.17399304e-02 8.58925163e-01 5.79230832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39800114499997 meters Centerline goodness [0,1] 0.7721881838074398 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.56808463e-01 5.88087525e-02 -5.12270230e-01 4.33890732e+00] [-6.68539907e-02 9.97759048e-01 2.72492894e-03 2.60462903e-01] [ 5.11282507e-01 3.19125670e-02 8.58819996e-01 5.79764261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42800114499997 meters Centerline goodness [0,1] 0.781297167231762 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.56708914e-01 5.88921969e-02 -5.12427112e-01 4.33900912e+00] [-6.69681396e-02 9.97751440e-01 2.70784285e-03 2.59874189e-01] [ 5.11434360e-01 3.19964573e-02 8.58726454e-01 5.80151666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45800114499997 meters Centerline goodness [0,1] 0.770631174053676 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.56679673e-01 5.89213060e-02 -5.12472650e-01 4.33914496e+00] [-6.69839360e-02 9.97750287e-01 2.74155818e-03 2.59096307e-01] [ 5.11481270e-01 3.19787981e-02 8.58699171e-01 5.80224911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.48800114499997 meters Centerline goodness [0,1] 0.7364474949724578 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.56740696e-01 5.84388298e-02 -5.12425881e-01 4.33816698e+00] [-6.65874814e-02 9.97777557e-01 2.46035130e-03 2.58829730e-01] [ 5.11430823e-01 3.20132657e-02 8.58727933e-01 5.80472749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.51800114499997 meters Centerline goodness [0,1] 0.7814678057200288 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.56732791e-01 5.79934085e-02 -5.12489697e-01 4.33757858e+00] [-6.62998715e-02 9.97797581e-01 2.07693690e-03 2.59336362e-01] [ 5.11481429e-01 3.21986211e-02 8.58690862e-01 5.80933979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.54800114499997 meters Centerline goodness [0,1] 0.7632378329946021 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.56907054e-01 5.70173014e-02 -5.12307844e-01 4.33515660e+00] [-6.55119871e-02 9.97850688e-01 1.47776286e-03 2.58935950e-01] [ 5.11290993e-01 3.22959995e-02 8.58800611e-01 5.81366389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57800114499997 meters Centerline goodness [0,1] 0.7650112325241554 Centerline is valid? [False, False] Translation: X:4.33, Y:0.26, Z:0.58 [[ 8.56919012e-01 5.67553068e-02 -5.12316935e-01 4.33483637e+00] [-6.52831480e-02 9.97865866e-01 1.35036082e-03 2.58107700e-01] [ 5.11300222e-01 3.22885124e-02 8.58795397e-01 5.81446853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.60800114499997 meters Centerline goodness [0,1] 0.7573109609936806 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.56851432e-01 5.68473629e-02 -5.12419750e-01 4.33519520e+00] [-6.53492010e-02 9.97861436e-01 1.42702298e-03 2.57460635e-01] [ 5.11405030e-01 3.22634745e-02 8.58733930e-01 5.81560445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63800114499998 meters Centerline goodness [0,1] 0.7545272068769908 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.56749106e-01 5.68120711e-02 -5.12594731e-01 4.33586362e+00] [-6.53633518e-02 9.97860620e-01 1.34713705e-03 2.57479738e-01] [ 5.11574630e-01 3.23507513e-02 8.58629622e-01 5.81688812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.66800114499998 meters Centerline goodness [0,1] 0.7458492418457511 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.56734629e-01 5.64645761e-02 -5.12657319e-01 4.33597173e+00] [-6.52635681e-02 9.97867707e-01 8.39972995e-04 2.59328489e-01] [ 5.11611612e-01 3.27382119e-02 8.58592900e-01 5.82016806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69800114499998 meters Centerline goodness [0,1] 0.7448752130774947 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.56644589e-01 5.61593372e-02 -5.12841279e-01 4.33599193e+00] [-6.52269827e-02 9.97870402e-01 3.18614409e-04 2.61086419e-01] [ 5.11767026e-01 3.31781499e-02 8.58483384e-01 5.82715314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72800114499998 meters Centerline goodness [0,1] 0.771224915012611 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.56592190e-01 5.57590364e-02 -5.12972464e-01 4.33583565e+00] [-6.51175211e-02 9.97877565e-01 -2.69933670e-04 2.62612746e-01] [ 5.11868663e-01 3.36347183e-02 8.58405020e-01 5.83358619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75800114499998 meters Centerline goodness [0,1] 0.7734821193216765 Centerline is valid? [False, False] Translation: X:4.34, Y:0.26, Z:0.58 [[ 8.56606666e-01 5.55098471e-02 -5.12975319e-01 4.33577149e+00] [-6.51688804e-02 9.97873893e-01 -8.42672364e-04 2.64030401e-01] [ 5.11837902e-01 3.41518660e-02 8.58402943e-01 5.83740372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.78800114499998 meters Centerline goodness [0,1] 0.7712754272659373 Centerline is valid? [False, False] Translation: X:4.34, Y:0.27, Z:0.58 [[ 8.56599209e-01 5.51407599e-02 -5.13027574e-01 4.33553645e+00] [-6.50618812e-02 9.97880277e-01 -1.38019725e-03 2.65225844e-01] [ 5.11863992e-01 3.45608149e-02 8.58371017e-01 5.84177217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81800114499998 meters Centerline goodness [0,1] 0.7372909440381769 Centerline is valid? [False, False] Translation: X:4.33, Y:0.27, Z:0.58 [[ 8.56732780e-01 5.87568281e-02 -5.12402750e-01 4.33271195e+00] [-6.77138772e-02 9.97704073e-01 1.18896409e-03 2.67475712e-01] [ 5.11296171e-01 3.36781524e-02 8.58744437e-01 5.84353083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.84800114499998 meters Centerline goodness [0,1] 0.7685189275144662 Centerline is valid? [False, False] Translation: X:4.33, Y:0.27, Z:0.59 [[ 8.56656212e-01 5.82873306e-02 -5.12584355e-01 4.33282195e+00] [-6.75997075e-02 9.97712410e-01 4.76572600e-04 2.69889259e-01] [ 5.11439550e-01 3.42422936e-02 8.58636740e-01 5.85048009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87800114499998 meters Centerline goodness [0,1] 0.7781105121891706 Centerline is valid? [False, False] Translation: X:4.33, Y:0.27, Z:0.59 [[ 8.56567056e-01 5.79543554e-02 -5.12771072e-01 4.33332076e+00] [-6.75231667e-02 9.97717706e-01 -3.12684811e-05 2.71791724e-01] [ 5.11598965e-01 3.46507101e-02 8.58525379e-01 5.85487389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.908001145 meters Centerline goodness [0,1] 0.7586970482074448 Centerline is valid? [False, False] Translation: X:4.33, Y:0.27, Z:0.59 [[ 8.56508247e-01 5.77344523e-02 -5.12894098e-01 4.33385118e+00] [-6.74636658e-02 9.97721670e-01 -3.51480014e-04 2.72691345e-01] [ 5.11705263e-01 3.49027616e-02 8.58451816e-01 5.85663431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.938001145 meters Centerline goodness [0,1] 0.75911808503545 Centerline is valid? [False, False] Translation: X:4.33, Y:0.27, Z:0.59 [[ 8.56541060e-01 5.72401982e-02 -5.12894698e-01 4.33395731e+00] [-6.71548554e-02 9.97742245e-01 -7.99242376e-04 2.73410058e-01] [ 5.11690959e-01 3.51279532e-02 8.58451157e-01 5.85608425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.968001145 meters Centerline goodness [0,1] 0.7647856333207388 Centerline is valid? [False, False] Translation: X:4.33, Y:0.27, Z:0.59 [[ 8.56588460e-01 5.67377707e-02 -5.12871364e-01 4.33374589e+00] [-6.68133755e-02 9.97764756e-01 -1.21008592e-03 2.74042348e-01] [ 5.11656314e-01 3.53032127e-02 8.58464617e-01 5.85645908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.998001145 meters Centerline goodness [0,1] 0.7636161705908485 Centerline is valid? [False, False] Translation: X:4.33, Y:0.27, Z:0.59 [[ 8.56591468e-01 5.62466614e-02 -5.12920432e-01 4.33362491e+00] [-6.65118509e-02 9.97784254e-01 -1.66000577e-03 2.74967414e-01] [ 5.11690561e-01 3.55372341e-02 8.58434549e-01 5.85901048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02800114499996 meters Centerline goodness [0,1] 0.7424259288115219 Centerline is valid? [False, False] Translation: X:4.33, Y:0.28, Z:0.59 [[ 8.56807707e-01 5.44697358e-02 -5.12751013e-01 4.33156156e+00] [-6.52865671e-02 9.97861770e-01 -3.09071430e-03 2.77926262e-01] [ 5.11486283e-01 3.61239013e-02 8.58531797e-01 5.86454793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05800114499996 meters Centerline goodness [0,1] 0.7403327237857367 Centerline is valid? [False, False] Translation: X:4.33, Y:0.28, Z:0.59 [[ 8.56919672e-01 5.37195693e-02 -5.12643038e-01 4.33058120e+00] [-6.47100780e-02 9.97897619e-01 -3.59842697e-03 2.78349593e-01] [ 5.11371960e-01 3.62567338e-02 8.58594297e-01 5.86585438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08800114499996 meters Centerline goodness [0,1] 0.714807799442897 Centerline is valid? [False, False] Translation: X:4.33, Y:0.28, Z:0.59 [[ 8.56985942e-01 5.31953415e-02 -5.12586921e-01 4.32999985e+00] [-6.42551695e-02 9.97926020e-01 -3.86424521e-03 2.77788788e-01] [ 5.11318266e-01 3.62479633e-02 8.58626645e-01 5.86585099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11800114499997 meters Centerline goodness [0,1] 0.7016698994493122 Centerline is valid? [False, False] Translation: X:4.33, Y:0.28, Z:0.59 [[ 8.57088187e-01 5.27590775e-02 -5.12461043e-01 4.32968548e+00] [-6.38557276e-02 9.97950894e-01 -4.05693518e-03 2.77197792e-01] [ 5.11196916e-01 3.62007240e-02 8.58700891e-01 5.86310363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14800114499997 meters Centerline goodness [0,1] 0.7098609778412515 Centerline is valid? [False, False] Translation: X:4.33, Y:0.28, Z:0.59 [[ 0.85736839 0.05122891 -0.51214748 4.32744528] [-0.0626132 0.9980254 -0.00498845 0.27760388] [ 0.51088064 0.03634414 0.85888304 0.5862884 ] [ 0. 0. 0. 1. ]] SLAMing on 155.17800114499997 meters Centerline goodness [0,1] 0.7058455906970516 Centerline is valid? [False, False] Translation: X:4.33, Y:0.28, Z:0.59 [[ 0.85744006 0.05033825 -0.51211581 4.32640538] [-0.06202728 0.9980579 -0.00574907 0.27877848] [ 0.51083183 0.03669463 0.85889717 0.58672343] [ 0. 0. 0. 1. ]] SLAMing on 155.20800114499997 meters Centerline goodness [0,1] 0.7058455906970516 Centerline is valid? [False, False] Translation: X:4.33, Y:0.28, Z:0.59 [[ 0.85744006 0.05033825 -0.51211581 4.32640538] [-0.06202728 0.9980579 -0.00574907 0.27877848] [ 0.51083183 0.03669463 0.85889717 0.58672343] [ 0. 0. 0. 1. ]] SLAMing on 155.23800114499997 meters Centerline goodness [0,1] 0.7193166358141714 Centerline is valid? [False, False] Translation: X:4.33, Y:0.28, Z:0.59 [[ 0.85748042 0.04943347 -0.51213636 4.3258876 ] [-0.06146471 0.99808762 -0.00657219 0.28088143] [ 0.51083208 0.03711384 0.85887901 0.5871144 ] [ 0. 0. 0. 1. ]] SLAMing on 155.26800114499997 meters Centerline goodness [0,1] 0.6637821157845307 Centerline is valid? [False, False] Translation: X:4.33, Y:0.28, Z:0.59 [[ 0.85737785 0.04932407 -0.51231861 4.3263717 ] [-0.06144772 0.99808753 -0.00674225 0.28149579] [ 0.51100626 0.03726147 0.858769 0.58738711] [ 0. 0. 0. 1. ]] SLAMing on 155.29800114499997 meters Centerline goodness [0,1] 0.7080720301021322 Centerline is valid? [False, False] Translation: X:4.33, Y:0.28, Z:0.59 [[ 0.85730419 0.04901427 -0.51247159 4.32651085] [-0.06135219 0.99809039 -0.00717468 0.28270132] [ 0.51114131 0.03759214 0.85867421 0.58785735] [ 0. 0. 0. 1. ]] SLAMing on 155.32800114499997 meters Centerline goodness [0,1] 0.688567585743107 Centerline is valid? [False, False] Translation: X:4.33, Y:0.28, Z:0.59 [[ 0.8571647 0.04901014 -0.51270525 4.32745536] [-0.06147313 0.99808156 -0.00736579 0.283719 ] [ 0.51136066 0.03783129 0.85853309 0.58815185] [ 0. 0. 0. 1. ]] SLAMing on 155.35800114499997 meters Centerline goodness [0,1] 0.6934891635321512 Centerline is valid? [False, False] Translation: X:4.33, Y:0.28, Z:0.59 [[ 0.85698081 0.04907858 -0.51300602 4.32860194] [-0.0616433 0.99807013 -0.00749163 0.28459707] [ 0.51164831 0.03804357 0.85835231 0.58851242] [ 0. 0. 0. 1. ]] SLAMing on 155.38800114499998 meters Centerline goodness [0,1] 0.7265498652291105 Centerline is valid? [False, False] Translation: X:4.33, Y:0.29, Z:0.59 [[ 0.85687113 0.04902999 -0.51319385 4.32988636] [-0.06182161 0.99805619 -0.00786929 0.28654647] [ 0.51181047 0.03846943 0.85823665 0.58871951] [ 0. 0. 0. 1. ]] SLAMing on 155.41800114499998 meters Centerline goodness [0,1] 0.7187669010275824 Centerline is valid? [False, False] Translation: X:4.33, Y:0.29, Z:0.59 [[ 0.8567704 0.04869876 -0.51339353 4.3300642 ] [-0.06180608 0.99805222 -0.00847248 0.2884714 ] [ 0.51198095 0.03898981 0.85811147 0.58944094] [ 0. 0. 0. 1. ]] SLAMing on 155.44800114499998 meters Centerline goodness [0,1] 0.6904201152905816 Centerline is valid? [False, False] Translation: X:4.33, Y:0.29, Z:0.59 [[ 0.85661225 0.04837481 -0.51368798 4.33022615] [-0.06182059 0.99804577 -0.0091028 0.2906314 ] [ 0.51224377 0.03955406 0.85792878 0.59038742] [ 0. 0. 0. 1. ]] SLAMing on 155.47800114499998 meters Centerline goodness [0,1] 0.7303872889771599 Centerline is valid? [False, False] Translation: X:4.33, Y:0.29, Z:0.59 [[ 0.85658741 0.05291045 -0.51328208 4.32881568] [-0.06521057 0.9978537 -0.00596489 0.29203929] [ 0.51186482 0.03858086 0.85819924 0.59054924] [ 0. 0. 0. 1. ]] SLAMing on 155.50800114499998 meters Centerline goodness [0,1] 0.6860982495765104 Centerline is valid? [False, False] Translation: X:4.33, Y:0.29, Z:0.59 [[ 0.85647935 0.05278562 -0.51347522 4.32928758] [-0.06534696 0.99784195 -0.0064202 0.29372316] [ 0.51202822 0.03905282 0.85808041 0.59113511] [ 0. 0. 0. 1. ]] SLAMing on 155.53800114499998 meters Centerline goodness [0,1] 0.7339295442164517 Centerline is valid? [False, False] Translation: X:4.33, Y:0.29, Z:0.59 [[ 8.56429840e-01 5.77487471e-02 -5.13023402e-01 4.32904085e+00] [-6.89476819e-02 9.97616341e-01 -2.80252019e-03 2.94078256e-01] [ 5.11638687e-01 3.77719363e-02 8.58370045e-01 5.90595775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.56800114499998 meters Centerline goodness [0,1] 0.730564527134604 Centerline is valid? [False, False] Translation: X:4.33, Y:0.29, Z:0.59 [[ 8.56326312e-01 5.77372571e-02 -5.13197482e-01 4.32970468e+00] [-6.90324042e-02 9.97610050e-01 -2.95207250e-03 2.94921397e-01] [ 5.11800521e-01 3.79551934e-02 8.58265477e-01 5.90859175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59800114499998 meters Centerline goodness [0,1] 0.7297137395894961 Centerline is valid? [False, False] Translation: X:4.33, Y:0.30, Z:0.59 [[ 8.56248409e-01 5.74258350e-02 -5.13362382e-01 4.33003182e+00] [-6.89287594e-02 9.97615885e-01 -3.37230660e-03 2.96238618e-01] [ 5.11944810e-01 3.82729643e-02 8.58165306e-01 5.91269369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.62800114499998 meters Centerline goodness [0,1] 0.723551350859638 Centerline is valid? [False, False] Translation: X:4.33, Y:0.30, Z:0.59 [[ 8.56291167e-01 5.63992276e-02 -5.13404874e-01 4.32896604e+00] [-6.82573227e-02 9.97658705e-01 -4.24803549e-03 2.97939562e-01] [ 5.11963256e-01 3.86811974e-02 8.58135997e-01 5.91880406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.658001145 meters Centerline goodness [0,1] 0.723551350859638 Centerline is valid? [False, False] Translation: X:4.33, Y:0.30, Z:0.59 [[ 8.56291167e-01 5.63992276e-02 -5.13404874e-01 4.32896604e+00] [-6.82573227e-02 9.97658705e-01 -4.24803549e-03 2.97939562e-01] [ 5.11963256e-01 3.86811974e-02 8.58135997e-01 5.91880406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.688001145 meters Centerline goodness [0,1] 0.7096986624883621 Centerline is valid? [False, False] Translation: X:4.33, Y:0.30, Z:0.59 [[ 0.85642579 0.0556247 -0.5132648 4.32810051] [-0.06767273 0.99769606 -0.00479309 0.29830024] [ 0.51181565 0.03883896 0.85821692 0.59187562] [ 0. 0. 0. 1. ]] SLAMing on 155.718001145 meters Centerline goodness [0,1] 0.7039617486338798 Centerline is valid? [False, False] Translation: X:4.33, Y:0.30, Z:0.59 [[ 0.85646464 0.05520824 -0.51324495 4.32792782] [-0.06738216 0.9977141 -0.00512114 0.29858211] [ 0.51178899 0.03896963 0.85822689 0.5918911 ] [ 0. 0. 0. 1. ]] SLAMing on 155.748001145 meters Centerline goodness [0,1] 0.7155752614824921 Centerline is valid? [False, False] Translation: X:4.33, Y:0.30, Z:0.59 [[ 0.85646481 0.05477563 -0.51329101 4.32796063] [-0.0671018 0.99773102 -0.00549198 0.29912899] [ 0.51182553 0.03914644 0.85819705 0.59199241] [ 0. 0. 0. 1. ]] SLAMing on 155.77800114499996 meters Centerline goodness [0,1] 0.7203461617711029 Centerline is valid? [False, False] Translation: X:4.33, Y:0.30, Z:0.59 [[ 0.85647448 0.05371781 -0.51338665 4.32807399] [-0.06647136 0.99776721 -0.00649248 0.30222521] [ 0.51189161 0.03968615 0.85813285 0.5923088 ] [ 0. 0. 0. 1. ]] SLAMing on 155.80800114499996 meters Centerline goodness [0,1] 0.6939651216154199 Centerline is valid? [False, False] Translation: X:4.33, Y:0.30, Z:0.59 [[ 0.85638623 0.05342372 -0.51356454 4.3288173 ] [-0.06635485 0.99777254 -0.00685534 0.30351767] [ 0.51205435 0.03994831 0.85802358 0.59254672] [ 0. 0. 0. 1. ]] SLAMing on 155.83800114499996 meters Centerline goodness [0,1] 0.6914769209603082 Centerline is valid? [False, False] Translation: X:4.33, Y:0.30, Z:0.59 [[ 0.85628859 0.05321986 -0.51374848 4.32952916] [-0.06626934 0.99777656 -0.00709326 0.30411192] [ 0.51222869 0.04011965 0.85791153 0.59271919] [ 0. 0. 0. 1. ]] SLAMing on 155.86800114499997 meters Centerline goodness [0,1] 0.7080051586753259 Centerline is valid? [False, False] Translation: X:4.33, Y:0.31, Z:0.59 [[ 0.85636696 0.05270135 -0.51367129 4.32941489] [-0.06600369 0.99778992 -0.00766736 0.30519376] [ 0.51213195 0.04047027 0.85795281 0.59272756] [ 0. 0. 0. 1. ]] SLAMing on 155.89800114499997 meters Centerline goodness [0,1] 0.7113845446182152 Centerline is valid? [False, False] Translation: X:4.33, Y:0.31, Z:0.59 [[ 0.85629329 0.05208586 -0.51385685 4.32903811] [-0.06572175 0.99780281 -0.00837914 0.30690022] [ 0.51229137 0.04094657 0.85783502 0.5935169 ] [ 0. 0. 0. 1. ]] SLAMing on 155.92800114499997 meters Centerline goodness [0,1] 0.7034698861803603 Centerline is valid? [False, False] Translation: X:4.33, Y:0.31, Z:0.59 [[ 0.85627422 0.05138825 -0.51395886 4.32846334] [-0.06537448 0.99781886 -0.00914921 0.30888834] [ 0.51236768 0.04143402 0.85776604 0.59419801] [ 0. 0. 0. 1. ]] SLAMing on 155.95800114499997 meters Centerline goodness [0,1] 0.7127034776174621 Centerline is valid? [False, False] Translation: X:4.33, Y:0.31, Z:0.59 [[ 0.85637785 0.05495278 -0.51341715 4.3255474 ] [-0.06793485 0.99766838 -0.00653123 0.31042888] [ 0.51186115 0.04047211 0.85811431 0.5944658 ] [ 0. 0. 0. 1. ]] SLAMing on 155.98800114499997 meters Centerline goodness [0,1] 0.6984145353547043 Centerline is valid? [False, False] Translation: X:4.33, Y:0.31, Z:0.59 [[ 0.85632669 0.05448205 -0.51355263 4.32536605] [-0.067714 0.99767974 -0.00706777 0.31181615] [ 0.51197599 0.04082702 0.85802899 0.59499498] [ 0. 0. 0. 1. ]] SLAMing on 156.01800114499997 meters Centerline goodness [0,1] 0.6884433797706817 Centerline is valid? [False, False] Translation: X:4.33, Y:0.31, Z:0.60 [[ 0.85628627 0.05404662 -0.51366602 4.32533593] [-0.0674862 0.99769183 -0.00752558 0.31288029] [ 0.51207366 0.04110942 0.85795722 0.59535 ] [ 0. 0. 0. 1. ]] SLAMing on 156.04800114499997 meters Centerline goodness [0,1] 0.6986396768652212 Centerline is valid? [False, False] Translation: X:4.33, Y:0.31, Z:0.60 [[ 0.85625998 0.05381556 -0.51373411 4.32625292] [-0.06730995 0.99770259 -0.00767496 0.31311457] [ 0.51214082 0.04115118 0.85791512 0.59502752] [ 0. 0. 0. 1. ]] SLAMing on 156.07800114499997 meters Centerline goodness [0,1] 0.6980749982542306 Centerline is valid? [False, False] Translation: X:4.33, Y:0.31, Z:0.59 [[ 0.85627875 0.05359982 -0.51372538 4.32662019] [-0.06713894 0.99771307 -0.00781042 0.31323609] [ 0.51213189 0.04117887 0.85791913 0.59480259] [ 0. 0. 0. 1. ]] SLAMing on 156.10800114499997 meters Centerline goodness [0,1] 0.6691022478708055 Centerline is valid? [False, False] Translation: X:4.33, Y:0.31, Z:0.60 [[ 0.85630524 0.05279355 -0.51376471 4.32608624] [-0.06665998 0.99773888 -0.00857808 0.31483619] [ 0.51215016 0.041593 0.85788824 0.59524752] [ 0. 0. 0. 1. ]] SLAMing on 156.13800114499998 meters Centerline goodness [0,1] 0.6873194146705192 Centerline is valid? [False, False] Translation: X:4.33, Y:0.32, Z:0.60 [[ 0.85632711 0.05205742 -0.51380338 4.32572798] [-0.06627332 0.99775757 -0.00936342 0.31701286] [ 0.51216377 0.04206961 0.85785687 0.59569504] [ 0. 0. 0. 1. ]] SLAMing on 156.16800114499998 meters Centerline goodness [0,1] 0.6625565241713673 Centerline is valid? [False, False] Translation: X:4.33, Y:0.32, Z:0.60 [[ 0.85626575 0.05151304 -0.51396047 4.32558603] [-0.06603472 0.9977671 -0.010011 0.31874146] [ 0.51229716 0.04251131 0.85775545 0.59632263] [ 0. 0. 0. 1. ]] SLAMing on 156.19800114499998 meters Centerline goodness [0,1] 0.6630660476401559 Centerline is valid? [False, False] Translation: X:4.33, Y:0.32, Z:0.60 [[ 0.8563224 0.05092931 -0.51392427 4.3255882 ] [-0.06575839 0.9977783 -0.01069072 0.32055015] [ 0.51223801 0.04294953 0.85776894 0.59644504] [ 0. 0. 0. 1. ]] SLAMing on 156.22800114499998 meters Centerline goodness [0,1] 0.6776092899366808 Centerline is valid? [False, False] Translation: X:4.33, Y:0.32, Z:0.60 [[ 0.8563547 0.05050997 -0.51391183 4.32545651] [-0.06551415 0.99778989 -0.01110116 0.32144124] [ 0.51221531 0.04317503 0.85777118 0.59654016] [ 0. 0. 0. 1. ]] SLAMing on 156.25800114499998 meters Centerline goodness [0,1] 0.6645334579002686 Centerline is valid? [False, False] Translation: X:4.32, Y:0.32, Z:0.60 [[ 0.85646599 0.04956967 -0.51381791 4.32467566] [-0.06496723 0.99781489 -0.01202929 0.32332907] [ 0.51209888 0.043684 0.85781493 0.59685115] [ 0. 0. 0. 1. ]] SLAMing on 156.28800114499998 meters Centerline goodness [0,1] 0.6536681161453219 Centerline is valid? [False, False] Translation: X:4.32, Y:0.32, Z:0.60 [[ 0.85650148 0.04903727 -0.51380985 4.32461962] [-0.06462551 0.99783134 -0.0124967 0.32434195] [ 0.51208276 0.04390867 0.85781308 0.59691938] [ 0. 0. 0. 1. ]] SLAMing on 156.31800114499998 meters Centerline goodness [0,1] 0.6507966216690453 Centerline is valid? [False, False] Translation: X:4.32, Y:0.33, Z:0.60 [[ 0.85644686 0.04848349 -0.51395344 4.32447723] [-0.06426642 0.9978486 -0.01296145 0.32534011] [ 0.5122193 0.04413074 0.85772016 0.5973163 ] [ 0. 0. 0. 1. ]] SLAMing on 156.34800114499998 meters Centerline goodness [0,1] 0.66144149210366 Centerline is valid? [False, False] Translation: X:4.32, Y:0.33, Z:0.60 [[ 0.85642413 0.04795754 -0.51404064 4.3245458 ] [-0.06392028 0.99786505 -0.01339917 0.32653507] [ 0.5123006 0.04433299 0.85766117 0.59752298] [ 0. 0. 0. 1. ]] SLAMing on 156.37800114499998 meters Centerline goodness [0,1] 0.6844790295279293 Centerline is valid? [False, False] Translation: X:4.32, Y:0.33, Z:0.60 [[ 0.85655378 0.04675912 -0.51393502 4.32390026] [-0.06299642 0.99791272 -0.01420082 0.32820025] [ 0.51219828 0.04453983 0.85771157 0.59739477] [ 0. 0. 0. 1. ]] SLAMing on 156.408001145 meters Centerline goodness [0,1] 0.6228768764535908 Centerline is valid? [False, False] Translation: X:4.32, Y:0.33, Z:0.60 [[ 0.85662686 0.04629667 -0.51385508 4.32353448] [-0.06259741 0.99793435 -0.01444294 0.32800629] [ 0.51212498 0.04453821 0.85775542 0.59724187] [ 0. 0. 0. 1. ]] SLAMing on 156.438001145 meters Centerline goodness [0,1] 0.6427649639832 Centerline is valid? [False, False] Translation: X:4.32, Y:0.33, Z:0.60 [[ 0.85674046 0.04581727 -0.51370864 4.32295797] [-0.06216181 0.99795836 -0.01466358 0.32754826] [ 0.51198799 0.04449594 0.85783939 0.59699886] [ 0. 0. 0. 1. ]] SLAMing on 156.468001145 meters Centerline goodness [0,1] 0.6183674425139325 Centerline is valid? [False, False] Translation: X:4.32, Y:0.33, Z:0.60 [[ 0.85688331 0.04524152 -0.51352137 4.32217581] [-0.06165595 0.99798536 -0.01495864 0.32738031] [ 0.51181006 0.04447945 0.85794641 0.59677526] [ 0. 0. 0. 1. ]] SLAMing on 156.498001145 meters Centerline goodness [0,1] 0.5835130826221513 Centerline is valid? [False, False] Translation: X:4.32, Y:0.33, Z:0.60 [[ 0.85715937 0.04358748 -0.51320361 4.31950427] [-0.06038734 0.99804527 -0.01609359 0.32851051] [ 0.51149895 0.04478577 0.85811599 0.59698838] [ 0. 0. 0. 1. ]] SLAMing on 156.52800114499996 meters Centerline goodness [0,1] 0.5772064843622073 Centerline is valid? [False, False] Translation: X:4.32, Y:0.33, Z:0.60 [[ 0.85723325 0.04286156 -0.51314135 4.3182486 ] [-0.05989429 0.99806517 -0.01669083 0.32934919] [ 0.51143311 0.04504217 0.85814181 0.59742512] [ 0. 0. 0. 1. ]] SLAMing on 156.55800114499996 meters Centerline goodness [0,1] 0.624064735545913 Centerline is valid? [False, False] Translation: X:4.32, Y:0.33, Z:0.60 [[ 0.85745726 0.04208432 -0.51283131 4.31658711] [-0.05921304 0.99809893 -0.0170979 0.32904118] [ 0.51113683 0.04502702 0.85831912 0.59727925] [ 0. 0. 0. 1. ]] SLAMing on 156.58800114499996 meters Centerline goodness [0,1] 0.6165631955019328 Centerline is valid? [False, False] Translation: X:4.32, Y:0.33, Z:0.60 [[ 0.85752778 0.04197316 -0.5127225 4.31641431] [-0.05898274 0.99811527 -0.01693955 0.32766154] [ 0.51104515 0.04476792 0.85838726 0.59687738] [ 0. 0. 0. 1. ]] SLAMing on 156.61800114499997 meters Centerline goodness [0,1] 0.6169197295463584 Centerline is valid? [False, False] Translation: X:4.32, Y:0.33, Z:0.60 [[ 0.85756319 0.04197505 -0.51266311 4.31608532] [-0.05887466 0.99812467 -0.01676034 0.32627376] [ 0.51099819 0.04455591 0.85842625 0.59671769] [ 0. 0. 0. 1. ]] SLAMing on 156.64800114499997 meters Centerline goodness [0,1] 0.6135700105103352 Centerline is valid? [False, False] Translation: X:4.31, Y:0.33, Z:0.60 [[ 0.85767028 0.04158676 -0.51251559 4.31486133] [-0.05844114 0.99814938 -0.01680619 0.32500083] [ 0.5108682 0.04436616 0.85851344 0.59666226] [ 0. 0. 0. 1. ]] SLAMing on 156.67800114499997 meters Centerline goodness [0,1] 0.6135700105103352 Centerline is valid? [False, False] Translation: X:4.31, Y:0.33, Z:0.60 [[ 0.85767028 0.04158676 -0.51251559 4.31486133] [-0.05844114 0.99814938 -0.01680619 0.32500083] [ 0.5108682 0.04436616 0.85851344 0.59666226] [ 0. 0. 0. 1. ]] SLAMing on 156.70800114499997 meters Centerline goodness [0,1] 0.6025202059022197 Centerline is valid? [False, False] Translation: X:4.32, Y:0.32, Z:0.60 [[ 0.85758756 0.04197363 -0.51262246 4.31546062] [-0.05861971 0.99814667 -0.01633891 0.32364738] [ 0.5109866 0.04406182 0.85845865 0.59651367] [ 0. 0. 0. 1. ]] SLAMing on 156.73800114499997 meters Centerline goodness [0,1] 0.5985621521335807 Centerline is valid? [False, False] Translation: X:4.32, Y:0.32, Z:0.60 [[ 0.85745803 0.04246271 -0.51279883 4.31625506] [-0.05892914 0.99813578 -0.01588482 0.32221356] [ 0.51116835 0.04383936 0.85836183 0.59652422] [ 0. 0. 0. 1. ]] SLAMing on 156.76800114499997 meters Centerline goodness [0,1] 0.5959485799146093 Centerline is valid? [False, False] Translation: X:4.32, Y:0.32, Z:0.60 [[ 0.85739601 0.04273557 -0.51287986 4.31657042] [-0.05907402 0.99813191 -0.01558667 0.32098795] [ 0.51125565 0.04366182 0.85831888 0.59650611] [ 0. 0. 0. 1. ]] SLAMing on 156.79800114499997 meters Centerline goodness [0,1] 0.5976082665737839 Centerline is valid? [False, False] Translation: X:4.32, Y:0.32, Z:0.60 [[ 0.85741369 0.04328202 -0.51280448 4.31664847] [-0.0592942 0.99812941 -0.01489574 0.31836739] [ 0.51120051 0.04317814 0.85837619 0.59605222] [ 0. 0. 0. 1. ]] SLAMing on 156.82800114499997 meters Centerline goodness [0,1] 0.6277238728203228 Centerline is valid? [False, False] Translation: X:4.32, Y:0.32, Z:0.60 [[ 0.85727692 0.04365117 -0.5130018 4.31712984] [-0.05951926 0.99812136 -0.01453274 0.31697552] [ 0.51140369 0.04299207 0.8582645 0.59622769] [ 0. 0. 0. 1. ]] SLAMing on 156.85800114499997 meters Centerline goodness [0,1] 0.636220654562276 Centerline is valid? [False, False] Translation: X:4.32, Y:0.32, Z:0.60 [[ 0.85721024 0.04389566 -0.51309237 4.31710709] [-0.05967296 0.99811549 -0.01430413 0.3159133 ] [ 0.51149755 0.04287938 0.8582142 0.59644176] [ 0. 0. 0. 1. ]] SLAMing on 156.88800114499998 meters Centerline goodness [0,1] 0.6215131169100852 Centerline is valid? [False, False] Translation: X:4.32, Y:0.31, Z:0.60 [[ 0.85712058 0.04403768 -0.51322996 4.31570257] [-0.05980862 0.99810827 -0.01424085 0.3147408 ] [ 0.51163194 0.0429017 0.85813298 0.59743446] [ 0. 0. 0. 1. ]] SLAMing on 156.91800114499998 meters Centerline goodness [0,1] 0.6193542452396283 Centerline is valid? [False, False] Translation: X:4.32, Y:0.31, Z:0.60 [[ 0.85706741 0.04412903 -0.51331091 4.31512221] [-0.05987393 0.99810545 -0.01416406 0.31369189] [ 0.51171337 0.0428735 0.85808583 0.59786598] [ 0. 0. 0. 1. ]] SLAMing on 156.94800114499998 meters Centerline goodness [0,1] 0.6554105379462745 Centerline is valid? [False, False] Translation: X:4.32, Y:0.31, Z:0.60 [[ 0.8570387 0.04458319 -0.51331959 4.31506958] [-0.06014846 0.99809492 -0.01373668 0.31213218] [ 0.51172925 0.04264825 0.85808758 0.5978661 ] [ 0. 0. 0. 1. ]] SLAMing on 156.97800114499998 meters Centerline goodness [0,1] 0.665256283487019 Centerline is valid? [False, False] Translation: X:4.32, Y:0.31, Z:0.60 [[ 0.8569373 0.045057 -0.5134475 4.31519865] [-0.06042989 0.99808422 -0.01327098 0.31021606] [ 0.5118659 0.04239997 0.85801838 0.59802354] [ 0. 0. 0. 1. ]] SLAMing on 157.00800114499998 meters Centerline goodness [0,1] 0.6240780612946081 Centerline is valid? [False, False] Translation: X:4.31, Y:0.31, Z:0.60 [[ 0.85696326 0.04562145 -0.51335431 4.31449257] [-0.06056521 0.99808716 -0.01240463 0.30598462] [ 0.51180643 0.04172173 0.8580871 0.5976875 ] [ 0. 0. 0. 1. ]] SLAMing on 157.03800114499998 meters Centerline goodness [0,1] 0.6230346181054746 Centerline is valid? [False, False] Translation: X:4.31, Y:0.30, Z:0.60 [[ 0.85687902 0.04602526 -0.51345887 4.31450602] [-0.06068725 0.99808695 -0.01181092 0.30319699] [ 0.511933 0.04128094 0.85803292 0.59766735] [ 0. 0. 0. 1. ]] SLAMing on 157.06800114499998 meters Centerline goodness [0,1] 0.654868867001797 Centerline is valid? [False, False] Translation: X:4.31, Y:0.30, Z:0.60 [[ 0.85686206 0.04638946 -0.51345441 4.31438155] [-0.06075031 0.99809009 -0.01120601 0.30030788] [ 0.51195392 0.04079452 0.8580437 0.59742216] [ 0. 0. 0. 1. ]] SLAMing on 157.09800114499998 meters Centerline goodness [0,1] 0.6476699249829507 Centerline is valid? [False, False] Translation: X:4.31, Y:0.30, Z:0.60 [[ 0.85688091 0.04675494 -0.5133898 4.31413492] [-0.0608192 0.99809237 -0.01061389 0.29789174] [ 0.51191419 0.0403188 0.85808989 0.59714288] [ 0. 0. 0. 1. ]] SLAMing on 157.12800114499998 meters Centerline goodness [0,1] 0.6476699249829507 Centerline is valid? [False, False] Translation: X:4.31, Y:0.30, Z:0.60 [[ 0.85688091 0.04675494 -0.5133898 4.31413492] [-0.0608192 0.99809237 -0.01061389 0.29789174] [ 0.51191419 0.0403188 0.85808989 0.59714288] [ 0. 0. 0. 1. ]] SLAMing on 157.158001145 meters Centerline goodness [0,1] 0.6735274846930707 Centerline is valid? [False, False] Translation: X:4.31, Y:0.29, Z:0.60 [[ 0.85692703 0.0470526 -0.51328562 4.31221362] [-0.06070388 0.99810723 -0.00984882 0.29329988] [ 0.51185067 0.03959815 0.85816133 0.59724411] [ 0. 0. 0. 1. ]] SLAMing on 157.188001145 meters Centerline goodness [0,1] 0.6673281616453184 Centerline is valid? [False, False] Translation: X:4.31, Y:0.29, Z:0.60 [[ 0.85689026 0.04735207 -0.51331945 4.31158227] [-0.06073749 0.99811029 -0.00931734 0.29032153] [ 0.51190823 0.03916167 0.85814703 0.59732506] [ 0. 0. 0. 1. ]] SLAMing on 157.218001145 meters Centerline goodness [0,1] 0.6828415448475005 Centerline is valid? [False, False] Translation: X:4.31, Y:0.29, Z:0.60 [[ 0.85686294 0.04768315 -0.51333441 4.31100121] [-0.06078186 0.99811277 -0.00874394 0.28685663] [ 0.5119487 0.03869378 0.85814412 0.59731793] [ 0. 0. 0. 1. ]] SLAMing on 157.248001145 meters Centerline goodness [0,1] 0.6795991091314031 Centerline is valid? [False, False] Translation: X:4.31, Y:0.28, Z:0.60 [[ 0.85702909 0.04648972 -0.51316649 4.31028497] [-0.05977014 0.99816797 -0.00939306 0.28116261] [ 0.51178967 0.03872216 0.85823769 0.5970057 ] [ 0. 0. 0. 1. ]] SLAMing on 157.27800114499996 meters Centerline goodness [0,1] 0.6738121154230624 Centerline is valid? [False, False] Translation: X:4.31, Y:0.28, Z:0.60 [[ 0.85696902 0.04687943 -0.51323135 4.31011561] [-0.05986967 0.99816747 -0.00879317 0.27851716] [ 0.51187862 0.03826247 0.85820525 0.59697959] [ 0. 0. 0. 1. ]] SLAMing on 157.30800114499996 meters Centerline goodness [0,1] 0.6753787543191282 Centerline is valid? [False, False] Translation: X:4.31, Y:0.28, Z:0.60 [[ 0.85690989 0.04731592 -0.51329002 4.30987459] [-0.0600281 0.998163 -0.00820135 0.27593112] [ 0.51195905 0.03783965 0.85817603 0.59703669] [ 0. 0. 0. 1. ]] SLAMing on 157.33800114499996 meters Centerline goodness [0,1] 0.681790082571643 Centerline is valid? [False, False] Translation: X:4.31, Y:0.27, Z:0.60 [[ 0.85684118 0.04764372 -0.51337439 4.30933247] [-0.06015946 0.9981585 -0.00777428 0.27367811] [ 0.51205862 0.03754565 0.85812953 0.59734767] [ 0. 0. 0. 1. ]] SLAMing on 157.36800114499997 meters Centerline goodness [0,1] 0.6817012858555885 Centerline is valid? [False, False] Translation: X:4.31, Y:0.27, Z:0.60 [[ 0.85679194 0.04843196 -0.51338282 4.30808767] [-0.06054798 0.99814154 -0.00688583 0.2693321 ] [ 0.51209522 0.03698402 0.85813208 0.59770552] [ 0. 0. 0. 1. ]] SLAMing on 157.39800114499997 meters Centerline goodness [0,1] 0.6836981364275668 Centerline is valid? [False, False] Translation: X:4.31, Y:0.27, Z:0.60 [[ 0.85670861 0.04900512 -0.51346748 4.30820732] [-0.06082466 0.99812906 -0.00622353 0.26678741] [ 0.51220183 0.03656324 0.85808648 0.59768442] [ 0. 0. 0. 1. ]] SLAMing on 157.42800114499997 meters Centerline goodness [0,1] 0.6804931998861172 Centerline is valid? [False, False] Translation: X:4.31, Y:0.26, Z:0.60 [[ 0.85661563 0.04953457 -0.51357179 4.30810108] [-0.06108937 0.99811645 -0.005625 0.26435324] [ 0.51232582 0.03619224 0.85802819 0.59787078] [ 0. 0. 0. 1. ]] SLAMing on 157.45800114499997 meters Centerline goodness [0,1] 0.6763725126953337 Centerline is valid? [False, False] Translation: X:4.31, Y:0.26, Z:0.60 [[ 0.85664693 0.04994397 -0.51347993 4.3058955 ] [-0.06118992 0.99811361 -0.00500194 0.26109653] [ 0.51226149 0.03570469 0.85808703 0.59844439] [ 0. 0. 0. 1. ]] SLAMing on 157.48800114499997 meters Centerline goodness [0,1] 0.675669807633853 Centerline is valid? [False, False] Translation: X:4.31, Y:0.26, Z:0.60 [[ 0.85654898 0.0502775 -0.51361076 4.30566195] [-0.06139965 0.99810223 -0.00469173 0.25962692] [ 0.51240016 0.03555422 0.85801047 0.59883419] [ 0. 0. 0. 1. ]] SLAMing on 157.51800114499997 meters Centerline goodness [0,1] 0.6802375997225113 Centerline is valid? [False, False] Translation: X:4.31, Y:0.26, Z:0.60 [[ 8.56408917e-01 5.08248449e-02 -5.13790425e-01 4.30570269e+00] [-6.17257605e-02 9.98084497e-01 -4.15539468e-03 2.57518778e-01] [ 5.12595061e-01 3.52728218e-02 8.57905666e-01 5.99162752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.54800114499997 meters Centerline goodness [0,1] 0.7063262129205223 Centerline is valid? [False, False] Translation: X:4.31, Y:0.26, Z:0.60 [[ 8.56280407e-01 5.15231180e-02 -5.13935047e-01 4.30615380e+00] [-6.21333571e-02 9.98061845e-01 -3.46409177e-03 2.55020405e-01] [ 5.12760480e-01 3.48987437e-02 8.57822107e-01 5.99199096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57800114499997 meters Centerline goodness [0,1] 0.7139058243611363 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.59 [[ 8.58091798e-01 5.33089916e-02 -5.10721663e-01 4.30337991e+00] [-6.42769206e-02 9.97924743e-01 -3.83210031e-03 2.49746729e-01] [ 5.09457499e-01 3.61159096e-02 8.59737575e-01 5.94333575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.60800114499997 meters Centerline goodness [0,1] 0.6997723269899909 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.59 [[ 8.57884152e-01 5.41604218e-02 -5.10980852e-01 4.30457739e+00] [-6.48317419e-02 9.97891468e-01 -3.07624267e-03 2.47642222e-01] [ 5.09736822e-01 3.57668385e-02 8.59586590e-01 5.94365903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63800114499998 meters Centerline goodness [0,1] 0.7425593639196304 Centerline is valid? [False, False] Translation: X:4.31, Y:0.25, Z:0.59 [[ 8.57665916e-01 5.49415078e-02 -5.11263736e-01 4.30551538e+00] [-6.54007764e-02 9.97855994e-01 -2.48072339e-03 2.46340840e-01] [ 5.10031289e-01 3.55646772e-02 8.59420292e-01 5.94674686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.66800114499998 meters Centerline goodness [0,1] 0.7247098199918471 Centerline is valid? [False, False] Translation: X:4.31, Y:0.24, Z:0.60 [[ 8.57380487e-01 5.63064905e-02 -5.11593862e-01 4.30659069e+00] [-6.64040552e-02 9.97791734e-01 -1.46872441e-03 2.44459654e-01] [ 5.10381428e-01 3.52311627e-02 8.59226142e-01 5.95071208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69800114499998 meters Centerline goodness [0,1] 0.7359528825072008 Centerline is valid? [False, False] Translation: X:4.31, Y:0.24, Z:0.60 [[ 8.57276036e-01 5.66879773e-02 -5.11726754e-01 4.30659717e+00] [-6.66497881e-02 9.97775797e-01 -1.12437829e-03 2.43326605e-01] [ 5.10524831e-01 3.50703823e-02 8.59147522e-01 5.95364509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72800114499998 meters Centerline goodness [0,1] 0.7537132171184145 Centerline is valid? [False, False] Translation: X:4.31, Y:0.24, Z:0.60 [[ 8.57104402e-01 5.70803349e-02 -5.11970585e-01 4.30695680e+00] [-6.69005421e-02 9.97759361e-01 -7.58462905e-04 2.42094471e-01] [ 5.10780150e-01 3.49011916e-02 8.59002645e-01 5.95750096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75800114499998 meters Centerline goodness [0,1] 0.7422806678269838 Centerline is valid? [False, False] Translation: X:4.31, Y:0.24, Z:0.60 [[ 8.56973423e-01 5.75248139e-02 -5.12140067e-01 4.30721382e+00] [-6.71518233e-02 9.97742724e-01 -2.97503202e-04 2.40317649e-01] [ 5.10966911e-01 3.46460916e-02 8.58901894e-01 5.95959835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.78800114499998 meters Centerline goodness [0,1] 0.7363518151393064 Centerline is valid? [False, False] Translation: X:4.31, Y:0.24, Z:0.60 [[ 8.56954641e-01 5.77749319e-02 -5.12143340e-01 4.30669512e+00] [-6.70571811e-02 9.97749072e-01 3.51312262e-04 2.36512961e-01] [ 5.11010839e-01 3.40418300e-02 8.58899922e-01 5.95762299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81800114499998 meters Centerline goodness [0,1] 0.7584142325621178 Centerline is valid? [False, False] Translation: X:4.31, Y:0.24, Z:0.60 [[ 8.56940603e-01 5.77739630e-02 -5.12166937e-01 4.30640485e+00] [-6.69648336e-02 9.97755208e-01 5.06451220e-04 2.35448444e-01] [ 5.11046488e-01 3.38631751e-02 8.58885774e-01 5.95841728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.84800114499998 meters Centerline goodness [0,1] 0.760873755220045 Centerline is valid? [False, False] Translation: X:4.31, Y:0.24, Z:0.60 [[ 8.56874367e-01 5.77051851e-02 -5.12285498e-01 4.30617574e+00] [-6.68899931e-02 9.97760228e-01 5.06784069e-04 2.35120731e-01] [ 5.11167339e-01 3.38325231e-02 8.58815063e-01 5.96192132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87800114499998 meters Centerline goodness [0,1] 0.7555020046063294 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56893473e-01 5.74452344e-02 -5.12282756e-01 4.30484043e+00] [-6.65736289e-02 9.97781375e-01 5.29545203e-04 2.33618581e-01] [ 5.11176612e-01 3.36507582e-02 8.58816685e-01 5.96566605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.908001145 meters Centerline goodness [0,1] 0.7396433294935791 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56893910e-01 5.73513829e-02 -5.12292539e-01 4.30424798e+00] [-6.64257743e-02 9.97791192e-01 5.95096008e-04 2.32534691e-01] [ 5.11195112e-01 3.35194944e-02 8.58810806e-01 5.96730358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.938001145 meters Centerline goodness [0,1] 0.7288882267813059 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56894000e-01 5.72230790e-02 -5.12306737e-01 4.30358224e+00] [-6.63000367e-02 9.97799577e-01 5.56425313e-04 2.31890602e-01] [ 5.11211285e-01 3.34891579e-02 8.58802363e-01 5.97017194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.968001145 meters Centerline goodness [0,1] 0.7441929783474206 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56857558e-01 5.71673195e-02 -5.12373909e-01 4.30305911e+00] [-6.62724921e-02 9.97801437e-01 4.98752497e-04 2.31599334e-01] [ 5.11275935e-01 3.35289360e-02 8.58762324e-01 5.97419478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.998001145 meters Centerline goodness [0,1] 0.7715719846013145 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56854784e-01 5.68680984e-02 -5.12411845e-01 4.30205721e+00] [-6.61204659e-02 9.97811633e-01 1.71761337e-04 2.31974551e-01] [ 5.11300268e-01 3.37337354e-02 8.58739816e-01 5.98066784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02800114499996 meters Centerline goodness [0,1] 0.7308686440677966 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56664193e-01 5.70248068e-02 -5.12713012e-01 4.30238362e+00] [-6.63013719e-02 9.97799624e-01 1.97614378e-04 2.31871607e-01] [ 5.11596119e-01 3.38242869e-02 8.58560032e-01 5.98683188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05800114499996 meters Centerline goodness [0,1] 0.7134324564747745 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56613474e-01 5.70986966e-02 -5.12789523e-01 4.30253127e+00] [-6.63412891e-02 9.97796951e-01 2.80940135e-04 2.31420583e-01] [ 5.11675863e-01 3.37784609e-02 8.58514314e-01 5.98799878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08800114499996 meters Centerline goodness [0,1] 0.7515691263782867 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56591675e-01 5.69364380e-02 -5.12843977e-01 4.30199749e+00] [-6.60477190e-02 9.97816359e-01 4.60535809e-04 2.29529323e-01] [ 5.11750331e-01 3.34776838e-02 8.58481708e-01 5.98859071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11800114499997 meters Centerline goodness [0,1] 0.7429418616964947 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56531624e-01 5.69690926e-02 -5.12940639e-01 4.30207345e+00] [-6.60337717e-02 9.97817234e-01 5.55090917e-04 2.28795183e-01] [ 5.11852633e-01 3.33959521e-02 8.58423900e-01 5.99000564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14800114499997 meters Centerline goodness [0,1] 0.7558452570217276 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56517779e-01 5.67757220e-02 -5.12985196e-01 4.30173724e+00] [-6.58818328e-02 9.97827337e-01 4.35502587e-04 2.28581546e-01] [ 5.11895378e-01 3.34233892e-02 8.58397343e-01 5.99269000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17800114499997 meters Centerline goodness [0,1] 0.7355823157181859 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56484853e-01 5.66571191e-02 -5.13053280e-01 4.30157661e+00] [-6.57630833e-02 9.97835182e-01 4.08109739e-04 2.28112201e-01] [ 5.11965735e-01 3.33904257e-02 8.58356666e-01 5.99439405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20800114499997 meters Centerline goodness [0,1] 0.7251935928715392 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56467280e-01 5.65611382e-02 -5.13093204e-01 4.30119907e+00] [-6.55987924e-02 9.97845955e-01 4.99097698e-04 2.27059986e-01] [ 5.12016207e-01 3.32308337e-02 8.58332753e-01 5.99553201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.23800114499997 meters Centerline goodness [0,1] 0.7312881873727087 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56456244e-01 5.63751070e-02 -5.13132098e-01 4.30089262e+00] [-6.54738095e-02 9.97854227e-01 3.48225911e-04 2.27187498e-01] [ 5.12050664e-01 3.32984730e-02 8.58309576e-01 5.99792112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.26800114499997 meters Centerline goodness [0,1] 0.7588312624570629 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56460017e-01 5.56960870e-02 -5.13199947e-01 4.29984158e+00] [-6.50121583e-02 9.97884452e-01 -1.98859920e-04 2.28089051e-01] [ 5.12103172e-01 3.35345517e-02 8.58269057e-01 6.00407373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.29800114499997 meters Centerline goodness [0,1] 0.7286338380625186 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56444598e-01 5.54293846e-02 -5.13254550e-01 4.29949915e+00] [-6.48607589e-02 9.97894217e-01 -4.61728595e-04 2.28432980e-01] [ 5.12148155e-01 3.36855246e-02 8.58236304e-01 6.00736294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.32800114499997 meters Centerline goodness [0,1] 0.7091682620718995 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56435586e-01 5.50161681e-02 -5.13314044e-01 4.29889127e+00] [-6.46190339e-02 9.97909637e-01 -8.58881347e-04 2.29035927e-01] [ 5.12193779e-01 3.39054342e-02 8.58200416e-01 6.01199385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35800114499997 meters Centerline goodness [0,1] 0.7428057173107464 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56496968e-01 5.44782318e-02 -5.13269000e-01 4.29796593e+00] [-6.42431006e-02 9.97933454e-01 -1.28270139e-03 2.29287804e-01] [ 5.12138426e-01 3.40726218e-02 8.58226828e-01 6.01506491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38800114499998 meters Centerline goodness [0,1] 0.7304582210242587 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56459748e-01 5.42712780e-02 -5.13353025e-01 4.29775148e+00] [-6.40959908e-02 9.97942708e-01 -1.43373069e-03 2.29011786e-01] [ 5.12219097e-01 3.41318034e-02 8.58176332e-01 6.01784034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41800114499998 meters Centerline goodness [0,1] 0.7371544023819652 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56449401e-01 5.39243490e-02 -5.13406845e-01 4.29734734e+00] [-6.38831706e-02 9.97955849e-01 -1.75023698e-03 2.29429505e-01] [ 5.12262983e-01 3.42970464e-02 8.58143548e-01 6.02114545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44800114499998 meters Centerline goodness [0,1] 0.7403469383432529 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56332302e-01 5.37090202e-02 -5.13624698e-01 4.29771368e+00] [-6.38234646e-02 9.97959092e-01 -2.05342412e-03 2.30436372e-01] [ 5.12466150e-01 3.45397212e-02 8.58012502e-01 6.02573814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47800114499998 meters Centerline goodness [0,1] 0.7324596859975323 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56248017e-01 5.35056729e-02 -5.13786411e-01 4.29790054e+00] [-6.37951576e-02 9.97960152e-01 -2.38999645e-03 2.31549689e-01] [ 5.12610487e-01 3.48235148e-02 8.57914804e-01 6.03012077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.50800114499998 meters Centerline goodness [0,1] 0.7423153777475447 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56229048e-01 5.31900181e-02 -5.13850795e-01 4.29779737e+00] [-6.36412526e-02 9.97969071e-01 -2.74300661e-03 2.32189639e-01] [ 5.12661300e-01 3.50507502e-02 8.57875187e-01 6.03277499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53800114499998 meters Centerline goodness [0,1] 0.7312943978901697 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56168607e-01 5.30746879e-02 -5.13963416e-01 4.29783031e+00] [-6.36000485e-02 9.97971283e-01 -2.88999272e-03 2.32358665e-01] [ 5.12767345e-01 3.51624193e-02 8.57807236e-01 6.03575744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.56800114499998 meters Centerline goodness [0,1] 0.726212021206379 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56109956e-01 5.28191990e-02 -5.14087420e-01 4.29785761e+00] [-6.34729639e-02 9.97978538e-01 -3.16562774e-03 2.33124203e-01] [ 5.12881005e-01 3.53407776e-02 8.57731953e-01 6.03900900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59800114499998 meters Centerline goodness [0,1] 0.7144740759644421 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56041173e-01 5.25974883e-02 -5.14224674e-01 4.29794172e+00] [-6.33732669e-02 9.97984034e-01 -3.42004615e-03 2.33990587e-01] [ 5.13008128e-01 3.55157978e-02 8.57648698e-01 6.04280522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.62800114499998 meters Centerline goodness [0,1] 0.7189756076722629 Centerline is valid? [False, False] Translation: X:4.30, Y:0.23, Z:0.60 [[ 8.56042888e-01 5.61092520e-02 -5.13850490e-01 4.29573564e+00] [-6.56777862e-02 9.97840779e-01 -4.57140838e-04 2.34123051e-01] [ 5.12715323e-01 3.41398948e-02 8.57879633e-01 6.04241476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.658001145 meters Centerline goodness [0,1] 0.6990042309500406 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.60 [[ 8.56021078e-01 5.56642929e-02 -5.13935211e-01 4.29518316e+00] [-6.54944248e-02 9.97852423e-01 -1.01152554e-03 2.35443726e-01] [ 5.12775189e-01 3.45257782e-02 8.57828407e-01 6.04856039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.688001145 meters Centerline goodness [0,1] 0.7121406296723483 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.61 [[ 8.55947210e-01 5.54077318e-02 -5.14085944e-01 4.29500072e+00] [-6.54551912e-02 9.97854479e-01 -1.43426393e-03 2.36563633e-01] [ 5.12903492e-01 3.48772480e-02 8.57737480e-01 6.05473679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.718001145 meters Centerline goodness [0,1] 0.7057691896629117 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.61 [[ 8.55800318e-01 5.57820175e-02 -5.14289978e-01 4.29607911e+00] [-6.59886408e-02 9.97819123e-01 -1.58030693e-03 2.38032097e-01] [ 5.13080222e-01 3.52897238e-02 8.57614902e-01 6.05869879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.748001145 meters Centerline goodness [0,1] 0.6962478559176672 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.61 [[ 8.55482889e-01 5.66769226e-02 -5.14720073e-01 4.29802814e+00] [-6.68681559e-02 9.97761010e-01 -1.27164192e-03 2.38589374e-01] [ 5.13495547e-01 3.55062500e-02 8.57357352e-01 6.06374091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77800114499996 meters Centerline goodness [0,1] 0.7021258320807386 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.61 [[ 8.55271014e-01 6.21392750e-02 -5.14441642e-01 4.29813293e+00] [-7.07702650e-02 9.97488629e-01 2.82921080e-03 2.38022386e-01] [ 5.13325494e-01 3.39874294e-02 8.57520724e-01 6.06116793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80800114499996 meters Centerline goodness [0,1] 0.7195966285370259 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.61 [[ 0.85493818 0.06737617 -0.51433564 4.29813005] [-0.07497023 0.99716767 0.00600857 0.24182298] [ 0.51328371 0.03342291 0.85756792 0.60700693] [ 0. 0. 0. 1. ]] SLAMing on 158.83800114499996 meters Centerline goodness [0,1] 0.7377504848093084 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.61 [[ 0.85470275 0.0724622 -0.51403544 4.29743267] [-0.07866611 0.9968536 0.00972318 0.24194362] [ 0.51312264 0.03212675 0.85771384 0.60718455] [ 0. 0. 0. 1. ]] SLAMing on 158.86800114499997 meters Centerline goodness [0,1] 0.7598282483925258 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.61 [[ 0.85463641 0.072357 -0.51416056 4.2970081 ] [-0.07878498 0.99684798 0.00932864 0.24306114] [ 0.51321491 0.03253553 0.85764322 0.60794311] [ 0. 0. 0. 1. ]] SLAMing on 158.89800114499997 meters Centerline goodness [0,1] 0.7597045316696993 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.61 [[ 0.8544099 0.07266935 -0.51449284 4.29766351] [-0.07912747 0.99682028 0.00938981 0.24297697] [ 0.51353925 0.03268777 0.85744326 0.60857707] [ 0. 0. 0. 1. ]] SLAMing on 158.92800114499997 meters Centerline goodness [0,1] 0.7344704739285328 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.61 [[ 0.85416716 0.073409 -0.51479081 4.30015858] [-0.07954862 0.99677932 0.01014927 0.24134433] [ 0.51387788 0.03228172 0.85725575 0.60796645] [ 0. 0. 0. 1. ]] SLAMing on 158.95800114499997 meters Centerline goodness [0,1] 0.7499567997235183 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.61 [[ 0.85405377 0.07346205 -0.51497134 4.30066174] [-0.07954623 0.99677828 0.01026974 0.24064108] [ 0.51406668 0.03219312 0.85714587 0.60808463] [ 0. 0. 0. 1. ]] SLAMing on 158.98800114499997 meters Centerline goodness [0,1] 0.749530328877756 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.61 [[ 0.85401253 0.07316969 -0.51508135 4.30048282] [-0.07936947 0.99679507 0.0100036 0.2409843 ] [ 0.51416251 0.03233853 0.85708292 0.60845149] [ 0. 0. 0. 1. ]] SLAMing on 159.01800114499997 meters Centerline goodness [0,1] 0.749530328877756 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.61 [[ 0.85401253 0.07316969 -0.51508135 4.30048282] [-0.07936947 0.99679507 0.0100036 0.2409843 ] [ 0.51416251 0.03233853 0.85708292 0.60845149] [ 0. 0. 0. 1. ]] SLAMing on 159.04800114499997 meters Centerline goodness [0,1] 0.7413930971883037 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.61 [[ 0.85396367 0.0727696 -0.51521901 4.30017609] [-0.07916718 0.99681539 0.00957255 0.24197461] [ 0.51427483 0.03261383 0.8570051 0.60901293] [ 0. 0. 0. 1. ]] SLAMing on 159.07800114499997 meters Centerline goodness [0,1] 0.7368943135013909 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.61 [[ 0.85381699 0.07278701 -0.51545959 4.30091689] [-0.07927341 0.99680814 0.0094473 0.24262943] [ 0.51450196 0.03279597 0.85686181 0.60936186] [ 0. 0. 0. 1. ]] SLAMing on 159.10800114499997 meters Centerline goodness [0,1] 0.7393205661230908 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.61 [[ 0.85363234 0.07316685 -0.51571159 4.30183537] [-0.07956757 0.99678214 0.00971465 0.24188294] [ 0.51476289 0.03274118 0.85670718 0.60955513] [ 0. 0. 0. 1. ]] SLAMing on 159.13800114499998 meters Centerline goodness [0,1] 0.7349125896653923 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.61 [[ 0.85343197 0.07346828 -0.51600027 4.30268374] [-0.07983996 0.99675884 0.00986855 0.24129366] [ 0.51505286 0.0327753 0.85653157 0.60993006] [ 0. 0. 0. 1. ]] SLAMing on 159.16800114499998 meters Centerline goodness [0,1] 0.7352467638408862 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.61 [[ 0.85325327 0.07385671 -0.5162403 4.30380989] [-0.08013395 0.99673241 0.0101519 0.24071608] [ 0.51530322 0.03270623 0.85638361 0.6099972 ] [ 0. 0. 0. 1. ]] SLAMing on 159.19800114499998 meters Centerline goodness [0,1] 0.7781954079769755 Centerline is valid? [False, False] Translation: X:4.31, Y:0.24, Z:0.61 [[ 0.85302043 0.07421551 -0.51657353 4.30502218] [-0.08046099 0.99670423 0.01032968 0.2407957 ] [ 0.51563765 0.03275259 0.85618052 0.61030466] [ 0. 0. 0. 1. ]] SLAMing on 159.22800114499998 meters Centerline goodness [0,1] 0.7364404411290496 Centerline is valid? [False, False] Translation: X:4.31, Y:0.24, Z:0.61 [[ 0.85277187 0.07445291 -0.51694961 4.30600391] [-0.08083323 0.99667544 0.01020038 0.24219379] [ 0.51599043 0.0330881 0.85595505 0.61102657] [ 0. 0. 0. 1. ]] SLAMing on 159.25800114499998 meters Centerline goodness [0,1] 0.8056116096346229 Centerline is valid? [False, False] Translation: X:4.31, Y:0.24, Z:0.61 [[ 0.85259186 0.07445648 -0.51724592 4.30630463] [-0.08113314 0.99665576 0.00973236 0.24435865] [ 0.51624077 0.03366806 0.85578148 0.61204812] [ 0. 0. 0. 1. ]] SLAMing on 159.28800114499998 meters Centerline goodness [0,1] 0.805426456665806 Centerline is valid? [False, False] Translation: X:4.31, Y:0.25, Z:0.61 [[ 0.85249281 0.07432574 -0.51742796 4.30588837] [-0.08133714 0.9966446 0.00915492 0.24629962] [ 0.51637223 0.03428161 0.8556778 0.61310453] [ 0. 0. 0. 1. ]] SLAMing on 159.31800114499998 meters Centerline goodness [0,1] 0.8085738265866098 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.61 [[ 0.85254006 0.07423638 -0.51736294 4.30467078] [-0.08159447 0.99662894 0.00855022 0.24713852] [ 0.51625361 0.03492456 0.85572337 0.61397052] [ 0. 0. 0. 1. ]] SLAMing on 159.34800114499998 meters Centerline goodness [0,1] 0.8046127721772027 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.61 [[ 0.85251065 0.07430027 -0.51740222 4.3047227 ] [-0.08168841 0.99662149 0.00852143 0.24636635] [ 0.51628732 0.03500115 0.8556999 0.6140558 ] [ 0. 0. 0. 1. ]] SLAMing on 159.37800114499998 meters Centerline goodness [0,1] 0.8044835353427009 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.61 [[ 0.85245536 0.07413471 -0.51751705 4.30454758] [-0.08164626 0.99662698 0.00827965 0.24635068] [ 0.51638527 0.0351953 0.85563283 0.6144416 ] [ 0. 0. 0. 1. ]] SLAMing on 159.408001145 meters Centerline goodness [0,1] 0.8210596396280309 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.61 [[ 0.85247254 0.07788511 -0.5169376 4.30130039] [-0.08438252 0.99637309 0.01096622 0.2476802 ] [ 0.51591682 0.0342721 0.85595284 0.61497677] [ 0. 0. 0. 1. ]] SLAMing on 159.438001145 meters Centerline goodness [0,1] 0.8179487179487179 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.62 [[ 0.85244322 0.07726745 -0.51707862 4.30065003] [-0.08414452 0.99640162 0.01017444 0.24991249] [ 0.51600413 0.0348362 0.85587743 0.61584436] [ 0. 0. 0. 1. ]] SLAMing on 159.468001145 meters Centerline goodness [0,1] 0.8122405076906529 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.62 [[ 0.85230105 0.07712498 -0.51733418 4.3008465 ] [-0.08417542 0.99640209 0.0098673 0.25111716] [ 0.51623388 0.03513692 0.85572658 0.61653321] [ 0. 0. 0. 1. ]] SLAMing on 159.498001145 meters Centerline goodness [0,1] 0.8111845931798108 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.62 [[ 0.85224215 0.07701167 -0.51744809 4.30112991] [-0.08414441 0.99640628 0.00970821 0.25157291] [ 0.51633617 0.03526661 0.85565953 0.6167409 ] [ 0. 0. 0. 1. ]] SLAMing on 159.52800114499996 meters Centerline goodness [0,1] 0.7995571511490422 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.62 [[ 0.85213908 0.07671614 -0.51766168 4.30206919] [-0.08370248 0.99644176 0.00988486 0.249141 ] [ 0.51657805 0.03490629 0.8555283 0.6163252 ] [ 0. 0. 0. 1. ]] SLAMing on 159.55800114499996 meters Centerline goodness [0,1] 0.7924033772316154 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.62 [[ 0.85207995 0.07681141 -0.51774488 4.30263281] [-0.08358066 0.99644801 0.01027761 0.2471204 ] [ 0.5166953 0.03451611 0.85547332 0.61596712] [ 0. 0. 0. 1. ]] SLAMing on 159.58800114499996 meters Centerline goodness [0,1] 0.7848473151483959 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.62 [[ 0.85202753 0.07659343 -0.51786344 4.30309332] [-0.08330079 0.99647093 0.01032814 0.24620885] [ 0.51682692 0.03433857 0.85540095 0.61584435] [ 0. 0. 0. 1. ]] SLAMing on 159.61800114499997 meters Centerline goodness [0,1] 0.7673500053665343 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.62 [[ 0.85211339 0.0755958 -0.51786876 4.30225452] [-0.08251924 0.99654235 0.009691 0.24751464] [ 0.51681075 0.0344763 0.85540519 0.61612153] [ 0. 0. 0. 1. ]] SLAMing on 159.64800114499997 meters Centerline goodness [0,1] 0.7644263845889233 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.62 [[ 0.85207668 0.07501811 -0.51801313 4.30163092] [-0.08220645 0.99657376 0.00910185 0.24871983] [ 0.5169211 0.03482855 0.85532424 0.61684356] [ 0. 0. 0. 1. ]] SLAMing on 159.67800114499997 meters Centerline goodness [0,1] 0.7579471549078108 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.62 [[ 0.85205102 0.07459363 -0.51811663 4.30102883] [-0.08200322 0.99659474 0.00862487 0.24940969] [ 0.51699567 0.0351384 0.85526649 0.61746447] [ 0. 0. 0. 1. ]] SLAMing on 159.70800114499997 meters Centerline goodness [0,1] 0.7561017568759005 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.62 [[ 0.85200725 0.07455016 -0.51819486 4.30116862] [-0.08196781 0.99659782 0.00860555 0.24906927] [ 0.51707342 0.03514331 0.85521929 0.61759359] [ 0. 0. 0. 1. ]] SLAMing on 159.73800114499997 meters Centerline goodness [0,1] 0.7807579798675041 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.62 [[ 0.85183504 0.07476442 -0.51844705 4.3021128 ] [-0.0820876 0.99658589 0.00884193 0.24800613] [ 0.51733808 0.03502621 0.85506402 0.61766286] [ 0. 0. 0. 1. ]] SLAMing on 159.76800114499997 meters Centerline goodness [0,1] 0.7716163793103448 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.62 [[ 0.85171739 0.07475219 -0.51864206 4.30273839] [-0.082135 0.99658275 0.00875543 0.24810019] [ 0.51752422 0.03514151 0.85494664 0.61788853] [ 0. 0. 0. 1. ]] SLAMing on 159.79800114499997 meters Centerline goodness [0,1] 0.7617468452560403 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.62 [[ 0.85159241 0.07482785 -0.51883635 4.30314563] [-0.08223291 0.99657468 0.00875541 0.24811987] [ 0.51771431 0.03520938 0.85482875 0.61820894] [ 0. 0. 0. 1. ]] SLAMing on 159.82800114499997 meters Centerline goodness [0,1] 0.749989235737352 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.62 [[ 0.85159554 0.07457285 -0.51886792 4.30179871] [-0.0822417 0.99657826 0.00825068 0.24916309] [ 0.51770777 0.03564634 0.8548146 0.61918719] [ 0. 0. 0. 1. ]] SLAMing on 159.85800114499997 meters Centerline goodness [0,1] 0.7456093209226338 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.62 [[ 0.85153608 0.07444888 -0.5189833 4.30160046] [-0.08223579 0.99658055 0.00803025 0.24958581] [ 0.51780651 0.03584095 0.85474666 0.61967235] [ 0. 0. 0. 1. ]] SLAMing on 159.88800114499998 meters Centerline goodness [0,1] 0.7780098174302446 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.62 [[ 0.85156271 0.07446098 -0.51893788 4.30083594] [-0.08215855 0.99658572 0.00817746 0.24801079] [ 0.51777498 0.03567157 0.85477284 0.61979668] [ 0. 0. 0. 1. ]] SLAMing on 159.91800114499998 meters Centerline goodness [0,1] 0.7777324282522771 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.62 [[ 0.85149645 0.07437788 -0.5190585 4.30093898] [-0.08207457 0.99659274 0.00816526 0.2474831 ] [ 0.51789725 0.03564882 0.85469971 0.61999208] [ 0. 0. 0. 1. ]] SLAMing on 159.94800114499998 meters Centerline goodness [0,1] 0.7789891619272454 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.62 [[ 0.85147114 0.07415657 -0.51913167 4.30076675] [-0.08184149 0.99661221 0.00812834 0.24682296] [ 0.51797573 0.03556546 0.85465562 0.62010833] [ 0. 0. 0. 1. ]] SLAMing on 159.97800114499998 meters Centerline goodness [0,1] 0.7789891619272454 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.62 [[ 0.85147114 0.07415657 -0.51913167 4.30076675] [-0.08184149 0.99661221 0.00812834 0.24682296] [ 0.51797573 0.03556546 0.85465562 0.62010833] [ 0. 0. 0. 1. ]] SLAMing on 160.00800114499998 meters Centerline goodness [0,1] 0.7726229050878737 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.62 [[ 0.85150444 0.07387476 -0.51911723 4.30026747] [-0.08152493 0.99663835 0.00810526 0.24580665] [ 0.51797091 0.03541933 0.85466461 0.62011549] [ 0. 0. 0. 1. ]] SLAMing on 160.03800114499998 meters Centerline goodness [0,1] 0.7656256712058078 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.62 [[ 0.851506 0.07367478 -0.5191431 4.29989363] [-0.0812603 0.99665953 0.00815775 0.24459488] [ 0.51800994 0.03523935 0.8546484 0.62017604] [ 0. 0. 0. 1. ]] SLAMing on 160.06800114499998 meters Centerline goodness [0,1] 0.7583199399978571 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.62 [[ 0.85165971 0.07295157 -0.51899307 4.29839239] [-0.08059625 0.99671596 0.00784483 0.24367961] [ 0.51786097 0.03514777 0.85474245 0.62018652] [ 0. 0. 0. 1. ]] SLAMing on 160.09800114499998 meters Centerline goodness [0,1] 0.7450534357697756 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.62 [[ 0.85170046 0.07252945 -0.51898536 4.29772397] [-0.08028984 0.99674308 0.00753458 0.24397258] [ 0.51784155 0.03525205 0.85474992 0.62047033] [ 0. 0. 0. 1. ]] SLAMing on 160.12800114499998 meters Centerline goodness [0,1] 0.7901451637112165 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.62 [[ 0.85168282 0.0723139 -0.51904438 4.29725038] [-0.08010731 0.9967586 0.00742419 0.24356033] [ 0.51789882 0.03525619 0.85471505 0.62076001] [ 0. 0. 0. 1. ]] SLAMing on 160.158001145 meters Centerline goodness [0,1] 0.7749121001629363 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.62 [[ 0.8516169 0.07244304 -0.51913453 4.2971998 ] [-0.08015889 0.99675316 0.00759566 0.24234179] [ 0.51799923 0.03514465 0.85465879 0.62092862] [ 0. 0. 0. 1. ]] SLAMing on 160.188001145 meters Centerline goodness [0,1] 0.794031647746818 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.62 [[ 0.85157843 0.07268154 -0.5191643 4.29698987] [-0.08047029 0.99672845 0.0075448 0.24228952] [ 0.51801419 0.03535231 0.85464116 0.62134635] [ 0. 0. 0. 1. ]] SLAMing on 160.218001145 meters Centerline goodness [0,1] 0.7805045920891317 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.62 [[ 0.85141358 0.0728873 -0.51940577 4.29741562] [-0.08081396 0.99670177 0.0073946 0.24348663] [ 0.51823162 0.03567938 0.85449574 0.62201406] [ 0. 0. 0. 1. ]] SLAMing on 160.24800114499996 meters Centerline goodness [0,1] 0.8019355951200586 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.62 [[ 0.8512136 0.07335095 -0.51966821 4.29831463] [-0.0813199 0.99666001 0.0074766 0.24415743] [ 0.51848094 0.03589518 0.85433544 0.62250433] [ 0. 0. 0. 1. ]] SLAMing on 160.27800114499996 meters Centerline goodness [0,1] 0.8129358174478098 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.62 [[ 0.8513115 0.07770647 -0.5188742 4.29758997] [-0.08463142 0.99635846 0.01036049 0.24262475] [ 0.51778977 0.03509305 0.85478783 0.62185013] [ 0. 0. 0. 1. ]] SLAMing on 160.30800114499996 meters Centerline goodness [0,1] 0.78948388347006 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.62 [[ 0.85119871 0.07772588 -0.51905629 4.29738442] [-0.08479492 0.9963468 0.01014265 0.24347572] [ 0.51794842 0.03537993 0.85467988 0.62261612] [ 0. 0. 0. 1. ]] SLAMing on 160.33800114499996 meters Centerline goodness [0,1] 0.820418735160803 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.62 [[ 0.8511524 0.07731842 -0.51919308 4.29665536] [-0.08470093 0.99636092 0.0095218 0.24517238] [ 0.5180399 0.03587163 0.85460393 0.62353962] [ 0. 0. 0. 1. ]] SLAMing on 160.36800114499997 meters Centerline goodness [0,1] 0.8149268566736533 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.62 [[ 0.85102867 0.07730971 -0.51939716 4.29674512] [-0.08484864 0.99635065 0.00927796 0.24618583] [ 0.51821897 0.03617433 0.8544826 0.62418688] [ 0. 0. 0. 1. ]] SLAMing on 160.39800114499997 meters Centerline goodness [0,1] 0.8105591397849462 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.62 [[ 0.85097583 0.07803764 -0.51937488 4.2972079 ] [-0.08545378 0.99629508 0.00968359 0.24501257] [ 0.51820632 0.03614204 0.85449164 0.62408809] [ 0. 0. 0. 1. ]] SLAMing on 160.42800114499997 meters Centerline goodness [0,1] 0.8156362151591343 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.62 [[ 0.85092557 0.07810553 -0.51944702 4.29713905] [-0.08553343 0.99628819 0.00968922 0.24445356] [ 0.51827571 0.03618528 0.85444772 0.62431091] [ 0. 0. 0. 1. ]] SLAMing on 160.45800114499997 meters Centerline goodness [0,1] 0.8098755329686894 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.62 [[ 0.85091854 0.07815491 -0.51945111 4.29722448] [-0.08557937 0.99628405 0.00970914 0.24414702] [ 0.51827967 0.03619261 0.85444501 0.62431796] [ 0. 0. 0. 1. ]] SLAMing on 160.48800114499997 meters Centerline goodness [0,1] 0.816304512008286 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.62 [[ 0.85080817 0.07809293 -0.51964118 4.29783381] [-0.08555087 0.99628705 0.00965205 0.24419079] [ 0.51846553 0.03624371 0.85433008 0.62450672] [ 0. 0. 0. 1. ]] SLAMing on 160.51800114499997 meters Centerline goodness [0,1] 0.8180623478466941 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.62 [[ 0.85055111 0.07867499 -0.5199741 4.29985965] [-0.08600249 0.99624415 0.01005817 0.24460611] [ 0.51881248 0.03616408 0.85412281 0.62451668] [ 0. 0. 0. 1. ]] SLAMing on 160.54800114499997 meters Centerline goodness [0,1] 0.811308972675007 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.63 [[ 0.85037335 0.07867708 -0.52026443 4.30043907] [-0.08610354 0.99623681 0.00991967 0.24545089] [ 0.51908703 0.03636119 0.85394761 0.62505832] [ 0. 0. 0. 1. ]] SLAMing on 160.57800114499997 meters Centerline goodness [0,1] 0.8263301706146862 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.63 [[ 0.85027102 0.07843935 -0.52046754 4.30024492] [-0.0860307 0.99624625 0.00959809 0.24611987] [ 0.5192667 0.03661521 0.85382751 0.62568559] [ 0. 0. 0. 1. ]] SLAMing on 160.60800114499997 meters Centerline goodness [0,1] 0.8725340774927552 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.63 [[ 0.85019783 0.07841189 -0.52059123 4.29933002] [-0.08606988 0.99624389 0.00949102 0.24452475] [ 0.51938004 0.03673798 0.8537533 0.62630482] [ 0. 0. 0. 1. ]] SLAMing on 160.63800114499998 meters Centerline goodness [0,1] 0.8299325554009207 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.63 [[ 0.85018051 0.07856857 -0.52059589 4.29930946] [-0.08617427 0.99623362 0.0096216 0.24330195] [ 0.51939108 0.03668188 0.85374899 0.62631682] [ 0. 0. 0. 1. ]] SLAMing on 160.66800114499998 meters Centerline goodness [0,1] 0.8701215199639941 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.63 [[ 0.85002806 0.07859739 -0.52084042 4.29992935] [-0.08629148 0.99622459 0.00950479 0.24367734] [ 0.51962109 0.03686475 0.85360114 0.62669126] [ 0. 0. 0. 1. ]] SLAMing on 160.69800114499998 meters Centerline goodness [0,1] 0.8677788471821195 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.63 [[ 0.84984925 0.07867083 -0.52112106 4.30080272] [-0.0865095 0.99620751 0.00931153 0.24502123] [ 0.51987726 0.03716853 0.85343198 0.62716932] [ 0. 0. 0. 1. ]] SLAMing on 160.72800114499998 meters Centerline goodness [0,1] 0.8711049071190808 Centerline is valid? [False, False] Translation: X:4.30, Y:0.25, Z:0.63 [[ 0.84955877 0.08345601 -0.52085026 4.30022012] [-0.08990377 0.99586657 0.01292602 0.24529236] [ 0.51977612 0.03584499 0.85355019 0.62730161] [ 0. 0. 0. 1. ]] SLAMing on 160.75800114499998 meters Centerline goodness [0,1] 0.8755416362778325 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.63 [[ 0.84943948 0.08346613 -0.52104316 4.30050582] [-0.08993046 0.99586428 0.01291727 0.24495707] [ 0.51996643 0.03588521 0.85343258 0.62761605] [ 0. 0. 0. 1. ]] SLAMing on 160.78800114499998 meters Centerline goodness [0,1] 0.8815699072483683 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.63 [[ 0.8493698 0.0834841 -0.52115386 4.30080665] [-0.089942 0.99586291 0.01294186 0.24432526] [ 0.52007824 0.03588119 0.85336462 0.62769128] [ 0. 0. 0. 1. ]] SLAMing on 160.81800114499998 meters Centerline goodness [0,1] 0.8728608451669558 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.63 [[ 0.84926637 0.08348587 -0.52132211 4.30105159] [-0.08995629 0.99586171 0.01293543 0.24379111] [ 0.52024465 0.03591058 0.85326194 0.62795275] [ 0. 0. 0. 1. ]] SLAMing on 160.84800114499998 meters Centerline goodness [0,1] 0.8814509057467331 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.63 [[ 0.84923667 0.08305395 -0.52143946 4.30065084] [-0.08948213 0.99590499 0.01289188 0.24255714] [ 0.52037489 0.03571126 0.85319088 0.62808785] [ 0. 0. 0. 1. ]] SLAMing on 160.87800114499998 meters Centerline goodness [0,1] 0.8547561419667145 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.63 [[ 0.84934818 0.08218294 -0.52139585 4.29897261] [-0.08871402 0.99597904 0.01247305 0.24148275] [ 0.5203244 0.03566116 0.85322377 0.62838955] [ 0. 0. 0. 1. ]] SLAMing on 160.908001145 meters Centerline goodness [0,1] 0.8439429877983631 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.63 [[ 0.84948292 0.08108723 -0.52134789 4.29676295] [-0.08775783 0.9960704 0.01193025 0.24042996] [ 0.52026659 0.03561781 0.85326083 0.62884424] [ 0. 0. 0. 1. ]] SLAMing on 160.938001145 meters Centerline goodness [0,1] 0.8439429877983631 Centerline is valid? [False, False] Translation: X:4.30, Y:0.24, Z:0.63 [[ 0.84948292 0.08108723 -0.52134789 4.29676295] [-0.08775783 0.9960704 0.01193025 0.24042996] [ 0.52026659 0.03561781 0.85326083 0.62884424] [ 0. 0. 0. 1. ]] SLAMing on 160.968001145 meters Centerline goodness [0,1] 0.8111410141398607 Centerline is valid? [False, False] Translation: X:4.29, Y:0.24, Z:0.63 [[ 0.85002619 0.07660649 -0.52114003 4.29160251] [-0.08425853 0.99640296 0.00903592 0.2406501 ] [ 0.51995767 0.03622973 0.85342336 0.62956706] [ 0. 0. 0. 1. ]] SLAMing on 160.99800114499996 meters Centerline goodness [0,1] 0.8259032416398131 Centerline is valid? [False, False] Translation: X:4.29, Y:0.24, Z:0.63 [[ 0.85007355 0.07562068 -0.52120674 4.29024136] [-0.0833531 0.9964827 0.00863081 0.2393169 ] [ 0.52002617 0.03610737 0.85338681 0.62987535] [ 0. 0. 0. 1. ]] SLAMing on 161.02800114499996 meters Centerline goodness [0,1] 0.7841136625058578 Centerline is valid? [False, False] Translation: X:4.29, Y:0.24, Z:0.63 [[ 0.85027652 0.07292155 -0.52126029 4.28889387] [-0.0814188 0.99665801 0.00661733 0.23791992] [ 0.52000078 0.03681383 0.85337209 0.63018697] [ 0. 0. 0. 1. ]] SLAMing on 161.05800114499996 meters Centerline goodness [0,1] 0.7989596213704004 Centerline is valid? [False, False] Translation: X:4.27, Y:0.24, Z:0.62 [[ 8.51046862e-01 6.99775685e-02 -5.20405975e-01 4.26830859e+00] [-8.05382701e-02 9.96748813e-01 2.32168039e-03 2.38787913e-01] [ 5.18876504e-01 3.99367381e-02 8.53915822e-01 6.17445668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08800114499996 meters Centerline goodness [0,1] 0.7859191434216397 Centerline is valid? [False, False] Translation: X:4.27, Y:0.24, Z:0.62 [[ 8.51006127e-01 6.93504053e-02 -5.20556522e-01 4.26807209e+00] [-8.00777323e-02 9.96786841e-01 1.88438835e-03 2.39373369e-01] [ 5.19014574e-01 4.00813598e-02 8.53825132e-01 6.17836795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11800114499997 meters Centerline goodness [0,1] 0.7748626694097436 Centerline is valid? [False, False] Translation: X:4.27, Y:0.24, Z:0.62 [[ 8.50928420e-01 6.87874930e-02 -5.20758201e-01 4.26808258e+00] [-7.96732675e-02 9.96819929e-01 1.48340667e-03 2.40294938e-01] [ 5.19204193e-01 4.02282346e-02 8.53702932e-01 6.18249945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14800114499997 meters Centerline goodness [0,1] 0.7708090216630243 Centerline is valid? [False, False] Translation: X:4.27, Y:0.24, Z:0.62 [[ 8.50857223e-01 6.81691179e-02 -5.20955812e-01 4.26779493e+00] [-7.92534900e-02 9.96853993e-01 1.00057032e-03 2.41065225e-01] [ 5.19385089e-01 4.04362237e-02 8.53583061e-01 6.18785992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17800114499997 meters Centerline goodness [0,1] 0.7659353910596797 Centerline is valid? [False, False] Translation: X:4.27, Y:0.24, Z:0.62 [[ 8.50895018e-01 6.78149625e-02 -5.20940304e-01 4.26722816e+00] [-7.89489150e-02 9.96878328e-01 8.17805855e-04 2.40589923e-01] [ 5.19369558e-01 4.04318048e-02 8.53592720e-01 6.18913682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20800114499997 meters Centerline goodness [0,1] 0.7839174823702768 Centerline is valid? [False, False] Translation: X:4.27, Y:0.24, Z:0.62 [[ 8.51053511e-01 6.29382580e-02 -5.21293293e-01 4.26784623e+00] [-7.55330392e-02 9.97139011e-01 -2.92439177e-03 2.39733332e-01] [ 5.19617823e-01 4.18636806e-02 8.53372574e-01 6.19128392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.23800114499997 meters Centerline goodness [0,1] 0.7734862540057346 Centerline is valid? [False, False] Translation: X:4.27, Y:0.24, Z:0.62 [[ 8.51116177e-01 6.25861757e-02 -5.21233368e-01 4.26727638e+00] [-7.51874696e-02 9.97164782e-01 -3.03998466e-03 2.38897874e-01] [ 5.19565297e-01 4.17775981e-02 8.53408773e-01 6.19089088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.26800114499997 meters Centerline goodness [0,1] 0.7434573728349277 Centerline is valid? [False, False] Translation: X:4.27, Y:0.24, Z:0.62 [[ 8.51146971e-01 6.18702387e-02 -5.21268555e-01 4.26653100e+00] [-7.46797460e-02 9.97201141e-01 -3.58043272e-03 2.39572094e-01] [ 5.19588076e-01 4.19756778e-02 8.53385185e-01 6.19491456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.29800114499997 meters Centerline goodness [0,1] 0.7857715515422592 Centerline is valid? [False, False] Translation: X:4.27, Y:0.24, Z:0.62 [[ 8.51105625e-01 6.10997812e-02 -5.21426919e-01 4.26613924e+00] [-7.41762123e-02 9.97236218e-01 -4.22087303e-03 2.40947694e-01] [ 5.19727914e-01 4.22698826e-02 8.53285505e-01 6.20059828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.32800114499997 meters Centerline goodness [0,1] 0.7488161677659395 Centerline is valid? [False, False] Translation: X:4.27, Y:0.24, Z:0.62 [[ 0.85112932 0.06010481 -0.52150388 4.2657196 ] [-0.07350117 0.9972825 -0.00501918 0.2426198 ] [ 0.51978501 0.04260311 0.85323415 0.62044863] [ 0. 0. 0. 1. ]] SLAMing on 161.35800114499997 meters Centerline goodness [0,1] 0.7443490006542707 Centerline is valid? [False, False] Translation: X:4.27, Y:0.24, Z:0.62 [[ 0.85109296 0.05988892 -0.52158805 4.26614994] [-0.0732705 0.99729933 -0.00504773 0.24185559] [ 0.51987711 0.0425131 0.85318253 0.62028254] [ 0. 0. 0. 1. ]] SLAMing on 161.38800114499998 meters Centerline goodness [0,1] 0.7422064627788683 Centerline is valid? [False, False] Translation: X:4.27, Y:0.24, Z:0.62 [[ 0.85104903 0.06004303 -0.52164201 4.26704311] [-0.07331265 0.99729738 -0.00481537 0.24076248] [ 0.51994308 0.04234107 0.85315088 0.61992118] [ 0. 0. 0. 1. ]] SLAMing on 161.41800114499998 meters Centerline goodness [0,1] 0.7282394976637984 Centerline is valid? [False, False] Translation: X:4.27, Y:0.24, Z:0.62 [[ 0.85114891 0.05912888 -0.52158347 4.26672235] [-0.0727031 0.99733803 -0.00557856 0.24209534] [ 0.51986517 0.04266893 0.85318202 0.61994771] [ 0. 0. 0. 1. ]] SLAMing on 161.44800114499998 meters Centerline goodness [0,1] 0.7310719878115874 Centerline is valid? [False, False] Translation: X:4.26, Y:0.24, Z:0.62 [[ 8.51120550e-01 6.25905833e-02 -5.21225698e-01 4.26456115e+00] [-7.49848718e-02 9.97181018e-01 -2.69945197e-03 2.41951262e-01] [ 5.19587412e-01 4.13816012e-02 8.53414603e-01 6.20033619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47800114499998 meters Centerline goodness [0,1] 0.7109240847130652 Centerline is valid? [False, False] Translation: X:4.26, Y:0.24, Z:0.62 [[ 8.51121587e-01 6.54049354e-02 -5.20878334e-01 4.26182379e+00] [-7.68146981e-02 9.97045335e-01 -3.20539489e-04 2.42225202e-01] [ 5.19318348e-01 4.02839301e-02 8.53630868e-01 6.20321181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.50800114499998 meters Centerline goodness [0,1] 0.7501273885350319 Centerline is valid? [False, False] Translation: X:4.26, Y:0.24, Z:0.62 [[ 8.51237611e-01 6.42080591e-02 -5.20837647e-01 4.26002411e+00] [-7.60413318e-02 9.97103742e-01 -1.35770843e-03 2.43904118e-01] [ 5.19241991e-01 4.07609208e-02 8.53654674e-01 6.21058368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53800114499998 meters Centerline goodness [0,1] 0.7324051115773412 Centerline is valid? [False, False] Translation: X:4.26, Y:0.24, Z:0.62 [[ 8.51411013e-01 6.27880613e-02 -5.20727325e-01 4.25848670e+00] [-7.49645444e-02 9.97183473e-01 -2.33216434e-03 2.44210558e-01] [ 5.19114250e-01 4.10217171e-02 8.53719869e-01 6.21221749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.56800114499998 meters Centerline goodness [0,1] 0.7448849917397382 Centerline is valid? [False, False] Translation: X:4.26, Y:0.24, Z:0.62 [[ 8.51397322e-01 6.26104254e-02 -5.20771097e-01 4.25908738e+00] [-7.47659341e-02 9.97198357e-01 -2.34364539e-03 2.43568551e-01] [ 5.19165345e-01 4.09313109e-02 8.53693137e-01 6.20938401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59800114499998 meters Centerline goodness [0,1] 0.7167381974248928 Centerline is valid? [False, False] Translation: X:4.26, Y:0.24, Z:0.62 [[ 8.51398007e-01 6.20894555e-02 -5.20832346e-01 4.25930151e+00] [-7.43975627e-02 9.97224909e-01 -2.73559240e-03 2.44139885e-01] [ 5.19217138e-01 4.10777351e-02 8.53654604e-01 6.20933124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.62800114499998 meters Centerline goodness [0,1] 0.7098623853211009 Centerline is valid? [False, False] Translation: X:4.26, Y:0.25, Z:0.62 [[ 8.51347568e-01 6.14414728e-02 -5.20991617e-01 4.25922921e+00] [-7.40286324e-02 9.97250449e-01 -3.36197295e-03 2.45883973e-01] [ 5.19352559e-01 4.14305044e-02 8.53555172e-01 6.21437556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.658001145 meters Centerline goodness [0,1] 0.7487006901252449 Centerline is valid? [False, False] Translation: X:4.26, Y:0.25, Z:0.62 [[ 8.51344134e-01 6.49031589e-02 -5.20577319e-01 4.25764305e+00] [-7.65129605e-02 9.97068251e-01 -8.18285737e-04 2.48992516e-01] [ 5.18998008e-01 4.05275546e-02 8.53814140e-01 6.21588191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.688001145 meters Centerline goodness [0,1] 0.7498665413935214 Centerline is valid? [False, False] Translation: X:4.26, Y:0.25, Z:0.62 [[ 8.51192965e-01 6.46229744e-02 -5.20859297e-01 4.25839413e+00] [-7.64812993e-02 9.97070194e-01 -1.28000456e-03 2.50693670e-01] [ 5.19250563e-01 4.09255267e-02 8.53641584e-01 6.22098958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.718001145 meters Centerline goodness [0,1] 0.7450904725152216 Centerline is valid? [False, False] Translation: X:4.26, Y:0.25, Z:0.62 [[ 8.51049527e-01 6.45049530e-02 -5.21108255e-01 4.25917716e+00] [-7.65381939e-02 9.97065402e-01 -1.57767001e-03 2.51732213e-01] [ 5.19477244e-01 4.12273600e-02 8.53489131e-01 6.22477159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74800114499996 meters Centerline goodness [0,1] 0.6982917721790635 Centerline is valid? [False, False] Translation: X:4.26, Y:0.25, Z:0.62 [[ 8.51032296e-01 6.39603888e-02 -5.21203511e-01 4.25965395e+00] [-7.63963017e-02 9.97074683e-01 -2.38378219e-03 2.54193238e-01] [ 5.19526358e-01 4.18466963e-02 8.53429093e-01 6.22802904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77800114499996 meters Centerline goodness [0,1] 0.7501181829902446 Centerline is valid? [False, False] Translation: X:4.26, Y:0.26, Z:0.62 [[ 8.50962746e-01 6.33713387e-02 -5.21388990e-01 4.25964172e+00] [-7.61651682e-02 9.97090333e-01 -3.12007241e-03 2.56315771e-01] [ 5.19674199e-01 4.23667455e-02 8.53313416e-01 6.23472415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80800114499996 meters Centerline goodness [0,1] 0.7374405133616142 Centerline is valid? [False, False] Translation: X:4.26, Y:0.26, Z:0.62 [[ 8.50877029e-01 6.25121486e-02 -5.21632546e-01 4.25939930e+00] [-7.57574663e-02 9.97117926e-01 -4.08008257e-03 2.59140890e-01] [ 5.19874108e-01 4.29892086e-02 8.53160501e-01 6.24365541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83800114499996 meters Centerline goodness [0,1] 0.731626148028093 Centerline is valid? [False, False] Translation: X:4.26, Y:0.26, Z:0.62 [[ 8.51015557e-01 6.51574348e-02 -5.21082556e-01 4.25672094e+00] [-7.76677153e-02 9.96976917e-01 -2.18002987e-03 2.62972394e-01] [ 5.19365235e-01 4.23265309e-02 8.53503496e-01 6.24598509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86800114499997 meters Centerline goodness [0,1] 0.7173875469904507 Centerline is valid? [False, False] Translation: X:4.26, Y:0.26, Z:0.62 [[ 8.51011799e-01 6.45907144e-02 -5.21159244e-01 4.25684920e+00] [-7.73392365e-02 9.97001115e-01 -2.72390536e-03 2.64071513e-01] [ 5.19420408e-01 4.26241336e-02 8.53455109e-01 6.24756908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89800114499997 meters Centerline goodness [0,1] 0.7171466223076757 Centerline is valid? [False, False] Translation: X:4.26, Y:0.26, Z:0.62 [[ 8.51013429e-01 6.42428009e-02 -5.21199584e-01 4.25709898e+00] [-7.71121500e-02 9.97017862e-01 -3.01660879e-03 2.64194666e-01] [ 5.19451499e-01 4.27579951e-02 8.53429490e-01 6.24731039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92800114499997 meters Centerline goodness [0,1] 0.719243926731044 Centerline is valid? [False, False] Translation: X:4.26, Y:0.26, Z:0.62 [[ 8.51055767e-01 6.37419527e-02 -5.21191946e-01 4.25700296e+00] [-7.67656852e-02 9.97043322e-01 -3.41216106e-03 2.64372129e-01] [ 5.19433452e-01 4.29135962e-02 8.53432664e-01 6.24692915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95800114499997 meters Centerline goodness [0,1] 0.6926937365573878 Centerline is valid? [False, False] Translation: X:4.26, Y:0.27, Z:0.62 [[ 0.85125706 0.06233719 -0.5210331 4.2565715 ] [-0.07579605 0.99711301 -0.00453848 0.26694819] [ 0.51924597 0.04335566 0.85352441 0.62451837] [ 0. 0. 0. 1. ]] SLAMing on 161.98800114499997 meters Centerline goodness [0,1] 0.6907442831058168 Centerline is valid? [False, False] Translation: X:4.26, Y:0.27, Z:0.63 [[ 0.85116991 0.06167931 -0.52125372 4.25687667] [-0.07547159 0.99713413 -0.00525005 0.26931487] [ 0.51943606 0.04380853 0.85338561 0.62504699] [ 0. 0. 0. 1. ]] SLAMing on 162.01800114499997 meters Centerline goodness [0,1] 0.6897272806482531 Centerline is valid? [False, False] Translation: X:4.26, Y:0.27, Z:0.63 [[ 0.85111703 0.06100394 -0.52141952 4.25726915] [-0.07518686 0.99715101 -0.00606551 0.2721484 ] [ 0.51956399 0.04436636 0.85327891 0.6255344 ] [ 0. 0. 0. 1. ]] SLAMing on 162.04800114499997 meters Centerline goodness [0,1] 0.6764416668487643 Centerline is valid? [False, False] Translation: X:4.26, Y:0.27, Z:0.63 [[ 8.51130088e-01 6.48772179e-02 -5.20930436e-01 4.25562620e+00] [-7.78460671e-02 9.96960794e-01 -3.02744313e-03 2.72853502e-01] [ 5.19150809e-01 4.31291336e-02 8.53593765e-01 6.25319305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.07800114499997 meters Centerline goodness [0,1] 0.6748212517874821 Centerline is valid? [False, False] Translation: X:4.26, Y:0.28, Z:0.63 [[ 8.51152110e-01 6.38311555e-02 -5.21023674e-01 4.25565828e+00] [-7.72979965e-02 9.96999473e-01 -4.13172111e-03 2.75789172e-01] [ 5.19196596e-01 4.37908093e-02 8.53532226e-01 6.25704081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.10800114499997 meters Centerline goodness [0,1] 0.696951072283074 Centerline is valid? [False, False] Translation: X:4.26, Y:0.28, Z:0.63 [[ 0.85117821 0.06346501 -0.52102576 4.25614548] [-0.07702787 0.99701926 -0.0043925 0.27615498] [ 0.51919395 0.0438723 0.85352965 0.62544399] [ 0. 0. 0. 1. ]] SLAMing on 162.13800114499998 meters Centerline goodness [0,1] 0.6676617789094741 Centerline is valid? [False, False] Translation: X:4.26, Y:0.28, Z:0.63 [[ 0.85123006 0.06265041 -0.52103964 4.25592353] [-0.07649177 0.99705728 -0.00507839 0.27751977] [ 0.51918821 0.04417812 0.85351737 0.62557837] [ 0. 0. 0. 1. ]] SLAMing on 162.16800114499998 meters Centerline goodness [0,1] 0.6449872257950842 Centerline is valid? [False, False] Translation: X:4.25, Y:0.28, Z:0.63 [[ 8.51533817e-01 6.50550707e-02 -5.20248015e-01 4.25267243e+00] [-7.80987655e-02 9.96940596e-01 -3.16714132e-03 2.80805753e-01] [ 5.18450327e-01 4.33276557e-02 8.54009352e-01 6.25275634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19800114499998 meters Centerline goodness [0,1] 0.6712005122656716 Centerline is valid? [False, False] Translation: X:4.25, Y:0.28, Z:0.63 [[ 8.51498093e-01 6.41078305e-02 -5.20424042e-01 4.25233454e+00] [-7.75560167e-02 9.96979638e-01 -4.08243762e-03 2.83323532e-01] [ 5.18590457e-01 4.38382036e-02 8.53898208e-01 6.25942570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22800114499998 meters Centerline goodness [0,1] 0.666445623342175 Centerline is valid? [False, False] Translation: X:4.25, Y:0.29, Z:0.63 [[ 0.85147744 0.06350581 -0.52053163 4.25270158] [-0.07721209 0.99700377 -0.00466605 0.2851251 ] [ 0.51867568 0.04416437 0.85382964 0.62611626] [ 0. 0. 0. 1. ]] SLAMing on 162.25800114499998 meters Centerline goodness [0,1] 0.6686378737541528 Centerline is valid? [False, False] Translation: X:4.25, Y:0.29, Z:0.63 [[ 0.85144041 0.0630713 -0.52064502 4.2534494 ] [-0.07699145 0.99701856 -0.00512897 0.28649069] [ 0.51876926 0.04445223 0.85375784 0.62615577] [ 0. 0. 0. 1. ]] SLAMing on 162.28800114499998 meters Centerline goodness [0,1] 0.6257035438588685 Centerline is valid? [False, False] Translation: X:4.25, Y:0.29, Z:0.63 [[ 0.85141923 0.06220791 -0.52078352 4.25440609] [-0.07651081 0.99705077 -0.00598777 0.28918312] [ 0.51887512 0.04494367 0.85366778 0.62615654] [ 0. 0. 0. 1. ]] SLAMing on 162.31800114499998 meters Centerline goodness [0,1] 0.6385391552817216 Centerline is valid? [False, False] Translation: X:4.25, Y:0.29, Z:0.63 [[ 0.85142005 0.06137051 -0.52088152 4.25434352] [-0.07601708 0.99708347 -0.00677878 0.29131697] [ 0.51894633 0.04536749 0.85360207 0.62649641] [ 0. 0. 0. 1. ]] SLAMing on 162.34800114499998 meters Centerline goodness [0,1] 0.6544563539125959 Centerline is valid? [False, False] Translation: X:4.25, Y:0.29, Z:0.63 [[ 0.85139428 0.06044685 -0.52103162 4.25393228] [-0.07548862 0.99711714 -0.00767323 0.29354534] [ 0.51906574 0.0458649 0.85350288 0.62714542] [ 0. 0. 0. 1. ]] SLAMing on 162.37800114499998 meters Centerline goodness [0,1] 0.6376082142138111 Centerline is valid? [False, False] Translation: X:4.25, Y:0.30, Z:0.63 [[ 0.85149097 0.05930074 -0.52100533 4.25317794] [-0.07477523 0.99716237 -0.00871002 0.29596323] [ 0.5190104 0.0463748 0.85350898 0.62752849] [ 0. 0. 0. 1. ]] SLAMing on 162.408001145 meters Centerline goodness [0,1] 0.6302728415006282 Centerline is valid? [False, False] Translation: X:4.25, Y:0.30, Z:0.63 [[ 0.85152461 0.05823014 -0.5210711 4.25260145] [-0.0743242 0.99718376 -0.01002307 0.29959109] [ 0.51902 0.04726309 0.85345442 0.62834523] [ 0. 0. 0. 1. ]] SLAMing on 162.438001145 meters Centerline goodness [0,1] 0.6336444394467559 Centerline is valid? [False, False] Translation: X:4.25, Y:0.30, Z:0.63 [[ 0.85142248 0.05792756 -0.52127167 4.25313842] [-0.07427881 0.99718213 -0.01050952 0.30112508] [ 0.519194 0.04766748 0.85332608 0.62880684] [ 0. 0. 0. 1. ]] SLAMing on 162.468001145 meters Centerline goodness [0,1] 0.629940119760479 Centerline is valid? [False, False] Translation: X:4.25, Y:0.30, Z:0.63 [[ 0.85135101 0.06233084 -0.52088034 4.25277398] [-0.07745324 0.99696932 -0.00729142 0.30303777] [ 0.51884724 0.04655143 0.85359856 0.62846886] [ 0. 0. 0. 1. ]] SLAMing on 162.49800114499996 meters Centerline goodness [0,1] 0.6383402339419444 Centerline is valid? [False, False] Translation: X:4.25, Y:0.31, Z:0.63 [[ 0.85117674 0.06216124 -0.52118532 4.25379961] [-0.07752203 0.99696091 -0.00769902 0.3052928 ] [ 0.51912281 0.04695657 0.85340881 0.6290314 ] [ 0. 0. 0. 1. ]] SLAMing on 162.52800114499996 meters Centerline goodness [0,1] 0.6210495336412207 Centerline is valid? [False, False] Translation: X:4.25, Y:0.31, Z:0.63 [[ 0.85101654 0.06221741 -0.52144016 4.25493723] [-0.0777079 0.99694511 -0.0078693 0.30666437] [ 0.51935761 0.04721692 0.85325157 0.62937007] [ 0. 0. 0. 1. ]] SLAMing on 162.55800114499996 meters Centerline goodness [0,1] 0.6238532110091743 Centerline is valid? [False, False] Translation: X:4.26, Y:0.31, Z:0.63 [[ 0.85090674 0.06218139 -0.52162361 4.25607099] [-0.07775802 0.99694015 -0.00800136 0.30742216] [ 0.51952998 0.04736883 0.8531382 0.62943273] [ 0. 0. 0. 1. ]] SLAMing on 162.58800114499996 meters Centerline goodness [0,1] 0.6021580939858999 Centerline is valid? [False, False] Translation: X:4.26, Y:0.31, Z:0.63 [[ 0.85088173 0.06197943 -0.52168844 4.25665638] [-0.07762457 0.99694924 -0.00816384 0.30751634] [ 0.5195909 0.0474423 0.85309702 0.62934464] [ 0. 0. 0. 1. ]] SLAMing on 162.61800114499997 meters Centerline goodness [0,1] 0.611034263815506 Centerline is valid? [False, False] Translation: X:4.26, Y:0.31, Z:0.63 [[ 0.85089259 0.06151621 -0.52172555 4.25667107] [-0.07728145 0.99697319 -0.00848762 0.30786201] [ 0.51962426 0.04754176 0.85307116 0.62937187] [ 0. 0. 0. 1. ]] SLAMing on 162.64800114499997 meters Centerline goodness [0,1] 0.6313465783664459 Centerline is valid? [False, False] Translation: X:4.26, Y:0.31, Z:0.63 [[ 0.85111183 0.06001137 -0.52154318 4.25504893] [-0.07617271 0.9970486 -0.00958164 0.30936477] [ 0.51942889 0.04788241 0.85317109 0.62952646] [ 0. 0. 0. 1. ]] SLAMing on 162.67800114499997 meters Centerline goodness [0,1] 0.6173060779998638 Centerline is valid? [False, False] Translation: X:4.25, Y:0.31, Z:0.63 [[ 0.85117148 0.05930454 -0.52152668 4.25439592] [-0.07562835 0.99708543 -0.01004934 0.310039 ] [ 0.51941069 0.04799592 0.85317579 0.62966406] [ 0. 0. 0. 1. ]] SLAMing on 162.70800114499997 meters Centerline goodness [0,1] 0.5777717057176037 Centerline is valid? [False, False] Translation: X:4.25, Y:0.31, Z:0.63 [[ 0.85121811 0.05856309 -0.52153437 4.25383464] [-0.07509975 0.99711961 -0.01060689 0.31081961] [ 0.51941098 0.04819588 0.85316434 0.62990244] [ 0. 0. 0. 1. ]] SLAMing on 162.73800114499997 meters Centerline goodness [0,1] 0.5884456796592022 Centerline is valid? [False, False] Translation: X:4.25, Y:0.31, Z:0.63 [[ 0.85124745 0.05772297 -0.52158013 4.2529867 ] [-0.07450989 0.99715682 -0.01124948 0.3117096 ] [ 0.51944783 0.04843897 0.85312813 0.63035748] [ 0. 0. 0. 1. ]] SLAMing on 162.76800114499997 meters Centerline goodness [0,1] 0.5887703818252109 Centerline is valid? [False, False] Translation: X:4.25, Y:0.31, Z:0.63 [[ 0.85145413 0.05604038 -0.52142625 4.25055211] [-0.0733363 0.99722797 -0.01257602 0.31367595] [ 0.51927608 0.04894738 0.85320367 0.63102328] [ 0. 0. 0. 1. ]] SLAMing on 162.79800114499997 meters Centerline goodness [0,1] 0.588364635822263 Centerline is valid? [False, False] Translation: X:4.23, Y:0.32, Z:0.62 [[ 0.85270957 0.05641069 -0.51933055 4.22905576] [-0.0751755 0.9970555 -0.01513156 0.31766602] [ 0.5169478 0.05194376 0.85443948 0.6171996 ] [ 0. 0. 0. 1. ]] SLAMing on 162.82800114499997 meters Centerline goodness [0,1] 0.588364635822263 Centerline is valid? [False, False] Translation: X:4.23, Y:0.32, Z:0.62 [[ 0.85270957 0.05641069 -0.51933055 4.22905576] [-0.0751755 0.9970555 -0.01513156 0.31766602] [ 0.5169478 0.05194376 0.85443948 0.6171996 ] [ 0. 0. 0. 1. ]] SLAMing on 162.85800114499997 meters Centerline goodness [0,1] 0.5871607873619715 Centerline is valid? [False, False] Translation: X:4.23, Y:0.32, Z:0.62 [[ 0.8526842 0.05618908 -0.51939623 4.22898513] [-0.07499456 0.99706728 -0.01525307 0.31732213] [ 0.51701593 0.05195794 0.85439739 0.61731045] [ 0. 0. 0. 1. ]] SLAMing on 162.88800114499998 meters Centerline goodness [0,1] 0.576214979988565 Centerline is valid? [False, False] Translation: X:4.23, Y:0.32, Z:0.62 [[ 0.85266952 0.05608083 -0.51943203 4.22927446] [-0.07489736 0.99707391 -0.0152974 0.31715383] [ 0.51705423 0.05194771 0.85437484 0.61722774] [ 0. 0. 0. 1. ]] SLAMing on 162.91800114499998 meters Centerline goodness [0,1] 0.5693547648486514 Centerline is valid? [False, False] Translation: X:4.23, Y:0.32, Z:0.62 [[ 0.85260934 0.05571011 -0.51957069 4.22921208] [-0.07471978 0.99708091 -0.01570391 0.31849067] [ 0.51717915 0.05221151 0.85428314 0.61772391] [ 0. 0. 0. 1. ]] SLAMing on 162.94800114499998 meters Centerline goodness [0,1] 0.5700134971290005 Centerline is valid? [False, False] Translation: X:4.23, Y:0.32, Z:0.62 [[ 0.85251058 0.05546317 -0.51975913 4.22910947] [-0.07461457 0.99708432 -0.01598482 0.31901547] [ 0.51735711 0.05240883 0.8541633 0.61829177] [ 0. 0. 0. 1. ]] SLAMing on 162.97800114499998 meters Centerline goodness [0,1] 0.5653060289536376 Centerline is valid? [False, False] Translation: X:4.23, Y:0.32, Z:0.62 [[ 0.85246371 0.05537988 -0.51984487 4.22898119] [-0.07454922 0.99708853 -0.01602759 0.3186459 ] [ 0.51744375 0.05241697 0.85411031 0.6185282 ] [ 0. 0. 0. 1. ]] SLAMing on 163.00800114499998 meters Centerline goodness [0,1] 0.5882998171846435 Centerline is valid? [False, False] Translation: X:4.23, Y:0.32, Z:0.62 [[ 0.8524148 0.05538444 -0.51992458 4.22887908] [-0.07448898 0.99709491 -0.01590993 0.31756291] [ 0.51753299 0.05229051 0.85406399 0.61862994] [ 0. 0. 0. 1. ]] SLAMing on 163.03800114499998 meters Centerline goodness [0,1] 0.5535387710314558 Centerline is valid? [False, False] Translation: X:4.23, Y:0.32, Z:0.62 [[ 0.85233887 0.05550916 -0.52003575 4.22923933] [-0.07460792 0.99708694 -0.01585231 0.31743644] [ 0.5176409 0.05231033 0.85399738 0.61880029] [ 0. 0. 0. 1. ]] SLAMing on 163.06800114499998 meters Centerline goodness [0,1] 0.5556678534512461 Centerline is valid? [False, False] Translation: X:4.23, Y:0.32, Z:0.62 [[ 0.85224628 0.05541119 -0.52019792 4.22899487] [-0.07461904 0.9970831 -0.01604051 0.31768948] [ 0.51779173 0.05248714 0.85389509 0.61938407] [ 0. 0. 0. 1. ]] SLAMing on 163.09800114499998 meters Centerline goodness [0,1] 0.5495495495495495 Centerline is valid? [False, False] Translation: X:4.23, Y:0.32, Z:0.62 [[ 0.85214659 0.05524375 -0.52037901 4.22871277] [-0.07457445 0.99708274 -0.01626849 0.31797693] [ 0.51796219 0.05267012 0.85378043 0.62002657] [ 0. 0. 0. 1. ]] SLAMing on 163.12800114499998 meters Centerline goodness [0,1] 0.5625414086952549 Centerline is valid? [False, False] Translation: X:4.23, Y:0.32, Z:0.62 [[ 0.85209696 0.05515663 -0.52046951 4.22813216] [-0.07455657 0.99708198 -0.01639624 0.3182189 ] [ 0.51804641 0.05277561 0.85372282 0.62057876] [ 0. 0. 0. 1. ]] SLAMing on 163.158001145 meters Centerline goodness [0,1] 0.5405015788751086 Centerline is valid? [False, False] Translation: X:4.23, Y:0.32, Z:0.62 [[ 0.85193396 0.05552631 -0.520697 4.22888238] [-0.07480494 0.99706876 -0.01606562 0.3171927 ] [ 0.51827865 0.05263755 0.85359038 0.62075876] [ 0. 0. 0. 1. ]] SLAMing on 163.188001145 meters Centerline goodness [0,1] 0.5708934770692491 Centerline is valid? [False, False] Translation: X:4.23, Y:0.32, Z:0.62 [[ 0.85183626 0.05590531 -0.52081626 4.22969188] [-0.07500507 0.99706033 -0.01565056 0.31575339] [ 0.51841028 0.05239558 0.85352533 0.62057238] [ 0. 0. 0. 1. ]] SLAMing on 163.218001145 meters Centerline goodness [0,1] 0.5715559212782007 Centerline is valid? [False, False] Translation: X:4.23, Y:0.31, Z:0.62 [[ 0.85169006 0.05677147 -0.52096165 4.23117079] [-0.07540201 0.99704606 -0.01461792 0.31285649] [ 0.51859288 0.05173149 0.8534549 0.61990631] [ 0. 0. 0. 1. ]] SLAMing on 163.24800114499996 meters Centerline goodness [0,1] 0.5499794511164893 Centerline is valid? [False, False] Translation: X:4.23, Y:0.31, Z:0.62 [[ 0.85153022 0.05696481 -0.52120178 4.23157572] [-0.07554409 0.99703774 -0.01445124 0.31230058] [ 0.51883463 0.05167939 0.85331112 0.62028133] [ 0. 0. 0. 1. ]] SLAMing on 163.27800114499996 meters Centerline goodness [0,1] 0.5929569107175461 Centerline is valid? [False, False] Translation: X:4.23, Y:0.31, Z:0.62 [[ 0.85145367 0.05718459 -0.52130276 4.23168276] [-0.07567485 0.99703099 -0.01423131 0.31152811] [ 0.5189412 0.05156681 0.85325313 0.62045974] [ 0. 0. 0. 1. ]] SLAMing on 163.30800114499996 meters Centerline goodness [0,1] 0.6099695413010865 Centerline is valid? [False, False] Translation: X:4.23, Y:0.31, Z:0.62 [[ 0.85132038 0.05760474 -0.52147416 4.23215339] [-0.07589336 0.99702097 -0.01376181 0.31002117] [ 0.51912793 0.05129214 0.85315609 0.62053398] [ 0. 0. 0. 1. ]] SLAMing on 163.33800114499996 meters Centerline goodness [0,1] 0.6033130891950689 Centerline is valid? [False, False] Translation: X:4.23, Y:0.31, Z:0.62 [[ 0.85132367 0.05778274 -0.5214491 4.23116989] [-0.07583705 0.99703113 -0.01332955 0.30704357] [ 0.51913077 0.05089292 0.85317827 0.62054079] [ 0. 0. 0. 1. ]] SLAMing on 163.36800114499997 meters Centerline goodness [0,1] 0.5986988257695969 Centerline is valid? [False, False] Translation: X:4.23, Y:0.31, Z:0.62 [[ 0.85127057 0.05792536 -0.52151997 4.23077989] [-0.0758526 0.99703335 -0.01307249 0.30557632] [ 0.51921557 0.05068687 0.85313893 0.62073064] [ 0. 0. 0. 1. ]] SLAMing on 163.39800114499997 meters Centerline goodness [0,1] 0.5946550905514482 Centerline is valid? [False, False] Translation: X:4.23, Y:0.30, Z:0.62 [[ 0.85126139 0.05798873 -0.52152789 4.23026895] [-0.07578457 0.99704157 -0.01283787 0.30402977] [ 0.51924054 0.05045215 0.85313765 0.62081023] [ 0. 0. 0. 1. ]] SLAMing on 163.42800114499997 meters Centerline goodness [0,1] 0.5962484555767719 Centerline is valid? [False, False] Translation: X:4.23, Y:0.30, Z:0.62 [[ 0.85132375 0.05806873 -0.52141721 4.22881065] [-0.07559363 0.99706182 -0.01238266 0.30073793] [ 0.51916614 0.04995747 0.85321203 0.62076225] [ 0. 0. 0. 1. ]] SLAMing on 163.45800114499997 meters Centerline goodness [0,1] 0.5836486486486486 Centerline is valid? [False, False] Translation: X:4.23, Y:0.30, Z:0.62 [[ 0.85124423 0.05849936 -0.52149888 4.22884658] [-0.07582299 0.99705002 -0.01192159 0.29875238] [ 0.51926306 0.04968979 0.85316868 0.62081542] [ 0. 0. 0. 1. ]] SLAMing on 163.48800114499997 meters Centerline goodness [0,1] 0.5769954734907901 Centerline is valid? [False, False] Translation: X:4.23, Y:0.30, Z:0.62 [[ 0.85112071 0.05896269 -0.52164829 4.22912912] [-0.07610691 0.99703358 -0.01147974 0.29693367] [ 0.51942399 0.04947169 0.85308339 0.62096888] [ 0. 0. 0. 1. ]] SLAMing on 163.51800114499997 meters Centerline goodness [0,1] 0.5935752315332647 Centerline is valid? [False, False] Translation: X:4.23, Y:0.29, Z:0.62 [[ 0.85098751 0.05952399 -0.52180183 4.22947598] [-0.07644829 0.99701349 -0.01094346 0.29498518] [ 0.51959207 0.04920361 0.85299654 0.62109824] [ 0. 0. 0. 1. ]] SLAMing on 163.54800114499997 meters Centerline goodness [0,1] 0.6192920471968535 Centerline is valid? [False, False] Translation: X:4.23, Y:0.29, Z:0.62 [[ 0.85082894 0.06057125 -0.52193988 4.23015338] [-0.07698838 0.99698382 -0.00980072 0.2914069 ] [ 0.51977197 0.04852204 0.85292597 0.62084146] [ 0. 0. 0. 1. ]] SLAMing on 163.57800114499997 meters Centerline goodness [0,1] 0.5767644058022445 Centerline is valid? [False, False] Translation: X:4.23, Y:0.29, Z:0.62 [[ 0.85064502 0.06107282 -0.52218116 4.2305833 ] [-0.07735271 0.9969594 -0.00940779 0.29056133] [ 0.52001886 0.04839482 0.8527827 0.62128342] [ 0. 0. 0. 1. ]] SLAMing on 163.60800114499997 meters Centerline goodness [0,1] 0.6229114290163971 Centerline is valid? [False, False] Translation: X:4.23, Y:0.29, Z:0.62 [[ 0.85046363 0.06140844 -0.52243719 4.23056466] [-0.0776658 0.99693655 -0.00924824 0.29018337] [ 0.52026881 0.04844079 0.85262762 0.62202565] [ 0. 0. 0. 1. ]] SLAMing on 163.63800114499998 meters Centerline goodness [0,1] 0.6028645544642264 Centerline is valid? [False, False] Translation: X:4.23, Y:0.29, Z:0.62 [[ 0.85023719 0.06197751 -0.52273848 4.23107092] [-0.07813112 0.9969035 -0.00888471 0.28940062] [ 0.52056917 0.04839625 0.8524468 0.6226368 ] [ 0. 0. 0. 1. ]] SLAMing on 163.66800114499998 meters Centerline goodness [0,1] 0.6279797576241843 Centerline is valid? [False, False] Translation: X:4.23, Y:0.29, Z:0.62 [[ 0.85001075 0.06330795 -0.52294726 4.23199524] [-0.07896708 0.99684767 -0.00767665 0.28594778] [ 0.52081276 0.04782085 0.85233047 0.62256346] [ 0. 0. 0. 1. ]] SLAMing on 163.69800114499998 meters Centerline goodness [0,1] 0.6063650849858357 Centerline is valid? [False, False] Translation: X:4.23, Y:0.28, Z:0.62 [[ 0.84989883 0.06381506 -0.52306751 4.2325339 ] [-0.07928087 0.99682629 -0.00720402 0.28433187] [ 0.52094772 0.04759193 0.8522608 0.62256914] [ 0. 0. 0. 1. ]] SLAMing on 163.72800114499998 meters Centerline goodness [0,1] 0.6483506771834471 Centerline is valid? [False, False] Translation: X:4.23, Y:0.28, Z:0.62 [[ 0.84979143 0.06416454 -0.52319923 4.23279842] [-0.07949321 0.99681176 -0.00686675 0.28292499] [ 0.52109054 0.04742609 0.85218274 0.62274133] [ 0. 0. 0. 1. ]] SLAMing on 163.75800114499998 meters Centerline goodness [0,1] 0.5992708793636765 Centerline is valid? [False, False] Translation: X:4.23, Y:0.28, Z:0.62 [[ 0.84966046 0.06492024 -0.52331871 4.23337778] [-0.07988455 0.9967858 -0.00604444 0.28060011] [ 0.52124425 0.0469408 0.8521156 0.62260619] [ 0. 0. 0. 1. ]] SLAMing on 163.78800114499998 meters Centerline goodness [0,1] 0.6530229064964326 Centerline is valid? [False, False] Translation: X:4.23, Y:0.28, Z:0.62 [[ 0.84956365 0.06512656 -0.52345023 4.23364125] [-0.07999113 0.99677865 -0.00580914 0.27960398] [ 0.52138568 0.04680662 0.85203645 0.6227527 ] [ 0. 0. 0. 1. ]] SLAMing on 163.81800114499998 meters Centerline goodness [0,1] 0.5919237191317339 Centerline is valid? [False, False] Translation: X:4.23, Y:0.28, Z:0.62 [[ 0.84943108 0.06547661 -0.52362167 4.23396021] [-0.08019941 0.99676388 -0.00546033 0.27840682] [ 0.52156964 0.04663233 0.85193341 0.62297377] [ 0. 0. 0. 1. ]] SLAMing on 163.84800114499998 meters Centerline goodness [0,1] 0.6078401162150859 Centerline is valid? [False, False] Translation: X:4.23, Y:0.28, Z:0.62 [[ 0.84934721 0.06560934 -0.52374109 4.23391772] [-0.08025947 0.99675996 -0.00529154 0.27731119] [ 0.52169697 0.04652954 0.85186106 0.62321519] [ 0. 0. 0. 1. ]] SLAMing on 163.87800114499998 meters Centerline goodness [0,1] 0.6411254839845125 Centerline is valid? [False, False] Translation: X:4.23, Y:0.28, Z:0.62 [[ 0.84932268 0.06570278 -0.52376917 4.23275931] [-0.08020534 0.99676572 -0.00502118 0.27506124] [ 0.52174524 0.04627368 0.85184544 0.62357277] [ 0. 0. 0. 1. ]] SLAMing on 163.908001145 meters Centerline goodness [0,1] 0.6348206474190726 Centerline is valid? [False, False] Translation: X:4.23, Y:0.27, Z:0.62 [[ 0.8493439 0.06576326 -0.52372715 4.2322583 ] [-0.08016653 0.9967697 -0.00484629 0.27386778] [ 0.52171665 0.04610156 0.85187228 0.62361596] [ 0. 0. 0. 1. ]] SLAMing on 163.938001145 meters Centerline goodness [0,1] 0.631811423073559 Centerline is valid? [False, False] Translation: X:4.23, Y:0.27, Z:0.62 [[ 0.84927325 0.06594499 -0.52381887 4.23206499] [-0.08021666 0.99676697 -0.00457042 0.2724839 ] [ 0.52182395 0.04590053 0.85181741 0.62379439] [ 0. 0. 0. 1. ]] SLAMing on 163.968001145 meters Centerline goodness [0,1] 0.6272009449025568 Centerline is valid? [False, False] Translation: X:4.23, Y:0.27, Z:0.62 [[ 0.84924694 0.06608623 -0.52384373 4.23166544] [-0.08022302 0.99676763 -0.00430766 0.27103831] [ 0.52186579 0.0456826 0.85180349 0.62390793] [ 0. 0. 0. 1. ]] SLAMing on 163.99800114499996 meters Centerline goodness [0,1] 0.6586554146638537 Centerline is valid? [False, False] Translation: X:4.23, Y:0.27, Z:0.62 [[ 8.49317698e-01 6.61002045e-02 -5.23727229e-01 4.23046759e+00] [-7.99819660e-02 9.96788684e-01 -3.89928827e-03 2.67510454e-01] [ 5.21787632e-01 4.52004680e-02 8.51877095e-01 6.23722438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02800114499996 meters Centerline goodness [0,1] 0.6184036294961686 Centerline is valid? [False, False] Translation: X:4.23, Y:0.27, Z:0.62 [[ 8.49283036e-01 6.63450823e-02 -5.23752474e-01 4.23033264e+00] [-8.00080592e-02 9.96788176e-01 -3.47013904e-03 2.65439911e-01] [ 5.21840047e-01 4.48515492e-02 8.51863430e-01 6.23651037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05800114499996 meters Centerline goodness [0,1] 0.6436992969172526 Centerline is valid? [False, False] Translation: X:4.23, Y:0.26, Z:0.62 [[ 8.49308618e-01 6.66261019e-02 -5.23675313e-01 4.22998784e+00] [-7.98369158e-02 9.96804390e-01 -2.66002582e-03 2.61287152e-01] [ 5.21824624e-01 4.40678047e-02 8.51913781e-01 6.23084453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08800114499996 meters Centerline goodness [0,1] 0.6396528964965051 Centerline is valid? [False, False] Translation: X:4.23, Y:0.26, Z:0.62 [[ 8.49299481e-01 6.67653340e-02 -5.23672399e-01 4.22986678e+00] [-7.97730038e-02 9.96810427e-01 -2.28919766e-03 2.59441089e-01] [ 5.21849269e-01 4.37191347e-02 8.51916650e-01 6.22945071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11800114499997 meters Centerline goodness [0,1] 0.6329444804493412 Centerline is valid? [False, False] Translation: X:4.23, Y:0.26, Z:0.62 [[ 8.49253910e-01 6.68348775e-02 -5.23737430e-01 4.22957564e+00] [-7.96957572e-02 9.96817181e-01 -2.02349340e-03 2.57991258e-01] [ 5.21935229e-01 4.34581107e-02 8.51877344e-01 6.23068771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14800114499997 meters Centerline goodness [0,1] 0.6307194477402653 Centerline is valid? [False, False] Translation: X:4.23, Y:0.26, Z:0.62 [[ 8.49222289e-01 6.69528118e-02 -5.23773639e-01 4.22904988e+00] [-7.96694725e-02 9.96819797e-01 -1.75114491e-03 2.56393948e-01] [ 5.21990688e-01 4.32158808e-02 8.51855686e-01 6.23250562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17800114499997 meters Centerline goodness [0,1] 0.6614603502431049 Centerline is valid? [False, False] Translation: X:4.23, Y:0.25, Z:0.62 [[ 8.49361794e-01 6.68645484e-02 -5.23558664e-01 4.22730285e+00] [-7.93225803e-02 9.96848052e-01 -1.37477312e-03 2.52305859e-01] [ 5.21816511e-01 4.26977040e-02 8.51988518e-01 6.23026529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20800114499997 meters Centerline goodness [0,1] 0.671217316759537 Centerline is valid? [False, False] Translation: X:4.23, Y:0.25, Z:0.62 [[ 8.49306679e-01 6.74354741e-02 -5.23574848e-01 4.22763792e+00] [-7.95733808e-02 9.96828773e-01 -6.88694021e-04 2.49638078e-01] [ 5.21868031e-01 4.22475331e-02 8.51979404e-01 6.22760075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.23800114499997 meters Centerline goodness [0,1] 0.6644184652278178 Centerline is valid? [False, False] Translation: X:4.23, Y:0.25, Z:0.62 [[ 8.49293586e-01 6.77628570e-02 -5.23553817e-01 4.22757387e+00] [-7.96980966e-02 9.96819012e-01 -2.66979539e-04 2.47741318e-01] [ 5.21870307e-01 4.19529867e-02 8.51992564e-01 6.22613191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.26800114499997 meters Centerline goodness [0,1] 0.6681045528316392 Centerline is valid? [False, False] Translation: X:4.23, Y:0.25, Z:0.62 [[ 8.49213576e-01 6.81608899e-02 -5.23631927e-01 4.22771066e+00] [-7.99439516e-02 9.96799355e-01 1.01678386e-04 2.46441795e-01] [ 5.21962898e-01 4.17748588e-02 8.51944596e-01 6.22745075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.29800114499997 meters Centerline goodness [0,1] 0.6603640558902705 Centerline is valid? [False, False] Translation: X:4.23, Y:0.24, Z:0.62 [[ 8.49077861e-01 7.30950460e-02 -5.23186296e-01 4.22573607e+00] [-8.32776501e-02 9.96518057e-01 4.07373861e-03 2.44206914e-01] [ 5.21662361e-01 4.01108040e-02 8.52208604e-01 6.22731249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.32800114499997 meters Centerline goodness [0,1] 0.6630890276233644 Centerline is valid? [False, False] Translation: X:4.23, Y:0.24, Z:0.62 [[ 0.84887859 0.07362821 -0.52343484 4.22634125] [-0.08376965 0.9964758 0.00431471 0.24409908] [ 0.52190784 0.04018529 0.85205478 0.62326495] [ 0. 0. 0. 1. ]] SLAMing on 164.35800114499997 meters Centerline goodness [0,1] 0.675919411576591 Centerline is valid? [False, False] Translation: X:4.23, Y:0.24, Z:0.62 [[ 0.84867104 0.07421408 -0.52368858 4.22690985] [-0.08425449 0.99643333 0.00466886 0.24354983] [ 0.52216725 0.04016079 0.85189698 0.62375113] [ 0. 0. 0. 1. ]] SLAMing on 164.38800114499998 meters Centerline goodness [0,1] 0.6682517005352155 Centerline is valid? [False, False] Translation: X:4.23, Y:0.24, Z:0.62 [[ 0.84852982 0.0757616 -0.52369583 4.22749934] [-0.08543077 0.99632772 0.00571483 0.2416079 ] [ 0.52220563 0.03989054 0.85188616 0.62385427] [ 0. 0. 0. 1. ]] SLAMing on 164.41800114499998 meters Centerline goodness [0,1] 0.6772384080535767 Centerline is valid? [False, False] Translation: X:4.23, Y:0.24, Z:0.62 [[ 0.8484042 0.07633847 -0.52381557 4.22792313] [-0.0858979 0.99628546 0.00606849 0.24069522] [ 0.5223331 0.03984612 0.85181009 0.62409346] [ 0. 0. 0. 1. ]] SLAMing on 164.44800114499998 meters Centerline goodness [0,1] 0.6928168564435457 Centerline is valid? [False, False] Translation: X:4.23, Y:0.24, Z:0.62 [[ 0.84830483 0.07668482 -0.5239259 4.22790299] [-0.0862011 0.99625817 0.00624719 0.24016867] [ 0.52244452 0.03986347 0.85174094 0.62445933] [ 0. 0. 0. 1. ]] SLAMing on 164.47800114499998 meters Centerline goodness [0,1] 0.6848261462416908 Centerline is valid? [False, False] Translation: X:4.23, Y:0.24, Z:0.62 [[ 0.84822621 0.07690412 -0.52402104 4.22779854] [-0.08639163 0.99624092 0.00636498 0.23981316] [ 0.5225407 0.03987209 0.85168154 0.62481248] [ 0. 0. 0. 1. ]] SLAMing on 164.50800114499998 meters Centerline goodness [0,1] 0.6790472947086118 Centerline is valid? [False, False] Translation: X:4.23, Y:0.24, Z:0.62 [[ 0.84822167 0.07718496 -0.52398709 4.2273371 ] [-0.08657002 0.99622385 0.0066088 0.2388604 ] [ 0.52251854 0.03975585 0.85170056 0.62498253] [ 0. 0. 0. 1. ]] SLAMing on 164.53800114499998 meters Centerline goodness [0,1] 0.6831697920435921 Centerline is valid? [False, False] Translation: X:4.23, Y:0.24, Z:0.63 [[ 0.84804149 0.07773621 -0.52419721 4.22840296] [-0.08695249 0.99618745 0.00705941 0.2379934 ] [ 0.52274745 0.03959358 0.85156764 0.62504201] [ 0. 0. 0. 1. ]] SLAMing on 164.56800114499998 meters Centerline goodness [0,1] 0.7074163240087777 Centerline is valid? [False, False] Translation: X:4.23, Y:0.24, Z:0.62 [[ 0.8478806 0.07842738 -0.52435449 4.22973157] [-0.08740829 0.99614317 0.00765341 0.23687178] [ 0.52293238 0.03934375 0.85146568 0.62484202] [ 0. 0. 0. 1. ]] SLAMing on 164.59800114499998 meters Centerline goodness [0,1] 0.7120142844996173 Centerline is valid? [False, False] Translation: X:4.23, Y:0.24, Z:0.62 [[ 0.84769584 0.07927964 -0.52452503 4.2305066 ] [-0.08799906 0.99608567 0.00833684 0.23501396] [ 0.52313281 0.0390906 0.85135421 0.62494966] [ 0. 0. 0. 1. ]] SLAMing on 164.62800114499998 meters Centerline goodness [0,1] 0.7061426838868912 Centerline is valid? [False, False] Translation: X:4.23, Y:0.23, Z:0.63 [[ 0.84761385 0.07931937 -0.52465149 4.23025177] [-0.08803594 0.99608218 0.00836389 0.2345101 ] [ 0.52325943 0.03909884 0.85127602 0.6253634 ] [ 0. 0. 0. 1. ]] SLAMing on 164.658001145 meters Centerline goodness [0,1] 0.7060835209652067 Centerline is valid? [False, False] Translation: X:4.23, Y:0.23, Z:0.63 [[ 0.84754309 0.07933192 -0.52476391 4.2299862 ] [-0.0880206 0.99608304 0.00842269 0.23381834] [ 0.52337663 0.03905144 0.85120614 0.625698 ] [ 0. 0. 0. 1. ]] SLAMing on 164.688001145 meters Centerline goodness [0,1] 0.7027846705266061 Centerline is valid? [False, False] Translation: X:4.23, Y:0.23, Z:0.63 [[ 0.84748267 0.07935601 -0.52485783 4.22981987] [-0.08797988 0.99608562 0.00854319 0.2329208 ] [ 0.52348129 0.03893673 0.85114703 0.6259134 ] [ 0. 0. 0. 1. ]] SLAMing on 164.718001145 meters Centerline goodness [0,1] 0.6974617355039482 Centerline is valid? [False, False] Translation: X:4.23, Y:0.23, Z:0.63 [[ 0.84752129 0.07913963 -0.52482814 4.22917603] [-0.08759343 0.99611783 0.00875544 0.23082905] [ 0.52348357 0.03855108 0.85116318 0.62579369] [ 0. 0. 0. 1. ]] SLAMing on 164.74800114499996 meters Centerline goodness [0,1] 0.6974617355039482 Centerline is valid? [False, False] Translation: X:4.23, Y:0.23, Z:0.63 [[ 0.84752129 0.07913963 -0.52482814 4.22917603] [-0.08759343 0.99611783 0.00875544 0.23082905] [ 0.52348357 0.03855108 0.85116318 0.62579369] [ 0. 0. 0. 1. ]] SLAMing on 164.77800114499996 meters Centerline goodness [0,1] 0.6918571458778255 Centerline is valid? [False, False] Translation: X:4.23, Y:0.23, Z:0.63 [[ 0.84753941 0.07877297 -0.52485404 4.22866683] [-0.08722276 0.99615119 0.00865966 0.23006837] [ 0.52351613 0.03843982 0.85114819 0.62591451] [ 0. 0. 0. 1. ]] SLAMing on 164.80800114499996 meters Centerline goodness [0,1] 0.6942329994728519 Centerline is valid? [False, False] Translation: X:4.23, Y:0.23, Z:0.63 [[ 0.84755023 0.07842838 -0.52488818 4.22820595] [-0.08688854 0.99618137 0.00854751 0.22946602] [ 0.52355419 0.03836232 0.85112828 0.62606851] [ 0. 0. 0. 1. ]] SLAMing on 164.83800114499996 meters Centerline goodness [0,1] 0.6796471782722735 Centerline is valid? [False, False] Translation: X:4.21, Y:0.23, Z:0.61 [[ 0.84903996 0.0791768 -0.52236212 4.20612127] [-0.08816884 0.996076 0.00767138 0.23285317] [ 0.52091977 0.03954276 0.85268926 0.6108276 ] [ 0. 0. 0. 1. ]] SLAMing on 164.86800114499997 meters Centerline goodness [0,1] 0.7123079520513254 Centerline is valid? [False, False] Translation: X:4.20, Y:0.23, Z:0.61 [[ 0.8492917 0.07777869 -0.52216289 4.20367199] [-0.08700671 0.99618403 0.00687107 0.23259348] [ 0.52070475 0.03959613 0.8528181 0.61105918] [ 0. 0. 0. 1. ]] SLAMing on 164.89800114499997 meters Centerline goodness [0,1] 0.6601857898173699 Centerline is valid? [False, False] Translation: X:4.20, Y:0.23, Z:0.61 [[ 0.84931062 0.07754284 -0.5221672 4.2034709 ] [-0.08674644 0.99620691 0.00684463 0.23165315] [ 0.52071733 0.03948293 0.85281567 0.61101073] [ 0. 0. 0. 1. ]] SLAMing on 164.92800114499997 meters Centerline goodness [0,1] 0.7019801980198019 Centerline is valid? [False, False] Translation: X:4.20, Y:0.23, Z:0.61 [[ 0.84930813 0.07757365 -0.52216667 4.20352879] [-0.08665131 0.99621369 0.00705956 0.23019422] [ 0.52073722 0.03925068 0.85281424 0.61083379] [ 0. 0. 0. 1. ]] SLAMing on 164.95800114499997 meters Centerline goodness [0,1] 0.6924725309355239 Centerline is valid? [False, False] Translation: X:4.20, Y:0.23, Z:0.61 [[ 0.84929178 0.07697131 -0.52228238 4.2031289 ] [-0.08620549 0.99625523 0.00664288 0.23071704] [ 0.52083787 0.03938187 0.85274673 0.61117238] [ 0. 0. 0. 1. ]] SLAMing on 164.98800114499997 meters Centerline goodness [0,1] 0.6918098450511225 Centerline is valid? [False, False] Translation: X:4.20, Y:0.23, Z:0.61 [[ 0.84922118 0.08112572 -0.52176816 4.20130387] [-0.08898446 0.99598253 0.01002804 0.23021907] [ 0.5204855 0.03791323 0.85302839 0.61099348] [ 0. 0. 0. 1. ]] SLAMing on 165.01800114499997 meters Centerline goodness [0,1] 0.6954176761824502 Centerline is valid? [False, False] Translation: X:4.20, Y:0.23, Z:0.61 [[ 0.84912359 0.08078194 -0.52198028 4.20131439] [-0.08883678 0.99599967 0.00962753 0.23156358] [ 0.52066991 0.03819609 0.85290322 0.61160476] [ 0. 0. 0. 1. ]] SLAMing on 165.04800114499997 meters Centerline goodness [0,1] 0.7048888888888889 Centerline is valid? [False, False] Translation: X:4.20, Y:0.23, Z:0.61 [[ 0.84905452 0.08050583 -0.52213526 4.20134874] [-0.08873549 0.99601203 0.00927634 0.2324588 ] [ 0.5207998 0.03845581 0.85281224 0.61205578] [ 0. 0. 0. 1. ]] SLAMing on 165.07800114499997 meters Centerline goodness [0,1] 0.6857191208512259 Centerline is valid? [False, False] Translation: X:4.20, Y:0.23, Z:0.61 [[ 0.84900473 0.08069511 -0.522187 4.20148991] [-0.08897684 0.99599075 0.00924924 0.23205396] [ 0.52083979 0.0386099 0.85278085 0.61221963] [ 0. 0. 0. 1. ]] SLAMing on 165.10800114499997 meters Centerline goodness [0,1] 0.6921302175937685 Centerline is valid? [False, False] Translation: X:4.20, Y:0.23, Z:0.61 [[ 0.84889289 0.08082883 -0.52234813 4.2019138 ] [-0.0891641 0.99597433 0.00921353 0.23220286] [ 0.52099005 0.03875339 0.85268256 0.61250074] [ 0. 0. 0. 1. ]] SLAMing on 165.13800114499998 meters Centerline goodness [0,1] 0.6827118644067797 Centerline is valid? [False, False] Translation: X:4.20, Y:0.23, Z:0.61 [[ 0.8487564 0.08524395 -0.52186784 4.2006338 ] [-0.09225057 0.9956561 0.01259972 0.23199444] [ 0.52067495 0.03744851 0.85293329 0.6123713 ] [ 0. 0. 0. 1. ]] SLAMing on 165.16800114499998 meters Centerline goodness [0,1] 0.717310881489986 Centerline is valid? [False, False] Translation: X:4.20, Y:0.24, Z:0.61 [[ 0.84852121 0.08951828 -0.5215345 4.19953038] [-0.09551262 0.99530843 0.01544253 0.23525013] [ 0.52047008 0.03670981 0.85309043 0.61295109] [ 0. 0. 0. 1. ]] SLAMing on 165.19800114499998 meters Centerline goodness [0,1] 0.7094987538078095 Centerline is valid? [False, False] Translation: X:4.20, Y:0.24, Z:0.61 [[ 0.84837992 0.08947888 -0.52177106 4.20023775] [-0.09570261 0.99529581 0.01507516 0.2371687 ] [ 0.52066546 0.03714539 0.85295234 0.61351311] [ 0. 0. 0. 1. ]] SLAMing on 165.22800114499998 meters Centerline goodness [0,1] 0.7174881203520211 Centerline is valid? [False, False] Translation: X:4.20, Y:0.24, Z:0.61 [[ 0.84819563 0.08953401 -0.52206114 4.20093982] [-0.09589941 0.99527976 0.01488317 0.23800765] [ 0.52092943 0.03744151 0.8527782 0.61407525] [ 0. 0. 0. 1. ]] SLAMing on 165.25800114499998 meters Centerline goodness [0,1] 0.7162486971688682 Centerline is valid? [False, False] Translation: X:4.20, Y:0.24, Z:0.61 [[ 0.84808541 0.0896701 -0.52221683 4.20200285] [-0.09618863 0.9952548 0.01468437 0.23891832] [ 0.52105555 0.03777772 0.85268632 0.61419691] [ 0. 0. 0. 1. ]] SLAMing on 165.28800114499998 meters Centerline goodness [0,1] 0.7348096944871139 Centerline is valid? [False, False] Translation: X:4.20, Y:0.24, Z:0.61 [[ 0.84799964 0.08945862 -0.52239235 4.20224402] [-0.09624092 0.99525666 0.01420776 0.24037473] [ 0.52118547 0.03822735 0.85258687 0.61473954] [ 0. 0. 0. 1. ]] SLAMing on 165.31800114499998 meters Centerline goodness [0,1] 0.7180061428205784 Centerline is valid? [False, False] Translation: X:4.20, Y:0.24, Z:0.62 [[ 0.8478801 0.08944013 -0.52258952 4.20252425] [-0.09644267 0.99524205 0.01385935 0.2420576 ] [ 0.52134264 0.03864887 0.85247177 0.61537338] [ 0. 0. 0. 1. ]] SLAMing on 165.34800114499998 meters Centerline goodness [0,1] 0.7219672551070506 Centerline is valid? [False, False] Translation: X:4.20, Y:0.24, Z:0.62 [[ 0.84777468 0.0893585 -0.52277447 4.20310232] [-0.09662536 0.99523034 0.01342022 0.24419752] [ 0.52148023 0.03913595 0.85236539 0.61592286] [ 0. 0. 0. 1. ]] SLAMing on 165.37800114499998 meters Centerline goodness [0,1] 0.7125784412413527 Centerline is valid? [False, False] Translation: X:4.20, Y:0.24, Z:0.62 [[ 0.84758791 0.09338069 -0.52237418 4.2016617 ] [-0.09950134 0.99490222 0.01640303 0.2449924 ] [ 0.52124296 0.03807392 0.85255859 0.61611149] [ 0. 0. 0. 1. ]] SLAMing on 165.408001145 meters Centerline goodness [0,1] 0.718566593839695 Centerline is valid? [False, False] Translation: X:4.20, Y:0.25, Z:0.62 [[ 0.84733559 0.09780148 -0.5219744 4.20098666] [-0.10280635 0.99451118 0.01945151 0.24713073] [ 0.52101176 0.03718032 0.85273933 0.61627498] [ 0. 0. 0. 1. ]] SLAMing on 165.438001145 meters Centerline goodness [0,1] 0.7226316466001115 Centerline is valid? [False, False] Translation: X:4.20, Y:0.25, Z:0.62 [[ 0.84718547 0.09776408 -0.52222501 4.20178017] [-0.10295592 0.99450145 0.01915604 0.24854345] [ 0.5212263 0.03753744 0.85259257 0.6167339 ] [ 0. 0. 0. 1. ]] SLAMing on 165.468001145 meters Centerline goodness [0,1] 0.766635185026187 Centerline is valid? [False, False] Translation: X:4.20, Y:0.25, Z:0.62 [[ 0.84699962 0.0976653 -0.52254485 4.20266266] [-0.10302869 0.99449929 0.01887458 0.24969189] [ 0.52151388 0.03785035 0.85240285 0.61721768] [ 0. 0. 0. 1. ]] SLAMing on 165.49800114499996 meters Centerline goodness [0,1] 0.747247311827957 Centerline is valid? [False, False] Translation: X:4.20, Y:0.25, Z:0.62 [[ 0.84700343 0.09698657 -0.5226651 4.20234907] [-0.10286302 0.9945353 0.01785319 0.25301093] [ 0.52154041 0.0386412 0.85235114 0.61803716] [ 0. 0. 0. 1. ]] SLAMing on 165.52800114499996 meters Centerline goodness [0,1] 0.756083379990525 Centerline is valid? [False, False] Translation: X:4.20, Y:0.26, Z:0.62 [[ 0.84689668 0.09648803 -0.52293028 4.2024572 ] [-0.10268432 0.99456507 0.01721188 0.25504885] [ 0.52174893 0.03912006 0.85220166 0.61877303] [ 0. 0. 0. 1. ]] SLAMing on 165.55800114499996 meters Centerline goodness [0,1] 0.7575626900105651 Centerline is valid? [False, False] Translation: X:4.20, Y:0.26, Z:0.62 [[ 0.84682653 0.09598631 -0.52313617 4.20251372] [-0.10245838 0.99459816 0.01663683 0.25650288] [ 0.52190718 0.03951117 0.85208671 0.61932824] [ 0. 0. 0. 1. ]] SLAMing on 165.58800114499996 meters Centerline goodness [0,1] 0.7438675696012039 Centerline is valid? [False, False] Translation: X:4.20, Y:0.26, Z:0.62 [[ 0.84679091 0.09538329 -0.5233041 4.20314688] [-0.10209799 0.99464431 0.01608395 0.25767111] [ 0.52203558 0.03980855 0.85199421 0.61937943] [ 0. 0. 0. 1. ]] SLAMing on 165.61800114499997 meters Centerline goodness [0,1] 0.739717472759378 Centerline is valid? [False, False] Translation: X:4.20, Y:0.26, Z:0.62 [[ 0.84675286 0.09513715 -0.52341046 4.20367646] [-0.10196431 0.99466194 0.01583982 0.25833009] [ 0.52212342 0.03995677 0.85193344 0.61943497] [ 0. 0. 0. 1. ]] SLAMing on 165.64800114499997 meters Centerline goodness [0,1] 0.7409124229226856 Centerline is valid? [False, False] Translation: X:4.20, Y:0.26, Z:0.62 [[ 0.84668474 0.09465096 -0.52360877 4.20407394] [-0.10171121 0.99469571 0.01533889 0.25960769] [ 0.52228323 0.04026968 0.85182074 0.61978564] [ 0. 0. 0. 1. ]] SLAMing on 165.67800114499997 meters Centerline goodness [0,1] 0.731224869211812 Centerline is valid? [False, False] Translation: X:4.20, Y:0.26, Z:0.62 [[ 0.84661386 0.09419792 -0.52380504 4.20431269] [-0.10149693 0.99472519 0.01483823 0.26087392] [ 0.5224398 0.04060235 0.85170893 0.62019977] [ 0. 0. 0. 1. ]] SLAMing on 165.70800114499997 meters Centerline goodness [0,1] 0.7286115916955017 Centerline is valid? [False, False] Translation: X:4.20, Y:0.26, Z:0.62 [[ 0.84651911 0.09385192 -0.52402025 4.20493833] [-0.10142508 0.99474022 0.01431243 0.26248834] [ 0.52260727 0.04103305 0.85158554 0.62058001] [ 0. 0. 0. 1. ]] SLAMing on 165.73800114499997 meters Centerline goodness [0,1] 0.7312053668037222 Centerline is valid? [False, False] Translation: X:4.21, Y:0.26, Z:0.62 [[ 0.84641376 0.0938563 -0.52418961 4.20577556] [-0.1015301 0.99473161 0.0141654 0.26304241] [ 0.52275749 0.04123123 0.85148376 0.62072825] [ 0. 0. 0. 1. ]] SLAMing on 165.76800114499997 meters Centerline goodness [0,1] 0.7630137875803554 Centerline is valid? [False, False] Translation: X:4.21, Y:0.26, Z:0.62 [[ 0.84629102 0.0937181 -0.52441245 4.20627789] [-0.10156891 0.99473197 0.01385845 0.26401286] [ 0.52294862 0.04153572 0.85135159 0.62117064] [ 0. 0. 0. 1. ]] SLAMing on 165.79800114499997 meters Centerline goodness [0,1] 0.7639263057269488 Centerline is valid? [False, False] Translation: X:4.20, Y:0.27, Z:0.62 [[ 0.84616209 0.09764096 -0.52390454 4.2040474 ] [-0.10453701 0.99438434 0.01648658 0.26667377] [ 0.52257223 0.0408171 0.85161742 0.6217851 ] [ 0. 0. 0. 1. ]] SLAMing on 165.82800114499997 meters Centerline goodness [0,1] 0.7288940182479368 Centerline is valid? [False, False] Translation: X:4.20, Y:0.27, Z:0.62 [[ 0.84591619 0.10193737 -0.52348312 4.20245254] [-0.10762214 0.99399767 0.01964954 0.26752439] [ 0.52234402 0.03971651 0.85180944 0.62212463] [ 0. 0. 0. 1. ]] SLAMing on 165.85800114499997 meters Centerline goodness [0,1] 0.7716447856239368 Centerline is valid? [False, False] Translation: X:4.20, Y:0.27, Z:0.62 [[ 0.84581588 0.10147483 -0.523735 4.20234527] [-0.10751411 0.99402271 0.01896214 0.26960681] [ 0.52252866 0.04027042 0.85167018 0.62298353] [ 0. 0. 0. 1. ]] SLAMing on 165.88800114499998 meters Centerline goodness [0,1] 0.75279993027411 Centerline is valid? [False, False] Translation: X:4.20, Y:0.27, Z:0.62 [[ 0.8457409 0.10100931 -0.52394603 4.20213307] [-0.10727915 0.99405731 0.01847265 0.27042233] [ 0.5226983 0.04058541 0.85155112 0.62359122] [ 0. 0. 0. 1. ]] SLAMing on 165.91800114499998 meters Centerline goodness [0,1] 0.7566326419570375 Centerline is valid? [False, False] Translation: X:4.20, Y:0.27, Z:0.62 [[ 0.84581474 0.10041772 -0.52394056 4.20174589] [-0.10687946 0.99410921 0.01799051 0.27014741] [ 0.5226607 0.04078185 0.85156481 0.62364895] [ 0. 0. 0. 1. ]] SLAMing on 165.94800114499998 meters Centerline goodness [0,1] 0.7528182627772106 Centerline is valid? [False, False] Translation: X:4.20, Y:0.27, Z:0.62 [[ 0.84577806 0.10003306 -0.52407333 4.20182854] [-0.10663836 0.99414105 0.01765895 0.27047814] [ 0.52276929 0.04095076 0.85149005 0.62386589] [ 0. 0. 0. 1. ]] SLAMing on 165.97800114499998 meters Centerline goodness [0,1] 0.7474140371507589 Centerline is valid? [False, False] Translation: X:4.20, Y:0.27, Z:0.62 [[ 0.84573672 0.09951366 -0.5242389 4.20195743] [-0.10638097 0.99417841 0.01709915 0.27201353] [ 0.5228886 0.04130766 0.85139955 0.62428498] [ 0. 0. 0. 1. ]] SLAMing on 166.00800114499998 meters Centerline goodness [0,1] 0.7475371879163846 Centerline is valid? [False, False] Translation: X:4.20, Y:0.28, Z:0.62 [[ 0.84549789 0.10335173 -0.52388141 4.20058259] [-0.10926905 0.99381677 0.01971044 0.27508934] [ 0.52267924 0.04057889 0.85156313 0.62486232] [ 0. 0. 0. 1. ]] SLAMing on 166.03800114499998 meters Centerline goodness [0,1] 0.7392867319874619 Centerline is valid? [False, False] Translation: X:4.20, Y:0.28, Z:0.63 [[ 0.84527811 0.10323402 -0.52425916 4.20144473] [-0.10942697 0.99380818 0.01926259 0.27700568] [ 0.52300159 0.04108584 0.85134088 0.62565294] [ 0. 0. 0. 1. ]] SLAMing on 166.06800114499998 meters Centerline goodness [0,1] 0.7665713657356499 Centerline is valid? [False, False] Translation: X:4.20, Y:0.28, Z:0.63 [[ 0.84514673 0.10319845 -0.52447791 4.2022738 ] [-0.1095699 0.99379782 0.0189822 0.27794697] [ 0.52318394 0.04142425 0.85121243 0.62597441] [ 0. 0. 0. 1. ]] SLAMing on 166.09800114499998 meters Centerline goodness [0,1] 0.7683602162352217 Centerline is valid? [False, False] Translation: X:4.20, Y:0.28, Z:0.63 [[ 0.84496872 0.10326683 -0.5247512 4.20308167] [-0.10974789 0.99378072 0.01884902 0.2781951 ] [ 0.5234341 0.0416635 0.85104694 0.6263441 ] [ 0. 0. 0. 1. ]] SLAMing on 166.12800114499998 meters Centerline goodness [0,1] 0.7765837975909982 Centerline is valid? [False, False] Translation: X:4.20, Y:0.28, Z:0.63 [[ 0.84480095 0.10321705 -0.52503105 4.20334487] [-0.11003382 0.99375908 0.01831551 0.27998949] [ 0.52364484 0.04229822 0.85088597 0.62726298] [ 0. 0. 0. 1. ]] SLAMing on 166.158001145 meters Centerline goodness [0,1] 0.7892704241514763 Centerline is valid? [False, False] Translation: X:4.20, Y:0.28, Z:0.63 [[ 0.84468582 0.10282963 -0.52529223 4.20326722] [-0.10999172 0.99377545 0.01766849 0.28211123] [ 0.52383937 0.04285347 0.85073844 0.62819576] [ 0. 0. 0. 1. ]] SLAMing on 166.188001145 meters Centerline goodness [0,1] 0.7814176287499173 Centerline is valid? [False, False] Translation: X:4.20, Y:0.28, Z:0.63 [[ 0.84456967 0.10236034 -0.52557059 4.20300777] [-0.10986747 0.99380084 0.01700069 0.28430017] [ 0.52405269 0.04338485 0.85058012 0.62917613] [ 0. 0. 0. 1. ]] SLAMing on 166.218001145 meters Centerline goodness [0,1] 0.8114057359856932 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.63 [[ 0.84439642 0.10200756 -0.52591743 4.20326621] [-0.10979164 0.99381793 0.0164841 0.28590423] [ 0.52434768 0.04382222 0.85037587 0.63002126] [ 0. 0. 0. 1. ]] SLAMing on 166.24800114499996 meters Centerline goodness [0,1] 0.8074394387327362 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.63 [[ 0.84421885 0.10209265 -0.52618592 4.20466479] [-0.10995807 0.99380087 0.01640313 0.28630261] [ 0.52459866 0.04401056 0.85021133 0.63018156] [ 0. 0. 0. 1. ]] SLAMing on 166.27800114499996 meters Centerline goodness [0,1] 0.7871871209615172 Centerline is valid? [False, False] Translation: X:4.21, Y:0.29, Z:0.63 [[ 0.84412175 0.10217093 -0.52632648 4.20520116] [-0.10997863 0.99379644 0.01653299 0.28528351] [ 0.52475058 0.04392881 0.85012181 0.63015799] [ 0. 0. 0. 1. ]] SLAMing on 166.30800114499996 meters Centerline goodness [0,1] 0.7841880341880342 Centerline is valid? [False, False] Translation: X:4.21, Y:0.28, Z:0.63 [[ 0.84405483 0.10213616 -0.52644055 4.2055754 ] [-0.10993201 0.99380126 0.01655343 0.28431698] [ 0.52486798 0.04390066 0.85005078 0.63017488] [ 0. 0. 0. 1. ]] SLAMing on 166.33800114499996 meters Centerline goodness [0,1] 0.7983344685900112 Centerline is valid? [False, False] Translation: X:4.21, Y:0.29, Z:0.63 [[ 0.84396018 0.10199028 -0.52662054 4.20555935] [-0.11002169 0.993798 0.01614788 0.28555295] [ 0.52500137 0.04431152 0.84994709 0.63087498] [ 0. 0. 0. 1. ]] SLAMing on 166.36800114499997 meters Centerline goodness [0,1] 0.8029254967616866 Centerline is valid? [False, False] Translation: X:4.21, Y:0.29, Z:0.63 [[ 0.84378611 0.10183729 -0.52692899 4.20570222] [-0.11011255 0.99379448 0.01574006 0.28723683] [ 0.52526205 0.04474025 0.84976355 0.63179209] [ 0. 0. 0. 1. ]] SLAMing on 166.39800114499997 meters Centerline goodness [0,1] 0.8032301539957137 Centerline is valid? [False, False] Translation: X:4.21, Y:0.29, Z:0.63 [[ 0.84367283 0.10156783 -0.52716233 4.20553728] [-0.1101048 0.99380279 0.01526278 0.28858687] [ 0.5254456 0.04516631 0.84962752 0.63260734] [ 0. 0. 0. 1. ]] SLAMing on 166.42800114499997 meters Centerline goodness [0,1] 0.8059421250276121 Centerline is valid? [False, False] Translation: X:4.21, Y:0.29, Z:0.63 [[ 0.84351198 0.10161861 -0.5274099 4.20551673] [-0.11027968 0.99378585 0.01510193 0.28888521] [ 0.52566713 0.04542394 0.84947674 0.63336233] [ 0. 0. 0. 1. ]] SLAMing on 166.45800114499997 meters Centerline goodness [0,1] 0.8305761425798482 Centerline is valid? [False, False] Translation: X:4.21, Y:0.29, Z:0.63 [[ 0.84342653 0.10209526 -0.5274545 4.20548709] [-0.11084386 0.99372308 0.01510229 0.28884093] [ 0.52568558 0.04572742 0.84944904 0.63389213] [ 0. 0. 0. 1. ]] SLAMing on 166.48800114499997 meters Centerline goodness [0,1] 0.8418814716897995 Centerline is valid? [False, False] Translation: X:4.21, Y:0.29, Z:0.63 [[ 0.84322642 0.10242305 -0.52771083 4.20634201] [-0.11115226 0.99368631 0.0152543 0.2885005 ] [ 0.52594142 0.04579342 0.84928711 0.63421812] [ 0. 0. 0. 1. ]] SLAMing on 166.51800114499997 meters Centerline goodness [0,1] 0.8127502309824454 Centerline is valid? [False, False] Translation: X:4.21, Y:0.29, Z:0.63 [[ 0.84305133 0.10265223 -0.527946 4.20721933] [-0.11137328 0.99365997 0.01535768 0.28841062] [ 0.52617531 0.04585177 0.84913907 0.63447053] [ 0. 0. 0. 1. ]] SLAMing on 166.54800114499997 meters Centerline goodness [0,1] 0.8629310344827587 Centerline is valid? [False, False] Translation: X:4.21, Y:0.29, Z:0.63 [[ 0.84288094 0.10300044 -0.5281502 4.20820751] [-0.11166579 0.99362385 0.01556891 0.28811961] [ 0.52638624 0.04585357 0.84900823 0.63463196] [ 0. 0. 0. 1. ]] SLAMing on 166.57800114499997 meters Centerline goodness [0,1] 0.814071017147397 Centerline is valid? [False, False] Translation: X:4.21, Y:0.29, Z:0.63 [[ 0.84268833 0.10350809 -0.52835826 4.20895616] [-0.1120566 0.99357421 0.01592513 0.28772696] [ 0.52661152 0.04578611 0.84887216 0.63491161] [ 0. 0. 0. 1. ]] SLAMing on 166.60800114499997 meters Centerline goodness [0,1] 0.8114490003089553 Centerline is valid? [False, False] Translation: X:4.21, Y:0.29, Z:0.64 [[ 0.84255706 0.10341273 -0.52858624 4.20898604] [-0.11201029 0.99358076 0.01584197 0.28775213] [ 0.52683138 0.04585934 0.84873177 0.63541568] [ 0. 0. 0. 1. ]] SLAMing on 166.63800114499998 meters Centerline goodness [0,1] 0.8114490003089553 Centerline is valid? [False, False] Translation: X:4.21, Y:0.29, Z:0.64 [[ 0.84255706 0.10341273 -0.52858624 4.20898604] [-0.11201029 0.99358076 0.01584197 0.28775213] [ 0.52683138 0.04585934 0.84873177 0.63541568] [ 0. 0. 0. 1. ]] SLAMing on 166.66800114499998 meters Centerline goodness [0,1] 0.8636724259520452 Centerline is valid? [False, False] Translation: X:4.21, Y:0.29, Z:0.64 [[ 0.84250143 0.10326691 -0.5287034 4.20871217] [-0.11192134 0.99359272 0.01572028 0.28744381] [ 0.52693923 0.04592884 0.84866105 0.6357886 ] [ 0. 0. 0. 1. ]] SLAMing on 166.69800114499998 meters Centerline goodness [0,1] 0.8452328452989946 Centerline is valid? [False, False] Translation: X:4.21, Y:0.29, Z:0.64 [[ 0.84242731 0.10311195 -0.52885173 4.2081548 ] [-0.11180628 0.99360715 0.01562652 0.28663794] [ 0.52708214 0.04596473 0.84857037 0.63626969] [ 0. 0. 0. 1. ]] SLAMing on 166.72800114499998 meters Centerline goodness [0,1] 0.841902088085629 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.64 [[ 0.84291133 0.10136108 -0.5284188 4.20493956] [-0.11064302 0.99375977 0.01412952 0.28532625] [ 0.52655352 0.04655592 0.84886626 0.63646035] [ 0. 0. 0. 1. ]] SLAMing on 166.75800114499998 meters Centerline goodness [0,1] 0.8372042020308353 Centerline is valid? [False, False] Translation: X:4.20, Y:0.28, Z:0.64 [[ 0.84295221 0.10110209 -0.52840319 4.20429826] [-0.11043703 0.99378497 0.01396773 0.28489165] [ 0.52653132 0.04658116 0.84887865 0.6365995 ] [ 0. 0. 0. 1. ]] SLAMing on 166.78800114499998 meters Centerline goodness [0,1] 0.8588497899159664 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.64 [[ 0.84295597 0.1006455 -0.52848436 4.20346281] [-0.11015218 0.99382213 0.01356764 0.28521597] [ 0.52658497 0.04677678 0.84883462 0.6371357 ] [ 0. 0. 0. 1. ]] SLAMing on 166.81800114499998 meters Centerline goodness [0,1] 0.8509408247603975 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.64 [[ 0.84300367 0.10006798 -0.52851795 4.20202469] [-0.10987767 0.99386119 0.01291611 0.28678054] [ 0.52656597 0.04718399 0.84882387 0.63797739] [ 0. 0. 0. 1. ]] SLAMing on 166.84800114499998 meters Centerline goodness [0,1] 0.8537778265160654 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.64 [[ 0.84294976 0.09994956 -0.52862632 4.20173983] [-0.10981622 0.99386947 0.0128016 0.28657837] [ 0.52666507 0.04726064 0.84875811 0.63835038] [ 0. 0. 0. 1. ]] SLAMing on 166.87800114499998 meters Centerline goodness [0,1] 0.8508032829826246 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.64 [[ 0.84282803 0.10009765 -0.52879237 4.20220873] [-0.10986551 0.99386117 0.01302106 0.28523276] [ 0.52684958 0.04712153 0.84865133 0.63842992] [ 0. 0. 0. 1. ]] SLAMing on 166.908001145 meters Centerline goodness [0,1] 0.8509684753618119 Centerline is valid? [False, False] Translation: X:4.20, Y:0.28, Z:0.64 [[ 0.84277149 0.10027232 -0.52884939 4.20244447] [-0.10990564 0.99385312 0.01329417 0.2834043 ] [ 0.52693166 0.04691958 0.84861156 0.63829051] [ 0. 0. 0. 1. ]] SLAMing on 166.938001145 meters Centerline goodness [0,1] 0.8641006014215418 Centerline is valid? [False, False] Translation: X:4.20, Y:0.28, Z:0.64 [[ 0.84283254 0.10026575 -0.52875333 4.20230776] [-0.10978841 0.99386383 0.01346046 0.28186392] [ 0.52685843 0.04670608 0.8486688 0.63794476] [ 0. 0. 0. 1. ]] SLAMing on 166.968001145 meters Centerline goodness [0,1] 0.8331512237762237 Centerline is valid? [False, False] Translation: X:4.20, Y:0.28, Z:0.64 [[ 0.84276173 0.09990416 -0.52893461 4.20194937] [-0.10960628 0.99388894 0.01308605 0.28271134] [ 0.52700961 0.04694614 0.84856168 0.63858231] [ 0. 0. 0. 1. ]] SLAMing on 166.99800114499996 meters Centerline goodness [0,1] 0.8641025080357728 Centerline is valid? [False, False] Translation: X:4.20, Y:0.28, Z:0.64 [[ 0.84273432 0.09943546 -0.52906659 4.20124138] [-0.10939155 0.99391943 0.01255574 0.28414836] [ 0.52709805 0.04729426 0.84848742 0.6393285 ] [ 0. 0. 0. 1. ]] SLAMing on 167.02800114499996 meters Centerline goodness [0,1] 0.8864348473892942 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.64 [[ 0.84264669 0.09905386 -0.52927771 4.20098889] [-0.10921433 0.9939441 0.01213902 0.28535111] [ 0.52727487 0.04757581 0.84836181 0.64003598] [ 0. 0. 0. 1. ]] SLAMing on 167.05800114499996 meters Centerline goodness [0,1] 0.8840233836183303 Centerline is valid? [False, False] Translation: X:4.20, Y:0.28, Z:0.64 [[ 0.84255458 0.09912026 -0.52941189 4.2014314 ] [-0.10925345 0.99393885 0.01221635 0.2841962 ] [ 0.52741394 0.04754714 0.84827696 0.64004061] [ 0. 0. 0. 1. ]] SLAMing on 167.08800114499996 meters Centerline goodness [0,1] 0.8763583094649846 Centerline is valid? [False, False] Translation: X:4.20, Y:0.28, Z:0.64 [[ 0.84244966 0.0993989 -0.52952661 4.2021952 ] [-0.10940029 0.99391891 0.01252101 0.28265039] [ 0.52755109 0.04738204 0.84820092 0.63987582] [ 0. 0. 0. 1. ]] SLAMing on 167.11800114499997 meters Centerline goodness [0,1] 0.8857982069660901 Centerline is valid? [False, False] Translation: X:4.20, Y:0.28, Z:0.64 [[ 0.84232086 0.09951056 -0.52971051 4.20284992] [-0.10947093 0.99390964 0.01263872 0.28184256] [ 0.52774207 0.04734204 0.84808434 0.63995363] [ 0. 0. 0. 1. ]] SLAMing on 167.14800114499997 meters Centerline goodness [0,1] 0.8843650342929535 Centerline is valid? [False, False] Translation: X:4.20, Y:0.28, Z:0.64 [[ 0.84218125 0.09925193 -0.52998094 4.2034346 ] [-0.10943787 0.99391839 0.01223024 0.2834882 ] [ 0.52797168 0.0476999 0.84792135 0.64048664] [ 0. 0. 0. 1. ]] SLAMing on 167.17800114499997 meters Centerline goodness [0,1] 0.8785140781902907 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.64 [[ 0.84203256 0.09878257 -0.53030479 4.20387636] [-0.10923106 0.99394744 0.01170756 0.28525773] [ 0.52825159 0.04806761 0.84772623 0.64114722] [ 0. 0. 0. 1. ]] SLAMing on 167.20800114499997 meters Centerline goodness [0,1] 0.8705931239611583 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.64 [[ 0.84192949 0.09842585 -0.53053471 4.20389549] [-0.10907201 0.99396949 0.01131187 0.28647598] [ 0.52844869 0.04834269 0.84758773 0.64177371] [ 0. 0. 0. 1. ]] SLAMing on 167.23800114499997 meters Centerline goodness [0,1] 0.8755420261924576 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.64 [[ 0.84191682 0.09789419 -0.53065319 4.20355202] [-0.10878065 0.99400727 0.01078536 0.28753843] [ 0.52852895 0.04864442 0.84752043 0.64224803] [ 0. 0. 0. 1. ]] SLAMing on 167.26800114499997 meters Centerline goodness [0,1] 0.8915024928070985 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.64 [[ 0.84192976 0.09758481 -0.53068963 4.20298434] [-0.10864684 0.99402582 0.01041816 0.28746342] [ 0.52853585 0.0488864 0.8475022 0.64262474] [ 0. 0. 0. 1. ]] SLAMing on 167.29800114499997 meters Centerline goodness [0,1] 0.8894082022250016 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.64 [[ 0.84187555 0.09735992 -0.53081692 4.20309147] [-0.10852776 0.99404112 0.0101973 0.28737045] [ 0.52864666 0.04902352 0.84742516 0.64286902] [ 0. 0. 0. 1. ]] SLAMing on 167.32800114499997 meters Centerline goodness [0,1] 0.8885788363508526 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.64 [[ 0.84180327 0.09702829 -0.53099225 4.20308054] [-0.10839146 0.99405991 0.00980739 0.28815623] [ 0.52878971 0.04929913 0.84731992 0.64333297] [ 0. 0. 0. 1. ]] SLAMing on 167.35800114499997 meters Centerline goodness [0,1] 0.880840044767276 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.64 [[ 0.84168699 0.09672662 -0.53123156 4.20340889] [-0.10831272 0.99407253 0.00938926 0.28949962] [ 0.5289909 0.04963632 0.84717464 0.64390916] [ 0. 0. 0. 1. ]] SLAMing on 167.38800114499998 meters Centerline goodness [0,1] 0.8794644823182278 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.64 [[ 0.84175847 0.09576195 -0.53129307 4.20259041] [-0.10788864 0.99412875 0.00825068 0.29321063] [ 0.52896381 0.0503754 0.84714792 0.64477638] [ 0. 0. 0. 1. ]] SLAMing on 167.41800114499998 meters Centerline goodness [0,1] 0.8306337717362521 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.65 [[ 0.84172422 0.09511908 -0.53146278 4.2023725 ] [-0.1075467 0.99417097 0.0076016 0.29468358] [ 0.52908793 0.05075862 0.84704753 0.64536127] [ 0. 0. 0. 1. ]] SLAMing on 167.44800114499998 meters Centerline goodness [0,1] 0.8518583953534595 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.65 [[ 0.84171516 0.09464373 -0.53156199 4.20228864] [-0.10721817 0.99420916 0.00723998 0.29490115] [ 0.52916902 0.0508991 0.84698845 0.64553834] [ 0. 0. 0. 1. ]] SLAMing on 167.47800114499998 meters Centerline goodness [0,1] 0.8736725663716814 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.65 [[ 0.84174724 0.09434703 -0.53156394 4.2021653 ] [-0.10695427 0.99423858 0.00710168 0.29405499] [ 0.5291714 0.05087521 0.84698839 0.64544216] [ 0. 0. 0. 1. ]] SLAMing on 167.50800114499998 meters Centerline goodness [0,1] 0.8828276591991533 Centerline is valid? [False, False] Translation: X:4.20, Y:0.29, Z:0.65 [[ 8.42017753e-01 8.89564009e-02 -5.32064716e-01 4.20251168e+00] [-1.03264359e-01 9.94649789e-01 2.87566793e-03 2.94713385e-01] [ 5.29473867e-01 5.25219587e-02 8.46698806e-01 6.45982282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53800114499998 meters Centerline goodness [0,1] 0.8666828664840506 Centerline is valid? [False, False] Translation: X:4.20, Y:0.30, Z:0.65 [[ 8.42092572e-01 8.81218661e-02 -5.32085178e-01 4.20151159e+00] [-1.02703282e-01 9.94709606e-01 2.19888897e-03 2.95752408e-01] [ 5.29464008e-01 5.27952258e-02 8.46687976e-01 6.46407772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.56800114499998 meters Centerline goodness [0,1] 0.8723013625906919 Centerline is valid? [False, False] Translation: X:4.20, Y:0.30, Z:0.65 [[ 8.42095745e-01 8.70752944e-02 -5.32252429e-01 4.20041865e+00] [-1.02067860e-01 9.94776643e-01 1.25797223e-03 2.97895825e-01] [ 5.29581823e-01 5.32665331e-02 8.46584768e-01 6.47321149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59800114499998 meters Centerline goodness [0,1] 0.8509242430958819 Centerline is valid? [False, False] Translation: X:4.20, Y:0.30, Z:0.65 [[ 8.42163056e-01 8.57407524e-02 -5.32362575e-01 4.19907503e+00] [-1.01200537e-01 9.94866037e-01 1.37517177e-04 3.00920257e-01] [ 5.29641236e-01 5.37595666e-02 8.46516432e-01 6.48207703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.62800114499998 meters Centerline goodness [0,1] 0.8471812393228763 Centerline is valid? [False, False] Translation: X:4.20, Y:0.30, Z:0.65 [[ 8.42128665e-01 8.55687137e-02 -5.32444651e-01 4.19929781e+00] [-1.01059131e-01 9.94880420e-01 4.85433911e-05 3.00836339e-01] [ 5.29722912e-01 5.37675140e-02 8.46464820e-01 6.48227647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.658001145 meters Centerline goodness [0,1] 0.8243779220491458 Centerline is valid? [False, False] Translation: X:4.20, Y:0.30, Z:0.65 [[ 8.42126721e-01 8.53682648e-02 -5.32479901e-01 4.19956733e+00] [-1.00859568e-01 9.94900672e-01 -6.74833837e-06 3.00076748e-01] [ 5.29764035e-01 5.37113758e-02 8.46442647e-01 6.48033197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.688001145 meters Centerline goodness [0,1] 0.8143517801429425 Centerline is valid? [False, False] Translation: X:4.20, Y:0.30, Z:0.65 [[ 8.42147744e-01 8.49882812e-02 -5.32507436e-01 4.19942550e+00] [-1.00486415e-01 9.94938423e-01 -1.24507679e-04 2.99125761e-01] [ 5.29801527e-01 5.36146170e-02 8.46425316e-01 6.47885389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71800114499996 meters Centerline goodness [0,1] 0.7998319216223987 Centerline is valid? [False, False] Translation: X:4.20, Y:0.30, Z:0.65 [[ 8.42425618e-01 8.35382451e-02 -5.32297322e-01 4.19772300e+00] [-9.92824051e-02 9.95058831e-01 -9.62944922e-04 2.99259339e-01] [ 5.29586708e-01 5.36589679e-02 8.46556929e-01 6.47740308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74800114499996 meters Centerline goodness [0,1] 0.7908547387068202 Centerline is valid? [False, False] Translation: X:4.20, Y:0.30, Z:0.65 [[ 8.42468462e-01 8.27757684e-02 -5.32348629e-01 4.19693769e+00] [-9.88073633e-02 9.95105233e-01 -1.63706072e-03 3.00548871e-01] [ 5.29607398e-01 5.39791364e-02 8.46523630e-01 6.48216539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77800114499996 meters Centerline goodness [0,1] 0.7726244343891403 Centerline is valid? [False, False] Translation: X:4.20, Y:0.30, Z:0.65 [[ 8.42502313e-01 8.20458999e-02 -5.32408041e-01 4.19620583e+00] [-9.83573720e-02 9.95148526e-01 -2.28857744e-03 3.02002281e-01] [ 5.29637310e-01 5.42943876e-02 8.46484755e-01 6.48728712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80800114499996 meters Centerline goodness [0,1] 0.7831739622390345 Centerline is valid? [False, False] Translation: X:4.20, Y:0.30, Z:0.65 [[ 8.42447393e-01 8.15889370e-02 -5.32565146e-01 4.19598721e+00] [-9.80608352e-02 9.95176872e-01 -2.65821359e-03 3.02560758e-01] [ 5.29779635e-01 5.44631881e-02 8.46384841e-01 6.49170092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83800114499996 meters Centerline goodness [0,1] 0.7784327630529209 Centerline is valid? [False, False] Translation: X:4.20, Y:0.30, Z:0.65 [[ 8.42487690e-01 8.10985411e-02 -5.32576304e-01 4.19600498e+00] [-9.76030792e-02 9.95221337e-01 -2.85103592e-03 3.02013497e-01] [ 5.29800086e-01 5.43830498e-02 8.46377193e-01 6.48922248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86800114499997 meters Centerline goodness [0,1] 0.7391497096245068 Centerline is valid? [False, False] Translation: X:4.20, Y:0.30, Z:0.65 [[ 8.42485572e-01 8.07791069e-02 -5.32628198e-01 4.19598435e+00] [-9.73450963e-02 9.95246059e-01 -3.03542193e-03 3.01767401e-01] [ 5.29850916e-01 5.44060424e-02 8.46343895e-01 6.48966058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89800114499997 meters Centerline goodness [0,1] 0.7573426728437479 Centerline is valid? [False, False] Translation: X:4.19, Y:0.30, Z:0.65 [[ 8.42677873e-01 7.93887076e-02 -5.32533037e-01 4.19430803e+00] [-9.62894099e-02 9.95345405e-01 -3.98429725e-03 3.03012327e-01] [ 5.29738003e-01 5.46347710e-02 8.46399841e-01 6.49243734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92800114499997 meters Centerline goodness [0,1] 0.7363571619335885 Centerline is valid? [False, False] Translation: X:4.19, Y:0.30, Z:0.65 [[ 0.84267042 0.07872552 -0.53264328 4.19393449] [-0.09583131 0.99538746 -0.00449047 0.30393927] [ 0.52983292 0.05482789 0.84632794 0.64961111] [ 0. 0. 0. 1. ]] SLAMing on 167.95800114499997 meters Centerline goodness [0,1] 0.7348712136364646 Centerline is valid? [False, False] Translation: X:4.19, Y:0.30, Z:0.65 [[ 0.84269006 0.07816174 -0.53269522 4.19346213] [-0.09541859 0.99542523 -0.0048886 0.3044154 ] [ 0.52987617 0.05494861 0.84629303 0.64988109] [ 0. 0. 0. 1. ]] SLAMing on 167.98800114499997 meters Centerline goodness [0,1] 0.7441948146998159 Centerline is valid? [False, False] Translation: X:4.19, Y:0.30, Z:0.65 [[ 0.84278334 0.07742356 -0.53265545 4.19257406] [-0.09485759 0.99547626 -0.00539011 0.30468716] [ 0.52982854 0.05506911 0.84631502 0.65005698] [ 0. 0. 0. 1. ]] SLAMing on 168.01800114499997 meters Centerline goodness [0,1] 0.7131946448791102 Centerline is valid? [False, False] Translation: X:4.19, Y:0.30, Z:0.65 [[ 0.84283105 0.07684805 -0.5326633 4.1919753 ] [-0.09438266 0.99551958 -0.00571637 0.3044591 ] [ 0.52983746 0.05509211 0.84630794 0.65014119] [ 0. 0. 0. 1. ]] SLAMing on 168.04800114499997 meters Centerline goodness [0,1] 0.6968198350039918 Centerline is valid? [False, False] Translation: X:4.19, Y:0.30, Z:0.65 [[ 0.84289694 0.07169244 -0.53327755 4.193416 ] [-0.09074392 0.99582844 -0.009553 0.30427976] [ 0.53036807 0.05644389 0.8458864 0.65040088] [ 0. 0. 0. 1. ]] SLAMing on 168.07800114499997 meters Centerline goodness [0,1] 0.72291213908724 Centerline is valid? [False, False] Translation: X:4.19, Y:0.30, Z:0.65 [[ 0.8429254 0.07146528 -0.53326305 4.19354291] [-0.09054181 0.9958458 -0.0096605 0.30414056] [ 0.53035738 0.05642568 0.84589431 0.6502652 ] [ 0. 0. 0. 1. ]] SLAMing on 168.10800114499997 meters Centerline goodness [0,1] 0.682182415484673 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.65 [[ 0.8428512 0.07098354 -0.53344465 4.19349919] [-0.09031956 0.9958607 -0.0101908 0.30585456] [ 0.53051318 0.05676981 0.84577358 0.65092146] [ 0. 0. 0. 1. ]] SLAMing on 168.13800114499998 meters Centerline goodness [0,1] 0.6742726119187017 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.65 [[ 0.84286658 0.07470027 -0.53291256 4.19071319] [-0.09285231 0.99565318 -0.00729302 0.30678596] [ 0.53005129 0.05562921 0.84613889 0.65112666] [ 0. 0. 0. 1. ]] SLAMing on 168.16800114499998 meters Centerline goodness [0,1] 0.6674156803417282 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.65 [[ 0.84309697 0.07318851 -0.53275787 4.18804366] [-0.09194256 0.99572621 -0.00871086 0.30956157] [ 0.52984344 0.05632722 0.84622289 0.6521474 ] [ 0. 0. 0. 1. ]] SLAMing on 168.19800114499998 meters Centerline goodness [0,1] 0.6589180145008366 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.65 [[ 0.84316885 0.07308559 -0.53265823 4.18780858] [-0.09178647 0.99574098 -0.00866819 0.3084859 ] [ 0.52975611 0.05619957 0.84628604 0.65187238] [ 0. 0. 0. 1. ]] SLAMing on 168.22800114499998 meters Centerline goodness [0,1] 0.6517462866318747 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.65 [[ 0.84325843 0.07283887 -0.5325502 4.18762819] [-0.0915253 0.99576448 -0.00872991 0.30753706] [ 0.5296587 0.05610338 0.84635339 0.65154827] [ 0. 0. 0. 1. ]] SLAMing on 168.25800114499998 meters Centerline goodness [0,1] 0.7136950788897332 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.65 [[ 0.84334112 0.07203173 -0.53252905 4.18705407] [-0.09099794 0.99580659 -0.00941289 0.30897807] [ 0.52961791 0.05639732 0.84635938 0.6518153 ] [ 0. 0. 0. 1. ]] SLAMing on 168.28800114499998 meters Centerline goodness [0,1] 0.7049139994184617 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.65 [[ 0.84329713 0.07163492 -0.53265222 4.1873309 ] [-0.09082337 0.99581813 -0.0098671 0.31064536] [ 0.52971791 0.05669817 0.8462767 0.65219535] [ 0. 0. 0. 1. ]] SLAMing on 168.31800114499998 meters Centerline goodness [0,1] 0.7011705610620262 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.65 [[ 0.84314955 0.0714862 -0.53290578 4.18814702] [-0.09081733 0.99581629 -0.01010585 0.31182996] [ 0.52995382 0.05691783 0.84611424 0.65260491] [ 0. 0. 0. 1. ]] SLAMing on 168.34800114499998 meters Centerline goodness [0,1] 0.6742830235217616 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.65 [[ 0.84299027 0.07157636 -0.53314559 4.18939535] [-0.09094081 0.99580506 -0.01010253 0.31232555] [ 0.53018597 0.05700103 0.84596319 0.65274079] [ 0. 0. 0. 1. ]] SLAMing on 168.37800114499998 meters Centerline goodness [0,1] 0.7003328385732919 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.65 [[ 0.84284885 0.07195482 -0.53331822 4.1912331 ] [-0.09120697 0.99578381 -0.00979199 0.31183287] [ 0.53036507 0.05689551 0.84585802 0.65240604] [ 0. 0. 0. 1. ]] SLAMing on 168.408001145 meters Centerline goodness [0,1] 0.6644269662921348 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.65 [[ 0.84283167 0.07165932 -0.53338515 4.1913005 ] [-0.09102557 0.99579783 -0.01005098 0.3124364 ] [ 0.53042353 0.05702298 0.84581278 0.65258539] [ 0. 0. 0. 1. ]] SLAMing on 168.438001145 meters Centerline goodness [0,1] 0.6872757632511226 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.65 [[ 0.8428321 0.07105567 -0.53346523 4.19078602] [-0.09068446 0.9958229 -0.01063407 0.31389229] [ 0.53048128 0.05733974 0.84575515 0.65312182] [ 0. 0. 0. 1. ]] SLAMing on 168.46800114499996 meters Centerline goodness [0,1] 0.6774586557769104 Centerline is valid? [False, False] Translation: X:4.19, Y:0.32, Z:0.65 [[ 0.84286209 0.07344687 -0.53309385 4.18717122] [-0.09225813 0.99569724 -0.00868522 0.31545987] [ 0.53016217 0.05650269 0.84601153 0.65366694] [ 0. 0. 0. 1. ]] SLAMing on 168.49800114499996 meters Centerline goodness [0,1] 0.6712774613506916 Centerline is valid? [False, False] Translation: X:4.19, Y:0.32, Z:0.65 [[ 0.84293875 0.07283971 -0.53305595 4.18627324] [-0.09189634 0.99572555 -0.00925723 0.31632703] [ 0.53010314 0.05678917 0.84602935 0.65402977] [ 0. 0. 0. 1. ]] SLAMing on 168.52800114499996 meters Centerline goodness [0,1] 0.6657555906934719 Centerline is valid? [False, False] Translation: X:4.19, Y:0.32, Z:0.65 [[ 0.84297118 0.07235444 -0.53307074 4.18573956] [-0.09160252 0.99574839 -0.00970127 0.31674763] [ 0.53010241 0.05700852 0.84601505 0.65432917] [ 0. 0. 0. 1. ]] SLAMing on 168.55800114499996 meters Centerline goodness [0,1] 0.6657555906934719 Centerline is valid? [False, False] Translation: X:4.19, Y:0.32, Z:0.65 [[ 0.84297118 0.07235444 -0.53307074 4.18573956] [-0.09160252 0.99574839 -0.00970127 0.31674763] [ 0.53010241 0.05700852 0.84601505 0.65432917] [ 0. 0. 0. 1. ]] SLAMing on 168.58800114499996 meters Centerline goodness [0,1] 0.6580314391543951 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:0.65 [[ 0.84315457 0.07153783 -0.5328909 4.1847057 ] [-0.09097991 0.99579977 -0.01026998 0.31674479] [ 0.52991794 0.05714154 0.84612163 0.65419295] [ 0. 0. 0. 1. ]] SLAMing on 168.61800114499997 meters Centerline goodness [0,1] 0.6458812390098743 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:0.65 [[ 0.84317745 0.07135452 -0.53287927 4.18484424] [-0.09079572 0.99581603 -0.01032303 0.31635487] [ 0.52991312 0.0570873 0.84612831 0.65401502] [ 0. 0. 0. 1. ]] SLAMing on 168.64800114499997 meters Centerline goodness [0,1] 0.6440049723132557 Centerline is valid? [False, False] Translation: X:4.19, Y:0.32, Z:0.65 [[ 0.84317547 0.07106597 -0.53292097 4.18502156] [-0.09059282 0.99583226 -0.01053787 0.31670405] [ 0.52995101 0.05716409 0.8460994 0.65405889] [ 0. 0. 0. 1. ]] SLAMing on 168.67800114499997 meters Centerline goodness [0,1] 0.6360869369166253 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:0.65 [[ 0.84317974 0.07057895 -0.53297893 4.18491122] [-0.09025981 0.99585841 -0.01091714 0.31767304] [ 0.53000104 0.05731169 0.84605808 0.65429436] [ 0. 0. 0. 1. ]] SLAMing on 168.70800114499997 meters Centerline goodness [0,1] 0.622286966144951 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:0.65 [[ 0.84315821 0.0700254 -0.53308599 4.18456768] [-0.08986479 0.99588968 -0.0113165 0.31844638] [ 0.53010239 0.05744726 0.84598538 0.65466743] [ 0. 0. 0. 1. ]] SLAMing on 168.73800114499997 meters Centerline goodness [0,1] 0.6485409639372468 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:0.65 [[ 0.84339024 0.06866354 -0.53289607 4.18244531] [-0.08863344 0.99599271 -0.01194265 0.31790784] [ 0.52994058 0.05730473 0.84609642 0.65458011] [ 0. 0. 0. 1. ]] SLAMing on 168.76800114499997 meters Centerline goodness [0,1] 0.6387299577104865 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:0.65 [[ 0.84345815 0.06851182 -0.5328081 4.18226243] [-0.08835229 0.9960195 -0.01179101 0.3163084 ] [ 0.52987943 0.05702004 0.84615395 0.65419192] [ 0. 0. 0. 1. ]] SLAMing on 168.79800114499997 meters Centerline goodness [0,1] 0.6293820021684134 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:0.65 [[ 0.84350271 0.06830377 -0.53276427 4.18219414] [-0.08807726 0.99604435 -0.0117497 0.31512187] [ 0.5298543 0.05683532 0.84618212 0.65390238] [ 0. 0. 0. 1. ]] SLAMing on 168.82800114499997 meters Centerline goodness [0,1] 0.6274598302942769 Centerline is valid? [False, False] Translation: X:4.18, Y:0.31, Z:0.65 [[ 0.84371221 0.06760863 -0.53252116 4.18134631] [-0.08740317 0.99610056 -0.01201479 0.31490081] [ 0.52963233 0.05668106 0.84633141 0.65346618] [ 0. 0. 0. 1. ]] SLAMing on 168.85800114499997 meters Centerline goodness [0,1] 0.612876254180602 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:0.65 [[ 0.84362457 0.06750356 -0.53267331 4.18149603] [-0.08732587 0.99610667 -0.01207025 0.31522282] [ 0.52978465 0.05669892 0.84623487 0.65379553] [ 0. 0. 0. 1. ]] SLAMing on 168.88800114499998 meters Centerline goodness [0,1] 0.6124502532561504 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:0.65 [[ 0.84352671 0.0673677 -0.53284545 4.18187816] [-0.08725024 0.99611192 -0.0121839 0.31570469] [ 0.5299529 0.05676834 0.84612486 0.65410709] [ 0. 0. 0. 1. ]] SLAMing on 168.91800114499998 meters Centerline goodness [0,1] 0.6028972385694884 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:0.65 [[ 0.84341944 0.06719405 -0.53303716 4.18212587] [-0.08718144 0.99611556 -0.01237716 0.31629628] [ 0.53013494 0.05691008 0.8460013 0.65455838] [ 0. 0. 0. 1. ]] SLAMing on 168.94800114499998 meters Centerline goodness [0,1] 0.6015092116295406 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:0.66 [[ 0.84330771 0.06722288 -0.53321027 4.18185461] [-0.08733647 0.99609984 -0.01254818 0.3165591 ] [ 0.53028713 0.05715068 0.84588968 0.65530158] [ 0. 0. 0. 1. ]] SLAMing on 168.97800114499998 meters Centerline goodness [0,1] 0.5967771179910248 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:0.66 [[ 0.84325118 0.06746948 -0.53326853 4.18240022] [-0.08753847 0.99608398 -0.01239836 0.31597303] [ 0.53034373 0.05713644 0.84585516 0.65528157] [ 0. 0. 0. 1. ]] SLAMing on 169.00800114499998 meters Centerline goodness [0,1] 0.5983108642142583 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:0.66 [[ 0.84312684 0.06764104 -0.53344337 4.18315323] [-0.08770786 0.99607001 -0.01232304 0.31554223] [ 0.5305134 0.05717706 0.84574601 0.655444 ] [ 0. 0. 0. 1. ]] SLAMing on 169.03800114499998 meters Centerline goodness [0,1] 0.633471802049939 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:0.66 [[ 0.84289921 0.06796699 -0.53376157 4.18447771] [-0.08802325 0.99604406 -0.01217138 0.31566168] [ 0.53082278 0.05724268 0.84554743 0.65579398] [ 0. 0. 0. 1. ]] SLAMing on 169.06800114499998 meters Centerline goodness [0,1] 0.5988065908731325 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:0.66 [[ 0.84267514 0.07317165 -0.53342714 4.18474593] [-0.09159605 0.99576325 -0.00810621 0.31536393] [ 0.530574 0.05569072 0.84580717 0.65524668] [ 0. 0. 0. 1. ]] SLAMing on 169.09800114499998 meters Centerline goodness [0,1] 0.5936758357254255 Centerline is valid? [False, False] Translation: X:4.19, Y:0.32, Z:0.66 [[ 0.84245488 0.07332595 -0.53375377 4.18556511] [-0.09181806 0.99574262 -0.00812884 0.31588247] [ 0.53088532 0.05585641 0.84560087 0.65585742] [ 0. 0. 0. 1. ]] SLAMing on 169.12800114499998 meters Centerline goodness [0,1] 0.6451598287306586 Centerline is valid? [False, False] Translation: X:4.19, Y:0.32, Z:0.66 [[ 0.84226776 0.07346181 -0.53403032 4.18609441] [-0.09200524 0.99572528 -0.00813674 0.31602778] [ 0.53114975 0.0559869 0.84542617 0.65639664] [ 0. 0. 0. 1. ]] SLAMing on 169.158001145 meters Centerline goodness [0,1] 0.6252005151261832 Centerline is valid? [False, False] Translation: X:4.19, Y:0.32, Z:0.66 [[ 0.84222668 0.07338722 -0.53410535 4.18577345] [-0.09203682 0.99572086 -0.00831799 0.31593827] [ 0.53120941 0.05616299 0.84537701 0.65681621] [ 0. 0. 0. 1. ]] SLAMing on 169.188001145 meters Centerline goodness [0,1] 0.6307876379890286 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:0.66 [[ 0.84226489 0.07327784 -0.53406013 4.18479953] [-0.09202644 0.99572017 -0.00851292 0.31546544] [ 0.53115063 0.05631779 0.84540364 0.65724756] [ 0. 0. 0. 1. ]] SLAMing on 169.21800114499996 meters Centerline goodness [0,1] 0.6400081492212966 Centerline is valid? [False, False] Translation: X:4.18, Y:0.32, Z:0.66 [[ 0.84221296 0.07316337 -0.53415771 4.18459763] [-0.09196067 0.9957254 -0.00861139 0.31524713] [ 0.53124436 0.05637412 0.84534099 0.65758531] [ 0. 0. 0. 1. ]] SLAMing on 169.24800114499996 meters Centerline goodness [0,1] 0.6140052593398622 Centerline is valid? [False, False] Translation: X:4.18, Y:0.31, Z:0.66 [[ 0.84214737 0.07315984 -0.53426159 4.18481636] [-0.09196387 0.99572512 -0.00861009 0.31482353] [ 0.53134777 0.05638373 0.84527535 0.65776952] [ 0. 0. 0. 1. ]] SLAMing on 169.27800114499996 meters Centerline goodness [0,1] 0.6132148201895606 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.66 [[ 0.84207265 0.07328416 -0.53436232 4.18524952] [-0.0920171 0.99572159 -0.00844832 0.31405457] [ 0.53145697 0.05628457 0.84521331 0.65780505] [ 0. 0. 0. 1. ]] SLAMing on 169.30800114499996 meters Centerline goodness [0,1] 0.667165872475607 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.66 [[ 0.84196539 0.0735001 -0.53450165 4.18590122] [-0.09200522 0.99572634 -0.00800601 0.31177617] [ 0.53162893 0.05591772 0.84512951 0.65759017] [ 0. 0. 0. 1. ]] SLAMing on 169.33800114499996 meters Centerline goodness [0,1] 0.6543159609120521 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.66 [[ 0.84184804 0.07371034 -0.53465752 4.1868454 ] [-0.09216017 0.99571335 -0.0078377 0.31120601] [ 0.53178791 0.05587228 0.84503249 0.6576438 ] [ 0. 0. 0. 1. ]] SLAMing on 169.36800114499997 meters Centerline goodness [0,1] 0.6377688628997529 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.66 [[ 0.84169476 0.07378729 -0.53488818 4.18739928] [-0.0922408 0.99570624 -0.00779253 0.31092815] [ 0.53201651 0.05589744 0.84488692 0.65800507] [ 0. 0. 0. 1. ]] SLAMing on 169.39800114499997 meters Centerline goodness [0,1] 0.6521454381210479 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.66 [[ 0.84157968 0.07387816 -0.53505669 4.18763912] [-0.09223935 0.99570787 -0.00759862 0.30967642] [ 0.53219879 0.05574813 0.84478198 0.65820414] [ 0. 0. 0. 1. ]] SLAMing on 169.42800114499997 meters Centerline goodness [0,1] 0.5964439411098528 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.66 [[ 0.84153903 0.07395507 -0.53511 4.18768633] [-0.0922745 0.99570534 -0.00750339 0.30872815] [ 0.53225697 0.05569141 0.84474906 0.65830271] [ 0. 0. 0. 1. ]] SLAMing on 169.45800114499997 meters Centerline goodness [0,1] 0.6682497524083911 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.66 [[ 0.84144848 0.07387694 -0.53526317 4.18754548] [-0.0922852 0.99570324 -0.00764808 0.30840793] [ 0.53239826 0.05583234 0.84465073 0.65883967] [ 0. 0. 0. 1. ]] SLAMing on 169.48800114499997 meters Centerline goodness [0,1] 0.6526747672400189 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.66 [[ 0.84136977 0.07373916 -0.53540587 4.1873026 ] [-0.09227161 0.99570279 -0.00786742 0.3085184 ] [ 0.53252498 0.05602217 0.84455826 0.65939634] [ 0. 0. 0. 1. ]] SLAMing on 169.51800114499997 meters Centerline goodness [0,1] 0.6375950677287251 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.66 [[ 0.84122471 0.07382408 -0.53562206 4.18710545] [-0.09245408 0.99568505 -0.0079704 0.3087069 ] [ 0.53272247 0.05622534 0.8444202 0.66024681] [ 0. 0. 0. 1. ]] SLAMing on 169.54800114499997 meters Centerline goodness [0,1] 0.6548223350253808 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.66 [[ 0.84106233 0.07419656 -0.53582557 4.18800902] [-0.09273451 0.99566117 -0.0076907 0.30792628] [ 0.53293009 0.05615787 0.84429368 0.66040813] [ 0. 0. 0. 1. ]] SLAMing on 169.57800114499997 meters Centerline goodness [0,1] 0.6475108737295202 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.66 [[ 0.84090716 0.07460094 -0.53601292 4.18900898] [-0.0930243 0.99563658 -0.00736806 0.30674705] [ 0.5331244 0.05605808 0.84417763 0.66045739] [ 0. 0. 0. 1. ]] SLAMing on 169.60800114499997 meters Centerline goodness [0,1] 0.6690027316286776 Centerline is valid? [False, False] Translation: X:4.19, Y:0.31, Z:0.66 [[ 0.84075897 0.07488601 -0.53620559 4.18985679] [-0.09317871 0.99562441 -0.00705418 0.30561199] [ 0.53333111 0.05589381 0.84405794 0.66049181] [ 0. 0. 0. 1. ]] SLAMing on 169.63800114499998 meters Centerline goodness [0,1] 0.6659805807866124 Centerline is valid? [False, False] Translation: X:4.19, Y:0.30, Z:0.66 [[ 0.84073284 0.0749798 -0.53623345 4.1895954 ] [-0.09316448 0.99562715 -0.00685244 0.30423452] [ 0.53337479 0.05571898 0.8440419 0.66061927] [ 0. 0. 0. 1. ]] SLAMing on 169.66800114499998 meters Centerline goodness [0,1] 0.639579692611014 Centerline is valid? [False, False] Translation: X:4.19, Y:0.30, Z:0.66 [[ 0.84068705 0.07493572 -0.5363114 4.1894469 ] [-0.0931033 0.99563304 -0.00682861 0.30353717] [ 0.53345764 0.05567309 0.84399256 0.66084368] [ 0. 0. 0. 1. ]] SLAMing on 169.69800114499998 meters Centerline goodness [0,1] 0.6328872750095264 Centerline is valid? [False, False] Translation: X:4.19, Y:0.30, Z:0.66 [[ 0.84065372 0.07494999 -0.53636166 4.18909845] [-0.09306813 0.99563693 -0.00674002 0.30209427] [ 0.53351631 0.0555842 0.84396134 0.66103762] [ 0. 0. 0. 1. ]] SLAMing on 169.72800114499998 meters Centerline goodness [0,1] 0.6579258895267026 Centerline is valid? [False, False] Translation: X:4.19, Y:0.30, Z:0.66 [[ 0.84066676 0.07504993 -0.53632724 4.18886943] [-0.09301565 0.9956436 -0.00647401 0.30024643] [ 0.53350491 0.05532931 0.8439853 0.66090732] [ 0. 0. 0. 1. ]] SLAMing on 169.75800114499998 meters Centerline goodness [0,1] 0.646049179598915 Centerline is valid? [False, False] Translation: X:4.19, Y:0.30, Z:0.66 [[ 0.84079132 0.07449664 -0.5362091 4.18705448] [-0.0924035 0.99570006 -0.00655667 0.29686156] [ 0.53341498 0.05506039 0.84405972 0.66095016] [ 0. 0. 0. 1. ]] SLAMing on 169.78800114499998 meters Centerline goodness [0,1] 0.6457045358860156 Centerline is valid? [False, False] Translation: X:4.19, Y:0.29, Z:0.66 [[ 0.8408679 0.07468914 -0.53606222 4.18720995] [-0.09234985 0.99570776 -0.00612889 0.29499459] [ 0.53330355 0.05465885 0.84415623 0.66036238] [ 0. 0. 0. 1. ]] SLAMing on 169.81800114499998 meters Centerline goodness [0,1] 0.6432463562663359 Centerline is valid? [False, False] Translation: X:4.17, Y:0.30, Z:0.64 [[ 0.84167747 0.07390819 -0.5348987 4.16542934] [-0.09207317 0.9957255 -0.00729791 0.29616281] [ 0.5320729 0.0553923 0.84488468 0.64429891] [ 0. 0. 0. 1. ]] SLAMing on 169.84800114499998 meters Centerline goodness [0,1] 0.6243197805601026 Centerline is valid? [False, False] Translation: X:4.17, Y:0.29, Z:0.64 [[ 0.84170637 0.07397029 -0.53484464 4.16504059] [-0.09193803 0.99574031 -0.00697329 0.29400468] [ 0.53205055 0.05504202 0.84492164 0.64412834] [ 0. 0. 0. 1. ]] SLAMing on 169.87800114499998 meters Centerline goodness [0,1] 0.6339471011613017 Centerline is valid? [False, False] Translation: X:4.16, Y:0.29, Z:0.64 [[ 0.84179773 0.07377669 -0.53472758 4.16401338] [-0.09163675 0.99576878 -0.00687281 0.29178312] [ 0.53195798 0.05478621 0.84499656 0.64404775] [ 0. 0. 0. 1. ]] SLAMing on 169.908001145 meters Centerline goodness [0,1] 0.6429503194852859 Centerline is valid? [False, False] Translation: X:4.16, Y:0.29, Z:0.64 [[ 0.84184023 0.07357774 -0.53468807 4.16299053] [-0.09133111 0.9957976 -0.00676592 0.28943852] [ 0.53194328 0.05452948 0.84502242 0.64410365] [ 0. 0. 0. 1. ]] SLAMing on 169.938001145 meters Centerline goodness [0,1] 0.6249259722313614 Centerline is valid? [False, False] Translation: X:4.16, Y:0.29, Z:0.64 [[ 0.84187831 0.06913698 -0.5352205 4.16316325] [-0.08797846 0.99607497 -0.0097185 0.2864479 ] [ 0.53244784 0.05526967 0.84465648 0.64455531] [ 0. 0. 0. 1. ]] SLAMing on 169.96800114499996 meters Centerline goodness [0,1] 0.6087423312883435 Centerline is valid? [False, False] Translation: X:4.16, Y:0.28, Z:0.64 [[ 0.84194939 0.06903014 -0.53512248 4.16240644] [-0.08768825 0.99610295 -0.00947061 0.2842374 ] [ 0.53238332 0.05489773 0.8447214 0.64439943] [ 0. 0. 0. 1. ]] SLAMing on 169.99800114499996 meters Centerline goodness [0,1] 0.6039660180392671 Centerline is valid? [False, False] Translation: X:4.16, Y:0.28, Z:0.64 [[ 0.84198516 0.06890153 -0.53508276 4.16160397] [-0.08737983 0.99613233 -0.0092275 0.28192455] [ 0.53237745 0.05452486 0.84474925 0.64433828] [ 0. 0. 0. 1. ]] SLAMing on 170.02800114499996 meters Centerline goodness [0,1] 0.6385468250142425 Centerline is valid? [False, False] Translation: X:4.16, Y:0.28, Z:0.64 [[ 0.84200979 0.06904486 -0.53502553 4.16141155] [-0.08726264 0.99614665 -0.00877938 0.27923176] [ 0.53235772 0.05408007 0.84479027 0.64403618] [ 0. 0. 0. 1. ]] SLAMing on 170.05800114499996 meters Centerline goodness [0,1] 0.5988984674329502 Centerline is valid? [False, False] Translation: X:4.16, Y:0.28, Z:0.64 [[ 0.8419107 0.06482611 -0.53570883 4.16253491] [-0.08407816 0.99639208 -0.0115624 0.27543984] [ 0.53302649 0.05477592 0.84432361 0.64445785] [ 0. 0. 0. 1. ]] SLAMing on 170.08800114499996 meters Centerline goodness [0,1] 0.6411474947377558 Centerline is valid? [False, False] Translation: X:4.16, Y:0.27, Z:0.64 [[ 0.8419134 0.06508278 -0.53567346 4.16232505] [-0.08406264 0.99639908 -0.01106093 0.27252168] [ 0.53302467 0.05434247 0.84435277 0.644255 ] [ 0. 0. 0. 1. ]] SLAMing on 170.11800114499997 meters Centerline goodness [0,1] 0.5987085070081852 Centerline is valid? [False, False] Translation: X:4.16, Y:0.27, Z:0.64 [[ 0.84188892 0.06524364 -0.53569236 4.16198218] [-0.08404976 0.99640371 -0.01073668 0.27018266] [ 0.53306536 0.0540639 0.84434496 0.64430821] [ 0. 0. 0. 1. ]] SLAMing on 170.14800114499997 meters Centerline goodness [0,1] 0.6360126814329157 Centerline is valid? [False, False] Translation: X:4.16, Y:0.27, Z:0.64 [[ 0.8418971 0.06528466 -0.53567451 4.16043252] [-0.08394775 0.99641483 -0.01050034 0.26803284] [ 0.53306851 0.05380888 0.84435926 0.64478692] [ 0. 0. 0. 1. ]] SLAMing on 170.17800114499997 meters Centerline goodness [0,1] 0.6377712989957888 Centerline is valid? [False, False] Translation: X:4.16, Y:0.27, Z:0.65 [[ 0.84180315 0.06562283 -0.53578083 4.16048459] [-0.08416957 0.99639919 -0.01020506 0.26686187] [ 0.5331819 0.05368709 0.84429542 0.64506859] [ 0. 0. 0. 1. ]] SLAMing on 170.20800114499997 meters Centerline goodness [0,1] 0.6349904109293856 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:0.65 [[ 0.84169414 0.06610958 -0.53589224 4.16096394] [-0.08445061 0.99638021 -0.00972454 0.26499585] [ 0.53330954 0.05344151 0.84423038 0.64515607] [ 0. 0. 0. 1. ]] SLAMing on 170.23800114499997 meters Centerline goodness [0,1] 0.6367578242390417 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:0.64 [[ 0.841607 0.06681184 -0.53594201 4.16158372] [-0.08480306 0.99635744 -0.00896062 0.26220138] [ 0.53339113 0.05299085 0.84420724 0.6449232 ] [ 0. 0. 0. 1. ]] SLAMing on 170.26800114499997 meters Centerline goodness [0,1] 0.6252731713587865 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:0.64 [[ 0.84176057 0.06669538 -0.53571529 4.15994336] [-0.08437397 0.99639768 -0.00852609 0.25785404] [ 0.53321682 0.05237735 0.84435563 0.64459395] [ 0. 0. 0. 1. ]] SLAMing on 170.29800114499997 meters Centerline goodness [0,1] 0.6210566812003078 Centerline is valid? [False, False] Translation: X:4.16, Y:0.26, Z:0.64 [[ 0.8417412 0.0669094 -0.53571904 4.15975839] [-0.08440667 0.99639784 -0.00817629 0.2556949 ] [ 0.53324222 0.05210058 0.84435672 0.64461649] [ 0. 0. 0. 1. ]] SLAMing on 170.32800114499997 meters Centerline goodness [0,1] 0.6169450310360274 Centerline is valid? [False, False] Translation: X:4.16, Y:0.25, Z:0.64 [[ 0.84173754 0.06730351 -0.53567541 4.15982893] [-0.08455477 0.99638926 -0.00767711 0.25346956] [ 0.53322453 0.05175602 0.84438908 0.64443262] [ 0. 0. 0. 1. ]] SLAMing on 170.35800114499997 meters Centerline goodness [0,1] 0.6277642328585482 Centerline is valid? [False, False] Translation: X:4.16, Y:0.25, Z:0.64 [[ 0.84173112 0.06771138 -0.53563411 4.1599756 ] [-0.08473126 0.99637785 -0.00719674 0.25144695] [ 0.53320666 0.05144268 0.84441951 0.64424375] [ 0. 0. 0. 1. ]] SLAMing on 170.38800114499998 meters Centerline goodness [0,1] 0.6078548431803159 Centerline is valid? [False, False] Translation: X:4.16, Y:0.25, Z:0.64 [[ 0.84169717 0.06825721 -0.53561818 4.160006 ] [-0.08494654 0.9963642 -0.00651626 0.24906728] [ 0.533226 0.05098363 0.84443514 0.64415435] [ 0. 0. 0. 1. ]] SLAMing on 170.41800114499998 meters Centerline goodness [0,1] 0.6132069429321719 Centerline is valid? [False, False] Translation: X:4.16, Y:0.25, Z:0.64 [[ 0.84155257 0.06899812 -0.53575044 4.16099484] [-0.08541008 0.99632873 -0.00584649 0.24706026] [ 0.53338016 0.05067862 0.84435614 0.64409644] [ 0. 0. 0. 1. ]] SLAMing on 170.44800114499998 meters Centerline goodness [0,1] 0.6132069429321719 Centerline is valid? [False, False] Translation: X:4.16, Y:0.25, Z:0.64 [[ 0.84155257 0.06899812 -0.53575044 4.16099484] [-0.08541008 0.99632873 -0.00584649 0.24706026] [ 0.53338016 0.05067862 0.84435614 0.64409644] [ 0. 0. 0. 1. ]] SLAMing on 170.47800114499998 meters Centerline goodness [0,1] 0.6151252614058299 Centerline is valid? [False, False] Translation: X:4.16, Y:0.25, Z:0.64 [[ 0.84147044 0.06954667 -0.5358085 4.16150871] [-0.08574572 0.99630273 -0.00534323 0.24506853] [ 0.53345587 0.05043945 0.84432263 0.64404948] [ 0. 0. 0. 1. ]] SLAMing on 170.50800114499998 meters Centerline goodness [0,1] 0.6406070164968669 Centerline is valid? [False, False] Translation: X:4.16, Y:0.24, Z:0.64 [[ 0.84141291 0.07058566 -0.53576299 4.16201369] [-0.08630852 0.99625921 -0.00429199 0.24078107] [ 0.53345586 0.04985224 0.84435751 0.6436108 ] [ 0. 0. 0. 1. ]] SLAMing on 170.53800114499998 meters Centerline goodness [0,1] 0.6302076697668493 Centerline is valid? [False, False] Translation: X:4.16, Y:0.24, Z:0.64 [[ 8.41247046e-01 7.14482533e-02 -5.35909091e-01 4.16325386e+00] [-8.68823196e-02 9.96212194e-01 -3.56753344e-03 2.38816210e-01] [ 5.33624278e-01 4.95622020e-02 8.44268156e-01 6.43543213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.56800114499998 meters Centerline goodness [0,1] 0.6290997980656818 Centerline is valid? [False, False] Translation: X:4.16, Y:0.24, Z:0.64 [[ 8.41138748e-01 7.18790675e-02 -5.36021460e-01 4.16371857e+00] [-8.71766354e-02 9.96187686e-01 -3.21368489e-03 2.37816259e-01] [ 5.33746982e-01 4.94317023e-02 8.44198239e-01 6.43695272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.59800114499998 meters Centerline goodness [0,1] 0.6363001079982212 Centerline is valid? [False, False] Translation: X:4.16, Y:0.24, Z:0.64 [[ 8.41012914e-01 7.26346495e-02 -5.36117045e-01 4.16355930e+00] [-8.77353228e-02 9.96140239e-01 -2.67151047e-03 2.36606517e-01] [ 5.33853718e-01 4.92831768e-02 8.44139430e-01 6.44276616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.62800114499998 meters Centerline goodness [0,1] 0.6364214408342341 Centerline is valid? [False, False] Translation: X:4.16, Y:0.24, Z:0.64 [[ 8.40888277e-01 7.32731392e-02 -5.36225654e-01 4.16422190e+00] [-8.82214901e-02 9.96098381e-01 -2.23257048e-03 2.35407860e-01] [ 5.33969919e-01 4.91839686e-02 8.44071717e-01 6.44406242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.658001145 meters Centerline goodness [0,1] 0.6473665261864927 Centerline is valid? [False, False] Translation: X:4.16, Y:0.23, Z:0.64 [[ 8.40751834e-01 7.39215939e-02 -5.36350587e-01 4.16497364e+00] [-8.86886570e-02 9.96057872e-01 -1.74319847e-03 2.33893506e-01] [ 5.34107364e-01 4.90338105e-02 8.43993489e-01 6.44472756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.688001145 meters Centerline goodness [0,1] 0.6615546883240164 Centerline is valid? [False, False] Translation: X:4.17, Y:0.23, Z:0.64 [[ 8.40636691e-01 7.46068783e-02 -5.36436173e-01 4.16589159e+00] [-8.91373013e-02 9.96018673e-01 -1.15995548e-03 2.32003815e-01] [ 5.34213905e-01 4.87915740e-02 8.43940096e-01 6.44336791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71800114499996 meters Centerline goodness [0,1] 0.6686364401076716 Centerline is valid? [False, False] Translation: X:4.17, Y:0.23, Z:0.64 [[ 8.40612511e-01 7.53114761e-02 -5.36375604e-01 4.16598266e+00] [-8.95453518e-02 9.95982624e-01 -4.92232246e-04 2.29651566e-01] [ 5.34183711e-01 4.84437187e-02 8.43979247e-01 6.44143950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74800114499996 meters Centerline goodness [0,1] 0.6537582076401854 Centerline is valid? [False, False] Translation: X:4.17, Y:0.23, Z:0.64 [[ 8.40510749e-01 7.56635544e-02 -5.36485514e-01 4.16657669e+00] [-8.98198344e-02 9.95957997e-01 -2.55019454e-04 2.29067651e-01] [ 5.34297743e-01 4.84013866e-02 8.43909490e-01 6.44290659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77800114499996 meters Centerline goodness [0,1] 0.6745781918912113 Centerline is valid? [False, False] Translation: X:4.17, Y:0.23, Z:0.64 [[ 8.40369288e-01 7.61285748e-02 -5.36641314e-01 4.16739836e+00] [-9.01799036e-02 9.95925490e-01 6.32952170e-05 2.28487037e-01] [ 5.34459582e-01 4.83410706e-02 8.43810462e-01 6.44428744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80800114499996 meters Centerline goodness [0,1] 0.6731192256929168 Centerline is valid? [False, False] Translation: X:4.17, Y:0.23, Z:0.64 [[ 8.40204137e-01 7.63127868e-02 -5.36873697e-01 4.16800121e+00] [-9.03756416e-02 9.95907741e-01 1.23878541e-04 2.28359173e-01] [ 5.34686124e-01 4.84162216e-02 8.43662621e-01 6.44851380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83800114499996 meters Centerline goodness [0,1] 0.704074578401592 Centerline is valid? [False, False] Translation: X:4.17, Y:0.23, Z:0.64 [[ 8.40267803e-01 7.77343440e-02 -5.36570025e-01 4.16843503e+00] [-9.14250217e-02 9.95811361e-01 1.09443456e-03 2.26605222e-01] [ 5.34407602e-01 4.81363080e-02 8.43855089e-01 6.44307837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86800114499997 meters Centerline goodness [0,1] 0.677022518765638 Centerline is valid? [False, False] Translation: X:4.17, Y:0.23, Z:0.64 [[ 8.40143702e-01 7.84725690e-02 -5.36656888e-01 4.16949680e+00] [-9.20247390e-02 9.95755533e-01 1.53820786e-03 2.25612911e-01] [ 5.34499773e-01 4.80933944e-02 8.43799158e-01 6.44260356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89800114499997 meters Centerline goodness [0,1] 0.7031295639474233 Centerline is valid? [False, False] Translation: X:4.17, Y:0.23, Z:0.64 [[ 8.39964329e-01 7.89453055e-02 -5.36868293e-01 4.17056132e+00] [-9.24892971e-02 9.95712207e-01 1.71195436e-03 2.25706424e-01] [ 5.34701464e-01 4.82165904e-02 8.43664332e-01 6.44563338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92800114499997 meters Centerline goodness [0,1] 0.6797947348658684 Centerline is valid? [False, False] Translation: X:4.17, Y:0.23, Z:0.65 [[ 0.83971123 0.08401593 -0.53649453 4.16939925] [-0.0962228 0.99534589 0.00526667 0.2267076 ] [ 0.53444011 0.04720052 0.84388736 0.64503627] [ 0. 0. 0. 1. ]] SLAMing on 170.95800114499997 meters Centerline goodness [0,1] 0.7066529937425444 Centerline is valid? [False, False] Translation: X:4.17, Y:0.23, Z:0.65 [[ 0.83956181 0.0879035 -0.53610535 4.16785005] [-0.09897438 0.99505654 0.00815854 0.22628313] [ 0.5341723 0.0462111 0.84411166 0.64519711] [ 0. 0. 0. 1. ]] SLAMing on 170.98800114499997 meters Centerline goodness [0,1] 0.7036195321296026 Centerline is valid? [False, False] Translation: X:4.17, Y:0.23, Z:0.65 [[ 0.83946785 0.08794031 -0.53624642 4.16798182] [-0.09908156 0.99504657 0.00807262 0.22624742] [ 0.53430007 0.04635543 0.84402287 0.64562027] [ 0. 0. 0. 1. ]] SLAMing on 171.01800114499997 meters Centerline goodness [0,1] 0.6984921479071513 Centerline is valid? [False, False] Translation: X:4.16, Y:0.23, Z:0.63 [[ 8.43383224e-01 8.86860574e-02 -5.29942941e-01 4.15800109e+00] [-1.02324984e-01 9.94744420e-01 3.62451417e-03 2.25850156e-01] [ 5.27479227e-01 5.11695485e-02 8.48025555e-01 6.34642816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.04800114499997 meters Centerline goodness [0,1] 0.6926617019496277 Centerline is valid? [False, False] Translation: X:4.16, Y:0.22, Z:0.63 [[ 8.43363858e-01 8.87826210e-02 -5.29957592e-01 4.15854124e+00] [-1.02326937e-01 9.94743540e-01 3.80615086e-03 2.24844040e-01] [ 5.27509811e-01 5.10189669e-02 8.48015604e-01 6.34360431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.07800114499997 meters Centerline goodness [0,1] 0.6912556896479727 Centerline is valid? [False, False] Translation: X:4.16, Y:0.22, Z:0.63 [[ 8.43331131e-01 8.87174736e-02 -5.30020578e-01 4.15893920e+00] [-1.02183668e-01 9.94757825e-01 3.92009825e-03 2.24113118e-01] [ 5.27589898e-01 5.08535059e-02 8.47975719e-01 6.34222981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.10800114499997 meters Centerline goodness [0,1] 0.6805480251908078 Centerline is valid? [False, False] Translation: X:4.16, Y:0.22, Z:0.63 [[ 8.43385989e-01 8.82478888e-02 -5.30011682e-01 4.15847393e+00] [-1.01659159e-01 9.94811753e-01 3.87185104e-03 2.23019476e-01] [ 5.27603533e-01 5.06150771e-02 8.47981501e-01 6.34138975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13800114499998 meters Centerline goodness [0,1] 0.6706228359267448 Centerline is valid? [False, False] Translation: X:4.16, Y:0.22, Z:0.63 [[ 8.43393678e-01 8.79513058e-02 -5.30048745e-01 4.15830434e+00] [-1.01377101e-01 9.94840938e-01 3.76711352e-03 2.22617863e-01] [ 5.27645513e-01 5.05576453e-02 8.47958806e-01 6.34222772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.16800114499998 meters Centerline goodness [0,1] 0.6633347245409015 Centerline is valid? [False, False] Translation: X:4.16, Y:0.22, Z:0.63 [[ 8.43463735e-01 8.74605801e-02 -5.30018466e-01 4.15777770e+00] [-1.00968998e-01 9.94883454e-01 3.48930516e-03 2.22455035e-01] [ 5.27611779e-01 5.05723308e-02 8.47978921e-01 6.34326001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19800114499998 meters Centerline goodness [0,1] 0.6488678537175263 Centerline is valid? [False, False] Translation: X:4.15, Y:0.22, Z:0.63 [[ 8.43931324e-01 8.56705113e-02 -5.29566316e-01 4.15478997e+00] [-9.93746600e-02 9.95046672e-01 2.60735744e-03 2.21822767e-01] [ 5.27166574e-01 5.04250420e-02 8.48264533e-01 6.34016236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.22800114499998 meters Centerline goodness [0,1] 0.6838512290049327 Centerline is valid? [False, False] Translation: X:4.15, Y:0.22, Z:0.63 [[ 8.43976429e-01 8.52218783e-02 -5.29566823e-01 4.15435878e+00] [-9.89003439e-02 9.95094153e-01 2.51948139e-03 2.20631569e-01] [ 5.27183564e-01 5.02479580e-02 8.48264483e-01 6.33943790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25800114499998 meters Centerline goodness [0,1] 0.6363124648195635 Centerline is valid? [False, False] Translation: X:4.15, Y:0.22, Z:0.63 [[ 8.44280361e-01 8.45044034e-02 -5.29197201e-01 4.15313121e+00] [-9.81793881e-02 9.95166128e-01 2.27701643e-03 2.19431115e-01] [ 5.26831547e-01 5.00338171e-02 8.48495809e-01 6.33377010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.28800114499998 meters Centerline goodness [0,1] 0.6255511188753016 Centerline is valid? [False, False] Translation: X:4.15, Y:0.22, Z:0.63 [[ 8.44329179e-01 8.40979385e-02 -5.29184065e-01 4.15300400e+00] [-9.76810098e-02 9.95215102e-01 2.30659183e-03 2.17812359e-01] [ 5.26845953e-01 4.97437111e-02 8.48503922e-01 6.33088801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31800114499998 meters Centerline goodness [0,1] 0.6547638842700365 Centerline is valid? [False, False] Translation: X:4.15, Y:0.22, Z:0.63 [[ 8.45590511e-01 8.19875698e-02 -5.27498555e-01 4.14918007e+00] [-9.51645590e-02 9.95459188e-01 2.17068189e-03 2.17952271e-01] [ 5.25281252e-01 4.83636594e-02 8.49553155e-01 6.29555188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.34800114499998 meters Centerline goodness [0,1] 0.6593415723335756 Centerline is valid? [False, False] Translation: X:4.15, Y:0.22, Z:0.63 [[ 8.45582424e-01 8.13793826e-02 -5.27605687e-01 4.14900793e+00] [-9.47424145e-02 9.95500357e-01 1.70711569e-03 2.18668452e-01] [ 5.25370573e-01 4.85431296e-02 8.49487684e-01 6.29926499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37800114499998 meters Centerline goodness [0,1] 0.6531978133898693 Centerline is valid? [False, False] Translation: X:4.15, Y:0.22, Z:0.63 [[ 8.45538881e-01 8.10131046e-02 -5.27731823e-01 4.14884760e+00] [-9.45271115e-02 9.95521343e-01 1.37176962e-03 2.19296928e-01] [ 5.25479425e-01 4.87250804e-02 8.49409937e-01 6.30329009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.408001145 meters Centerline goodness [0,1] 0.6431498159279518 Centerline is valid? [False, False] Translation: X:4.15, Y:0.22, Z:0.63 [[ 8.46679418e-01 8.16563028e-02 -5.25800544e-01 4.14544064e+00] [-9.52390066e-02 9.95453671e-01 1.23271035e-03 2.19543822e-01] [ 5.23510740e-01 4.90330109e-02 8.50607000e-01 6.28549341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.438001145 meters Centerline goodness [0,1] 0.648694676940331 Centerline is valid? [False, False] Translation: X:4.15, Y:0.22, Z:0.63 [[ 8.46553917e-01 8.18863998e-02 -5.25966808e-01 4.14613267e+00] [-9.54866930e-02 9.95429873e-01 1.28816987e-03 2.19701672e-01] [ 5.23668557e-01 4.91323259e-02 8.50504119e-01 6.28778899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46800114499996 meters Centerline goodness [0,1] 0.5956544339328412 Centerline is valid? [False, False] Translation: X:4.15, Y:0.22, Z:0.63 [[ 8.46401157e-01 8.21604547e-02 -5.26169879e-01 4.14710035e+00] [-9.57877829e-02 9.95400870e-01 1.34499884e-03 2.20138277e-01] [ 5.23860461e-01 4.92622376e-02 8.50378415e-01 6.28990250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49800114499996 meters Centerline goodness [0,1] 0.6555006978730495 Centerline is valid? [False, False] Translation: X:4.15, Y:0.22, Z:0.63 [[ 0.84609581 0.08716331 -0.52585591 4.14697896] [-0.09938743 0.99503615 0.00501917 0.22037847] [ 0.52368313 0.04801677 0.85055886 0.6289158 ] [ 0. 0. 0. 1. ]] SLAMing on 171.52800114499996 meters Centerline goodness [0,1] 0.5983567342693707 Centerline is valid? [False, False] Translation: X:4.15, Y:0.22, Z:0.63 [[ 0.84588953 0.0872527 -0.52617285 4.14794839] [-0.09960833 0.99501483 0.00486549 0.22155663] [ 0.52397431 0.04829553 0.85036372 0.62945129] [ 0. 0. 0. 1. ]] SLAMing on 171.55800114499996 meters Centerline goodness [0,1] 0.6568872243029547 Centerline is valid? [False, False] Translation: X:4.15, Y:0.22, Z:0.63 [[ 0.84576147 0.08722283 -0.52638361 4.1484964 ] [-0.0997668 0.99500033 0.00457428 0.22282931] [ 0.52415085 0.04864685 0.85023489 0.62994729] [ 0. 0. 0. 1. ]] SLAMing on 171.58800114499996 meters Centerline goodness [0,1] 0.6525238659761652 Centerline is valid? [False, False] Translation: X:4.15, Y:0.22, Z:0.63 [[ 0.84565926 0.08725316 -0.52654279 4.14912788] [-0.09993594 0.99498425 0.00437527 0.22381176] [ 0.52428354 0.04892056 0.85013737 0.63025489] [ 0. 0. 0. 1. ]] SLAMing on 171.61800114499997 meters Centerline goodness [0,1] 0.6523213951262148 Centerline is valid? [False, False] Translation: X:4.15, Y:0.22, Z:0.63 [[ 0.84610968 0.08813024 -0.52567241 4.1493334 ] [-0.10083012 0.99489347 0.00450253 0.22371877] [ 0.52338485 0.04919398 0.85067517 0.62899061] [ 0. 0. 0. 1. ]] SLAMing on 171.64800114499997 meters Centerline goodness [0,1] 0.6518735825895179 Centerline is valid? [False, False] Translation: X:4.15, Y:0.22, Z:0.63 [[ 0.84595416 0.08843363 -0.52587171 4.15064237] [-0.10112269 0.99486319 0.0046289 0.22368699] [ 0.52357976 0.04926173 0.8505513 0.62897551] [ 0. 0. 0. 1. ]] SLAMing on 171.67800114499997 meters Centerline goodness [0,1] 0.6670757071547421 Centerline is valid? [False, False] Translation: X:4.15, Y:0.22, Z:0.63 [[ 0.84577833 0.08854242 -0.52613615 4.15159234] [-0.10136358 0.99483938 0.00447484 0.22496497] [ 0.52381718 0.04954632 0.85038857 0.62943471] [ 0. 0. 0. 1. ]] SLAMing on 171.70800114499997 meters Centerline goodness [0,1] 0.6537249911334571 Centerline is valid? [False, False] Translation: X:4.15, Y:0.23, Z:0.63 [[ 0.84562232 0.09287956 -0.52563893 4.15023015] [-0.10444203 0.99450113 0.0077055 0.22565927] [ 0.52346419 0.04838285 0.85067287 0.62946826] [ 0. 0. 0. 1. ]] SLAMing on 171.73800114499997 meters Centerline goodness [0,1] 0.6974334282364762 Centerline is valid? [False, False] Translation: X:4.15, Y:0.23, Z:0.63 [[ 0.84536102 0.09723742 -0.525271 4.14967028] [-0.10769916 0.99412592 0.01070222 0.2283925 ] [ 0.52322618 0.047524 0.8508677 0.62980797] [ 0. 0. 0. 1. ]] SLAMing on 171.76800114499997 meters Centerline goodness [0,1] 0.6475823508470673 Centerline is valid? [False, False] Translation: X:4.15, Y:0.23, Z:0.63 [[ 0.84522796 0.09724044 -0.52548454 4.15012876] [-0.10782415 0.99411424 0.01052766 0.22924374] [ 0.52341538 0.04776165 0.85073801 0.6302543 ] [ 0. 0. 0. 1. ]] SLAMing on 171.79800114499997 meters Centerline goodness [0,1] 0.6933121285678413 Centerline is valid? [False, False] Translation: X:4.15, Y:0.23, Z:0.63 [[ 0.84517454 0.09726336 -0.52556621 4.15057427] [-0.10793728 0.99410334 0.01039639 0.22923429] [ 0.52347832 0.04794143 0.85068918 0.63035511] [ 0. 0. 0. 1. ]] SLAMing on 171.82800114499997 meters Centerline goodness [0,1] 0.6904333263554532 Centerline is valid? [False, False] Translation: X:4.15, Y:0.23, Z:0.63 [[ 0.84520385 0.09714519 -0.52554093 4.15034692] [-0.10808628 0.99409197 0.00992561 0.23064289] [ 0.52340024 0.0484146 0.85071042 0.63070405] [ 0. 0. 0. 1. ]] SLAMing on 171.85800114499997 meters Centerline goodness [0,1] 0.7230585123134093 Centerline is valid? [False, False] Translation: X:4.15, Y:0.23, Z:0.63 [[ 0.84492759 0.10183926 -0.5250963 4.14991585] [-0.11138601 0.99368566 0.01348915 0.23069728] [ 0.52315439 0.04709102 0.85093591 0.63051948] [ 0. 0. 0. 1. ]] SLAMing on 171.88800114499998 meters Centerline goodness [0,1] 0.7142707394284995 Centerline is valid? [False, False] Translation: X:4.15, Y:0.23, Z:0.63 [[ 0.84460448 0.10657407 -0.52467631 4.14962674] [-0.11472297 0.99325075 0.01707574 0.23089391] [ 0.52295497 0.04577018 0.85113053 0.63041201] [ 0. 0. 0. 1. ]] SLAMing on 171.91800114499998 meters Centerline goodness [0,1] 0.7106870709742428 Centerline is valid? [False, False] Translation: X:4.15, Y:0.23, Z:0.63 [[ 0.84444902 0.10646454 -0.52494871 4.15073864] [-0.11480309 0.99324681 0.01676395 0.23253501] [ 0.52318839 0.04610943 0.85096876 0.63077092] [ 0. 0. 0. 1. ]] SLAMing on 171.94800114499998 meters Centerline goodness [0,1] 0.7169490457895069 Centerline is valid? [False, False] Translation: X:4.15, Y:0.23, Z:0.63 [[ 0.84421726 0.10701522 -0.52520944 4.15217571] [-0.11542595 0.99317347 0.01683158 0.23355871] [ 0.52342531 0.04641329 0.85080653 0.6311196 ] [ 0. 0. 0. 1. ]] SLAMing on 171.97800114499998 meters Centerline goodness [0,1] 0.7174338986621721 Centerline is valid? [False, False] Translation: X:4.15, Y:0.23, Z:0.63 [[ 0.84403428 0.10725786 -0.52545397 4.15347562] [-0.11570232 0.99314063 0.01687191 0.23377505] [ 0.52365934 0.04655577 0.85065472 0.63123566] [ 0. 0. 0. 1. ]] SLAMing on 172.00800114499998 meters Centerline goodness [0,1] 0.7214009742986729 Centerline is valid? [False, False] Translation: X:4.15, Y:0.23, Z:0.63 [[ 0.84388261 0.1073337 -0.52568205 4.15445801] [-0.11587218 0.99312264 0.0167649 0.23435987] [ 0.52386618 0.04676432 0.85051592 0.63145488] [ 0. 0. 0. 1. ]] SLAMing on 172.03800114499998 meters Centerline goodness [0,1] 0.7193092753258729 Centerline is valid? [False, False] Translation: X:4.15, Y:0.24, Z:0.63 [[ 0.84363356 0.11181196 -0.52514807 4.15287037] [-0.11913279 0.99267742 0.01997301 0.23502251] [ 0.52353585 0.04571246 0.85077646 0.63172 ] [ 0. 0. 0. 1. ]] SLAMing on 172.06800114499998 meters Centerline goodness [0,1] 0.7223084668960309 Centerline is valid? [False, False] Translation: X:4.15, Y:0.24, Z:0.63 [[ 0.84348029 0.11163731 -0.52543135 4.15308711] [-0.1191736 0.99267991 0.01960206 0.23686384] [ 0.52377347 0.0460836 0.85061017 0.63249898] [ 0. 0. 0. 1. ]] SLAMing on 172.09800114499998 meters Centerline goodness [0,1] 0.6577445880181239 Centerline is valid? [False, False] Translation: X:4.15, Y:0.24, Z:0.63 [[ 0.84340997 0.11117661 -0.52564188 4.15278914] [-0.11902825 0.99270945 0.01897958 0.23882876] [ 0.52391975 0.04655866 0.8504942 0.63331493] [ 0. 0. 0. 1. ]] SLAMing on 172.12800114499998 meters Centerline goodness [0,1] 0.7194442692897829 Centerline is valid? [False, False] Translation: X:4.15, Y:0.24, Z:0.63 [[ 0.84334271 0.11084113 -0.52582061 4.15272286] [-0.11890149 0.99273251 0.01856315 0.23992322] [ 0.52405678 0.04686576 0.8503929 0.63387434] [ 0. 0. 0. 1. ]] SLAMing on 172.158001145 meters Centerline goodness [0,1] 0.7665171331690571 Centerline is valid? [False, False] Translation: X:4.15, Y:0.24, Z:0.63 [[ 0.84340978 0.11053179 -0.52577815 4.15230169] [-0.11863499 0.99276743 0.01840025 0.23832901] [ 0.52400924 0.04685673 0.8504227 0.63377397] [ 0. 0. 0. 1. ]] SLAMing on 172.188001145 meters Centerline goodness [0,1] 0.7176149485618308 Centerline is valid? [False, False] Translation: X:4.15, Y:0.24, Z:0.63 [[ 0.84336468 0.11052718 -0.52585147 4.15271185] [-0.11860002 0.99277058 0.0184559 0.23718998] [ 0.52408974 0.04680094 0.85037616 0.63367356] [ 0. 0. 0. 1. ]] SLAMing on 172.21800114499996 meters Centerline goodness [0,1] 0.7540729896476002 Centerline is valid? [False, False] Translation: X:4.15, Y:0.24, Z:0.63 [[ 0.84330635 0.11044897 -0.52596143 4.1531412 ] [-0.11851521 0.99278071 0.01845568 0.23670624] [ 0.52420277 0.04677064 0.85030816 0.6336964 ] [ 0. 0. 0. 1. ]] SLAMing on 172.24800114499996 meters Centerline goodness [0,1] 0.7102795879756149 Centerline is valid? [False, False] Translation: X:4.13, Y:0.24, Z:0.62 [[ 0.84280117 0.11082953 -0.52669061 4.13385674] [-0.12012374 0.99261924 0.01665323 0.24174193] [ 0.5246489 0.04923268 0.84989392 0.62151777] [ 0. 0. 0. 1. ]] SLAMing on 172.27800114499996 meters Centerline goodness [0,1] 0.7155389523169913 Centerline is valid? [False, False] Translation: X:4.13, Y:0.24, Z:0.62 [[ 0.84274911 0.11049394 -0.52684441 4.13397998] [-0.11992195 0.99264857 0.01635689 0.24244971] [ 0.52477868 0.04939545 0.84980434 0.62186639] [ 0. 0. 0. 1. ]] SLAMing on 172.30800114499996 meters Centerline goodness [0,1] 0.7035476160523336 Centerline is valid? [False, False] Translation: X:4.13, Y:0.24, Z:0.62 [[ 0.8427189 0.11023618 -0.52694671 4.13392876] [-0.11975461 0.9926722 0.01614758 0.24264634] [ 0.5248654 0.04949643 0.84974491 0.62213505] [ 0. 0. 0. 1. ]] SLAMing on 172.33800114499996 meters Centerline goodness [0,1] 0.7432066074018031 Centerline is valid? [False, False] Translation: X:4.13, Y:0.24, Z:0.62 [[ 0.84273191 0.11002283 -0.5269705 4.13366734] [-0.11957969 0.99269524 0.01602655 0.24204517] [ 0.5248844 0.04950889 0.84973245 0.62222878] [ 0. 0. 0. 1. ]] SLAMing on 172.36800114499997 meters Centerline goodness [0,1] 0.7432066074018031 Centerline is valid? [False, False] Translation: X:4.13, Y:0.24, Z:0.62 [[ 0.84273191 0.11002283 -0.5269705 4.13366734] [-0.11957969 0.99269524 0.01602655 0.24204517] [ 0.5248844 0.04950889 0.84973245 0.62222878] [ 0. 0. 0. 1. ]] SLAMing on 172.39800114499997 meters Centerline goodness [0,1] 0.7336090525476036 Centerline is valid? [False, False] Translation: X:4.13, Y:0.24, Z:0.62 [[ 0.84314143 0.10839812 -0.52665204 4.13172901] [-0.11842174 0.99285357 0.01476722 0.24074205] [ 0.5244891 0.04991619 0.84995268 0.62202907] [ 0. 0. 0. 1. ]] SLAMing on 172.42800114499997 meters Centerline goodness [0,1] 0.7293193717277486 Centerline is valid? [False, False] Translation: X:4.13, Y:0.24, Z:0.62 [[ 0.84317386 0.10803513 -0.52667471 4.13160345] [-0.11810298 0.99289411 0.01459364 0.24030944] [ 0.52450884 0.04989688 0.84994163 0.62203578] [ 0. 0. 0. 1. ]] SLAMing on 172.45800114499997 meters Centerline goodness [0,1] 0.7204629649008979 Centerline is valid? [False, False] Translation: X:4.13, Y:0.24, Z:0.62 [[ 0.84320411 0.10770649 -0.5266936 4.13151124] [-0.11784309 0.99292796 0.01438979 0.24015206] [ 0.52451868 0.04993367 0.8499334 0.62207002] [ 0. 0. 0. 1. ]] SLAMing on 172.48800114499997 meters Centerline goodness [0,1] 0.7140492404400209 Centerline is valid? [False, False] Translation: X:4.13, Y:0.24, Z:0.62 [[ 0.84334157 0.10668527 -0.52668136 4.13045673] [-0.11703881 0.99303225 0.01374307 0.24082594] [ 0.52447776 0.05005206 0.84995169 0.6223098 ] [ 0. 0. 0. 1. ]] SLAMing on 172.51800114499997 meters Centerline goodness [0,1] 0.7083586913181255 Centerline is valid? [False, False] Translation: X:4.13, Y:0.24, Z:0.62 [[ 0.84335916 0.10626442 -0.52673826 4.13049627] [-0.11671463 0.99307412 0.01347177 0.2409595 ] [ 0.5245217 0.05011652 0.84992077 0.62236928] [ 0. 0. 0. 1. ]] SLAMing on 172.54800114499997 meters Centerline goodness [0,1] 0.7057589866196887 Centerline is valid? [False, False] Translation: X:4.13, Y:0.24, Z:0.62 [[ 0.84336586 0.10593033 -0.52679483 4.13040916] [-0.11645794 0.99310715 0.01325661 0.24080164] [ 0.52456799 0.05016927 0.84988909 0.62248007] [ 0. 0. 0. 1. ]] SLAMing on 172.57800114499997 meters Centerline goodness [0,1] 0.7327082369759912 Centerline is valid? [False, False] Translation: X:4.13, Y:0.24, Z:0.62 [[ 0.84338959 0.10554983 -0.52683322 4.13038878] [-0.11619473 0.99314188 0.01296146 0.24070502] [ 0.52458821 0.05028369 0.84986985 0.62254977] [ 0. 0. 0. 1. ]] SLAMing on 172.60800114499997 meters Centerline goodness [0,1] 0.7230985148411152 Centerline is valid? [False, False] Translation: X:4.13, Y:0.24, Z:0.62 [[ 0.8436267 0.10446624 -0.52666953 4.1288495 ] [-0.11537344 0.99324719 0.0122063 0.2403985 ] [ 0.52438817 0.05046612 0.84998248 0.62259518] [ 0. 0. 0. 1. ]] SLAMing on 172.63800114499998 meters Centerline goodness [0,1] 0.7224883385278307 Centerline is valid? [False, False] Translation: X:4.13, Y:0.24, Z:0.62 [[ 0.84370998 0.10389443 -0.52664923 4.1284651 ] [-0.11500061 0.99329632 0.01171708 0.24095983] [ 0.52433608 0.05067917 0.85000194 0.6227579 ] [ 0. 0. 0. 1. ]] SLAMing on 172.66800114499998 meters Centerline goodness [0,1] 0.7039654413152432 Centerline is valid? [False, False] Translation: X:4.13, Y:0.24, Z:0.62 [[ 0.84371652 0.10325266 -0.52676495 4.12816677] [-0.11463366 0.99334581 0.01110037 0.24257635] [ 0.5244059 0.05101943 0.84993851 0.62325741] [ 0. 0. 0. 1. ]] SLAMing on 172.69800114499998 meters Centerline goodness [0,1] 0.702137936827957 Centerline is valid? [False, False] Translation: X:4.13, Y:0.24, Z:0.62 [[ 0.84361331 0.10289775 -0.52699966 4.12852337] [-0.11454557 0.99336152 0.01059298 0.24441982] [ 0.52459117 0.0514291 0.84979948 0.62388965] [ 0. 0. 0. 1. ]] SLAMing on 172.72800114499998 meters Centerline goodness [0,1] 0.7228363098383177 Centerline is valid? [False, False] Translation: X:4.11, Y:0.25, Z:0.61 [[ 0.84407391 0.10559351 -0.52572736 4.10712046] [-0.11809078 0.99295407 0.00983809 0.25152111] [ 0.52306195 0.05377948 0.85059624 0.61117639] [ 0. 0. 0. 1. ]] SLAMing on 172.75800114499998 meters Centerline goodness [0,1] 0.7072841821361596 Centerline is valid? [False, False] Translation: X:4.11, Y:0.25, Z:0.61 [[ 0.84397046 0.1054551 -0.52592117 4.10787781] [-0.11813531 0.99295183 0.00952448 0.25258486] [ 0.5232188 0.05409148 0.85047998 0.61149552] [ 0. 0. 0. 1. ]] SLAMing on 172.78800114499998 meters Centerline goodness [0,1] 0.7061368336639513 Centerline is valid? [False, False] Translation: X:4.11, Y:0.25, Z:0.61 [[ 0.84395574 0.10523891 -0.5259881 4.10849858] [-0.11808161 0.99296122 0.00920649 0.25343437] [ 0.52325467 0.05433965 0.85044209 0.61152919] [ 0. 0. 0. 1. ]] SLAMing on 172.81800114499998 meters Centerline goodness [0,1] 0.7024225113720513 Centerline is valid? [False, False] Translation: X:4.11, Y:0.26, Z:0.61 [[ 0.84507793 0.10469072 -0.52429299 4.10642842] [-0.1176254 0.99301999 0.00869238 0.25517904] [ 0.52154343 0.05432444 0.85149357 0.60901992] [ 0. 0. 0. 1. ]] SLAMing on 172.84800114499998 meters Centerline goodness [0,1] 0.7215171130008038 Centerline is valid? [False, False] Translation: X:4.11, Y:0.26, Z:0.61 [[ 0.84501301 0.10425389 -0.52448464 4.1069283 ] [-0.1174116 0.99304926 0.00822698 0.256502 ] [ 0.52169678 0.05462868 0.85138016 0.60935286] [ 0. 0. 0. 1. ]] SLAMing on 172.87800114499998 meters Centerline goodness [0,1] 0.7029054410987849 Centerline is valid? [False, False] Translation: X:4.11, Y:0.26, Z:0.61 [[ 0.84494108 0.1037043 -0.52470943 4.107187 ] [-0.11714224 0.99308576 0.00764036 0.25839124] [ 0.5218738 0.05500999 0.85124711 0.60990367] [ 0. 0. 0. 1. ]] SLAMing on 172.908001145 meters Centerline goodness [0,1] 0.717458568219387 Centerline is valid? [False, False] Translation: X:4.11, Y:0.26, Z:0.61 [[ 0.84487473 0.10671977 -0.52421139 4.10538775] [-0.11916239 0.99282375 0.01006585 0.26030838] [ 0.52152375 0.0539619 0.85152868 0.60988727] [ 0. 0. 0. 1. ]] SLAMing on 172.938001145 meters Centerline goodness [0,1] 0.70110959952385 Centerline is valid? [False, False] Translation: X:4.11, Y:0.26, Z:0.61 [[ 0.8448975 0.10634367 -0.52425112 4.10577019] [-0.11888876 0.99285926 0.00979585 0.26057353] [ 0.52154931 0.05405108 0.85150737 0.60978252] [ 0. 0. 0. 1. ]] SLAMing on 172.96800114499996 meters Centerline goodness [0,1] 0.692302801678464 Centerline is valid? [False, False] Translation: X:4.11, Y:0.26, Z:0.61 [[ 0.84493747 0.1059976 -0.52425679 4.10611418] [-0.11854628 0.99290123 0.00969171 0.25996473] [ 0.52156251 0.0539598 0.85150507 0.60950329] [ 0. 0. 0. 1. ]] SLAMing on 172.99800114499996 meters Centerline goodness [0,1] 0.703621833021595 Centerline is valid? [False, False] Translation: X:4.11, Y:0.26, Z:0.61 [[ 0.8450549 0.10542273 -0.52418343 4.10608967] [-0.1180614 0.99296207 0.00937155 0.25959892] [ 0.52148224 0.05396635 0.85155382 0.60917786] [ 0. 0. 0. 1. ]] SLAMing on 173.02800114499996 meters Centerline goodness [0,1] 0.6836992794439603 Centerline is valid? [False, False] Translation: X:4.11, Y:0.26, Z:0.61 [[ 0.84512483 0.1048082 -0.52419392 4.10594978] [-0.11757034 0.99302381 0.00899556 0.259782 ] [ 0.52147986 0.05402729 0.85155141 0.60913134] [ 0. 0. 0. 1. ]] SLAMing on 173.05800114499996 meters Centerline goodness [0,1] 0.6812297734627832 Centerline is valid? [False, False] Translation: X:4.10, Y:0.26, Z:0.61 [[ 0.8454172 0.1027306 -0.52413374 4.10415285] [-0.11618322 0.99320121 0.00726697 0.26313887] [ 0.52131681 0.05475192 0.85160496 0.60971746] [ 0. 0. 0. 1. ]] SLAMing on 173.08800114499996 meters Centerline goodness [0,1] 0.67279802662357 Centerline is valid? [False, False] Translation: X:4.10, Y:0.26, Z:0.61 [[ 0.84541356 0.10192457 -0.52429696 4.10402569] [-0.11567252 0.99326565 0.00657462 0.26478624] [ 0.52143627 0.05508848 0.85151012 0.6101847 ] [ 0. 0. 0. 1. ]] SLAMing on 173.11800114499997 meters Centerline goodness [0,1] 0.6595839619233793 Centerline is valid? [False, False] Translation: X:4.10, Y:0.27, Z:0.61 [[ 0.84561693 0.10012359 -0.52431601 4.10281075] [-0.11448832 0.99341173 0.00505552 0.2679151 ] [ 0.52136785 0.05575302 0.85150876 0.61073797] [ 0. 0. 0. 1. ]] SLAMing on 173.14800114499997 meters Centerline goodness [0,1] 0.653127193075729 Centerline is valid? [False, False] Translation: X:4.10, Y:0.27, Z:0.61 [[ 0.84569674 0.0993277 -0.52433866 4.10236683] [-0.11392272 0.99347963 0.00445509 0.26851243] [ 0.52136229 0.05596643 0.85149816 0.6108958 ] [ 0. 0. 0. 1. ]] SLAMing on 173.17800114499997 meters Centerline goodness [0,1] 0.6832938969538062 Centerline is valid? [False, False] Translation: X:4.10, Y:0.27, Z:0.61 [[ 8.45830987e-01 9.86636617e-02 -5.24247483e-01 4.10193080e+00] [-1.13387556e-01 9.93542607e-01 4.04359324e-03 2.68584561e-01] [ 5.21261166e-01 5.60229441e-02 8.51556355e-01 6.10744916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20800114499997 meters Centerline goodness [0,1] 0.6557945575626051 Centerline is valid? [False, False] Translation: X:4.10, Y:0.27, Z:0.61 [[ 8.46225966e-01 9.67574806e-02 -5.23965271e-01 4.09965881e+00] [-1.11788047e-01 9.93727655e-01 2.96324336e-03 2.68463506e-01] [ 5.20965496e-01 5.60654806e-02 8.51734474e-01 6.10490488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23800114499997 meters Centerline goodness [0,1] 0.6690563058738186 Centerline is valid? [False, False] Translation: X:4.10, Y:0.27, Z:0.61 [[ 8.46335671e-01 9.61493784e-02 -5.23900018e-01 4.09925811e+00] [-1.11313606e-01 9.93782024e-01 2.56317636e-03 2.68887249e-01] [ 5.20888868e-01 5.61478929e-02 8.51775910e-01 6.10456143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.26800114499997 meters Centerline goodness [0,1] 0.6539915024446485 Centerline is valid? [False, False] Translation: X:4.10, Y:0.27, Z:0.61 [[ 8.46306661e-01 9.56589204e-02 -5.24036646e-01 4.09918709e+00] [-1.11008913e-01 9.93817113e-01 2.13704438e-03 2.70119876e-01] [ 5.21001014e-01 5.63641435e-02 8.51693036e-01 6.10876513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.29800114499997 meters Centerline goodness [0,1] 0.6436295251527974 Centerline is valid? [False, False] Translation: X:4.10, Y:0.27, Z:0.61 [[ 8.46269212e-01 9.52965482e-02 -5.24163132e-01 4.09934276e+00] [-1.10816250e-01 9.93839332e-01 1.77249672e-03 2.71296411e-01] [ 5.21102850e-01 5.65857832e-02 8.51616034e-01 6.11197716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.32800114499997 meters Centerline goodness [0,1] 0.6455277261759871 Centerline is valid? [False, False] Translation: X:4.10, Y:0.27, Z:0.61 [[ 8.46186328e-01 9.52078041e-02 -5.24313047e-01 4.09989772e+00] [-1.10813034e-01 9.93839940e-01 1.62659279e-03 2.72182179e-01] [ 5.21238112e-01 5.67243190e-02 8.51524035e-01 6.11442309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.35800114499997 meters Centerline goodness [0,1] 0.6496757847726199 Centerline is valid? [False, False] Translation: X:4.10, Y:0.27, Z:0.61 [[ 0.84613485 0.09925116 -0.52364589 4.09822683] [-0.11361992 0.9935131 0.00471606 0.2724167 ] [ 0.52071712 0.05550618 0.85192297 0.61107641] [ 0. 0. 0. 1. ]] SLAMing on 173.38800114499998 meters Centerline goodness [0,1] 0.638478344685773 Centerline is valid? [False, False] Translation: X:4.10, Y:0.27, Z:0.61 [[ 0.84604687 0.09936175 -0.52376706 4.09909735] [-0.11376887 0.99349613 0.00470003 0.27256807] [ 0.52082755 0.05561194 0.85184856 0.61110149] [ 0. 0. 0. 1. ]] SLAMing on 173.41800114499998 meters Centerline goodness [0,1] 0.6426718686359836 Centerline is valid? [False, False] Translation: X:4.10, Y:0.27, Z:0.61 [[ 0.84595211 0.09958616 -0.52387748 4.099944 ] [-0.11396722 0.99347282 0.00482046 0.27235655] [ 0.52093809 0.05562698 0.85177999 0.61105679] [ 0. 0. 0. 1. ]] SLAMing on 173.44800114499998 meters Centerline goodness [0,1] 0.6392339767011993 Centerline is valid? [False, False] Translation: X:4.10, Y:0.27, Z:0.61 [[ 0.84583434 0.10416811 -0.52317614 4.09906891] [-0.11720658 0.9930734 0.00823667 0.27292359] [ 0.52041031 0.05435283 0.85218477 0.61051681] [ 0. 0. 0. 1. ]] SLAMing on 173.47800114499998 meters Centerline goodness [0,1] 0.6344229774021045 Centerline is valid? [False, False] Translation: X:4.10, Y:0.27, Z:0.61 [[ 0.84569913 0.10855624 -0.52250218 4.09769394] [-0.12027478 0.99267323 0.01156857 0.27350445] [ 0.51992977 0.0530603 0.85255946 0.61025649] [ 0. 0. 0. 1. ]] SLAMing on 173.50800114499998 meters Centerline goodness [0,1] 0.6361929021673431 Centerline is valid? [False, False] Translation: X:4.10, Y:0.27, Z:0.61 [[ 0.84544853 0.11298041 -0.52196955 4.09656926] [-0.12336893 0.99224828 0.01494826 0.27367083] [ 0.51961225 0.05175684 0.85283313 0.61015369] [ 0. 0. 0. 1. ]] SLAMing on 173.53800114499998 meters Centerline goodness [0,1] 0.6683891891891892 Centerline is valid? [False, False] Translation: X:4.10, Y:0.27, Z:0.61 [[ 0.84527516 0.11306785 -0.52223134 4.09755859] [-0.1235556 0.99222667 0.01484103 0.27427971] [ 0.51984991 0.05197985 0.85267472 0.61049349] [ 0. 0. 0. 1. ]] SLAMing on 173.56800114499998 meters Centerline goodness [0,1] 0.6322306892968479 Centerline is valid? [False, False] Translation: X:4.10, Y:0.27, Z:0.61 [[ 0.84507971 0.11365369 -0.52242045 4.0989201 ] [-0.1241122 0.99215362 0.0150783 0.2740865 ] [ 0.52003505 0.05209639 0.8525547 0.61053042] [ 0. 0. 0. 1. ]] SLAMing on 173.59800114499998 meters Centerline goodness [0,1] 0.6673247564706137 Centerline is valid? [False, False] Translation: X:4.10, Y:0.28, Z:0.61 [[ 0.84491716 0.11360948 -0.52269291 4.09968614] [-0.12421882 0.99214371 0.01485064 0.27524283] [ 0.52027366 0.05238074 0.85239168 0.61102782] [ 0. 0. 0. 1. ]] SLAMing on 173.62800114499998 meters Centerline goodness [0,1] 0.6573762300958008 Centerline is valid? [False, False] Translation: X:4.10, Y:0.28, Z:0.61 [[ 0.84471611 0.11365777 -0.52300727 4.10062194] [-0.12443293 0.99212016 0.01463013 0.27711984] [ 0.52054888 0.05272101 0.85220265 0.61166414] [ 0. 0. 0. 1. ]] SLAMing on 173.658001145 meters Centerline goodness [0,1] 0.6207377996902201 Centerline is valid? [False, False] Translation: X:4.10, Y:0.28, Z:0.61 [[ 0.84438088 0.11818089 -0.52254589 4.10064185] [-0.12762706 0.99165807 0.0180447 0.27794486] [ 0.52031939 0.0514544 0.85242019 0.61135668] [ 0. 0. 0. 1. ]] SLAMing on 173.688001145 meters Centerline goodness [0,1] 0.6598657307179252 Centerline is valid? [False, False] Translation: X:4.10, Y:0.28, Z:0.61 [[ 0.84424672 0.11836025 -0.52272204 4.10192874] [-0.12778728 0.99163555 0.01814776 0.27801506] [ 0.52049774 0.05147604 0.85230999 0.61128765] [ 0. 0. 0. 1. ]] SLAMing on 173.71800114499996 meters Centerline goodness [0,1] 0.652987855671007 Centerline is valid? [False, False] Translation: X:4.10, Y:0.28, Z:0.61 [[ 0.84418349 0.11819635 -0.52286122 4.10256812] [-0.12771481 0.99164817 0.0179674 0.27836453] [ 0.52061805 0.05160934 0.85222844 0.61135471] [ 0. 0. 0. 1. ]] SLAMing on 173.74800114499996 meters Centerline goodness [0,1] 0.6455119600378496 Centerline is valid? [False, False] Translation: X:4.10, Y:0.28, Z:0.61 [[ 0.84418314 0.11764972 -0.52298506 4.10230635] [-0.12751855 0.99168613 0.01725209 0.28016959] [ 0.52066673 0.05212637 0.85216723 0.61194616] [ 0. 0. 0. 1. ]] SLAMing on 173.77800114499996 meters Centerline goodness [0,1] 0.6849306058014866 Centerline is valid? [False, False] Translation: X:4.10, Y:0.28, Z:0.61 [[ 0.84411719 0.1172246 -0.52318693 4.10256738] [-0.12735703 0.99171595 0.01672298 0.28182135] [ 0.52081317 0.05251538 0.85205386 0.61246791] [ 0. 0. 0. 1. ]] SLAMing on 173.80800114499996 meters Centerline goodness [0,1] 0.646078151426626 Centerline is valid? [False, False] Translation: X:4.10, Y:0.28, Z:0.61 [[ 0.84403479 0.11678962 -0.5234171 4.10299009] [-0.12718144 0.99174714 0.01620163 0.28362983] [ 0.52098959 0.0528942 0.85192256 0.61295655] [ 0. 0. 0. 1. ]] SLAMing on 173.83800114499996 meters Centerline goodness [0,1] 0.6695771045552763 Centerline is valid? [False, False] Translation: X:4.10, Y:0.29, Z:0.61 [[ 0.84390779 0.11649438 -0.52368761 4.10358703] [-0.12708902 0.99176518 0.01581794 0.28507511] [ 0.52121783 0.05320606 0.85176351 0.61343909] [ 0. 0. 0. 1. ]] SLAMing on 173.86800114499997 meters Centerline goodness [0,1] 0.6688040329891436 Centerline is valid? [False, False] Translation: X:4.10, Y:0.29, Z:0.61 [[ 0.84387217 0.11571436 -0.52391788 4.10367621] [-0.1267956 0.99181804 0.01482735 0.28801126] [ 0.52134694 0.0539181 0.85163971 0.61422163] [ 0. 0. 0. 1. ]] SLAMing on 173.89800114499997 meters Centerline goodness [0,1] 0.6674190621611454 Centerline is valid? [False, False] Translation: X:4.10, Y:0.29, Z:0.62 [[ 0.84380301 0.11507921 -0.52416911 4.10344797] [-0.12651333 0.99186469 0.01409979 0.28994591] [ 0.52152742 0.05441694 0.85149747 0.61506706] [ 0. 0. 0. 1. ]] SLAMing on 173.92800114499997 meters Centerline goodness [0,1] 0.6611520696393676 Centerline is valid? [False, False] Translation: X:4.10, Y:0.29, Z:0.62 [[ 0.84378935 0.11432387 -0.52435635 4.10316605] [-0.12612427 0.99192517 0.01330853 0.29204299] [ 0.52164374 0.05490447 0.85139492 0.61575519] [ 0. 0. 0. 1. ]] SLAMing on 173.95800114499997 meters Centerline goodness [0,1] 0.6464320669098674 Centerline is valid? [False, False] Translation: X:4.10, Y:0.29, Z:0.62 [[ 0.84369692 0.11374751 -0.52463035 4.10335386] [-0.12589191 0.99196374 0.0126161 0.29387203] [ 0.52184934 0.05540255 0.85123665 0.61645548] [ 0. 0. 0. 1. ]] SLAMing on 173.98800114499997 meters Centerline goodness [0,1] 0.6455859749170212 Centerline is valid? [False, False] Translation: X:4.10, Y:0.29, Z:0.62 [[ 0.84366524 0.11342467 -0.52475119 4.10379535] [-0.12569774 0.99199198 0.0123288 0.2944984 ] [ 0.52194736 0.05555866 0.85116637 0.61653831] [ 0. 0. 0. 1. ]] SLAMing on 174.01800114499997 meters Centerline goodness [0,1] 0.6416763211834953 Centerline is valid? [False, False] Translation: X:4.10, Y:0.30, Z:0.62 [[ 0.84357331 0.11305208 -0.52497933 4.10422369] [-0.12551146 0.99202023 0.01194682 0.29572586] [ 0.52214074 0.05581291 0.85103112 0.61695509] [ 0. 0. 0. 1. ]] SLAMing on 174.04800114499997 meters Centerline goodness [0,1] 0.6423445778284488 Centerline is valid? [False, False] Translation: X:4.10, Y:0.30, Z:0.62 [[ 0.84341892 0.1125899 -0.52532661 4.10470988] [-0.12534303 0.9920482 0.01137945 0.29769262] [ 0.52243053 0.05624839 0.85082458 0.61771144] [ 0. 0. 0. 1. ]] SLAMing on 174.07800114499997 meters Centerline goodness [0,1] 0.6628590664272891 Centerline is valid? [False, False] Translation: X:4.11, Y:0.30, Z:0.62 [[ 0.84328545 0.11234731 -0.52559274 4.10573602] [-0.12543292 0.99204329 0.01080236 0.300523 ] [ 0.52262437 0.05681716 0.85066772 0.61834727] [ 0. 0. 0. 1. ]] SLAMing on 174.10800114499997 meters Centerline goodness [0,1] 0.6539963841707028 Centerline is valid? [False, False] Translation: X:4.11, Y:0.30, Z:0.62 [[ 0.84318417 0.11221405 -0.52578367 4.10636111] [-0.12542251 0.99204691 0.01058863 0.30114734] [ 0.52279026 0.05701694 0.85055242 0.6185875 ] [ 0. 0. 0. 1. ]] SLAMing on 174.13800114499998 meters Centerline goodness [0,1] 0.632364828453386 Centerline is valid? [False, False] Translation: X:4.11, Y:0.30, Z:0.62 [[ 0.84310304 0.11217679 -0.5259217 4.10688603] [-0.12545817 0.99204359 0.01047703 0.30130614] [ 0.52291253 0.05714796 0.85046846 0.61872542] [ 0. 0. 0. 1. ]] SLAMing on 174.16800114499998 meters Centerline goodness [0,1] 0.6509266539368752 Centerline is valid? [False, False] Translation: X:4.11, Y:0.30, Z:0.62 [[ 0.84295993 0.11203767 -0.52618069 4.10750293] [-0.12554743 0.99203621 0.01009915 0.30271507] [ 0.52312179 0.05754746 0.85031282 0.61930393] [ 0. 0. 0. 1. ]] SLAMing on 174.19800114499998 meters Centerline goodness [0,1] 0.6507279314146847 Centerline is valid? [False, False] Translation: X:4.11, Y:0.30, Z:0.62 [[ 0.84283932 0.11181482 -0.52642125 4.10804497] [-0.12552384 0.99204277 0.00974249 0.30404872] [ 0.52332175 0.05786706 0.85016807 0.61981772] [ 0. 0. 0. 1. ]] SLAMing on 174.22800114499998 meters Centerline goodness [0,1] 0.6470415736166566 Centerline is valid? [False, False] Translation: X:4.11, Y:0.31, Z:0.62 [[ 0.84266228 0.11163045 -0.5267437 4.10863171] [-0.12553138 0.99204493 0.00941989 0.30537424] [ 0.52360496 0.05818508 0.84997197 0.62049683] [ 0. 0. 0. 1. ]] SLAMing on 174.25800114499998 meters Centerline goodness [0,1] 0.6470415736166566 Centerline is valid? [False, False] Translation: X:4.11, Y:0.31, Z:0.62 [[ 0.84266228 0.11163045 -0.5267437 4.10863171] [-0.12553138 0.99204493 0.00941989 0.30537424] [ 0.52360496 0.05818508 0.84997197 0.62049683] [ 0. 0. 0. 1. ]] SLAMing on 174.28800114499998 meters Centerline goodness [0,1] 0.6378913651538392 Centerline is valid? [False, False] Translation: X:4.11, Y:0.31, Z:0.62 [[ 0.84247759 0.11153571 -0.5270591 4.1091197 ] [-0.12558465 0.99204031 0.00919379 0.3063708 ] [ 0.5238893 0.05844497 0.8497789 0.62117299] [ 0. 0. 0. 1. ]] SLAMing on 174.31800114499998 meters Centerline goodness [0,1] 0.6440053356243358 Centerline is valid? [False, False] Translation: X:4.11, Y:0.31, Z:0.62 [[ 0.84223357 0.11193883 -0.52736355 4.11032232] [-0.12600617 0.99198568 0.00932011 0.30659031] [ 0.52418037 0.05860136 0.84958862 0.62158705] [ 0. 0. 0. 1. ]] SLAMing on 174.34800114499998 meters Centerline goodness [0,1] 0.6447630696747304 Centerline is valid? [False, False] Translation: X:4.11, Y:0.31, Z:0.62 [[ 0.84203216 0.11207061 -0.52765711 4.11116359] [-0.12615169 0.99196667 0.00937452 0.30656117] [ 0.52446887 0.05867119 0.84940573 0.62195791] [ 0. 0. 0. 1. ]] SLAMing on 174.37800114499998 meters Centerline goodness [0,1] 0.6853413108512374 Centerline is valid? [False, False] Translation: X:4.11, Y:0.31, Z:0.62 [[ 0.84186728 0.11227249 -0.52787724 4.11211326] [-0.12635802 0.99193965 0.00945457 0.3067804 ] [ 0.52468385 0.05874203 0.84926806 0.6221729 ] [ 0. 0. 0. 1. ]] SLAMing on 174.408001145 meters Centerline goodness [0,1] 0.6395935624659028 Centerline is valid? [False, False] Translation: X:4.11, Y:0.31, Z:0.62 [[ 0.84167204 0.11228108 -0.52818665 4.11252938] [-0.12657696 0.99191452 0.00915765 0.30810707] [ 0.52494424 0.05914852 0.84907891 0.62304072] [ 0. 0. 0. 1. ]] SLAMing on 174.438001145 meters Centerline goodness [0,1] 0.6373014610647822 Centerline is valid? [False, False] Translation: X:4.11, Y:0.31, Z:0.62 [[ 0.84145159 0.1124 -0.5285125 4.11329081] [-0.12679425 0.99188751 0.00907628 0.30866924] [ 0.52524512 0.05937509 0.848877 0.62366895] [ 0. 0. 0. 1. ]] SLAMing on 174.46800114499996 meters Centerline goodness [0,1] 0.6932377049180327 Centerline is valid? [False, False] Translation: X:4.11, Y:0.31, Z:0.62 [[ 0.84116751 0.11258496 -0.52892519 4.11414913] [-0.12711565 0.99184739 0.00896449 0.30938141] [ 0.52562234 0.05969403 0.84862111 0.62451585] [ 0. 0. 0. 1. ]] SLAMing on 174.49800114499996 meters Centerline goodness [0,1] 0.6604493718336097 Centerline is valid? [False, False] Translation: X:4.12, Y:0.31, Z:0.62 [[ 0.84098672 0.11275335 -0.52917674 4.11501857] [-0.12738758 0.99181327 0.00887985 0.31017527] [ 0.52584574 0.0599427 0.84846516 0.62498758] [ 0. 0. 0. 1. ]] SLAMing on 174.52800114499996 meters Centerline goodness [0,1] 0.714379827351204 Centerline is valid? [False, False] Translation: X:4.12, Y:0.31, Z:0.63 [[ 0.8406024 0.11394437 -0.52953214 4.11676395] [-0.12860715 0.9916527 0.00922657 0.31084782] [ 0.52616329 0.06034575 0.8482397 0.62581366] [ 0. 0. 0. 1. ]] SLAMing on 174.55800114499996 meters Centerline goodness [0,1] 0.7200420302435013 Centerline is valid? [False, False] Translation: X:4.12, Y:0.31, Z:0.63 [[ 0.84040109 0.1140308 -0.52983298 4.11720642] [-0.12885439 0.99162238 0.00903327 0.311713 ] [ 0.52642431 0.06067974 0.8480539 0.62659349] [ 0. 0. 0. 1. ]] SLAMing on 174.58800114499996 meters Centerline goodness [0,1] 0.7318994451674772 Centerline is valid? [False, False] Translation: X:4.12, Y:0.31, Z:0.63 [[ 0.84017633 0.11410276 -0.53017384 4.11763144] [-0.129138 0.99158794 0.00875982 0.31299493] [ 0.5267135 0.06110579 0.84784372 0.62756679] [ 0. 0. 0. 1. ]] SLAMing on 174.61800114499997 meters Centerline goodness [0,1] 0.7481682682431352 Centerline is valid? [False, False] Translation: X:4.12, Y:0.31, Z:0.63 [[ 0.83987104 0.11885586 -0.52961299 4.11555379] [-0.1325783 0.99109773 0.01217701 0.31317827] [ 0.52634555 0.05998807 0.84815199 0.62801613] [ 0. 0. 0. 1. ]] SLAMing on 174.64800114499997 meters Centerline goodness [0,1] 0.7753078522309291 Centerline is valid? [False, False] Translation: X:4.12, Y:0.31, Z:0.63 [[ 0.83966594 0.11886227 -0.52993666 4.11579107] [-0.13272979 0.99107975 0.01198881 0.31346904] [ 0.52663451 0.06027179 0.84795248 0.62879092] [ 0. 0. 0. 1. ]] SLAMing on 174.67800114499997 meters Centerline goodness [0,1] 0.769362381658492 Centerline is valid? [False, False] Translation: X:4.12, Y:0.31, Z:0.63 [[ 0.83944044 0.11922982 -0.53021128 4.11638249] [-0.13306699 0.99103218 0.01218151 0.31289777] [ 0.52690884 0.06032797 0.84777804 0.62929164] [ 0. 0. 0. 1. ]] SLAMing on 174.70800114499997 meters Centerline goodness [0,1] 0.783242466409654 Centerline is valid? [False, False] Translation: X:4.12, Y:0.31, Z:0.63 [[ 0.83909738 0.1202257 -0.53052933 4.11776347] [-0.1338874 0.99091393 0.01279618 0.31186124] [ 0.52724734 0.06029396 0.84756999 0.62968226] [ 0. 0. 0. 1. ]] SLAMing on 174.73800114499997 meters Centerline goodness [0,1] 0.7290368078620502 Centerline is valid? [False, False] Translation: X:4.12, Y:0.31, Z:0.63 [[ 0.83885859 0.12063742 -0.53081342 4.11875092] [-0.13423628 0.99086335 0.01305532 0.31147699] [ 0.52753852 0.06030285 0.84738815 0.63003434] [ 0. 0. 0. 1. ]] SLAMing on 174.76800114499997 meters Centerline goodness [0,1] 0.7886430309508108 Centerline is valid? [False, False] Translation: X:4.12, Y:0.31, Z:0.63 [[ 0.83864045 0.12097453 -0.53108131 4.11934339] [-0.13458294 0.99081475 0.01317435 0.31142279] [ 0.52779696 0.06042594 0.84721844 0.63060332] [ 0. 0. 0. 1. ]] SLAMing on 174.79800114499997 meters Centerline goodness [0,1] 0.7800018196706396 Centerline is valid? [False, False] Translation: X:4.12, Y:0.31, Z:0.63 [[ 0.838439 0.12124436 -0.53133779 4.11981295] [-0.13488845 0.99077246 0.01323043 0.31145409] [ 0.52803896 0.06057843 0.84705673 0.63120546] [ 0. 0. 0. 1. ]] SLAMing on 174.82800114499997 meters Centerline goodness [0,1] 0.8142385453887557 Centerline is valid? [False, False] Translation: X:4.12, Y:0.31, Z:0.63 [[ 0.83809524 0.12211588 -0.53168043 4.12089376] [-0.13560098 0.99066761 0.01378594 0.3105 ] [ 0.52840207 0.06054246 0.84683285 0.6317802 ] [ 0. 0. 0. 1. ]] SLAMing on 174.85800114499997 meters Centerline goodness [0,1] 0.7947823723900539 Centerline is valid? [False, False] Translation: X:4.12, Y:0.31, Z:0.63 [[ 0.83789918 0.12233145 -0.53193983 4.12129283] [-0.13578731 0.99064007 0.01393082 0.3097272 ] [ 0.52866509 0.06055806 0.84666756 0.63222014] [ 0. 0. 0. 1. ]] SLAMing on 174.88800114499998 meters Centerline goodness [0,1] 0.7933673469387755 Centerline is valid? [False, False] Translation: X:4.12, Y:0.31, Z:0.63 [[ 0.83777772 0.12243717 -0.53210679 4.12130289] [-0.13587773 0.99062657 0.01400879 0.30905225] [ 0.52883432 0.06056521 0.84656135 0.63260023] [ 0. 0. 0. 1. ]] SLAMing on 174.91800114499998 meters Centerline goodness [0,1] 0.7844210241859209 Centerline is valid? [False, False] Translation: X:4.12, Y:0.31, Z:0.63 [[ 0.8377414 0.1224268 -0.53216635 4.12076014] [-0.13586494 0.9906282 0.01401772 0.30812716] [ 0.52889514 0.06055952 0.84652376 0.6329042 ] [ 0. 0. 0. 1. ]] SLAMing on 174.94800114499998 meters Centerline goodness [0,1] 0.7896969560213913 Centerline is valid? [False, False] Translation: X:4.12, Y:0.31, Z:0.63 [[ 0.83764996 0.12243308 -0.53230883 4.12057705] [-0.13583516 0.99063116 0.01409652 0.30718564] [ 0.5290476 0.06049831 0.84643286 0.63317488] [ 0. 0. 0. 1. ]] SLAMing on 174.97800114499998 meters Centerline goodness [0,1] 0.7719775892716514 Centerline is valid? [False, False] Translation: X:4.12, Y:0.31, Z:0.63 [[ 0.83762362 0.12244426 -0.5323477 4.12033176] [-0.13577458 0.9906377 0.01421986 0.30614648] [ 0.52910484 0.0603684 0.84640636 0.63323 ] [ 0. 0. 0. 1. ]] SLAMing on 175.00800114499998 meters Centerline goodness [0,1] 0.7999457418669319 Centerline is valid? [False, False] Translation: X:4.12, Y:0.31, Z:0.63 [[ 0.83776151 0.12168243 -0.53230539 4.11824415] [-0.13506838 0.99073874 0.01390256 0.30511143] [ 0.52906727 0.0602506 0.84643824 0.63359445] [ 0. 0. 0. 1. ]] SLAMing on 175.03800114499998 meters Centerline goodness [0,1] 0.7741032528950992 Centerline is valid? [False, False] Translation: X:4.12, Y:0.30, Z:0.63 [[ 0.8377578 0.12141421 -0.53237248 4.11767598] [-0.13478517 0.99077794 0.01385721 0.3042217 ] [ 0.52914537 0.06014693 0.84639679 0.63379361] [ 0. 0. 0. 1. ]] SLAMing on 175.06800114499998 meters Centerline goodness [0,1] 0.7609681620189501 Centerline is valid? [False, False] Translation: X:4.12, Y:0.30, Z:0.63 [[ 0.83777352 0.12110671 -0.53241777 4.11696477] [-0.13442361 0.99082703 0.0138599 0.3029702 ] [ 0.52921245 0.05995806 0.84636825 0.63390364] [ 0. 0. 0. 1. ]] SLAMing on 175.09800114499998 meters Centerline goodness [0,1] 0.7539636200314395 Centerline is valid? [False, False] Translation: X:4.12, Y:0.30, Z:0.63 [[ 0.83786934 0.12057741 -0.53238713 4.11574954] [-0.13388965 0.99090143 0.01370862 0.30169973] [ 0.52919612 0.0597951 0.84638999 0.63396134] [ 0. 0. 0. 1. ]] SLAMing on 175.12800114499998 meters Centerline goodness [0,1] 0.7642092533703587 Centerline is valid? [False, False] Translation: X:4.11, Y:0.30, Z:0.63 [[ 0.83840403 0.11444861 -0.53289793 4.11414051] [-0.12941945 0.99154598 0.00933625 0.30123975] [ 0.52946132 0.06113981 0.84612802 0.63464602] [ 0. 0. 0. 1. ]] SLAMing on 175.158001145 meters Centerline goodness [0,1] 0.6963531069024886 Centerline is valid? [False, False] Translation: X:4.11, Y:0.30, Z:0.63 [[ 0.83856213 0.11363513 -0.53282325 4.11261277] [-0.12865983 0.99164792 0.00900257 0.30018975] [ 0.52939608 0.06100374 0.84617867 0.63468401] [ 0. 0. 0. 1. ]] SLAMing on 175.18800114499996 meters Centerline goodness [0,1] 0.7172163132428033 Centerline is valid? [False, False] Translation: X:4.11, Y:0.30, Z:0.64 [[ 0.83900259 0.1076032 -0.53338185 4.11149109] [-0.12429268 0.99223465 0.00466034 0.29974515] [ 0.52974143 0.06238542 0.84586174 0.63537084] [ 0. 0. 0. 1. ]] SLAMing on 175.21800114499996 meters Centerline goodness [0,1] 0.7189688737720692 Centerline is valid? [False, False] Translation: X:4.11, Y:0.30, Z:0.64 [[ 0.83912036 0.10685641 -0.53334672 4.11002462] [-0.12362446 0.9923197 0.00431224 0.29915108] [ 0.52971125 0.06231622 0.84588574 0.63558104] [ 0. 0. 0. 1. ]] SLAMing on 175.24800114499996 meters Centerline goodness [0,1] 0.7130588025341305 Centerline is valid? [False, False] Translation: X:4.11, Y:0.30, Z:0.64 [[ 0.83917762 0.10646072 -0.53333576 4.10933631] [-0.12319943 0.99237286 0.00424221 0.2982344 ] [ 0.52971956 0.06214669 0.845893 0.63558906] [ 0. 0. 0. 1. ]] SLAMing on 175.27800114499996 meters Centerline goodness [0,1] 0.7048090649536045 Centerline is valid? [False, False] Translation: X:4.11, Y:0.30, Z:0.64 [[ 0.83918271 0.10644522 -0.53333085 4.10947029] [-0.12298351 0.99239825 0.00455704 0.29672014] [ 0.52976168 0.06176671 0.84589446 0.63521174] [ 0. 0. 0. 1. ]] SLAMing on 175.30800114499996 meters Centerline goodness [0,1] 0.7210677856393546 Centerline is valid? [False, False] Translation: X:4.11, Y:0.29, Z:0.63 [[ 0.83930711 0.10553285 -0.53331641 4.1083677 ] [-0.12193919 0.99252737 0.0044998 0.29406344] [ 0.52980601 0.06125545 0.84590387 0.63475978] [ 0. 0. 0. 1. ]] SLAMing on 175.33800114499996 meters Centerline goodness [0,1] 0.7049377759935769 Centerline is valid? [False, False] Translation: X:4.11, Y:0.29, Z:0.63 [[ 0.83939272 0.10523041 -0.53324144 4.1072958 ] [-0.12159523 0.99256972 0.00446771 0.29293356] [ 0.52974944 0.06108946 0.84595131 0.6348028 ] [ 0. 0. 0. 1. ]] SLAMing on 175.36800114499997 meters Centerline goodness [0,1] 0.699657259859343 Centerline is valid? [False, False] Translation: X:4.11, Y:0.29, Z:0.64 [[ 0.83942472 0.10496723 -0.53324293 4.10623734] [-0.12132861 0.99260266 0.00439672 0.29209884] [ 0.52975987 0.06100691 0.84595073 0.63509124] [ 0. 0. 0. 1. ]] SLAMing on 175.39800114499997 meters Centerline goodness [0,1] 0.6853787642898448 Centerline is valid? [False, False] Translation: X:4.11, Y:0.29, Z:0.64 [[ 0.83940242 0.10484714 -0.53330165 4.10556088] [-0.12123396 0.99261452 0.0043291 0.29163262] [ 0.52981685 0.06102042 0.84591407 0.63547316] [ 0. 0. 0. 1. ]] SLAMing on 175.42800114499997 meters Centerline goodness [0,1] 0.6920514358051836 Centerline is valid? [False, False] Translation: X:4.11, Y:0.29, Z:0.64 [[ 0.83925289 0.10513833 -0.53347963 4.10547702] [-0.12142996 0.99258939 0.00459015 0.29072262] [ 0.53000882 0.06092812 0.84580046 0.63592271] [ 0. 0. 0. 1. ]] SLAMing on 175.45800114499997 meters Centerline goodness [0,1] 0.6637731995382292 Centerline is valid? [False, False] Translation: X:4.11, Y:0.29, Z:0.64 [[ 0.83901981 0.1057171 -0.53373181 4.10667923] [-0.12186244 0.99253427 0.00502657 0.28989564] [ 0.53027851 0.06082447 0.84563886 0.63608541] [ 0. 0. 0. 1. ]] SLAMing on 175.48800114499997 meters Centerline goodness [0,1] 0.698152041606728 Centerline is valid? [False, False] Translation: X:4.11, Y:0.29, Z:0.64 [[ 0.83875074 0.106411 -0.53401676 4.10805645] [-0.12237011 0.99246894 0.00556461 0.28905611] [ 0.53058718 0.06068037 0.84545558 0.6362322 ] [ 0. 0. 0. 1. ]] SLAMing on 175.51800114499997 meters Centerline goodness [0,1] 0.7117507799190212 Centerline is valid? [False, False] Translation: X:4.11, Y:0.29, Z:0.64 [[ 0.83846455 0.10744886 -0.53425831 4.10943808] [-0.12319895 0.99236242 0.00623343 0.28806353] [ 0.53084764 0.06059355 0.84529829 0.63643915] [ 0. 0. 0. 1. ]] SLAMing on 175.54800114499997 meters Centerline goodness [0,1] 0.7294753394015902 Centerline is valid? [False, False] Translation: X:4.11, Y:0.29, Z:0.64 [[ 0.8382483 0.10788941 -0.53450881 4.10992788] [-0.12356594 0.99231499 0.00651316 0.28721348] [ 0.53110381 0.06058744 0.8451378 0.63686539] [ 0. 0. 0. 1. ]] SLAMing on 175.57800114499997 meters Centerline goodness [0,1] 0.7003986169533332 Centerline is valid? [False, False] Translation: X:4.11, Y:0.29, Z:0.64 [[ 0.83805735 0.10825306 -0.53473465 4.11016779] [-0.12393385 0.99226824 0.0066433 0.28681222] [ 0.53131937 0.06070426 0.84499392 0.63741256] [ 0. 0. 0. 1. ]] SLAMing on 175.60800114499997 meters Centerline goodness [0,1] 0.7252334797871636 Centerline is valid? [False, False] Translation: X:4.11, Y:0.29, Z:0.64 [[ 0.83785391 0.10858872 -0.53498534 4.11048937] [-0.12428413 0.9922237 0.00675224 0.2868726 ] [ 0.53155835 0.0608328 0.84483436 0.63802389] [ 0. 0. 0. 1. ]] SLAMing on 175.63800114499998 meters Centerline goodness [0,1] 0.7735384615384615 Centerline is valid? [False, False] Translation: X:4.11, Y:0.29, Z:0.64 [[ 0.8374077 0.11397281 -0.53456388 4.10900254] [-0.12818937 0.9916928 0.01062408 0.28600135] [ 0.53133401 0.05962872 0.84506129 0.63859445] [ 0. 0. 0. 1. ]] SLAMing on 175.66800114499998 meters Centerline goodness [0,1] 0.7643362481873709 Centerline is valid? [False, False] Translation: X:4.11, Y:0.29, Z:0.64 [[ 0.83708952 0.11474281 -0.5348974 4.11023512] [-0.12886125 0.99160106 0.01105014 0.285526 ] [ 0.53167276 0.0596776 0.84484476 0.63909962] [ 0. 0. 0. 1. ]] SLAMing on 175.69800114499998 meters Centerline goodness [0,1] 0.7467523946988583 Centerline is valid? [False, False] Translation: X:4.11, Y:0.28, Z:0.64 [[ 0.83677509 0.11573552 -0.53517542 4.11163641] [-0.12965007 0.99149075 0.01170223 0.28434501] [ 0.53197585 0.05959339 0.84465989 0.63932688] [ 0. 0. 0. 1. ]] SLAMing on 175.72800114499998 meters Centerline goodness [0,1] 0.7923004735819821 Centerline is valid? [False, False] Translation: X:4.11, Y:0.28, Z:0.64 [[ 0.8364063 0.11682824 -0.53551439 4.11319188] [-0.13050618 0.9913694 0.01244365 0.28287803] [ 0.53234635 0.05948 0.84443442 0.6396397 ] [ 0. 0. 0. 1. ]] SLAMing on 175.75800114499998 meters Centerline goodness [0,1] 0.8397084815291628 Centerline is valid? [False, False] Translation: X:4.11, Y:0.28, Z:0.64 [[ 0.83596797 0.12247018 -0.53493795 4.11193037] [-0.13455408 0.99076793 0.01655637 0.28080323] [ 0.53202702 0.05813749 0.84472912 0.63974989] [ 0. 0. 0. 1. ]] SLAMing on 175.78800114499998 meters Centerline goodness [0,1] 0.8400486016186075 Centerline is valid? [False, False] Translation: X:4.11, Y:0.28, Z:0.64 [[ 0.8357135 0.12299166 -0.53521584 4.11239006] [-0.13511855 0.99068907 0.01667757 0.281005 ] [ 0.53228368 0.05837992 0.84455069 0.64054298] [ 0. 0. 0. 1. ]] SLAMing on 175.81800114499998 meters Centerline goodness [0,1] 0.8442683456361268 Centerline is valid? [False, False] Translation: X:4.11, Y:0.28, Z:0.64 [[ 0.83543403 0.12378256 -0.53546976 4.11314161] [-0.1358247 0.99058568 0.0170778 0.28076955] [ 0.53254261 0.05846264 0.84438172 0.64112001] [ 0. 0. 0. 1. ]] SLAMing on 175.84800114499998 meters Centerline goodness [0,1] 0.8590646188505946 Centerline is valid? [False, False] Translation: X:4.11, Y:0.28, Z:0.64 [[ 0.83718413 0.12734746 -0.53188847 4.10915793] [-0.13981616 0.99003205 0.01697009 0.27788497] [ 0.52874773 0.06015951 0.84664436 0.63649985] [ 0. 0. 0. 1. ]] SLAMing on 175.87800114499998 meters Centerline goodness [0,1] 0.8613222212626306 Centerline is valid? [False, False] Translation: X:4.11, Y:0.28, Z:0.64 [[ 0.83697389 0.12812491 -0.53203262 4.10963851] [-0.14038236 0.98994172 0.01755499 0.27604896] [ 0.52893052 0.05999493 0.84654186 0.63669285] [ 0. 0. 0. 1. ]] SLAMing on 175.908001145 meters Centerline goodness [0,1] 0.8644904115492351 Centerline is valid? [False, False] Translation: X:4.11, Y:0.27, Z:0.64 [[ 0.83678647 0.12881197 -0.53216151 4.10977995] [-0.14088421 0.98986117 0.01806965 0.27448112] [ 0.5290936 0.05985272 0.84645 0.63697265] [ 0. 0. 0. 1. ]] SLAMing on 175.93800114499996 meters Centerline goodness [0,1] 0.8338025747383353 Centerline is valid? [False, False] Translation: X:4.11, Y:0.27, Z:0.64 [[ 0.83663997 0.12943992 -0.53223948 4.11007509] [-0.14132143 0.9897896 0.01856895 0.27340215] [ 0.52920867 0.05968132 0.84639017 0.63709871] [ 0. 0. 0. 1. ]] SLAMing on 175.96800114499996 meters Centerline goodness [0,1] 0.8659239339223972 Centerline is valid? [False, False] Translation: X:4.11, Y:0.27, Z:0.64 [[ 0.8364599 0.13090058 -0.53216527 4.11001611] [-0.14234567 0.98962125 0.01968477 0.27086604] [ 0.5292188 0.0592859 0.84641162 0.63718655] [ 0. 0. 0. 1. ]] SLAMing on 175.99800114499996 meters Centerline goodness [0,1] 0.8671048139296689 Centerline is valid? [False, False] Translation: X:4.09, Y:0.27, Z:0.63 [[ 0.83610445 0.13148886 -0.53257867 4.09174518] [-0.14540092 0.98924395 0.01596798 0.27266917] [ 0.52894984 0.06408653 0.84622987 0.62816729] [ 0. 0. 0. 1. ]] SLAMing on 176.02800114499996 meters Centerline goodness [0,1] 0.8668973863563982 Centerline is valid? [False, False] Translation: X:4.09, Y:0.27, Z:0.63 [[ 0.83608605 0.13176156 -0.53254014 4.09093356] [-0.14550612 0.9892229 0.01631035 0.2706802 ] [ 0.52894998 0.06385099 0.84624758 0.62828176] [ 0. 0. 0. 1. ]] SLAMing on 176.05800114499996 meters Centerline goodness [0,1] 0.8668711656441718 Centerline is valid? [False, False] Translation: X:4.09, Y:0.27, Z:0.63 [[ 0.83624774 0.13174149 -0.53229118 4.08842644] [-0.14517579 0.98926382 0.01676556 0.2658758 ] [ 0.52878512 0.06325563 0.84639531 0.62812873] [ 0. 0. 0. 1. ]] SLAMing on 176.08800114499996 meters Centerline goodness [0,1] 0.8684765196863671 Centerline is valid? [False, False] Translation: X:4.09, Y:0.26, Z:0.63 [[ 0.83627127 0.13189775 -0.5322155 4.08752864] [-0.14506267 0.9892724 0.01723186 0.26320482] [ 0.52877895 0.06279409 0.84643353 0.62799428] [ 0. 0. 0. 1. ]] SLAMing on 176.11800114499997 meters Centerline goodness [0,1] 0.864140987758548 Centerline is valid? [False, False] Translation: X:4.07, Y:0.26, Z:0.62 [[ 0.83740307 0.13186298 -0.53044157 4.06689863] [-0.14637614 0.98911824 0.01480324 0.26475874] [ 0.52662143 0.06524771 0.84759224 0.61528388] [ 0. 0. 0. 1. ]] SLAMing on 176.14800114499997 meters Centerline goodness [0,1] 0.855811899303876 Centerline is valid? [False, False] Translation: X:4.04, Y:0.27, Z:0.60 [[ 0.83995809 0.13118697 -0.52655521 4.04247102] [-0.14588365 0.98920634 0.01373993 0.26517975] [ 0.52267425 0.06527483 0.85002989 0.59922521] [ 0. 0. 0. 1. ]] SLAMing on 176.17800114499997 meters Centerline goodness [0,1] 0.855811899303876 Centerline is valid? [False, False] Translation: X:4.04, Y:0.27, Z:0.60 [[ 0.83995809 0.13118697 -0.52655521 4.04247102] [-0.14588365 0.98920634 0.01373993 0.26517975] [ 0.52267425 0.06527483 0.85002989 0.59922521] [ 0. 0. 0. 1. ]] SLAMing on 176.20800114499997 meters Centerline goodness [0,1] 0.8486120145198179 Centerline is valid? [False, False] Translation: X:4.02, Y:0.27, Z:0.59 [[ 0.84112699 0.13091653 -0.52475351 4.02259165] [-0.14717111 0.98905154 0.01085005 0.26665977] [ 0.52042872 0.06810229 0.85118507 0.58724616] [ 0. 0. 0. 1. ]] SLAMing on 176.23800114499997 meters Centerline goodness [0,1] 0.8367393944470036 Centerline is valid? [False, False] Translation: X:4.02, Y:0.26, Z:0.59 [[ 0.84125773 0.13054981 -0.52463528 4.02096347] [-0.14666268 0.98912586 0.01095823 0.26408584] [ 0.52036092 0.06772572 0.85125656 0.58718071] [ 0. 0. 0. 1. ]] SLAMing on 176.26800114499997 meters Centerline goodness [0,1] 0.8183368337873527 Centerline is valid? [False, False] Translation: X:4.00, Y:0.26, Z:0.57 [[ 0.84231606 0.12667166 -0.52388734 4.00063489] [-0.14445292 0.98948695 0.00699566 0.26406138] [ 0.51926584 0.0697845 0.85175883 0.57328643] [ 0. 0. 0. 1. ]] SLAMing on 176.29800114499997 meters Centerline goodness [0,1] 0.7902935145100152 Centerline is valid? [False, False] Translation: X:3.98, Y:0.27, Z:0.56 [[ 8.42461455e-01 1.24882797e-01 -5.24082994e-01 3.98247615e+00] [-1.45066491e-01 9.89418563e-01 2.57293235e-03 2.66394964e-01] [ 5.18858758e-01 7.38592845e-02 8.51663311e-01 5.62946949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.32800114499997 meters Centerline goodness [0,1] 0.776049766718507 Centerline is valid? [False, False] Translation: X:3.96, Y:0.27, Z:0.55 [[ 8.44359461e-01 1.23806088e-01 -5.21276465e-01 3.95799062e+00] [-1.43895553e-01 9.89590955e-01 1.95253994e-03 2.70178732e-01] [ 5.16092211e-01 7.33607197e-02 8.53385631e-01 5.45765576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.35800114499997 meters Centerline goodness [0,1] 0.7384745378480309 Centerline is valid? [False, False] Translation: X:3.93, Y:0.27, Z:0.53 [[ 8.47076871e-01 1.19629420e-01 -5.17831610e-01 3.93101439e+00] [-1.39564302e-01 9.90212904e-01 4.57490624e-04 2.73021016e-01] [ 5.12818272e-01 7.18832777e-02 8.55482445e-01 5.26584365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.38800114499998 meters Centerline goodness [0,1] 0.7845013893176906 Centerline is valid? [False, False] Translation: X:3.93, Y:0.27, Z:0.53 [[ 8.47359991e-01 1.18465899e-01 -5.17635852e-01 3.92882424e+00] [-1.38457407e-01 9.90368389e-01 3.11799225e-06 2.71211383e-01] [ 5.12650555e-01 7.16678761e-02 8.55601031e-01 5.26468461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41800114499998 meters Centerline goodness [0,1] 0.7138531259655989 Centerline is valid? [False, False] Translation: X:3.91, Y:0.28, Z:0.51 [[ 8.48919472e-01 1.16365306e-01 -5.15552951e-01 3.90565912e+00] [-1.36788591e-01 9.90598887e-01 -1.65095832e-03 2.75121029e-01] [ 5.10514066e-01 7.19232926e-02 8.56856131e-01 5.10312240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.44800114499998 meters Centerline goodness [0,1] 0.7150720946473319 Centerline is valid? [False, False] Translation: X:3.90, Y:0.27, Z:0.51 [[ 0.84962424 0.10993225 -0.51580378 3.90396588] [-0.13189316 0.99124584 -0.00599016 0.27410507] [ 0.51062984 0.07312038 0.85668581 0.51028214] [ 0. 0. 0. 1. ]] SLAMing on 176.47800114499998 meters Centerline goodness [0,1] 0.7048833144854529 Centerline is valid? [False, False] Translation: X:3.90, Y:0.27, Z:0.51 [[ 0.84993127 0.10880044 -0.51553788 3.90196251] [-0.13082586 0.99138432 -0.00645914 0.27300073] [ 0.51039341 0.07293551 0.85684244 0.51006474] [ 0. 0. 0. 1. ]] SLAMing on 176.50800114499998 meters Centerline goodness [0,1] 0.7220825778803363 Centerline is valid? [False, False] Translation: X:3.90, Y:0.27, Z:0.51 [[ 0.850092 0.10812167 -0.51541566 3.90089811] [-0.13014485 0.99147259 -0.00666534 0.27174139] [ 0.51029983 0.07274485 0.85691439 0.50989455] [ 0. 0. 0. 1. ]] SLAMing on 176.53800114499998 meters Centerline goodness [0,1] 0.7124488242434217 Centerline is valid? [False, False] Translation: X:3.90, Y:0.27, Z:0.51 [[ 0.85023089 0.10735806 -0.51534617 3.90005222] [-0.12944925 0.99156131 -0.00700433 0.2714144 ] [ 0.51024535 0.07266647 0.85695348 0.50984706] [ 0. 0. 0. 1. ]] SLAMing on 176.56800114499998 meters Centerline goodness [0,1] 0.6971742316345697 Centerline is valid? [False, False] Translation: X:3.90, Y:0.27, Z:0.51 [[ 0.85168824 0.10502093 -0.51341771 3.89669374] [-0.12666725 0.99191896 -0.00722365 0.27288308] [ 0.50851013 0.07118551 0.85810843 0.50563775] [ 0. 0. 0. 1. ]] SLAMing on 176.59800114499998 meters Centerline goodness [0,1] 0.6893778483492463 Centerline is valid? [False, False] Translation: X:3.90, Y:0.27, Z:0.51 [[ 0.8517409 0.10445989 -0.5134448 3.89672888] [-0.12616232 0.99198149 -0.00746981 0.27280979] [ 0.50854745 0.07113973 0.85809011 0.50547808] [ 0. 0. 0. 1. ]] SLAMing on 176.62800114499998 meters Centerline goodness [0,1] 0.6793215862666612 Centerline is valid? [False, False] Translation: X:3.90, Y:0.27, Z:0.51 [[ 0.85185573 0.10382987 -0.51338209 3.89660866] [-0.12564844 0.99204376 -0.00785101 0.27292679] [ 0.50848233 0.07119359 0.85812423 0.50524615] [ 0. 0. 0. 1. ]] SLAMing on 176.658001145 meters Centerline goodness [0,1] 0.6804439025398334 Centerline is valid? [False, False] Translation: X:3.90, Y:0.27, Z:0.51 [[ 0.85194305 0.1030673 -0.51339085 3.89626981] [-0.12506689 0.99211303 -0.00836684 0.27340283] [ 0.50847941 0.07133627 0.85811411 0.5052451 ] [ 0. 0. 0. 1. ]] SLAMing on 176.68800114499996 meters Centerline goodness [0,1] 0.6590772545526113 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:0.50 [[ 0.85273837 0.10319842 -0.51204234 3.8914724 ] [-0.1246817 0.99216709 -0.00767668 0.27671746] [ 0.50723933 0.07038851 0.85892591 0.50397733] [ 0. 0. 0. 1. ]] SLAMing on 176.71800114499996 meters Centerline goodness [0,1] 0.6609758121395677 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:0.50 [[ 0.85272377 0.10645992 -0.51139853 3.88900928] [-0.1269619 0.99189389 -0.00521412 0.27830496] [ 0.50669798 0.06937433 0.85932785 0.50416004] [ 0. 0. 0. 1. ]] SLAMing on 176.74800114499996 meters Centerline goodness [0,1] 0.6477088275689848 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:0.50 [[ 8.52596270e-01 1.09805033e-01 -5.10903567e-01 3.88825869e+00] [-1.29433697e-01 9.91583883e-01 -2.88466653e-03 2.81692273e-01] [ 5.06286992e-01 6.85875934e-02 8.59633192e-01 5.04183396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.77800114499996 meters Centerline goodness [0,1] 0.6477040497143096 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:0.50 [[ 8.52489043e-01 1.09249264e-01 -5.11201556e-01 3.88948553e+00] [-1.29211784e-01 9.91610637e-01 -3.55808422e-03 2.83942487e-01] [ 5.06524182e-01 6.90864929e-02 8.59453495e-01 5.04450284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.80800114499996 meters Centerline goodness [0,1] 0.6583011179605057 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:0.50 [[ 8.52242548e-01 1.13634853e-01 -5.10656205e-01 3.88925141e+00] [-1.32311876e-01 9.91208105e-01 -2.46786883e-04 2.84546417e-01] [ 5.06138525e-01 6.77762029e-02 8.59784961e-01 5.04022866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.83800114499996 meters Centerline goodness [0,1] 0.6868487808968742 Centerline is valid? [False, False] Translation: X:3.89, Y:0.29, Z:0.50 [[ 8.51996509e-01 1.17903057e-01 -5.10098831e-01 3.88909080e+00] [-1.35377001e-01 9.90789932e-01 2.89440010e-03 2.85914521e-01] [ 5.05742045e-01 6.65896312e-02 8.60110926e-01 5.03646644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.86800114499997 meters Centerline goodness [0,1] 0.6502270433905146 Centerline is valid? [False, False] Translation: X:3.89, Y:0.29, Z:0.50 [[ 0.85170498 0.12127756 -0.50979444 3.8897591 ] [-0.13810293 0.99040583 0.00488637 0.29185958] [ 0.50549599 0.06624236 0.86028237 0.50398793] [ 0. 0. 0. 1. ]] SLAMing on 176.89800114499997 meters Centerline goodness [0,1] 0.6698692907067594 Centerline is valid? [False, False] Translation: X:3.89, Y:0.29, Z:0.50 [[ 0.8514354 0.1254369 -0.50923801 3.88924994] [-0.14113629 0.98995887 0.00787243 0.29379093] [ 0.50511218 0.06516909 0.86058973 0.50386929] [ 0. 0. 0. 1. ]] SLAMing on 176.92800114499997 meters Centerline goodness [0,1] 0.6772324471710975 Centerline is valid? [False, False] Translation: X:3.89, Y:0.30, Z:0.50 [[ 0.85130999 0.12474869 -0.50961659 3.89036323] [-0.14090591 0.98999853 0.00695897 0.29714486] [ 0.5053878 0.06588375 0.86037347 0.50450771] [ 0. 0. 0. 1. ]] SLAMing on 176.95800114499997 meters Centerline goodness [0,1] 0.6694859285455591 Centerline is valid? [False, False] Translation: X:3.89, Y:0.30, Z:0.51 [[ 0.85117059 0.12402633 -0.51002559 3.891536 ] [-0.14066128 0.99003955 0.00600798 0.30056982] [ 0.50569065 0.06662704 0.86013824 0.50519488] [ 0. 0. 0. 1. ]] SLAMing on 176.98800114499997 meters Centerline goodness [0,1] 0.6691278461833934 Centerline is valid? [False, False] Translation: X:3.89, Y:0.30, Z:0.51 [[ 0.85104043 0.12333362 -0.51041063 3.89292961] [-0.14043723 0.99007656 0.00507819 0.30409462] [ 0.50597191 0.06735891 0.85991581 0.50575468] [ 0. 0. 0. 1. ]] SLAMing on 177.01800114499997 meters Centerline goodness [0,1] 0.6609385753613214 Centerline is valid? [False, False] Translation: X:3.89, Y:0.31, Z:0.51 [[ 0.85079971 0.1266653 -0.50999583 3.89340007] [-0.14317137 0.98967347 0.00695521 0.31012559] [ 0.50561033 0.06709932 0.86014875 0.50601773] [ 0. 0. 0. 1. ]] SLAMing on 177.04800114499997 meters Centerline goodness [0,1] 0.6244101105436679 Centerline is valid? [False, False] Translation: X:3.89, Y:0.31, Z:0.51 [[ 0.85071337 0.12571725 -0.51037431 3.89430759] [-0.14280773 0.98973371 0.00575685 0.31422813] [ 0.50585839 0.06798796 0.85993309 0.50682971] [ 0. 0. 0. 1. ]] SLAMing on 177.07800114499997 meters Centerline goodness [0,1] 0.6465418086329999 Centerline is valid? [False, False] Translation: X:3.89, Y:0.32, Z:0.51 [[ 0.8506493 0.12843011 -0.50980534 3.89415688] [-0.14505343 0.98939751 0.00721614 0.32123401] [ 0.5053269 0.06781061 0.86025952 0.5069723 ] [ 0. 0. 0. 1. ]] SLAMing on 177.10800114499997 meters Centerline goodness [0,1] 0.6116207286322928 Centerline is valid? [False, False] Translation: X:3.90, Y:0.33, Z:0.51 [[ 0.85053088 0.12747592 -0.51024221 3.89551241] [-0.14469534 0.98945803 0.00600542 0.32582352] [ 0.5056288 0.06872187 0.86000978 0.50781159] [ 0. 0. 0. 1. ]] SLAMing on 177.13800114499998 meters Centerline goodness [0,1] 0.6441506939854593 Centerline is valid? [False, False] Translation: X:3.90, Y:0.33, Z:0.51 [[ 0.8504341 0.1265397 -0.51063641 3.89669632] [-0.14435131 0.98951486 0.00480115 0.33015136] [ 0.50588985 0.06962797 0.85978335 0.50858934] [ 0. 0. 0. 1. ]] SLAMing on 177.16800114499998 meters Centerline goodness [0,1] 0.6655148736350145 Centerline is valid? [False, False] Translation: X:3.90, Y:0.33, Z:0.51 [[ 8.50435464e-01 1.25341376e-01 -5.10929605e-01 3.89739504e+00] [-1.43810577e-01 9.89599400e-01 3.39799543e-03 3.34707236e-01] [ 5.06041540e-01 7.05873053e-02 8.59615840e-01 5.09336733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19800114499998 meters Centerline goodness [0,1] 0.6545921787709497 Centerline is valid? [False, False] Translation: X:3.90, Y:0.34, Z:0.51 [[ 8.50547135e-01 1.23179620e-01 -5.11269354e-01 3.89789541e+00] [-1.42856849e-01 9.89743037e-01 8.01315434e-04 3.43908218e-01] [ 5.06123988e-01 7.23567723e-02 8.59420157e-01 5.10843048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.22800114499998 meters Centerline goodness [0,1] 0.6490777650158773 Centerline is valid? [False, False] Translation: X:3.90, Y:0.35, Z:0.51 [[ 8.50547861e-01 1.21818955e-01 -5.11594056e-01 3.89798811e+00] [-1.42243425e-01 9.89831391e-01 -7.90891997e-04 3.48738240e-01] [ 5.06295511e-01 7.34435823e-02 8.59226918e-01 5.11993156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25800114499998 meters Centerline goodness [0,1] 0.619257351944708 Centerline is valid? [False, False] Translation: X:3.90, Y:0.35, Z:0.51 [[ 8.50515262e-01 1.20470285e-01 -5.11967479e-01 3.89857080e+00] [-1.41669720e-01 9.89911031e-01 -2.41694166e-03 3.54220432e-01] [ 5.06511086e-01 7.45859353e-02 8.59001431e-01 5.13143379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.28800114499998 meters Centerline goodness [0,1] 0.6433287795992715 Centerline is valid? [False, False] Translation: X:3.90, Y:0.36, Z:0.51 [[ 8.50356541e-01 1.24155912e-01 -5.11350235e-01 3.89768286e+00] [-1.44434265e-01 9.89514395e-01 6.53966978e-05 3.57824176e-01] [ 5.05996538e-01 7.38008847e-02 8.59372406e-01 5.13206284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.31800114499998 meters Centerline goodness [0,1] 0.6368995330343521 Centerline is valid? [False, False] Translation: X:3.90, Y:0.37, Z:0.51 [[ 8.50361574e-01 1.26794247e-01 -5.10694050e-01 3.89857358e+00] [-1.46603357e-01 9.89194243e-01 1.48479950e-03 3.65677969e-01] [ 5.05363879e-01 7.36068456e-02 8.59761236e-01 5.12876089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.34800114499998 meters Centerline goodness [0,1] 0.6356772280896794 Centerline is valid? [False, False] Translation: X:3.90, Y:0.37, Z:0.51 [[ 8.50402184e-01 1.25702939e-01 -5.10896170e-01 3.89931158e+00] [-1.46030048e-01 9.89280098e-01 3.34988974e-04 3.69386458e-01] [ 5.05461522e-01 7.43213167e-02 8.59642362e-01 5.13272392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.37800114499998 meters Centerline goodness [0,1] 0.6331853367116855 Centerline is valid? [False, False] Translation: X:3.90, Y:0.37, Z:0.51 [[ 8.50493113e-01 1.24676218e-01 -5.10996385e-01 3.89981093e+00] [-1.45458748e-01 9.89364064e-01 -7.07429291e-04 3.72444874e-01] [ 5.05473260e-01 7.49305583e-02 8.59582570e-01 5.13463145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.408001145 meters Centerline goodness [0,1] 0.6198646972073316 Centerline is valid? [False, False] Translation: X:3.90, Y:0.38, Z:0.51 [[ 8.50921684e-01 1.22195725e-01 -5.10882073e-01 3.89921741e+00] [-1.43903275e-01 9.89587244e-01 -2.98911741e-03 3.78843103e-01] [ 5.05197125e-01 7.60611082e-02 8.59645609e-01 5.13719812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.43800114499996 meters Centerline goodness [0,1] 0.6175427054207101 Centerline is valid? [False, False] Translation: X:3.90, Y:0.38, Z:0.51 [[ 0.85117436 0.12053053 -0.51085673 3.8979871 ] [-0.14286954 0.98973116 -0.00452977 0.38272917] [ 0.50506485 0.07684149 0.85965393 0.51434123] [ 0. 0. 0. 1. ]] SLAMing on 177.46800114499996 meters Centerline goodness [0,1] 0.5993393889347647 Centerline is valid? [False, False] Translation: X:3.90, Y:0.39, Z:0.51 [[ 0.85762597 0.11954671 -0.50018625 3.90423992] [-0.14162655 0.98990046 -0.00624421 0.38684848] [ 0.49438812 0.07619485 0.86589533 0.51416719] [ 0. 0. 0. 1. ]] SLAMing on 177.49800114499996 meters Centerline goodness [0,1] 0.5961776171912142 Centerline is valid? [False, False] Translation: X:3.90, Y:0.39, Z:0.51 [[ 0.85783458 0.11828409 -0.50012869 3.90319531] [-0.14084499 0.99000372 -0.00743812 0.38966139] [ 0.49424945 0.07682129 0.86591915 0.51464255] [ 0. 0. 0. 1. ]] SLAMing on 177.52800114499996 meters Centerline goodness [0,1] 0.5982755335365854 Centerline is valid? [False, False] Translation: X:3.90, Y:0.39, Z:0.51 [[ 0.8579914 0.11731298 -0.50008842 3.90264517] [-0.14021047 0.99008696 -0.0082972 0.39160155] [ 0.49415765 0.07723656 0.8659346 0.51483241] [ 0. 0. 0. 1. ]] SLAMing on 177.55800114499996 meters Centerline goodness [0,1] 0.5901760756862651 Centerline is valid? [False, False] Translation: X:3.90, Y:0.39, Z:0.51 [[ 0.85836437 0.11562911 -0.49984049 3.90110675] [-0.13895042 0.9902534 -0.00953899 0.39406938] [ 0.49386576 0.07764097 0.86606495 0.51479264] [ 0. 0. 0. 1. ]] SLAMing on 177.58800114499996 meters Centerline goodness [0,1] 0.5894223412394797 Centerline is valid? [False, False] Translation: X:3.90, Y:0.40, Z:0.51 [[ 0.85854579 0.11476408 -0.49972827 3.90016063] [-0.1383275 0.99033384 -0.01021703 0.39539741] [ 0.49372526 0.07789795 0.86612197 0.51492754] [ 0. 0. 0. 1. ]] SLAMing on 177.61800114499997 meters Centerline goodness [0,1] 0.5847008936058072 Centerline is valid? [False, False] Translation: X:3.90, Y:0.40, Z:0.52 [[ 0.85869845 0.11401251 -0.49963799 3.89924936] [-0.137784 0.99040341 -0.01080087 0.39650361] [ 0.49361173 0.07811681 0.86616697 0.51507974] [ 0. 0. 0. 1. ]] SLAMing on 177.64800114499997 meters Centerline goodness [0,1] 0.5684215561987227 Centerline is valid? [False, False] Translation: X:3.90, Y:0.40, Z:0.51 [[ 0.85897725 0.11348717 -0.49927823 3.89868693] [-0.137174 0.99048744 -0.01085913 0.3955963 ] [ 0.49329644 0.07781573 0.86637367 0.51408676] [ 0. 0. 0. 1. ]] SLAMing on 177.67800114499997 meters Centerline goodness [0,1] 0.5650276611980161 Centerline is valid? [False, False] Translation: X:3.90, Y:0.39, Z:0.51 [[ 0.85911889 0.11333075 -0.49907001 3.89831854] [-0.13692427 0.99052291 -0.01077509 0.39441767] [ 0.49311913 0.07759188 0.86649467 0.51350769] [ 0. 0. 0. 1. ]] SLAMing on 177.70800114499997 meters Centerline goodness [0,1] 0.5612801753926078 Centerline is valid? [False, False] Translation: X:3.90, Y:0.39, Z:0.51 [[ 0.85926903 0.11313799 -0.49885522 3.8977248 ] [-0.13666209 0.99055946 -0.01074378 0.39356145] [ 0.49293023 0.07740639 0.86661874 0.51307724] [ 0. 0. 0. 1. ]] SLAMing on 177.73800114499997 meters Centerline goodness [0,1] 0.5572815072077644 Centerline is valid? [False, False] Translation: X:3.90, Y:0.39, Z:0.51 [[ 0.85942986 0.11266886 -0.49868432 3.89655379] [-0.1362943 0.99060644 -0.01107895 0.39355825] [ 0.49275164 0.07748941 0.86671288 0.51313828] [ 0. 0. 0. 1. ]] SLAMing on 177.76800114499997 meters Centerline goodness [0,1] 0.55068042613027 Centerline is valid? [False, False] Translation: X:3.89, Y:0.39, Z:0.51 [[ 0.8596304 0.11197808 -0.49849422 3.89416422] [-0.13570826 0.99068229 -0.01148308 0.39307539] [ 0.49256355 0.07752099 0.86681696 0.51354568] [ 0. 0. 0. 1. ]] SLAMing on 177.79800114499997 meters Centerline goodness [0,1] 0.5468359848755083 Centerline is valid? [False, False] Translation: X:3.89, Y:0.39, Z:0.51 [[ 0.85971119 0.11206041 -0.49833637 3.89338196] [-0.13567498 0.99068912 -0.01128609 0.39141844] [ 0.49243169 0.07731456 0.86691031 0.51334824] [ 0. 0. 0. 1. ]] SLAMing on 177.82800114499997 meters Centerline goodness [0,1] 0.576984991240945 Centerline is valid? [False, False] Translation: X:3.89, Y:0.39, Z:0.51 [[ 0.85978343 0.11216944 -0.49818718 3.8925007 ] [-0.13563844 0.99069703 -0.01102748 0.38918885] [ 0.49231561 0.07705458 0.86699938 0.51311291] [ 0. 0. 0. 1. ]] SLAMing on 177.85800114499997 meters Centerline goodness [0,1] 0.535918896616763 Centerline is valid? [False, False] Translation: X:3.89, Y:0.39, Z:0.51 [[ 0.85987781 0.11249511 -0.49795081 3.89179527] [-0.13573237 0.99068911 -0.01057448 0.38677493] [ 0.49212487 0.07668081 0.8671408 0.51263368] [ 0. 0. 0. 1. ]] SLAMing on 177.88800114499998 meters Centerline goodness [0,1] 0.5663966185276506 Centerline is valid? [False, False] Translation: X:3.89, Y:0.38, Z:0.51 [[ 0.85998712 0.11258984 -0.49774059 3.88996259] [-0.1355846 0.99071368 -0.01015934 0.38377997] [ 0.49197457 0.07622286 0.86726645 0.51255608] [ 0. 0. 0. 1. ]] SLAMing on 177.91800114499998 meters Centerline goodness [0,1] 0.562692352872078 Centerline is valid? [False, False] Translation: X:3.89, Y:0.38, Z:0.51 [[ 0.85992372 0.11293095 -0.49777284 3.88973533] [-0.13578 0.99069049 -0.00980533 0.38239288] [ 0.49203149 0.07601943 0.86725201 0.51265885] [ 0. 0. 0. 1. ]] SLAMing on 177.94800114499998 meters Centerline goodness [0,1] 0.5692275271032852 Centerline is valid? [False, False] Translation: X:3.89, Y:0.38, Z:0.51 [[ 0.85976932 0.11361981 -0.49788277 3.890093 ] [-0.13623256 0.99063431 -0.00918467 0.3802508 ] [ 0.49217619 0.07572454 0.8671957 0.51264943] [ 0. 0. 0. 1. ]] SLAMing on 177.97800114499998 meters Centerline goodness [0,1] 0.568561019191052 Centerline is valid? [False, False] Translation: X:3.89, Y:0.37, Z:0.51 [[ 0.85961814 0.11511404 -0.49780057 3.89002398] [-0.13715607 0.9905188 -0.00779273 0.37427515] [ 0.49218377 0.07497515 0.86725651 0.51214124] [ 0. 0. 0. 1. ]] SLAMing on 178.00800114499998 meters Centerline goodness [0,1] 0.5841891735249798 Centerline is valid? [False, False] Translation: X:3.89, Y:0.37, Z:0.51 [[ 0.85955957 0.11587451 -0.49772527 3.88997289] [-0.13754269 0.99047151 -0.00694304 0.37089872] [ 0.49217818 0.07442643 0.86730695 0.51172383] [ 0. 0. 0. 1. ]] SLAMing on 178.03800114499998 meters Centerline goodness [0,1] 0.5599842785471528 Centerline is valid? [False, False] Translation: X:3.89, Y:0.37, Z:0.51 [[ 0.85953828 0.11658939 -0.49759508 3.88979611] [-0.13787656 0.99043062 -0.00610232 0.36762199] [ 0.49212194 0.07385187 0.86738797 0.5112205 ] [ 0. 0. 0. 1. ]] SLAMing on 178.06800114499998 meters Centerline goodness [0,1] 0.5599842785471528 Centerline is valid? [False, False] Translation: X:3.89, Y:0.37, Z:0.51 [[ 0.85953828 0.11658939 -0.49759508 3.88979611] [-0.13787656 0.99043062 -0.00610232 0.36762199] [ 0.49212194 0.07385187 0.86738797 0.5112205 ] [ 0. 0. 0. 1. ]] SLAMing on 178.09800114499998 meters Centerline goodness [0,1] 0.5604256397263745 Centerline is valid? [False, False] Translation: X:3.89, Y:0.36, Z:0.51 [[ 0.85951836 0.11717111 -0.49749283 3.88956662] [-0.13812825 0.99039973 -0.00538205 0.36483672] [ 0.49208614 0.07334378 0.86745139 0.51084034] [ 0. 0. 0. 1. ]] SLAMing on 178.12800114499998 meters Centerline goodness [0,1] 0.5721379373469715 Centerline is valid? [False, False] Translation: X:3.89, Y:0.36, Z:0.51 [[ 0.85952919 0.11794973 -0.4972901 3.88778563] [-0.13841782 0.99036439 -0.00434543 0.35876824] [ 0.49198586 0.07256884 0.86757344 0.51056511] [ 0. 0. 0. 1. ]] SLAMing on 178.158001145 meters Centerline goodness [0,1] 0.5947189756908846 Centerline is valid? [False, False] Translation: X:3.89, Y:0.36, Z:0.51 [[ 8.59572559e-01 1.18445655e-01 -4.97097217e-01 3.88676794e+00] [-1.38600800e-01 9.90341446e-01 -3.69304623e-03 3.55190512e-01] [ 4.91858551e-01 7.20725132e-02 8.67686993e-01 5.10251988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.18800114499996 meters Centerline goodness [0,1] 0.5069593753536268 Centerline is valid? [False, False] Translation: X:3.89, Y:0.35, Z:0.51 [[ 8.59628815e-01 1.18885049e-01 -4.96895004e-01 3.88560397e+00] [-1.38726066e-01 9.90326081e-01 -3.05488939e-03 3.51489289e-01] [ 4.91724901e-01 7.15583602e-02 8.67805291e-01 5.09933407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.21800114499996 meters Centerline goodness [0,1] 0.5679732356797323 Centerline is valid? [False, False] Translation: X:3.88, Y:0.35, Z:0.51 [[ 8.59746884e-01 1.19041497e-01 -4.96653216e-01 3.88401737e+00] [-1.38645656e-01 9.90338547e-01 -2.63521360e-03 3.47941364e-01] [ 4.91541125e-01 7.11244276e-02 8.67945067e-01 5.09650604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.24800114499996 meters Centerline goodness [0,1] 0.5919098707639932 Centerline is valid? [False, False] Translation: X:3.88, Y:0.34, Z:0.51 [[ 8.59909165e-01 1.17192359e-01 -4.96812015e-01 3.88170240e+00] [-1.37081701e-01 9.90553173e-01 -3.60810187e-03 3.41464782e-01] [ 4.91695876e-01 7.12064761e-02 8.67850680e-01 5.09856347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.27800114499996 meters Centerline goodness [0,1] 0.5856671423474848 Centerline is valid? [False, False] Translation: X:3.88, Y:0.34, Z:0.51 [[ 8.59961760e-01 1.17558996e-01 -4.96634325e-01 3.88035087e+00] [-1.37145274e-01 9.90546389e-01 -3.00432669e-03 3.38151775e-01] [ 4.91586152e-01 7.06946565e-02 8.67954677e-01 5.09710014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.30800114499996 meters Centerline goodness [0,1] 0.4815471572647678 Centerline is valid? [False, False] Translation: X:3.88, Y:0.34, Z:0.51 [[ 8.59973491e-01 1.17871447e-01 -4.96539945e-01 3.87904437e+00] [-1.37216277e-01 9.90537932e-01 -2.50981146e-03 3.35183260e-01] [ 4.91545815e-01 7.02917342e-02 8.68010244e-01 5.09791877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.33800114499996 meters Centerline goodness [0,1] 0.5913130827855786 Centerline is valid? [False, False] Translation: X:3.88, Y:0.33, Z:0.51 [[ 8.59913690e-01 1.19090377e-01 -4.96352625e-01 3.87762104e+00] [-1.37782908e-01 9.90461884e-01 -1.06160278e-03 3.28204687e-01] [ 4.91491930e-01 6.93017949e-02 8.68120351e-01 5.09397057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.36800114499997 meters Centerline goodness [0,1] 0.4813336514891863 Centerline is valid? [False, False] Translation: X:3.88, Y:0.32, Z:0.51 [[ 8.59782106e-01 1.20171653e-01 -4.96319961e-01 3.87786445e+00] [-1.38388473e-01 9.90378022e-01 6.33283570e-05 3.24261404e-01] [ 4.91551991e-01 6.86305129e-02 8.68139673e-01 5.08950271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.39800114499997 meters Centerline goodness [0,1] 0.5913649205288016 Centerline is valid? [False, False] Translation: X:3.88, Y:0.32, Z:0.51 [[ 8.59577827e-01 1.21418843e-01 -4.96370248e-01 3.87853897e+00] [-1.39122890e-01 9.90274256e-01 1.31152789e-03 3.20426192e-01] [ 4.91701922e-01 6.79291030e-02 8.68109934e-01 5.08554656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.42800114499997 meters Centerline goodness [0,1] 0.6028345983961576 Centerline is valid? [False, False] Translation: X:3.88, Y:0.31, Z:0.51 [[ 8.59168397e-01 1.23728926e-01 -4.96508629e-01 3.87968690e+00] [-1.40523001e-01 9.90071014e-01 3.55986070e-03 3.13703452e-01] [ 4.92019260e-01 6.67123629e-02 8.68024486e-01 5.07993615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.45800114499997 meters Centerline goodness [0,1] 0.6138213114055644 Centerline is valid? [False, False] Translation: X:3.88, Y:0.31, Z:0.51 [[ 0.85898955 0.1248032 -0.4965492 3.88017854] [-0.14115912 0.9899761 0.00462789 0.31060219] [ 0.49214942 0.06611714 0.86799624 0.50774094] [ 0. 0. 0. 1. ]] SLAMing on 178.48800114499997 meters Centerline goodness [0,1] 0.5053854995955553 Centerline is valid? [False, False] Translation: X:3.88, Y:0.31, Z:0.51 [[ 0.85880396 0.12597821 -0.4965735 3.88073729] [-0.14184856 0.98987136 0.00580401 0.30715114] [ 0.49227506 0.06545373 0.86797527 0.50740887] [ 0. 0. 0. 1. ]] SLAMing on 178.51800114499997 meters Centerline goodness [0,1] 0.6361109932538505 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:0.51 [[ 0.85864517 0.12697369 -0.49659456 3.88079558] [-0.142411 0.98978399 0.00683859 0.30385301] [ 0.49238966 0.06484861 0.86795569 0.50726461] [ 0. 0. 0. 1. ]] SLAMing on 178.54800114499997 meters Centerline goodness [0,1] 0.6374538939825061 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:0.51 [[ 0.85855973 0.12826625 -0.49641006 3.87918963] [-0.14307132 0.9896778 0.00827337 0.29726768] [ 0.49234722 0.06391886 0.86804873 0.50710079] [ 0. 0. 0. 1. ]] SLAMing on 178.57800114499997 meters Centerline goodness [0,1] 0.6433727311101731 Centerline is valid? [False, False] Translation: X:3.88, Y:0.29, Z:0.51 [[ 0.85857305 0.12886802 -0.49623116 3.87829813] [-0.14333476 0.98963329 0.00900532 0.29402481] [ 0.49224737 0.06339545 0.86814374 0.506885 ] [ 0. 0. 0. 1. ]] SLAMing on 178.60800114499997 meters Centerline goodness [0,1] 0.6391153238546603 Centerline is valid? [False, False] Translation: X:3.88, Y:0.29, Z:0.51 [[ 0.85854901 0.12944546 -0.49612244 3.87745802] [-0.14360078 0.98958822 0.00969396 0.29113379] [ 0.49221176 0.06292083 0.86819845 0.50682036] [ 0. 0. 0. 1. ]] SLAMing on 178.63800114499998 meters Centerline goodness [0,1] 0.6528491971875328 Centerline is valid? [False, False] Translation: X:3.88, Y:0.29, Z:0.51 [[ 0.8585607 0.13051571 -0.49582171 3.87525068] [-0.14408855 0.98950404 0.01096575 0.28581901] [ 0.49204878 0.06202747 0.8683551 0.50676076] [ 0. 0. 0. 1. ]] SLAMing on 178.66800114499998 meters Centerline goodness [0,1] 0.6541293615597021 Centerline is valid? [False, False] Translation: X:3.87, Y:0.28, Z:0.51 [[ 0.85853257 0.1311449 -0.49570439 3.87470012] [-0.14435323 0.98945632 0.01176145 0.28265598] [ 0.4920203 0.06145894 0.86841167 0.50652939] [ 0. 0. 0. 1. ]] SLAMing on 178.69800114499998 meters Centerline goodness [0,1] 0.6639737808951236 Centerline is valid? [False, False] Translation: X:3.87, Y:0.28, Z:0.51 [[ 0.85850841 0.13186685 -0.49555468 3.87418573] [-0.14464675 0.98940198 0.01269058 0.27889706] [ 0.49197625 0.0607854 0.86848403 0.50613959] [ 0. 0. 0. 1. ]] SLAMing on 178.72800114499998 meters Centerline goodness [0,1] 0.6423963324828345 Centerline is valid? [False, False] Translation: X:3.87, Y:0.27, Z:0.51 [[ 0.85899095 0.1297053 -0.49528888 3.87235617] [-0.14279147 0.98968563 0.01153044 0.27179768] [ 0.49167585 0.06081849 0.86865181 0.50527594] [ 0. 0. 0. 1. ]] SLAMing on 178.75800114499998 meters Centerline goodness [0,1] 0.6477862563848047 Centerline is valid? [False, False] Translation: X:3.87, Y:0.27, Z:0.50 [[ 0.85903573 0.13023681 -0.49507171 3.87143203] [-0.1429454 0.98965402 0.01230968 0.26807275] [ 0.49155288 0.06019377 0.86876491 0.50488027] [ 0. 0. 0. 1. ]] SLAMing on 178.78800114499998 meters Centerline goodness [0,1] 0.6375134109102913 Centerline is valid? [False, False] Translation: X:3.87, Y:0.26, Z:0.50 [[ 0.85934556 0.13065152 -0.4944243 3.86939829] [-0.14305154 0.98963148 0.01287587 0.26207694] [ 0.4909801 0.05966334 0.86912532 0.50401731] [ 0. 0. 0. 1. ]] SLAMing on 178.81800114499998 meters Centerline goodness [0,1] 0.6657823297137216 Centerline is valid? [False, False] Translation: X:3.87, Y:0.26, Z:0.50 [[ 0.85927158 0.13150706 -0.49432605 3.86935511] [-0.14352048 0.98955146 0.01377619 0.2592746 ] [ 0.49097273 0.05910842 0.8691674 0.50370957] [ 0. 0. 0. 1. ]] SLAMing on 178.84800114499998 meters Centerline goodness [0,1] 0.6656298279946442 Centerline is valid? [False, False] Translation: X:3.87, Y:0.26, Z:0.50 [[ 0.85930082 0.13231717 -0.49405898 3.86866106] [-0.14400408 0.98947034 0.0145349 0.25709237] [ 0.49077992 0.05865666 0.86930689 0.50345505] [ 0. 0. 0. 1. ]] SLAMing on 178.87800114499998 meters Centerline goodness [0,1] 0.6689818144457003 Centerline is valid? [False, False] Translation: X:3.87, Y:0.25, Z:0.50 [[ 0.85917945 0.13308266 -0.49406444 3.86877251] [-0.14444983 0.98939372 0.01530735 0.25470344] [ 0.4908614 0.05821577 0.86929052 0.50335772] [ 0. 0. 0. 1. ]] SLAMing on 178.908001145 meters Centerline goodness [0,1] 0.6670030064659611 Centerline is valid? [False, False] Translation: X:3.86, Y:0.25, Z:0.50 [[ 0.86139427 0.13560766 -0.48950022 3.86197424] [-0.14866397 0.98881099 0.01232288 0.25026019] [ 0.48569428 0.06215619 0.8719161 0.49622044] [ 0. 0. 0. 1. ]] SLAMing on 178.93800114499996 meters Centerline goodness [0,1] 0.6693190954255912 Centerline is valid? [False, False] Translation: X:3.86, Y:0.25, Z:0.50 [[ 0.86141752 0.13613114 -0.48931398 3.86138682] [-0.14895663 0.98876025 0.01284902 0.24794706] [ 0.48556336 0.06181819 0.87201304 0.49596784] [ 0. 0. 0. 1. ]] SLAMing on 178.96800114499996 meters Centerline goodness [0,1] 0.6643280388445396 Centerline is valid? [False, False] Translation: X:3.86, Y:0.25, Z:0.50 [[ 0.86128519 0.13680697 -0.48935843 3.8615516 ] [-0.14935288 0.98869129 0.01353698 0.24563696] [ 0.48567637 0.06142789 0.87197768 0.49588072] [ 0. 0. 0. 1. ]] SLAMing on 178.99800114499996 meters Centerline goodness [0,1] 0.6697255256985309 Centerline is valid? [False, False] Translation: X:3.86, Y:0.24, Z:0.50 [[ 0.86119918 0.1373062 -0.48936999 3.86154197] [-0.14964042 0.98864064 0.01405129 0.24392394] [ 0.48574038 0.06112857 0.87196306 0.49583251] [ 0. 0. 0. 1. ]] SLAMing on 179.02800114499996 meters Centerline goodness [0,1] 0.6619451925251321 Centerline is valid? [False, False] Translation: X:3.86, Y:0.24, Z:0.50 [[ 0.86115133 0.13807583 -0.48923763 3.86100763] [-0.14999985 0.98857263 0.01497312 0.24041564] [ 0.48571435 0.06049145 0.87202199 0.49554551] [ 0. 0. 0. 1. ]] SLAMing on 179.05800114499996 meters Centerline goodness [0,1] 0.6815844679363251 Centerline is valid? [False, False] Translation: X:3.86, Y:0.24, Z:0.50 [[ 0.86113144 0.13830461 -0.48920802 3.86034246] [-0.15003976 0.98856051 0.01536877 0.23830067] [ 0.4857373 0.06016612 0.87203172 0.49558754] [ 0. 0. 0. 1. ]] SLAMing on 179.08800114499996 meters Centerline goodness [0,1] 0.6783359013867488 Centerline is valid? [False, False] Translation: X:3.86, Y:0.24, Z:0.50 [[ 0.86116522 0.13835382 -0.48913463 3.85946018] [-0.14997349 0.98856727 0.01557874 0.23676475] [ 0.48569786 0.05994136 0.87206916 0.49567611] [ 0. 0. 0. 1. ]] SLAMing on 179.11800114499997 meters Centerline goodness [0,1] 0.6771075416983732 Centerline is valid? [False, False] Translation: X:3.86, Y:0.24, Z:0.50 [[ 0.86118494 0.13835179 -0.48910048 3.85884797] [-0.14989115 0.98857756 0.01571758 0.23562083] [ 0.48568832 0.05977609 0.87208582 0.49577318] [ 0. 0. 0. 1. ]] SLAMing on 179.14800114499997 meters Centerline goodness [0,1] 0.6689219758976679 Centerline is valid? [False, False] Translation: X:3.86, Y:0.23, Z:0.50 [[ 0.86139753 0.13755588 -0.48895058 3.85638686] [-0.14913159 0.98869712 0.01541979 0.23276514] [ 0.48554512 0.05963541 0.87217519 0.49597928] [ 0. 0. 0. 1. ]] SLAMing on 179.17800114499997 meters Centerline goodness [0,1] 0.6624185491993668 Centerline is valid? [False, False] Translation: X:3.86, Y:0.23, Z:0.50 [[ 0.86142697 0.13771807 -0.48885305 3.85579265] [-0.14905995 0.98870081 0.0158692 0.22992394] [ 0.48551489 0.05919826 0.8722218 0.49572123] [ 0. 0. 0. 1. ]] SLAMing on 179.20800114499997 meters Centerline goodness [0,1] 0.6523711763498254 Centerline is valid? [False, False] Translation: X:3.85, Y:0.23, Z:0.50 [[ 0.86150928 0.1375889 -0.48874437 3.85486651] [-0.14879375 0.98873773 0.01606594 0.22754443] [ 0.4854505 0.05888115 0.8722791 0.49555691] [ 0. 0. 0. 1. ]] SLAMing on 179.23800114499997 meters Centerline goodness [0,1] 0.6428747737370413 Centerline is valid? [False, False] Translation: X:3.85, Y:0.23, Z:0.50 [[ 0.86187205 0.13567641 -0.48863942 3.85194043] [-0.14723257 0.98898948 0.01491265 0.22562843] [ 0.48528254 0.05909084 0.87235837 0.49591953] [ 0. 0. 0. 1. ]] SLAMing on 179.26800114499997 meters Centerline goodness [0,1] 0.6634183369919784 Centerline is valid? [False, False] Translation: X:3.85, Y:0.22, Z:0.50 [[ 0.86192399 0.13545806 -0.48860838 3.85139174] [-0.14697095 0.98902815 0.01492821 0.22464515] [ 0.48526959 0.05894426 0.87237549 0.49593623] [ 0. 0. 0. 1. ]] SLAMing on 179.29800114499997 meters Centerline goodness [0,1] 0.658877161279724 Centerline is valid? [False, False] Translation: X:3.85, Y:0.22, Z:0.50 [[ 0.86197491 0.13532038 -0.4885567 3.85086894] [-0.14673516 0.98906115 0.0150609 0.22306546] [ 0.4852505 0.05870633 0.87240215 0.49580979] [ 0. 0. 0. 1. ]] SLAMing on 179.32800114499997 meters Centerline goodness [0,1] 0.6713102796441266 Centerline is valid? [False, False] Translation: X:3.85, Y:0.22, Z:0.50 [[ 0.86228681 0.13099673 -0.48918433 3.85164927] [-0.14347572 0.98957998 0.01209056 0.21999073] [ 0.48567085 0.05976054 0.87209662 0.49566204] [ 0. 0. 0. 1. ]] SLAMing on 179.35800114499997 meters Centerline goodness [0,1] 0.6600927598095551 Centerline is valid? [False, False] Translation: X:3.85, Y:0.22, Z:0.50 [[ 0.8623668 0.13083356 -0.48908699 3.85087617] [-0.1432281 0.98961469 0.01218527 0.2182975 ] [ 0.48560191 0.05954283 0.87214989 0.49555908] [ 0. 0. 0. 1. ]] SLAMing on 179.38800114499998 meters Centerline goodness [0,1] 0.6572611216983258 Centerline is valid? [False, False] Translation: X:3.85, Y:0.22, Z:0.50 [[ 0.86240989 0.13069464 -0.48904815 3.85036312] [-0.14306205 0.98963863 0.01219171 0.21741159] [ 0.48557433 0.05944998 0.87217158 0.49562372] [ 0. 0. 0. 1. ]] SLAMing on 179.41800114499998 meters Centerline goodness [0,1] 0.6545491887451222 Centerline is valid? [False, False] Translation: X:3.85, Y:0.22, Z:0.50 [[ 0.86239328 0.13063498 -0.48909338 3.85007728] [-0.14300922 0.98964653 0.01216999 0.2170277 ] [ 0.4856194 0.05944955 0.87214652 0.49584622] [ 0. 0. 0. 1. ]] SLAMing on 179.44800114499998 meters Centerline goodness [0,1] 0.6550690108445613 Centerline is valid? [False, False] Translation: X:3.85, Y:0.22, Z:0.50 [[ 0.86240854 0.13074827 -0.48903619 3.84899992] [-0.14309763 0.98963293 0.01223667 0.21638889] [ 0.48556624 0.05942691 0.87217766 0.49627213] [ 0. 0. 0. 1. ]] SLAMing on 179.47800114499998 meters Centerline goodness [0,1] 0.6654384672070744 Centerline is valid? [False, False] Translation: X:3.85, Y:0.22, Z:0.50 [[ 0.86234966 0.13103135 -0.48906427 3.84916285] [-0.14328266 0.98960297 0.01249172 0.21529465] [ 0.48561626 0.0593022 0.8721583 0.4962368 ] [ 0. 0. 0. 1. ]] SLAMing on 179.50800114499998 meters Centerline goodness [0,1] 0.6801505367498869 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:0.50 [[ 0.86229254 0.13127761 -0.48909893 3.84942343] [-0.1434565 0.98957524 0.01269192 0.21452435] [ 0.48566635 0.05922027 0.87213597 0.49620795] [ 0. 0. 0. 1. ]] SLAMing on 179.53800114499998 meters Centerline goodness [0,1] 0.6917839216654325 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:0.50 [[ 0.8621663 0.13148703 -0.4892652 3.84983296] [-0.14363385 0.98954775 0.01282828 0.21416427] [ 0.48583803 0.05921493 0.87204071 0.49642785] [ 0. 0. 0. 1. ]] SLAMing on 179.56800114499998 meters Centerline goodness [0,1] 0.6844286681576626 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:0.50 [[ 0.86202416 0.13198564 -0.48938137 3.85037534] [-0.14397568 0.98949241 0.01325812 0.21273739] [ 0.48598904 0.0590302 0.87196909 0.49642113] [ 0. 0. 0. 1. ]] SLAMing on 179.59800114499998 meters Centerline goodness [0,1] 0.675907848496681 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:0.50 [[ 0.86192335 0.13239627 -0.48944803 3.85079673] [-0.14422243 0.98945086 0.01367034 0.21138739] [ 0.48609467 0.0588066 0.87192531 0.49631108] [ 0. 0. 0. 1. ]] SLAMing on 179.62800114499998 meters Centerline goodness [0,1] 0.6837922749953798 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:0.50 [[ 0.86177086 0.13282805 -0.48959953 3.85154929] [-0.14451787 0.98940243 0.01405047 0.21035728] [ 0.48627726 0.05864759 0.87183421 0.49631591] [ 0. 0. 0. 1. ]] SLAMing on 179.658001145 meters Centerline goodness [0,1] 0.6807594884573406 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:0.50 [[ 0.86160503 0.13322299 -0.48978405 3.85236924] [-0.14484746 0.98935069 0.01429804 0.21005177] [ 0.48647301 0.05862471 0.87172654 0.49643536] [ 0. 0. 0. 1. ]] SLAMing on 179.68800114499996 meters Centerline goodness [0,1] 0.680460855992771 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:0.50 [[ 0.86108658 0.13858544 -0.4892075 3.85221271] [-0.14871427 0.98871039 0.01832555 0.20935385] [ 0.48622419 0.05697225 0.87197489 0.49627598] [ 0. 0. 0. 1. ]] SLAMing on 179.71800114499996 meters Centerline goodness [0,1] 0.6860859379816288 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:0.50 [[ 0.86090342 0.13884218 -0.48945699 3.85296467] [-0.149057 0.98865975 0.0182733 0.21029603] [ 0.48644353 0.05722544 0.87183596 0.49674779] [ 0. 0. 0. 1. ]] SLAMing on 179.74800114499996 meters Centerline goodness [0,1] 0.6827774695353759 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:0.50 [[ 0.86071581 0.13917036 -0.48969368 3.8536663 ] [-0.14943022 0.98860269 0.01831194 0.21091266] [ 0.48666097 0.05741366 0.87170223 0.49718019] [ 0. 0. 0. 1. ]] SLAMing on 179.77800114499996 meters Centerline goodness [0,1] 0.7039548022598869 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:0.50 [[ 0.86058677 0.139709 -0.4897671 3.85389679] [-0.1499826 0.98851665 0.01844067 0.21110157] [ 0.48671926 0.05758674 0.87165826 0.49756289] [ 0. 0. 0. 1. ]] SLAMing on 179.80800114499996 meters Centerline goodness [0,1] 0.6826790598202719 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:0.50 [[ 0.86054499 0.13968229 -0.48984812 3.85397101] [-0.14998505 0.98851718 0.01839236 0.21100923] [ 0.48679237 0.05764244 0.87161376 0.49770004] [ 0. 0. 0. 1. ]] SLAMing on 179.83800114499996 meters Centerline goodness [0,1] 0.7075669239612417 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:0.50 [[ 0.86044248 0.13971282 -0.49001945 3.85478389] [-0.1500398 0.98850909 0.01838045 0.21117027] [ 0.48695666 0.0577071 0.8715177 0.49773979] [ 0. 0. 0. 1. ]] SLAMing on 179.86800114499997 meters Centerline goodness [0,1] 0.6785626131314794 Centerline is valid? [False, False] Translation: X:3.86, Y:0.21, Z:0.50 [[ 0.86037607 0.1395737 -0.49017569 3.85518508] [-0.14998815 0.98852012 0.01820815 0.21156884] [ 0.48708991 0.05785468 0.87143345 0.49792165] [ 0. 0. 0. 1. ]] SLAMing on 179.89800114499997 meters Centerline goodness [0,1] 0.7046131105134574 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:0.50 [[ 0.86040708 0.13902036 -0.49027848 3.85461575] [-0.14969003 0.98857599 0.01761822 0.21254861] [ 0.48712683 0.05823096 0.87138775 0.49845942] [ 0. 0. 0. 1. ]] SLAMing on 179.92800114499997 meters Centerline goodness [0,1] 0.6957664353467745 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:0.50 [[ 0.86042322 0.13868523 -0.49034508 3.85428918] [-0.14947775 0.98861341 0.01731833 0.2128712 ] [ 0.48716351 0.05839459 0.87135629 0.498733 ] [ 0. 0. 0. 1. ]] SLAMing on 179.95800114499997 meters Centerline goodness [0,1] 0.6957663275352806 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:0.50 [[ 0.86038746 0.13840658 -0.49048654 3.85439969] [-0.14931235 0.98864288 0.01706104 0.21323642] [ 0.48727738 0.0585566 0.87128174 0.49896922] [ 0. 0. 0. 1. ]] SLAMing on 179.98800114499997 meters Centerline goodness [0,1] 0.6957663275352806 Centerline is valid? [False, False] Translation: X:3.85, Y:0.21, Z:0.50 [[ 0.86038746 0.13840658 -0.49048654 3.85439969] [-0.14931235 0.98864288 0.01706104 0.21323642] [ 0.48727738 0.0585566 0.87128174 0.49896922] [ 0. 0. 0. 1. ]] SLAMing on 180.01800114499997 meters Centerline goodness [0,1] 0.6896537569525686 Centerline is valid? [False, False] Translation: X:3.86, Y:0.21, Z:0.50 [[ 0.86028863 0.13837001 -0.49067016 3.85528712] [-0.1493557 0.98863852 0.01693381 0.21390358] [ 0.48743856 0.05871642 0.87118083 0.4990464 ] [ 0. 0. 0. 1. ]] SLAMing on 180.04800114499997 meters Centerline goodness [0,1] 0.6875577740802367 Centerline is valid? [False, False] Translation: X:3.86, Y:0.21, Z:0.50 [[ 0.86018613 0.13827221 -0.4908774 3.85618911] [-0.14935484 0.98864156 0.01676322 0.21466839] [ 0.48761969 0.05889542 0.87106737 0.4991754 ] [ 0. 0. 0. 1. ]] SLAMing on 180.07800114499997 meters Centerline goodness [0,1] 0.6865280196701158 Centerline is valid? [False, False] Translation: X:3.86, Y:0.22, Z:0.50 [[ 0.8600564 0.13819058 -0.49112764 3.85698057] [-0.14940621 0.98863757 0.01653875 0.21584121] [ 0.48783274 0.05915326 0.8709306 0.49951074] [ 0. 0. 0. 1. ]] SLAMing on 180.10800114499997 meters Centerline goodness [0,1] 0.6853250164149705 Centerline is valid? [False, False] Translation: X:3.86, Y:0.22, Z:0.50 [[ 0.85993563 0.13999935 -0.49082674 3.85500243] [-0.15085746 0.98839852 0.01761811 0.21838826] [ 0.48759895 0.05889443 0.87107905 0.50036057] [ 0. 0. 0. 1. ]] SLAMing on 180.13800114499998 meters Centerline goodness [0,1] 0.6875847057374019 Centerline is valid? [False, False] Translation: X:3.86, Y:0.22, Z:0.50 [[ 0.85983505 0.13978733 -0.49106332 3.85540027] [-0.15081136 0.9884112 0.01729812 0.21927974] [ 0.48779055 0.0591844 0.87095212 0.50078117] [ 0. 0. 0. 1. ]] SLAMing on 180.16800114499998 meters Centerline goodness [0,1] 0.6797561376139256 Centerline is valid? [False, False] Translation: X:3.86, Y:0.22, Z:0.50 [[ 0.85976943 0.13960927 -0.49122885 3.85582491] [-0.15075131 0.98842445 0.01706302 0.2197244 ] [ 0.48792476 0.05938313 0.87086341 0.50098102] [ 0. 0. 0. 1. ]] SLAMing on 180.19800114499998 meters Centerline goodness [0,1] 0.6796204247627655 Centerline is valid? [False, False] Translation: X:3.86, Y:0.22, Z:0.50 [[ 0.85971789 0.13932461 -0.49139984 3.85638041] [-0.15072633 0.98843702 0.0165476 0.22134024] [ 0.48802328 0.05984063 0.87077688 0.50127844] [ 0. 0. 0. 1. ]] SLAMing on 180.22800114499998 meters Centerline goodness [0,1] 0.7307321673876941 Centerline is valid? [False, False] Translation: X:3.86, Y:0.22, Z:0.50 [[ 0.85962605 0.13895793 -0.49166425 3.85706636] [-0.15063936 0.98845949 0.01598809 0.22343364] [ 0.48821187 0.06032021 0.87063807 0.50175583] [ 0. 0. 0. 1. ]] SLAMing on 180.25800114499998 meters Centerline goodness [0,1] 0.7282856263465682 Centerline is valid? [False, False] Translation: X:3.86, Y:0.23, Z:0.50 [[ 0.85955662 0.13846856 -0.49192365 3.85757857] [-0.15046283 0.9884967 0.01533651 0.22580389] [ 0.48838853 0.06083363 0.87050325 0.50230217] [ 0. 0. 0. 1. ]] SLAMing on 180.28800114499998 meters Centerline goodness [0,1] 0.7268961840513442 Centerline is valid? [False, False] Translation: X:3.86, Y:0.23, Z:0.50 [[ 0.85949781 0.13807064 -0.49213821 3.85800209] [-0.15031524 0.98852711 0.01481484 0.22757013] [ 0.48853745 0.06124255 0.87039101 0.50272348] [ 0. 0. 0. 1. ]] SLAMing on 180.31800114499998 meters Centerline goodness [0,1] 0.7307336336151046 Centerline is valid? [False, False] Translation: X:3.85, Y:0.23, Z:0.50 [[ 0.86148912 0.13869631 -0.48846681 3.85333561] [-0.15168983 0.9883413 0.01310253 0.23044431] [ 0.48458919 0.06280776 0.8724841 0.49799112] [ 0. 0. 0. 1. ]] SLAMing on 180.34800114499998 meters Centerline goodness [0,1] 0.7290859520734683 Centerline is valid? [False, False] Translation: X:3.85, Y:0.23, Z:0.50 [[ 0.86135215 0.13854219 -0.48875201 3.85425392] [-0.15175524 0.98833639 0.01270908 0.23200772] [ 0.48481214 0.06322368 0.87233018 0.49838801] [ 0. 0. 0. 1. ]] SLAMing on 180.37800114499998 meters Centerline goodness [0,1] 0.7327679796800426 Centerline is valid? [False, False] Translation: X:3.86, Y:0.23, Z:0.50 [[ 0.86114504 0.13852585 -0.48912147 3.85563056] [-0.15199925 0.98830417 0.01229197 0.23433607] [ 0.48510354 0.06376093 0.87212906 0.49894332] [ 0. 0. 0. 1. ]] SLAMing on 180.408001145 meters Centerline goodness [0,1] 0.7323438364870128 Centerline is valid? [False, False] Translation: X:3.86, Y:0.24, Z:0.50 [[ 0.86102247 0.13865802 -0.48929977 3.85657244] [-0.15236291 0.98825251 0.01193798 0.2369103 ] [ 0.48520702 0.06427227 0.87203396 0.49938904] [ 0. 0. 0. 1. ]] SLAMing on 180.43800114499996 meters Centerline goodness [0,1] 0.7399249369347197 Centerline is valid? [False, False] Translation: X:3.86, Y:0.24, Z:0.50 [[ 0.86054145 0.14277495 -0.48896189 3.85637815] [-0.15559544 0.9877134 0.01457048 0.24037762] [ 0.48503451 0.06354174 0.87218345 0.50008375] [ 0. 0. 0. 1. ]] SLAMing on 180.46800114499996 meters Centerline goodness [0,1] 0.7403771264603403 Centerline is valid? [False, False] Translation: X:3.86, Y:0.24, Z:0.50 [[ 0.86038824 0.14250174 -0.48931108 3.85713883] [-0.15564536 0.98771421 0.01396976 0.2428167 ] [ 0.48529023 0.06413958 0.87199742 0.50080884] [ 0. 0. 0. 1. ]] SLAMing on 180.49800114499996 meters Centerline goodness [0,1] 0.7711916587988998 Centerline is valid? [False, False] Translation: X:3.86, Y:0.25, Z:0.50 [[ 0.86027619 0.14201898 -0.48964833 3.85775157] [-0.15555723 0.9877389 0.01318393 0.24551417] [ 0.48551707 0.06482652 0.87182033 0.50156639] [ 0. 0. 0. 1. ]] SLAMing on 180.52800114499996 meters Centerline goodness [0,1] 0.7434440021340337 Centerline is valid? [False, False] Translation: X:3.86, Y:0.25, Z:0.50 [[ 0.86042487 0.1416643 -0.48948981 3.8580977 ] [-0.15566144 0.98773462 0.01224083 0.24940438] [ 0.48522012 0.06566237 0.8719231 0.50171209] [ 0. 0. 0. 1. ]] SLAMing on 180.55800114499996 meters Centerline goodness [0,1] 0.7671190749548958 Centerline is valid? [False, False] Translation: X:3.86, Y:0.25, Z:0.50 [[ 0.86031731 0.14143018 -0.48974649 3.85936234] [-0.15565473 0.98774092 0.01181001 0.25096279] [ 0.48541294 0.066071 0.87178489 0.50185845] [ 0. 0. 0. 1. ]] SLAMing on 180.58800114499996 meters Centerline goodness [0,1] 0.740793898138276 Centerline is valid? [False, False] Translation: X:3.86, Y:0.25, Z:0.50 [[ 0.86018915 0.14118736 -0.49004158 3.86060376] [-0.15567678 0.98774323 0.01131613 0.25300822] [ 0.48563295 0.06655409 0.8716256 0.50216535] [ 0. 0. 0. 1. ]] SLAMing on 180.61800114499997 meters Centerline goodness [0,1] 0.7651378404988514 Centerline is valid? [False, False] Translation: X:3.86, Y:0.26, Z:0.50 [[ 0.86005188 0.14080737 -0.49039173 3.86164448] [-0.15563759 0.98775672 0.01065886 0.25552583] [ 0.48588857 0.06715622 0.87143694 0.50274019] [ 0. 0. 0. 1. ]] SLAMing on 180.64800114499997 meters Centerline goodness [0,1] 0.7617513034196806 Centerline is valid? [False, False] Translation: X:3.86, Y:0.26, Z:0.50 [[ 0.85994562 0.14377393 -0.48971684 3.85978922] [-0.15799852 0.98736112 0.01242892 0.26022555] [ 0.48531433 0.06668634 0.87179294 0.50330397] [ 0. 0. 0. 1. ]] SLAMing on 180.67800114499997 meters Centerline goodness [0,1] 0.7772420443587271 Centerline is valid? [False, False] Translation: X:3.86, Y:0.26, Z:0.50 [[ 0.85988945 0.14317882 -0.48998975 3.86033416] [-0.15774487 0.98741058 0.01170053 0.26249432] [ 0.48549633 0.06723221 0.87164967 0.50381282] [ 0. 0. 0. 1. ]] SLAMing on 180.70800114499997 meters Centerline goodness [0,1] 0.7793352927877006 Centerline is valid? [False, False] Translation: X:3.86, Y:0.26, Z:0.50 [[ 0.859811 0.14274195 -0.49025481 3.86098652] [-0.15757021 0.98744477 0.01115582 0.26418741] [ 0.48569195 0.06765765 0.87150776 0.50423883] [ 0. 0. 0. 1. ]] SLAMing on 180.73800114499997 meters Centerline goodness [0,1] 0.7897207808253027 Centerline is valid? [False, False] Translation: X:3.86, Y:0.27, Z:0.50 [[ 0.85980412 0.14222788 -0.49041625 3.86166431] [-0.15732919 0.98748981 0.01055491 0.26589915] [ 0.48578225 0.06808163 0.87142441 0.50439192] [ 0. 0. 0. 1. ]] SLAMing on 180.76800114499997 meters Centerline goodness [0,1] 0.776131109643329 Centerline is valid? [False, False] Translation: X:3.86, Y:0.27, Z:0.51 [[ 0.85993102 0.14066577 -0.49064426 3.86145587] [-0.15644093 0.98764661 0.00896711 0.27004083] [ 0.4858445 0.06904574 0.87131384 0.50518549] [ 0. 0. 0. 1. ]] SLAMing on 180.79800114499997 meters Centerline goodness [0,1] 0.7541393637472352 Centerline is valid? [False, False] Translation: X:3.84, Y:0.28, Z:0.49 [[ 0.86119128 0.14053516 -0.48846642 3.83916424] [-0.15723009 0.98753778 0.00691674 0.27805295] [ 0.48335109 0.07084498 0.87255528 0.49174499] [ 0. 0. 0. 1. ]] SLAMing on 180.82800114499997 meters Centerline goodness [0,1] 0.7238209597946255 Centerline is valid? [False, False] Translation: X:3.83, Y:0.28, Z:0.49 [[ 0.86175663 0.14079182 -0.48739428 3.8349516 ] [-0.15711689 0.98755173 0.0074738 0.28213293] [ 0.48237931 0.07013728 0.87315002 0.49129809] [ 0. 0. 0. 1. ]] SLAMing on 180.85800114499997 meters Centerline goodness [0,1] 0.7498026507125348 Centerline is valid? [False, False] Translation: X:3.83, Y:0.28, Z:0.49 [[ 0.86190983 0.13984893 -0.48739484 3.83460998] [-0.15651172 0.98765396 0.00661345 0.28381273] [ 0.48230232 0.0705828 0.87315665 0.491447 ] [ 0. 0. 0. 1. ]] SLAMing on 180.88800114499998 meters Centerline goodness [0,1] 0.7251569850579238 Centerline is valid? [False, False] Translation: X:3.83, Y:0.29, Z:0.49 [[ 0.86196444 0.139132 -0.48750343 3.83472197] [-0.15603463 0.98773331 0.00600816 0.28500689] [ 0.48235931 0.0708886 0.8731004 0.4915881 ] [ 0. 0. 0. 1. ]] SLAMing on 180.91800114499998 meters Centerline goodness [0,1] 0.7294860609082222 Centerline is valid? [False, False] Translation: X:3.82, Y:0.29, Z:0.48 [[ 0.86184383 0.13893042 -0.48777407 3.81503874] [-0.15672979 0.98763182 0.00437805 0.29158317] [ 0.48234944 0.07267553 0.87295893 0.47871388] [ 0. 0. 0. 1. ]] SLAMing on 180.94800114499998 meters Centerline goodness [0,1] 0.7161229807191245 Centerline is valid? [False, False] Translation: X:3.81, Y:0.29, Z:0.48 [[ 0.86264133 0.1409634 -0.48577697 3.81170114] [-0.15764493 0.9874738 0.00660103 0.29493984] [ 0.48062253 0.07088596 0.87405787 0.47601454] [ 0. 0. 0. 1. ]] SLAMing on 180.97800114499998 meters Centerline goodness [0,1] 0.7479386285356435 Centerline is valid? [False, False] Translation: X:3.81, Y:0.30, Z:0.48 [[ 0.86268202 0.14005961 -0.4859661 3.81177175] [-0.15714997 0.98755858 0.00565187 0.29761036] [ 0.48071158 0.07149379 0.87395939 0.47655709] [ 0. 0. 0. 1. ]] SLAMing on 181.00800114499998 meters Centerline goodness [0,1] 0.7463948076882944 Centerline is valid? [False, False] Translation: X:3.81, Y:0.30, Z:0.48 [[ 0.86271996 0.13911365 -0.4861704 3.81176984] [-0.1566377 0.98764519 0.00464952 0.3002674 ] [ 0.48081066 0.07214138 0.87385166 0.47717712] [ 0. 0. 0. 1. ]] SLAMing on 181.03800114499998 meters Centerline goodness [0,1] 0.7337606569052557 Centerline is valid? [False, False] Translation: X:3.81, Y:0.30, Z:0.48 [[ 0.86266077 0.14223743 -0.4853709 3.81040364] [-0.15894485 0.98726391 0.00682035 0.30326736] [ 0.48015928 0.07126356 0.87428174 0.47698001] [ 0. 0. 0. 1. ]] SLAMing on 181.06800114499998 meters Centerline goodness [0,1] 0.7355899460344791 Centerline is valid? [False, False] Translation: X:3.81, Y:0.31, Z:0.48 [[ 0.86262635 0.14135076 -0.485691 3.81097255] [-0.15849977 0.98734176 0.00583792 0.3060511 ] [ 0.4803682 0.07194597 0.87411107 0.47758965] [ 0. 0. 0. 1. ]] SLAMing on 181.09800114499998 meters Centerline goodness [0,1] 0.7356571187868577 Centerline is valid? [False, False] Translation: X:3.81, Y:0.31, Z:0.48 [[ 0.86263058 0.14054857 -0.48591623 3.81150073] [-0.15808926 0.9874124 0.00495306 0.30874248] [ 0.48049585 0.07254547 0.87399136 0.47802354] [ 0. 0. 0. 1. ]] SLAMing on 181.12800114499998 meters Centerline goodness [0,1] 0.7293866689194897 Centerline is valid? [False, False] Translation: X:3.81, Y:0.31, Z:0.48 [[ 0.86243172 0.14415563 -0.48521199 3.80988473] [-0.16063364 0.98698394 0.00771568 0.31008407] [ 0.4800087 0.07128713 0.87436251 0.4780112 ] [ 0. 0. 0. 1. ]] SLAMing on 181.158001145 meters Centerline goodness [0,1] 0.7445462432026406 Centerline is valid? [False, False] Translation: X:3.81, Y:0.32, Z:0.48 [[ 0.86229175 0.14720682 -0.48454421 3.80911049] [-0.16299106 0.98658016 0.00966987 0.31504573] [ 0.47946517 0.07063813 0.87471333 0.47814626] [ 0. 0. 0. 1. ]] SLAMing on 181.18800114499996 meters Centerline goodness [0,1] 0.7313252501271833 Centerline is valid? [False, False] Translation: X:3.81, Y:0.32, Z:0.48 [[ 0.86225776 0.14640618 -0.48484717 3.80968033] [-0.16261679 0.98665065 0.00873298 0.31783467] [ 0.47965334 0.07131422 0.87455529 0.47874316] [ 0. 0. 0. 1. ]] SLAMing on 181.21800114499996 meters Centerline goodness [0,1] 0.686794773903453 Centerline is valid? [False, False] Translation: X:3.81, Y:0.32, Z:0.48 [[ 0.86224216 0.145631 -0.48510831 3.81014684] [-0.16224309 0.98671966 0.00784184 0.32028316] [ 0.47980792 0.07194391 0.87441891 0.47927538] [ 0. 0. 0. 1. ]] SLAMing on 181.24800114499996 meters Centerline goodness [0,1] 0.7136962994470438 Centerline is valid? [False, False] Translation: X:3.81, Y:0.32, Z:0.48 [[ 0.86224059 0.14822526 -0.48432472 3.80819629] [-0.16420769 0.98637967 0.00953874 0.32470698] [ 0.47914194 0.07130515 0.87483632 0.47946584] [ 0. 0. 0. 1. ]] SLAMing on 181.27800114499996 meters Centerline goodness [0,1] 0.7270479924985083 Centerline is valid? [False, False] Translation: X:3.81, Y:0.33, Z:0.48 [[ 0.86227363 0.14697512 -0.48464678 3.80805306] [-0.16350212 0.98650831 0.00827121 0.32812453] [ 0.47932374 0.07210873 0.87467084 0.48040616] [ 0. 0. 0. 1. ]] SLAMing on 181.30800114499996 meters Centerline goodness [0,1] 0.7294157840792621 Centerline is valid? [False, False] Translation: X:3.81, Y:0.33, Z:0.48 [[ 0.86233953 0.14574232 -0.48490176 3.80790811] [-0.16276415 0.98663954 0.0070884 0.33104189] [ 0.47945633 0.07281202 0.8745399 0.4811148 ] [ 0. 0. 0. 1. ]] SLAMing on 181.33800114499996 meters Centerline goodness [0,1] 0.7090341746991815 Centerline is valid? [False, False] Translation: X:3.81, Y:0.33, Z:0.48 [[ 0.86259573 0.14422695 -0.48489915 3.80807877] [-0.1617519 0.98681458 0.00577183 0.33445818] [ 0.479338 0.0734546 0.87455103 0.48104808] [ 0. 0. 0. 1. ]] SLAMing on 181.36800114499997 meters Centerline goodness [0,1] 0.7060686467516906 Centerline is valid? [False, False] Translation: X:3.81, Y:0.34, Z:0.48 [[ 0.86267914 0.14333278 -0.4850159 3.80815634] [-0.16118081 0.98691239 0.00496802 0.33628702] [ 0.47938028 0.07388945 0.87449122 0.48128466] [ 0. 0. 0. 1. ]] SLAMing on 181.39800114499997 meters Centerline goodness [0,1] 0.7063972775720737 Centerline is valid? [False, False] Translation: X:3.81, Y:0.34, Z:0.48 [[ 0.8627641 0.14237162 -0.48514785 3.80802531] [-0.16055876 0.98701768 0.00412033 0.33826133] [ 0.47943613 0.07433986 0.87442243 0.48167535] [ 0. 0. 0. 1. ]] SLAMing on 181.42800114499997 meters Centerline goodness [0,1] 0.6653263089990324 Centerline is valid? [False, False] Translation: X:3.81, Y:0.34, Z:0.48 [[ 0.86279471 0.14493762 -0.48433292 3.80571593] [-0.16231527 0.98671992 0.00612817 0.3415077 ] [ 0.47878914 0.07332728 0.87486231 0.48166282] [ 0. 0. 0. 1. ]] SLAMing on 181.45800114499997 meters Centerline goodness [0,1] 0.6535078263119314 Centerline is valid? [False, False] Translation: X:3.81, Y:0.34, Z:0.48 [[ 0.86287123 0.14419167 -0.48441924 3.80559795] [-0.16186526 0.98679806 0.00540685 0.34329533] [ 0.47880359 0.07374523 0.87481928 0.48196975] [ 0. 0. 0. 1. ]] SLAMing on 181.48800114499997 meters Centerline goodness [0,1] 0.6729064250906983 Centerline is valid? [False, False] Translation: X:3.81, Y:0.34, Z:0.48 [[ 0.86295409 0.143441 -0.48449449 3.80538855] [-0.16141079 0.9868762 0.00468201 0.34491144] [ 0.47880768 0.07416228 0.87478178 0.4823084 ] [ 0. 0. 0. 1. ]] SLAMing on 181.51800114499997 meters Centerline goodness [0,1] 0.6802913102497252 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:0.48 [[ 8.63018894e-01 1.42170791e-01 -4.84753396e-01 3.80558358e+00] [-1.60657828e-01 9.87004134e-01 3.45003827e-03 3.48304027e-01] [ 4.78944101e-01 7.49019795e-02 8.74644066e-01 4.82954383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.54800114499997 meters Centerline goodness [0,1] 0.6711010963296788 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:0.48 [[ 8.62930991e-01 1.41716466e-01 -4.85042831e-01 3.80662423e+00] [-1.60447964e-01 9.87039932e-01 2.93642168e-03 3.50238541e-01] [ 4.79172782e-01 7.52902053e-02 8.74485466e-01 4.83311599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.57800114499997 meters Centerline goodness [0,1] 0.6493458592783841 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:0.48 [[ 8.62917897e-01 1.41098413e-01 -4.85246269e-01 3.80732580e+00] [-1.60120627e-01 9.87094820e-01 2.28040499e-03 3.52297109e-01] [ 4.79305840e-01 7.57301346e-02 8.74374553e-01 4.83599091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.60800114499997 meters Centerline goodness [0,1] 0.6640944265716024 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:0.48 [[ 8.62884255e-01 1.40611715e-01 -4.85447329e-01 3.80802437e+00] [-1.59890906e-01 9.87133192e-01 1.72036316e-03 3.54134777e-01] [ 4.79443074e-01 7.61341389e-02 8.74264223e-01 4.83913763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63800114499998 meters Centerline goodness [0,1] 0.6591794737072552 Centerline is valid? [False, False] Translation: X:3.81, Y:0.36, Z:0.48 [[ 0.86272569 0.14436136 -0.48462789 3.80662066] [-0.16263323 0.9866768 0.00439541 0.35630981] [ 0.47880562 0.07502457 0.87470938 0.48373736] [ 0. 0. 0. 1. ]] SLAMing on 181.66800114499998 meters Centerline goodness [0,1] 0.6591668866015659 Centerline is valid? [False, False] Translation: X:3.81, Y:0.36, Z:0.48 [[ 0.86259067 0.14408965 -0.48494897 3.80762883] [-0.16266721 0.98667358 0.00382357 0.358731 ] [ 0.47903727 0.07558712 0.87453409 0.48436118] [ 0. 0. 0. 1. ]] SLAMing on 181.69800114499998 meters Centerline goodness [0,1] 0.683966840109357 Centerline is valid? [False, False] Translation: X:3.81, Y:0.36, Z:0.49 [[ 8.62316880e-01 1.43939601e-01 -4.85480164e-01 3.80897827e+00] [-1.62869238e-01 9.86642350e-01 3.23805753e-03 3.61423146e-01] [ 4.79461374e-01 7.62775528e-02 8.74241686e-01 4.85418315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.72800114499998 meters Centerline goodness [0,1] 0.668331822904003 Centerline is valid? [False, False] Translation: X:3.81, Y:0.37, Z:0.49 [[ 0.86172881 0.14873209 -0.4850796 3.80976222] [-0.16671798 0.98598546 0.00614741 0.3654094 ] [ 0.47919575 0.07557409 0.87444839 0.4860013 ] [ 0. 0. 0. 1. ]] SLAMing on 181.75800114499998 meters Centerline goodness [0,1] 0.6794402678908035 Centerline is valid? [False, False] Translation: X:3.81, Y:0.37, Z:0.49 [[ 0.86128613 0.15354501 -0.48436571 3.8094092 ] [-0.17029853 0.98534637 0.0095367 0.36657066] [ 0.4787323 0.07427295 0.87481364 0.48590306] [ 0. 0. 0. 1. ]] SLAMing on 181.78800114499998 meters Centerline goodness [0,1] 0.6776337801967389 Centerline is valid? [False, False] Translation: X:3.81, Y:0.37, Z:0.49 [[ 0.8607959 0.15856816 -0.48361819 3.80920593] [-0.1739962 0.9846585 0.01315143 0.3671121 ] [ 0.47828416 0.07282703 0.87518026 0.4856832 ] [ 0. 0. 0. 1. ]] SLAMing on 181.81800114499998 meters Centerline goodness [0,1] 0.7007584207004238 Centerline is valid? [False, False] Translation: X:3.81, Y:0.37, Z:0.49 [[ 0.86053062 0.15868323 -0.48405235 3.8106841 ] [-0.17443119 0.98458782 0.01267258 0.3697616 ] [ 0.47860297 0.07352868 0.87494727 0.48663788] [ 0. 0. 0. 1. ]] SLAMing on 181.84800114499998 meters Centerline goodness [0,1] 0.7100559789573075 Centerline is valid? [False, False] Translation: X:3.81, Y:0.37, Z:0.49 [[ 0.85992859 0.16356012 -0.48349861 3.8110483 ] [-0.17826787 0.98385571 0.01576409 0.37272993] [ 0.47827124 0.07263628 0.87520317 0.48705325] [ 0. 0. 0. 1. ]] SLAMing on 181.87800114499998 meters Centerline goodness [0,1] 0.7100559789573075 Centerline is valid? [False, False] Translation: X:3.81, Y:0.37, Z:0.49 [[ 0.85992859 0.16356012 -0.48349861 3.8110483 ] [-0.17826787 0.98385571 0.01576409 0.37272993] [ 0.47827124 0.07263628 0.87520317 0.48705325] [ 0. 0. 0. 1. ]] SLAMing on 181.908001145 meters Centerline goodness [0,1] 0.7146742795486221 Centerline is valid? [False, False] Translation: X:3.81, Y:0.37, Z:0.49 [[ 0.85976193 0.16334838 -0.48386643 3.81186088] [-0.17838517 0.98384378 0.01517054 0.37497715] [ 0.47852706 0.07327155 0.87501036 0.48792651] [ 0. 0. 0. 1. ]] SLAMing on 181.93800114499996 meters Centerline goodness [0,1] 0.7235352487483651 Centerline is valid? [False, False] Translation: X:3.81, Y:0.38, Z:0.49 [[ 0.8595525 0.16327551 -0.48426296 3.81306749] [-0.17856446 0.9838175 0.0147601 0.37697557] [ 0.47883633 0.07378507 0.87479799 0.48866197] [ 0. 0. 0. 1. ]] SLAMing on 181.96800114499996 meters Centerline goodness [0,1] 0.7249519067556863 Centerline is valid? [False, False] Translation: X:3.82, Y:0.38, Z:0.49 [[ 0.85917422 0.16388671 -0.48472756 3.81633311] [-0.17935413 0.98367507 0.014678 0.38013554] [ 0.47921995 0.07432693 0.87454202 0.48907598] [ 0. 0. 0. 1. ]] SLAMing on 181.99800114499996 meters Centerline goodness [0,1] 0.725793272504426 Centerline is valid? [False, False] Translation: X:3.82, Y:0.38, Z:0.49 [[ 0.85901553 0.16381308 -0.4850336 3.81770609] [-0.17943043 0.98366469 0.01443945 0.38131985] [ 0.4794758 0.07462608 0.8743763 0.48933948] [ 0. 0. 0. 1. ]] SLAMing on 182.02800114499996 meters Centerline goodness [0,1] 0.7086308035105271 Centerline is valid? [False, False] Translation: X:3.82, Y:0.38, Z:0.49 [[ 0.85889872 0.16358898 -0.48531602 3.8186565 ] [-0.17938513 0.98367781 0.01410461 0.38246599] [ 0.47970196 0.07494404 0.87422504 0.48970538] [ 0. 0. 0. 1. ]] SLAMing on 182.05800114499996 meters Centerline goodness [0,1] 0.7143375598248917 Centerline is valid? [False, False] Translation: X:3.82, Y:0.38, Z:0.49 [[ 0.85892502 0.16290123 -0.48550077 3.81895011] [-0.17903166 0.98375278 0.01334658 0.38454949] [ 0.47978691 0.0754563 0.87413436 0.49014301] [ 0. 0. 0. 1. ]] SLAMing on 182.08800114499996 meters Centerline goodness [0,1] 0.7114263594134256 Centerline is valid? [False, False] Translation: X:3.82, Y:0.39, Z:0.49 [[ 0.85897639 0.16229937 -0.48561144 3.81849697] [-0.17868663 0.98382356 0.01273928 0.38579256] [ 0.47982356 0.07582953 0.87408194 0.49065028] [ 0. 0. 0. 1. ]] SLAMing on 182.11800114499997 meters Centerline goodness [0,1] 0.7031677301731996 Centerline is valid? [False, False] Translation: X:3.82, Y:0.39, Z:0.49 [[ 0.85908066 0.16152527 -0.48568509 3.81783192] [-0.17821837 0.9839179 0.01199058 0.38734195] [ 0.47981103 0.07625713 0.87405161 0.49118394] [ 0. 0. 0. 1. ]] SLAMing on 182.14800114499997 meters Centerline goodness [0,1] 0.7346253170921224 Centerline is valid? [False, False] Translation: X:3.82, Y:0.39, Z:0.49 [[ 0.85901832 0.16076004 -0.48604911 3.81841286] [-0.17787082 0.98399131 0.01109393 0.39030768] [ 0.48005156 0.07692407 0.87386108 0.49202041] [ 0. 0. 0. 1. ]] SLAMing on 182.17800114499997 meters Centerline goodness [0,1] 0.6987675814358363 Centerline is valid? [False, False] Translation: X:3.82, Y:0.39, Z:0.49 [[ 0.85893818 0.16036758 -0.48632031 3.8191121 ] [-0.1776906 0.98402874 0.01065361 0.39175423] [ 0.48026165 0.07726376 0.87371566 0.49247001] [ 0. 0. 0. 1. ]] SLAMing on 182.20800114499997 meters Centerline goodness [0,1] 0.6878660322108345 Centerline is valid? [False, False] Translation: X:3.82, Y:0.39, Z:0.49 [[ 0.85886493 0.16017666 -0.48651256 3.81978968] [-0.17764717 0.9840396 0.01037025 0.3928948 ] [ 0.4804087 0.07752093 0.87361203 0.49278392] [ 0. 0. 0. 1. ]] SLAMing on 182.23800114499997 meters Centerline goodness [0,1] 0.7257650723840938 Centerline is valid? [False, False] Translation: X:3.82, Y:0.39, Z:0.49 [[ 0.85887338 0.1595871 -0.48669136 3.81955808] [-0.17733546 0.98410224 0.00974194 0.39427968] [ 0.48050875 0.07794054 0.87351967 0.4934095 ] [ 0. 0. 0. 1. ]] SLAMing on 182.26800114499997 meters Centerline goodness [0,1] 0.7022567449556465 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.49 [[ 0.85890201 0.15877526 -0.48690632 3.81901024] [-0.17692374 0.98418487 0.00883958 0.39617377] [ 0.48060933 0.07855295 0.87340947 0.49428386] [ 0. 0. 0. 1. ]] SLAMing on 182.29800114499997 meters Centerline goodness [0,1] 0.6760025754231052 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.49 [[ 0.8589441 0.15824826 -0.48700362 3.81866701] [-0.17662145 0.98424378 0.00830983 0.39719482] [ 0.4806453 0.07887761 0.87336042 0.49471897] [ 0. 0. 0. 1. ]] SLAMing on 182.32800114499997 meters Centerline goodness [0,1] 0.6944322766570605 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 0.85896276 0.15777581 -0.48712398 3.81860697] [-0.17640402 0.98428738 0.00774394 0.39866424] [ 0.4806918 0.07927888 0.87329849 0.49519227] [ 0. 0. 0. 1. ]] SLAMing on 182.35800114499997 meters Centerline goodness [0,1] 0.702386167146974 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 0.85890627 0.15722055 -0.48740304 3.81909594] [-0.17619095 0.98433092 0.00702814 0.40102575] [ 0.48087085 0.07983949 0.87314883 0.49591683] [ 0. 0. 0. 1. ]] SLAMing on 182.38800114499998 meters Centerline goodness [0,1] 0.6780107129663835 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 0.85895961 0.15696914 -0.48739007 3.81914618] [-0.17602016 0.98436299 0.00681262 0.40116152] [ 0.48083811 0.07993871 0.87315778 0.49584677] [ 0. 0. 0. 1. ]] SLAMing on 182.41800114499998 meters Centerline goodness [0,1] 0.6999167591564928 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 0.85894615 0.15693192 -0.48742577 3.81937631] [-0.17597747 0.98437057 0.00681949 0.40051657] [ 0.48087778 0.07991837 0.8731378 0.49573198] [ 0. 0. 0. 1. ]] SLAMing on 182.44800114499998 meters Centerline goodness [0,1] 0.7059608131726611 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 0.85898375 0.15671964 -0.48742782 3.81941135] [-0.17577937 0.98440653 0.00673785 0.40005161] [ 0.48088308 0.07989205 0.87313729 0.49554026] [ 0. 0. 0. 1. ]] SLAMing on 182.47800114499998 meters Centerline goodness [0,1] 0.6903960532989073 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 0.85892421 0.15645548 -0.48761755 3.81947753] [-0.1756573 0.98443027 0.00644605 0.40086007] [ 0.481034 0.08011691 0.87303355 0.49608496] [ 0. 0. 0. 1. ]] SLAMing on 182.50800114499998 meters Centerline goodness [0,1] 0.6934303208876202 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 0.85885213 0.15624569 -0.48781175 3.81954194] [-0.17559698 0.98444289 0.0061563 0.40172505] [ 0.4811847 0.08037092 0.87292714 0.49667774] [ 0. 0. 0. 1. ]] SLAMing on 182.53800114499998 meters Centerline goodness [0,1] 0.7207311162908772 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 0.85875683 0.15618935 -0.48799753 3.81986392] [-0.17563604 0.98443686 0.00600393 0.4021787 ] [ 0.48134051 0.08055404 0.87282436 0.4970991 ] [ 0. 0. 0. 1. ]] SLAMing on 182.56800114499998 meters Centerline goodness [0,1] 0.6752061926922546 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 0.85878412 0.15614004 -0.48796529 3.81976612] [-0.17558002 0.9844469 0.00599684 0.40137758] [ 0.48131226 0.08052696 0.87284243 0.49693095] [ 0. 0. 0. 1. ]] SLAMing on 182.59800114499998 meters Centerline goodness [0,1] 0.6843199297872832 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 0.85883341 0.1560112 -0.48791974 3.81980825] [-0.17546454 0.98446789 0.00592969 0.40075508] [ 0.48126642 0.08052 0.87286835 0.49671986] [ 0. 0. 0. 1. ]] SLAMing on 182.62800114499998 meters Centerline goodness [0,1] 0.6713770294648226 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 0.85884805 0.15582885 -0.48795226 3.81979382] [-0.175334 0.98449196 0.00579357 0.40036804] [ 0.48128788 0.08057883 0.87285109 0.496741 ] [ 0. 0. 0. 1. ]] SLAMing on 182.65800114499996 meters Centerline goodness [0,1] 0.6692884327067236 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 0.85883142 0.15573452 -0.48801163 3.8203295 ] [-0.17529893 0.98449891 0.00567249 0.40066377] [ 0.48133032 0.0806762 0.87281869 0.49671293] [ 0. 0. 0. 1. ]] SLAMing on 182.68800114499996 meters Centerline goodness [0,1] 0.7037079793128924 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 0.85878685 0.15517872 -0.48826706 3.82043257] [-0.17510416 0.98453762 0.00491972 0.40333179] [ 0.48148072 0.08127261 0.8726804 0.4976354 ] [ 0. 0. 0. 1. ]] SLAMing on 182.71800114499996 meters Centerline goodness [0,1] 0.7073577047663119 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 0.8586792 0.15504736 -0.48849805 3.82077073] [-0.17515873 0.9845295 0.00459274 0.40425312] [ 0.48165283 0.081621 0.8725529 0.49828081] [ 0. 0. 0. 1. ]] SLAMing on 182.74800114499996 meters Centerline goodness [0,1] 0.6633498016839469 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 0.85870524 0.15476434 -0.48854202 3.82053321] [-0.17506516 0.98454796 0.00418294 0.40504902] [ 0.48164042 0.08193477 0.87253034 0.4986607 ] [ 0. 0. 0. 1. ]] SLAMing on 182.77800114499996 meters Centerline goodness [0,1] 0.7163743367547905 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 0.85863112 0.15466692 -0.48870313 3.82072214] [-0.17511602 0.98454 0.00391998 0.40551097] [ 0.48175407 0.08221393 0.87244134 0.49914581] [ 0. 0. 0. 1. ]] SLAMing on 182.80800114499996 meters Centerline goodness [0,1] 0.7156855915476605 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 8.58589996e-01 1.54308162e-01 -4.88888749e-01 3.82081656e+00] [-1.75039612e-01 9.84555693e-01 3.34988340e-03 4.07120754e-01] [ 4.81855116e-01 8.26987204e-02 8.72339710e-01 4.99833657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.83800114499996 meters Centerline goodness [0,1] 0.7323282770796069 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 8.58576472e-01 1.53887841e-01 -4.89044961e-01 3.82073075e+00] [-1.74833241e-01 9.84593842e-01 2.88176626e-03 4.08251395e-01] [ 4.81954126e-01 8.30270990e-02 8.72253817e-01 5.00396266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.86800114499997 meters Centerline goodness [0,1] 0.7107301911300798 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 8.58526365e-01 1.53605343e-01 -4.89221707e-01 3.82101517e+00] [-1.74693382e-01 9.84619494e-01 2.58357559e-03 4.08858798e-01] [ 4.82094081e-01 8.32457268e-02 8.72155632e-01 5.00795831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.89800114499997 meters Centerline goodness [0,1] 0.7174791086350976 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 8.58563604e-01 1.53365110e-01 -4.89231724e-01 3.82135181e+00] [-1.74465012e-01 9.84660199e-01 2.50026779e-03 4.08575757e-01] [ 4.82110461e-01 8.32071797e-02 8.72150256e-01 5.00511175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.92800114499997 meters Centerline goodness [0,1] 0.6932722281673103 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 8.58552075e-01 1.53325978e-01 -4.89264222e-01 3.82159654e+00] [-1.74415822e-01 9.84668877e-01 2.51449498e-03 4.07958576e-01] [ 4.82148790e-01 8.31765968e-02 8.72131984e-01 5.00402605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.95800114499997 meters Centerline goodness [0,1] 0.685250087037252 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 8.58589993e-01 1.53122320e-01 -4.89261463e-01 3.82160276e+00] [-1.74284331e-01 9.84692615e-01 2.32929563e-03 4.07636497e-01] [ 4.82128816e-01 8.32706970e-02 8.72134047e-01 5.00402409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.98800114499997 meters Centerline goodness [0,1] 0.7302799572867822 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 8.58630850e-01 1.52884786e-01 -4.89264045e-01 3.82142658e+00] [-1.74131131e-01 9.84720204e-01 2.11414786e-03 4.07590142e-01] [ 4.82111411e-01 8.33808291e-02 8.72133146e-01 5.00500615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.01800114499997 meters Centerline goodness [0,1] 0.676111291746017 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 8.58778842e-01 1.52169921e-01 -4.89227162e-01 3.81995150e+00] [-1.73720978e-01 9.84793967e-01 1.36566380e-03 4.09140813e-01] [ 4.81995770e-01 8.38162177e-02 8.72155330e-01 5.01288946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.04800114499997 meters Centerline goodness [0,1] 0.6748501881358294 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 8.58799293e-01 1.51813017e-01 -4.89302138e-01 3.81944652e+00] [-1.73557790e-01 9.84823242e-01 9.35373393e-04 4.10027253e-01] [ 4.82018119e-01 8.41188997e-02 8.72113836e-01 5.01885814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.07800114499997 meters Centerline goodness [0,1] 0.7216202390364135 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 8.58877594e-01 1.51286335e-01 -4.89327827e-01 3.81856915e+00] [-1.73241793e-01 9.84879234e-01 4.19505525e-04 4.10671525e-01] [ 4.81992281e-01 8.44117262e-02 8.72099823e-01 5.02418842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.10800114499997 meters Centerline goodness [0,1] 0.705960234135464 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 8.59003255e-01 1.51076718e-01 -4.89171987e-01 3.81809443e+00] [-1.73053355e-01 9.84912407e-01 2.94248610e-04 4.10024227e-01] [ 4.81836014e-01 8.44000931e-02 8.72187297e-01 5.02200347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13800114499998 meters Centerline goodness [0,1] 0.7159651030939764 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 8.59304831e-01 1.46560676e-01 -4.90015486e-01 3.81988490e+00] [-1.69793607e-01 9.85475063e-01 -3.00515997e-03 4.08687111e-01] [ 4.82457604e-01 8.57838452e-02 8.71708548e-01 5.02156205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.16800114499998 meters Centerline goodness [0,1] 0.6887005910602142 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 8.59348720e-01 1.46516983e-01 -4.89951581e-01 3.82016784e+00] [-1.69674236e-01 9.85495958e-01 -2.89302637e-03 4.07804905e-01] [ 4.82421426e-01 8.56182786e-02 8.71744847e-01 5.01723238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19800114499998 meters Centerline goodness [0,1] 0.6915154034455684 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 8.59358762e-01 1.46381278e-01 -4.89974530e-01 3.82056763e+00] [-1.69499461e-01 9.85526148e-01 -2.85376030e-03 4.07376702e-01] [ 4.82464974e-01 8.55028228e-02 8.71732078e-01 5.01491804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.22800114499998 meters Centerline goodness [0,1] 0.7088692514111224 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 8.59456675e-01 1.45842243e-01 -4.89963534e-01 3.82024954e+00] [-1.69008751e-01 9.85609718e-01 -3.08628501e-03 4.07480058e-01] [ 4.82462710e-01 8.54606532e-02 8.71737467e-01 5.01414115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25800114499998 meters Centerline goodness [0,1] 0.662370657797487 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 8.59521288e-01 1.45575478e-01 -4.89929522e-01 3.82000776e+00] [-1.68811376e-01 9.85642886e-01 -3.28932472e-03 4.07639292e-01] [ 4.82416703e-01 8.55329213e-02 8.71755840e-01 5.01490856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.28800114499998 meters Centerline goodness [0,1] 0.6885048974311587 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 8.59542536e-01 1.45289257e-01 -4.89977205e-01 3.81974597e+00] [-1.68616550e-01 9.85675435e-01 -3.52066533e-03 4.07792764e-01] [ 4.82446980e-01 8.56444276e-02 8.71728136e-01 5.01733748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.31800114499998 meters Centerline goodness [0,1] 0.6593218377502603 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 8.59594769e-01 1.45082442e-01 -4.89946853e-01 3.81940779e+00] [-1.68470184e-01 9.85699840e-01 -3.69090864e-03 4.07587414e-01] [ 4.82405048e-01 8.57141224e-02 8.71744491e-01 5.01806019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.34800114499998 meters Centerline goodness [0,1] 0.67760029546189 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 0.8598723 0.14437518 -0.4896687 3.81759679] [-0.16788792 0.98579731 -0.004161 0.40667758] [ 0.48211334 0.08578739 0.87189865 0.50171448] [ 0. 0. 0. 1. ]] SLAMing on 183.37800114499998 meters Centerline goodness [0,1] 0.6783836147246056 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 0.85993925 0.14411585 -0.48962752 3.81735311] [-0.16769748 0.98582885 -0.00436269 0.40678271] [ 0.4820602 0.08586095 0.87192079 0.50173977] [ 0. 0. 0. 1. ]] SLAMing on 183.40800114499996 meters Centerline goodness [0,1] 0.6753132861000208 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 0.86006776 0.14348722 -0.48958642 3.81658074] [-0.16727874 0.98589738 -0.00491716 0.40786374] [ 0.48197642 0.08612649 0.87194092 0.50211223] [ 0. 0. 0. 1. ]] SLAMing on 183.43800114499996 meters Centerline goodness [0,1] 0.6763377425450523 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 0.86007197 0.1433271 -0.48962592 3.81680022] [-0.16713183 0.985922 -0.00497534 0.40767809] [ 0.48201987 0.08611122 0.8719184 0.50207902] [ 0. 0. 0. 1. ]] SLAMing on 183.46800114499996 meters Centerline goodness [0,1] 0.6722160817905498 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 0.86011477 0.14328055 -0.48956436 3.81706539] [-0.1670437 0.98593719 -0.00492506 0.40708512] [ 0.48197405 0.08601476 0.87195325 0.50174157] [ 0. 0. 0. 1. ]] SLAMing on 183.49800114499996 meters Centerline goodness [0,1] 0.6682412037143712 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.50 [[ 0.86011457 0.14335251 -0.48954365 3.81763589] [-0.16702357 0.98594149 -0.00474364 0.40614684] [ 0.48198139 0.0858454 0.87196589 0.50132247] [ 0. 0. 0. 1. ]] SLAMing on 183.52800114499996 meters Centerline goodness [0,1] 0.6552326249282021 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 0.86027808 0.14316253 -0.48931189 3.81763472] [-0.16668417 0.98599974 -0.00457075 0.40468843] [ 0.48180704 0.08549266 0.87209689 0.50044122] [ 0. 0. 0. 1. ]] SLAMing on 183.55800114499996 meters Centerline goodness [0,1] 0.648009750040242 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 0.86037691 0.14290317 -0.48921392 3.81746785] [-0.16643036 0.98604216 -0.0046693 0.40438074] [ 0.48171829 0.08543741 0.87215133 0.50022484] [ 0. 0. 0. 1. ]] SLAMing on 183.58800114499996 meters Centerline goodness [0,1] 0.6172182684999654 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 0.86058975 0.14229661 -0.48901632 3.81642834] [-0.1659444 0.98612198 -0.00508825 0.40473352] [ 0.48150571 0.08552841 0.87225979 0.50020934] [ 0. 0. 0. 1. ]] SLAMing on 183.61800114499997 meters Centerline goodness [0,1] 0.6626081752900018 Centerline is valid? [False, False] Translation: X:3.81, Y:0.41, Z:0.50 [[ 0.86096592 0.14098186 -0.48873489 3.8137736 ] [-0.16489482 0.98629307 -0.00597337 0.40546629] [ 0.4811937 0.08573272 0.8724119 0.50054404] [ 0. 0. 0. 1. ]] SLAMing on 183.64800114499997 meters Centerline goodness [0,1] 0.6326558764024278 Centerline is valid? [False, False] Translation: X:3.81, Y:0.41, Z:0.50 [[ 0.86115826 0.14054289 -0.48852241 3.81291493] [-0.1644795 0.98636117 -0.00617542 0.40507029] [ 0.48099163 0.08566994 0.87252949 0.50030869] [ 0. 0. 0. 1. ]] SLAMing on 183.67800114499997 meters Centerline goodness [0,1] 0.6378824338260571 Centerline is valid? [False, False] Translation: X:3.81, Y:0.40, Z:0.50 [[ 0.86137698 0.14010544 -0.48826239 3.81227307] [-0.16403457 0.98643428 -0.00633019 0.40431508] [ 0.48075186 0.08554459 0.87267392 0.49977725] [ 0. 0. 0. 1. ]] SLAMing on 183.70800114499997 meters Centerline goodness [0,1] 0.6072466753645083 Centerline is valid? [False, False] Translation: X:3.81, Y:0.40, Z:0.50 [[ 0.8617248 0.13926675 -0.48788845 3.81111156] [-0.16311333 0.98658608 -0.00647724 0.4019976 ] [ 0.48044189 0.08516271 0.87288195 0.4986557 ] [ 0. 0. 0. 1. ]] SLAMing on 183.73800114499997 meters Centerline goodness [0,1] 0.6003423094477407 Centerline is valid? [False, False] Translation: X:3.81, Y:0.40, Z:0.50 [[ 0.86177894 0.13913878 -0.48782934 3.81112509] [-0.16289632 0.98662269 -0.00636112 0.40110261] [ 0.48041842 0.08494749 0.87291584 0.49830389] [ 0. 0. 0. 1. ]] SLAMing on 183.76800114499997 meters Centerline goodness [0,1] 0.6320351270382143 Centerline is valid? [False, False] Translation: X:3.81, Y:0.40, Z:0.50 [[ 0.86191221 0.13875323 -0.48770368 3.8107887 ] [-0.16254945 0.9866786 -0.00655831 0.40101266] [ 0.4802968 0.08492865 0.8729846 0.49808614] [ 0. 0. 0. 1. ]] SLAMing on 183.79800114499997 meters Centerline goodness [0,1] 0.6320351270382143 Centerline is valid? [False, False] Translation: X:3.81, Y:0.40, Z:0.50 [[ 0.86191221 0.13875323 -0.48770368 3.8107887 ] [-0.16254945 0.9866786 -0.00655831 0.40101266] [ 0.4802968 0.08492865 0.8729846 0.49808614] [ 0. 0. 0. 1. ]] SLAMing on 183.82800114499997 meters Centerline goodness [0,1] 0.5926527809567407 Centerline is valid? [False, False] Translation: X:3.81, Y:0.40, Z:0.50 [[ 0.86194548 0.13841622 -0.48774064 3.81071838] [-0.16228024 0.98672154 -0.00676273 0.4011994 ] [ 0.48032813 0.08497977 0.87296239 0.49818689] [ 0. 0. 0. 1. ]] SLAMing on 183.85800114499997 meters Centerline goodness [0,1] 0.6149001711351968 Centerline is valid? [False, False] Translation: X:3.81, Y:0.40, Z:0.50 [[ 0.86197167 0.13843858 -0.48768802 3.81112852] [-0.16219843 0.98673624 -0.00657815 0.40016265] [ 0.48030877 0.08477241 0.8729932 0.49772725] [ 0. 0. 0. 1. ]] SLAMing on 183.88800114499998 meters Centerline goodness [0,1] 0.5805671526019209 Centerline is valid? [False, False] Translation: X:3.81, Y:0.40, Z:0.50 [[ 0.8619001 0.13882202 -0.48770551 3.81212901] [-0.16242838 0.98670089 -0.00619477 0.39902376] [ 0.48035949 0.08455649 0.87298623 0.4972656 ] [ 0. 0. 0. 1. ]] SLAMing on 183.91800114499998 meters Centerline goodness [0,1] 0.5723487357529522 Centerline is valid? [False, False] Translation: X:3.81, Y:0.40, Z:0.50 [[ 0.86181365 0.13906197 -0.48778991 3.81284207] [-0.16259822 0.9866742 -0.00598723 0.39844644] [ 0.48045713 0.08447365 0.87294052 0.49716297] [ 0. 0. 0. 1. ]] SLAMing on 183.94800114499998 meters Centerline goodness [0,1] 0.6217433037754823 Centerline is valid? [False, False] Translation: X:3.81, Y:0.40, Z:0.50 [[ 0.86176787 0.13922179 -0.4878252 3.81332804] [-0.16273519 0.98665216 -0.00589653 0.39855421] [ 0.48049287 0.08446777 0.87292142 0.4971583 ] [ 0. 0. 0. 1. ]] SLAMing on 183.97800114499998 meters Centerline goodness [0,1] 0.6220186420542813 Centerline is valid? [False, False] Translation: X:3.81, Y:0.40, Z:0.50 [[ 0.86165896 0.13927022 -0.48800374 3.81387836] [-0.16285604 0.98663172 -0.00597936 0.39910967] [ 0.48064722 0.08462653 0.87282106 0.49754012] [ 0. 0. 0. 1. ]] SLAMing on 184.00800114499998 meters Centerline goodness [0,1] 0.6407397209985315 Centerline is valid? [False, False] Translation: X:3.81, Y:0.40, Z:0.50 [[ 8.61319697e-01 1.44120516e-01 -4.87193653e-01 3.81264686e+00] [-1.66327402e-01 9.86067766e-01 -2.35732111e-03 3.98470652e-01] [ 4.80066218e-01 8.30640617e-02 8.73290781e-01 4.97249344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03800114499998 meters Centerline goodness [0,1] 0.6532359607151851 Centerline is valid? [False, False] Translation: X:3.81, Y:0.40, Z:0.50 [[ 8.61147133e-01 1.44560271e-01 -4.87368386e-01 3.81382736e+00] [-1.66736162e-01 9.85999203e-01 -2.15043745e-03 3.98361302e-01] [ 4.80233972e-01 8.31137770e-02 8.73193811e-01 4.97352471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.06800114499998 meters Centerline goodness [0,1] 0.6119126133553174 Centerline is valid? [False, False] Translation: X:3.81, Y:0.40, Z:0.50 [[ 8.60950360e-01 1.44953745e-01 -4.87599108e-01 3.81478567e+00] [-1.67079336e-01 9.85941605e-01 -1.90953223e-03 3.97944326e-01] [ 4.80467454e-01 8.31117475e-02 8.73065555e-01 4.97564311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.09800114499998 meters Centerline goodness [0,1] 0.640793603518981 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 8.60893649e-01 1.45004844e-01 -4.87684037e-01 3.81509560e+00] [-1.67154771e-01 9.85928792e-01 -1.92343972e-03 3.97849124e-01] [ 4.80542825e-01 8.31745908e-02 8.73018087e-01 4.97697680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.12800114499998 meters Centerline goodness [0,1] 0.6384738405300434 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 8.60853227e-01 1.44831200e-01 -4.87806976e-01 3.81508300e+00] [-1.67111717e-01 9.85935552e-01 -2.18207542e-03 3.98610708e-01] [ 4.80630207e-01 8.33967078e-02 8.72948792e-01 4.98181688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15800114499996 meters Centerline goodness [0,1] 0.6505446623093682 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 8.60717590e-01 1.44926677e-01 -4.88017919e-01 3.81564497e+00] [-1.67258675e-01 9.85910573e-01 -2.20840246e-03 3.98928119e-01] [ 4.80821970e-01 8.35260413e-02 8.72830816e-01 4.98604973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.18800114499996 meters Centerline goodness [0,1] 0.6477057088639429 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 8.60636490e-01 1.45045852e-01 -4.88125529e-01 3.81630614e+00] [-1.67402537e-01 9.85886175e-01 -2.20031894e-03 3.99272405e-01] [ 4.80917064e-01 8.36071269e-02 8.72770661e-01 4.98732925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.21800114499996 meters Centerline goodness [0,1] 0.6480683745016269 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 8.60550822e-01 1.45011868e-01 -4.88286638e-01 3.81675291e+00] [-1.67447395e-01 9.85878282e-01 -2.32024042e-03 3.99619464e-01] [ 4.81054730e-01 8.37590103e-02 8.72680225e-01 4.99037232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.24800114499996 meters Centerline goodness [0,1] 0.6448700660526135 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 8.60421557e-01 1.45327337e-01 -4.88420628e-01 3.81821749e+00] [-1.67651431e-01 9.85844291e-01 -2.00806272e-03 3.98790254e-01] [ 4.81214861e-01 8.36121974e-02 8.72606016e-01 4.98617406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.27800114499996 meters Centerline goodness [0,1] 0.6400704354189535 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 8.60332886e-01 1.45519860e-01 -4.88519494e-01 3.81923615e+00] [-1.67735805e-01 9.85830446e-01 -1.74142592e-03 3.97945797e-01] [ 4.81343979e-01 8.34404164e-02 8.72551243e-01 4.98291303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.30800114499996 meters Centerline goodness [0,1] 0.6313321039091137 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 8.60364445e-01 1.45269553e-01 -4.88538411e-01 3.81917991e+00] [-1.67556212e-01 9.85860631e-01 -1.93203679e-03 3.98152646e-01] [ 4.81350120e-01 8.35199013e-02 8.72540250e-01 4.98389631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.33800114499996 meters Centerline goodness [0,1] 0.6325422181652214 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 8.60347839e-01 1.45042157e-01 -4.88635209e-01 3.81892746e+00] [-1.67421487e-01 9.85883088e-01 -2.14087091e-03 3.98667061e-01] [ 4.81426672e-01 8.36499272e-02 8.72485558e-01 4.98769660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.36800114499997 meters Centerline goodness [0,1] 0.6291280317909834 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 8.60293899e-01 1.44777147e-01 -4.88808741e-01 3.81857293e+00] [-1.67274940e-01 9.85907388e-01 -2.39101863e-03 3.99064327e-01] [ 4.81573984e-01 8.38224313e-02 8.72387699e-01 4.99396523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.39800114499997 meters Centerline goodness [0,1] 0.6456559939752162 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 8.60253358e-01 1.44620559e-01 -4.88926430e-01 3.81847337e+00] [-1.67177214e-01 9.85923654e-01 -2.51557226e-03 3.98890128e-01] [ 4.81680329e-01 8.39013879e-02 8.72321396e-01 4.99719554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.42800114499997 meters Centerline goodness [0,1] 0.62114968696642 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 8.60256383e-01 1.44524472e-01 -4.88949519e-01 3.81837072e+00] [-1.67081988e-01 9.85939739e-01 -2.53794358e-03 3.98155927e-01] [ 4.81707966e-01 8.38779398e-02 8.72308390e-01 4.99718172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.45800114499997 meters Centerline goodness [0,1] 0.6288300994062919 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 8.60358448e-01 1.44333022e-01 -4.88826472e-01 3.81789728e+00] [-1.66782951e-01 9.85990669e-01 -2.41825607e-03 3.96771799e-01] [ 4.81629306e-01 8.36084884e-02 8.72377689e-01 4.99303880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.48800114499997 meters Centerline goodness [0,1] 0.6343434343434343 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 8.60390751e-01 1.44132146e-01 -4.88828886e-01 3.81796968e+00] [-1.66579506e-01 9.86024942e-01 -2.46625214e-03 3.96577599e-01] [ 4.81642007e-01 8.35508149e-02 8.72376202e-01 4.99196000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.51800114499997 meters Centerline goodness [0,1] 0.623980793622033 Centerline is valid? [False, False] Translation: X:3.82, Y:0.40, Z:0.50 [[ 8.60505194e-01 1.43624967e-01 -4.88776717e-01 3.81734669e+00] [-1.66008276e-01 9.86121204e-01 -2.49471425e-03 3.95530285e-01] [ 4.81634782e-01 8.32876946e-02 8.72405351e-01 4.98898771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.54800114499997 meters Centerline goodness [0,1] 0.6175280797306153 Centerline is valid? [False, False] Translation: X:3.82, Y:0.39, Z:0.50 [[ 8.60487859e-01 1.43684396e-01 -4.88789770e-01 3.81774834e+00] [-1.65944603e-01 9.86132502e-01 -2.25345086e-03 3.94205691e-01] [ 4.81687692e-01 8.30510916e-02 8.72398695e-01 4.98530510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.57800114499997 meters Centerline goodness [0,1] 0.6139389016741121 Centerline is valid? [False, False] Translation: X:3.82, Y:0.39, Z:0.50 [[ 8.60482944e-01 1.43717064e-01 -4.88788817e-01 3.81808187e+00] [-1.65858078e-01 9.86147545e-01 -2.02913220e-03 3.93004937e-01] [ 4.81726271e-01 8.28156074e-02 8.72399779e-01 4.98163545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.60800114499997 meters Centerline goodness [0,1] 0.608814555316985 Centerline is valid? [False, False] Translation: X:3.82, Y:0.39, Z:0.50 [[ 8.60469933e-01 1.43564912e-01 -4.88856431e-01 3.81829670e+00] [-1.65713813e-01 9.86171712e-01 -2.07033879e-03 3.92736219e-01] [ 4.81799155e-01 8.27917272e-02 8.72361796e-01 4.98140503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63800114499998 meters Centerline goodness [0,1] 0.6052536395695813 Centerline is valid? [False, False] Translation: X:3.82, Y:0.39, Z:0.50 [[ 8.60512646e-01 1.43042652e-01 -4.88934336e-01 3.81746899e+00] [-1.65415587e-01 9.86220528e-01 -2.59872194e-03 3.93960362e-01] [ 4.81825351e-01 8.31135932e-02 8.72316721e-01 4.98828022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.66800114499998 meters Centerline goodness [0,1] 0.5997105578545101 Centerline is valid? [False, False] Translation: X:3.82, Y:0.39, Z:0.50 [[ 8.60443109e-01 1.42846702e-01 -4.89113969e-01 3.81744974e+00] [-1.65323237e-01 9.86235455e-01 -2.80253189e-03 3.94361759e-01] [ 4.81981206e-01 8.32733240e-02 8.72215381e-01 4.99316864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69800114499998 meters Centerline goodness [0,1] 0.6275829255029908 Centerline is valid? [False, False] Translation: X:3.82, Y:0.39, Z:0.50 [[ 8.60389896e-01 1.42840660e-01 -4.89209335e-01 3.81754190e+00] [-1.65318613e-01 9.86236272e-01 -2.78781217e-03 3.94188606e-01] [ 4.82077778e-01 8.32740140e-02 8.72161943e-01 4.99485538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.72800114499998 meters Centerline goodness [0,1] 0.592144263185284 Centerline is valid? [False, False] Translation: X:3.82, Y:0.39, Z:0.50 [[ 8.60237831e-01 1.43268634e-01 -4.89351584e-01 3.81858986e+00] [-1.65658921e-01 9.86179970e-01 -2.48780867e-03 3.93717360e-01] [ 4.82232305e-01 8.32055623e-02 8.72083046e-01 4.99472662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75800114499998 meters Centerline goodness [0,1] 0.6317246386676649 Centerline is valid? [False, False] Translation: X:3.82, Y:0.39, Z:0.50 [[ 8.60118610e-01 1.43349219e-01 -4.89537514e-01 3.81932748e+00] [-1.65770154e-01 9.86161285e-01 -2.48509050e-03 3.94004068e-01] [ 4.82406708e-01 8.32881818e-02 8.71978696e-01 4.99698171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.78800114499998 meters Centerline goodness [0,1] 0.6199293734154292 Centerline is valid? [False, False] Translation: X:3.82, Y:0.39, Z:0.50 [[ 8.59999935e-01 1.43320970e-01 -4.89754235e-01 3.81976433e+00] [-1.65801135e-01 9.86155894e-01 -2.55668182e-03 3.94397692e-01] [ 4.82607599e-01 8.34005541e-02 8.71856785e-01 5.00160428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.81800114499998 meters Centerline goodness [0,1] 0.6266793538593987 Centerline is valid? [False, False] Translation: X:3.82, Y:0.39, Z:0.50 [[ 8.59970122e-01 1.43260422e-01 -4.89824296e-01 3.81969577e+00] [-1.65804541e-01 9.86155009e-01 -2.67436430e-03 3.94749951e-01] [ 4.82659552e-01 8.35149661e-02 8.71817072e-01 5.00459514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.84800114499998 meters Centerline goodness [0,1] 0.638072802228917 Centerline is valid? [False, False] Translation: X:3.82, Y:0.39, Z:0.50 [[ 8.59834553e-01 1.43484195e-01 -4.89996763e-01 3.82058999e+00] [-1.65985558e-01 9.86125005e-01 -2.50362002e-03 3.94255289e-01] [ 4.82838831e-01 8.34850853e-02 8.71720657e-01 5.00508467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.87800114499998 meters Centerline goodness [0,1] 0.6221208614155718 Centerline is valid? [False, False] Translation: X:3.82, Y:0.39, Z:0.50 [[ 8.59718139e-01 1.43662187e-01 -4.90148853e-01 3.82133163e+00] [-1.66146763e-01 9.86098125e-01 -2.39595216e-03 3.93935852e-01] [ 4.82990658e-01 8.34964891e-02 8.71635452e-01 5.00572054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.90800114499996 meters Centerline goodness [0,1] 0.648983100694523 Centerline is valid? [False, False] Translation: X:3.82, Y:0.39, Z:0.50 [[ 8.59553345e-01 1.43952553e-01 -4.90352637e-01 3.82196167e+00] [-1.66438743e-01 9.86049157e-01 -2.28138803e-03 3.93803817e-01] [ 4.83183393e-01 8.35746514e-02 8.71521134e-01 5.00956478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.93800114499996 meters Centerline goodness [0,1] 0.6203876004175555 Centerline is valid? [False, False] Translation: X:3.82, Y:0.39, Z:0.50 [[ 8.59396587e-01 1.44138763e-01 -4.90572649e-01 3.82263019e+00] [-1.66617228e-01 9.86019255e-01 -2.17435882e-03 3.93629535e-01] [ 4.83400669e-01 8.36064915e-02 8.71397583e-01 5.01269274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.96800114499996 meters Centerline goodness [0,1] 0.6481796915809317 Centerline is valid? [False, False] Translation: X:3.82, Y:0.39, Z:0.50 [[ 8.59243144e-01 1.44303522e-01 -4.90792944e-01 3.82333434e+00] [-1.66774729e-01 9.85992844e-01 -2.07379082e-03 3.93628336e-01] [ 4.83619075e-01 8.36337507e-02 8.71273772e-01 5.01558370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.99800114499996 meters Centerline goodness [0,1] 0.6162082291429871 Centerline is valid? [False, False] Translation: X:3.82, Y:0.39, Z:0.50 [[ 8.59083304e-01 1.44511670e-01 -4.91011459e-01 3.82420539e+00] [-1.66949147e-01 9.85963649e-01 -1.91435666e-03 3.93552385e-01] [ 4.83842803e-01 8.36185362e-02 8.71151010e-01 5.01765214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.02800114499996 meters Centerline goodness [0,1] 0.6263224810425465 Centerline is valid? [False, False] Translation: X:3.82, Y:0.39, Z:0.50 [[ 8.58969008e-01 1.44658782e-01 -4.91168077e-01 3.82490978e+00] [-1.67041690e-01 9.85948287e-01 -1.74595269e-03 3.92959587e-01] [ 4.84013757e-01 8.35452646e-02 8.71063070e-01 5.01774534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.05800114499996 meters Centerline goodness [0,1] 0.6273373775929839 Centerline is valid? [False, False] Translation: X:3.83, Y:0.39, Z:0.50 [[ 8.58861036e-01 1.44864599e-01 -4.91296213e-01 3.82568697e+00] [-1.67184627e-01 9.85924383e-01 -1.55267134e-03 3.92324863e-01] [ 4.84155989e-01 8.34707032e-02 8.70991171e-01 5.01698526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.08800114499996 meters Centerline goodness [0,1] 0.6344915177356436 Centerline is valid? [False, False] Translation: X:3.83, Y:0.39, Z:0.50 [[ 8.58776112e-01 1.44872964e-01 -4.91442177e-01 3.82596214e+00] [-1.67222980e-01 9.85917843e-01 -1.57548650e-03 3.92048925e-01] [ 4.84293365e-01 8.35334157e-02 8.70908781e-01 5.01940874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.11800114499997 meters Centerline goodness [0,1] 0.6515446638883855 Centerline is valid? [False, False] Translation: X:3.83, Y:0.39, Z:0.50 [[ 8.58675400e-01 1.44954937e-01 -4.91593963e-01 3.82642693e+00] [-1.67294144e-01 9.85905881e-01 -1.50417070e-03 3.91950640e-01] [ 4.84447342e-01 8.35323857e-02 8.70823239e-01 5.02114562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.14800114499997 meters Centerline goodness [0,1] 0.649920724801812 Centerline is valid? [False, False] Translation: X:3.83, Y:0.39, Z:0.50 [[ 8.58657138e-01 1.44776624e-01 -4.91678399e-01 3.82601819e+00] [-1.67162818e-01 9.85927974e-01 -1.61939800e-03 3.92180378e-01] [ 4.84525037e-01 8.35808543e-02 8.70775361e-01 5.02506921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.17800114499997 meters Centerline goodness [0,1] 0.614148128052089 Centerline is valid? [False, False] Translation: X:3.83, Y:0.39, Z:0.50 [[ 8.58599095e-01 1.44643118e-01 -4.91819033e-01 3.82600059e+00] [-1.67076090e-01 9.85942520e-01 -1.71115585e-03 3.92216476e-01] [ 4.84657790e-01 8.36403978e-02 8.70695762e-01 5.02857966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.20800114499997 meters Centerline goodness [0,1] 0.6562147020286451 Centerline is valid? [False, False] Translation: X:3.83, Y:0.39, Z:0.50 [[ 8.58532093e-01 1.44589562e-01 -4.91951728e-01 3.82614119e+00] [-1.66997304e-01 9.85955965e-01 -1.65382843e-03 3.91680194e-01] [ 4.84803615e-01 8.35744773e-02 8.70620906e-01 5.02991973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.23800114499997 meters Centerline goodness [0,1] 0.6531636412957479 Centerline is valid? [False, False] Translation: X:3.83, Y:0.39, Z:0.50 [[ 8.58486041e-01 1.44506484e-01 -4.92056494e-01 3.82613923e+00] [-1.66871126e-01 9.85977453e-01 -1.57786193e-03 3.90739642e-01] [ 4.84928598e-01 8.34645935e-02 8.70561840e-01 5.03058900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.26800114499997 meters Centerline goodness [0,1] 0.6126836743892545 Centerline is valid? [False, False] Translation: X:3.83, Y:0.39, Z:0.50 [[ 8.58550094e-01 1.44314824e-01 -4.92000983e-01 3.82544569e+00] [-1.66577419e-01 9.86027303e-01 -1.45670816e-03 3.89086532e-01] [ 4.84916177e-01 8.32069108e-02 8.70593425e-01 5.02841669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.29800114499997 meters Centerline goodness [0,1] 0.6575191355245384 Centerline is valid? [False, False] Translation: X:3.83, Y:0.39, Z:0.50 [[ 8.58512941e-01 1.44245553e-01 -4.92086121e-01 3.82541805e+00] [-1.66458798e-01 9.86047459e-01 -1.36982424e-03 3.88271840e-01] [ 4.85022679e-01 8.30880761e-02 8.70545446e-01 5.02881517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.32800114499997 meters Centerline goodness [0,1] 0.6566495587970467 Centerline is valid? [False, False] Translation: X:3.83, Y:0.39, Z:0.50 [[ 8.58414341e-01 1.44437715e-01 -4.92201753e-01 3.82599959e+00] [-1.66512045e-01 9.86038865e-01 -1.04657602e-03 3.87133303e-01] [ 4.85178893e-01 8.28559164e-02 8.70480522e-01 5.02727308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.35800114499997 meters Centerline goodness [0,1] 0.6554057091481231 Centerline is valid? [False, False] Translation: X:3.83, Y:0.39, Z:0.50 [[ 8.58362384e-01 1.44687710e-01 -4.92218940e-01 3.82644443e+00] [-1.66528595e-01 9.86036468e-01 -5.57725319e-04 3.85251954e-01] [ 4.85265129e-01 8.24472587e-02 8.70471254e-01 5.02270556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.38800114499998 meters Centerline goodness [0,1] 0.6489875721958784 Centerline is valid? [False, False] Translation: X:3.83, Y:0.38, Z:0.50 [[ 8.58299577e-01 1.44615908e-01 -4.92349546e-01 3.82631124e+00] [-1.66476698e-01 9.86045214e-01 -5.87095046e-04 3.84952676e-01] [ 4.85394010e-01 8.24686302e-02 8.70397369e-01 5.02617353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41800114499998 meters Centerline goodness [0,1] 0.6328237410071942 Centerline is valid? [False, False] Translation: X:3.83, Y:0.38, Z:0.50 [[ 8.58225441e-01 1.44601468e-01 -4.92483002e-01 3.82623197e+00] [-1.66475019e-01 9.86045497e-01 -5.87777724e-04 3.84827571e-01] [ 4.85525653e-01 8.24905630e-02 8.70321864e-01 5.02997883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.44800114499998 meters Centerline goodness [0,1] 0.6167535502426749 Centerline is valid? [False, False] Translation: X:3.83, Y:0.38, Z:0.50 [[ 8.58055104e-01 1.44952222e-01 -4.92676660e-01 3.82676825e+00] [-1.66720447e-01 9.86004169e-01 -2.67589459e-04 3.83904561e-01] [ 4.85742453e-01 8.23688793e-02 8.70212409e-01 5.03221065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47800114499998 meters Centerline goodness [0,1] 0.638323138625619 Centerline is valid? [False, False] Translation: X:3.83, Y:0.38, Z:0.50 [[ 8.58016095e-01 1.45482875e-01 -4.92588178e-01 3.82666097e+00] [-1.66972461e-01 9.85961495e-01 3.56187633e-04 3.81024814e-01] [ 4.85724796e-01 8.19430457e-02 8.70262466e-01 5.02775164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.50800114499998 meters Centerline goodness [0,1] 0.6431544555341717 Centerline is valid? [False, False] Translation: X:3.83, Y:0.38, Z:0.50 [[ 8.57962160e-01 1.45663522e-01 -4.92628734e-01 3.82671357e+00] [-1.67026157e-01 9.85952257e-01 6.39743604e-04 3.79749751e-01] [ 4.85801600e-01 8.17330086e-02 8.70239347e-01 5.02718152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53800114499998 meters Centerline goodness [0,1] 0.6385210700545764 Centerline is valid? [False, False] Translation: X:3.83, Y:0.38, Z:0.50 [[ 8.57928698e-01 1.45759872e-01 -4.92658512e-01 3.82665466e+00] [-1.67042260e-01 9.85949400e-01 8.14984799e-04 3.78936991e-01] [ 4.85855157e-01 8.15955925e-02 8.70222343e-01 5.02735192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.56800114499998 meters Centerline goodness [0,1] 0.6070544140285121 Centerline is valid? [False, False] Translation: X:3.83, Y:0.38, Z:0.50 [[ 8.57822064e-01 1.45838183e-01 -4.92820993e-01 3.82693123e+00] [-1.67077653e-01 9.85943288e-01 9.44116894e-04 3.78377789e-01] [ 4.86031238e-01 8.15294906e-02 8.70130207e-01 5.02965000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.59800114499998 meters Centerline goodness [0,1] 0.6072113027588358 Centerline is valid? [False, False] Translation: X:3.83, Y:0.38, Z:0.50 [[ 8.57746899e-01 1.45889818e-01 -4.92936526e-01 3.82711225e+00] [-1.67028959e-01 9.85951308e-01 1.15975384e-03 3.77460992e-01] [ 4.86180609e-01 8.13398996e-02 8.70064501e-01 5.02985693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.62800114499998 meters Centerline goodness [0,1] 0.6211528197829568 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.50 [[ 8.57826619e-01 1.45801019e-01 -4.92824060e-01 3.82607822e+00] [-1.66727380e-01 9.86001899e-01 1.49525343e-03 3.74615684e-01] [ 4.86143468e-01 8.08845963e-02 8.70127698e-01 5.02612216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65800114499996 meters Centerline goodness [0,1] 0.6100360336313893 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.50 [[ 8.57893349e-01 1.45721511e-01 -4.92731410e-01 3.82548018e+00] [-1.66553374e-01 9.86031101e-01 1.62544965e-03 3.73298439e-01] [ 4.86085357e-01 8.06716164e-02 8.70179933e-01 5.02441130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.68800114499996 meters Centerline goodness [0,1] 0.6100360336313893 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.50 [[ 8.57893349e-01 1.45721511e-01 -4.92731410e-01 3.82548018e+00] [-1.66553374e-01 9.86031101e-01 1.62544965e-03 3.73298439e-01] [ 4.86085357e-01 8.06716164e-02 8.70179933e-01 5.02441130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.71800114499996 meters Centerline goodness [0,1] 0.6100456621004566 Centerline is valid? [False, False] Translation: X:3.82, Y:0.37, Z:0.50 [[ 8.57966476e-01 1.45547268e-01 -4.92655578e-01 3.82471685e+00] [-1.66337416e-01 9.86067532e-01 1.63909448e-03 3.72282709e-01] [ 4.86030236e-01 8.05407676e-02 8.70222842e-01 5.02416159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.74800114499996 meters Centerline goodness [0,1] 0.6302851305738142 Centerline is valid? [False, False] Translation: X:3.82, Y:0.37, Z:0.50 [[ 8.57985570e-01 1.45383253e-01 -4.92670754e-01 3.82378098e+00] [-1.66144774e-01 9.86099992e-01 1.64938882e-03 3.71519099e-01] [ 4.86062420e-01 8.04395194e-02 8.70214231e-01 5.02758075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.77800114499996 meters Centerline goodness [0,1] 0.5967663236337828 Centerline is valid? [False, False] Translation: X:3.82, Y:0.37, Z:0.50 [[ 8.57890351e-01 1.45528989e-01 -4.92793525e-01 3.82419690e+00] [-1.66247912e-01 9.86082367e-01 1.78794986e-03 3.71294074e-01] [ 4.86195205e-01 8.03920299e-02 8.70144439e-01 5.02915141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.80800114499996 meters Centerline goodness [0,1] 0.6261010047359802 Centerline is valid? [False, False] Translation: X:3.82, Y:0.37, Z:0.50 [[ 8.57821475e-01 1.45597090e-01 -4.92893299e-01 3.82433854e+00] [-1.66300772e-01 9.86073335e-01 1.85239825e-03 3.70927437e-01] [ 4.86298643e-01 8.03795093e-02 8.70087791e-01 5.03111138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.83800114499996 meters Centerline goodness [0,1] 0.635182972697907 Centerline is valid? [False, False] Translation: X:3.82, Y:0.37, Z:0.50 [[ 8.57698148e-01 1.45885882e-01 -4.93022512e-01 3.82485925e+00] [-1.66483957e-01 9.86041834e-01 2.14311020e-03 3.70061997e-01] [ 4.86453471e-01 8.02421968e-02 8.70013914e-01 5.03147920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.86800114499997 meters Centerline goodness [0,1] 0.6203658698245769 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.50 [[ 8.57572977e-01 1.46529709e-01 -4.93049321e-01 3.82521330e+00] [-1.66915339e-01 9.85967534e-01 2.70044441e-03 3.68257574e-01] [ 4.86526318e-01 7.99816662e-02 8.69997169e-01 5.02996818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.89800114499997 meters Centerline goodness [0,1] 0.6126732497896648 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.50 [[ 8.57413590e-01 1.46950422e-01 -4.93201286e-01 3.82598784e+00] [-1.67234994e-01 9.85912431e-01 3.02248009e-03 3.67420855e-01] [ 4.86697433e-01 7.98889986e-02 8.69909970e-01 5.03031049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.92800114499997 meters Centerline goodness [0,1] 0.633952020480678 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.50 [[ 8.57246881e-01 1.47306417e-01 -4.93384844e-01 3.82680815e+00] [-1.67527437e-01 9.85862004e-01 3.26606458e-03 3.66883337e-01] [ 4.86890483e-01 7.98556746e-02 8.69804994e-01 5.03154915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.95800114499997 meters Centerline goodness [0,1] 0.6066916961130742 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.50 [[ 8.57077594e-01 1.47611476e-01 -4.93587733e-01 3.82779565e+00] [-1.67809138e-01 9.85813544e-01 3.42784110e-03 3.66998002e-01] [ 4.87091461e-01 7.98906062e-02 8.69689255e-01 5.03357981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.98800114499997 meters Centerline goodness [0,1] 0.6547921032314988 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.50 [[ 0.85675714 0.15197773 -0.49281839 3.82540192] [-0.17085441 0.98527271 0.00681544 0.3668212 ] [ 0.48659631 0.07836102 0.8701055 0.50355534] [ 0. 0. 0. 1. ]] SLAMing on 186.01800114499997 meters Centerline goodness [0,1] 0.6499690648753756 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.50 [[ 0.85666339 0.15199681 -0.49297546 3.82554621] [-0.17092545 0.9852608 0.00675679 0.36708891] [ 0.4867364 0.07847376 0.87001698 0.50396959] [ 0. 0. 0. 1. ]] SLAMing on 186.04800114499997 meters Centerline goodness [0,1] 0.6336813235424223 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.50 [[ 0.85655793 0.15226732 -0.49307523 3.82592069] [-0.17109479 0.9852295 0.00702867 0.36622963] [ 0.4868625 0.07834214 0.86995828 0.50396825] [ 0. 0. 0. 1. ]] SLAMing on 186.07800114499997 meters Centerline goodness [0,1] 0.6407422116318066 Centerline is valid? [False, False] Translation: X:3.83, Y:0.36, Z:0.50 [[ 0.85643952 0.15277487 -0.4931239 3.82650766] [-0.1714028 0.98517226 0.00753043 0.36443859] [ 0.48696245 0.07807346 0.8699265 0.50365115] [ 0. 0. 0. 1. ]] SLAMing on 186.10800114499997 meters Centerline goodness [0,1] 0.6461850398906863 Centerline is valid? [False, False] Translation: X:3.83, Y:0.36, Z:0.50 [[ 0.85634022 0.15288604 -0.49326188 3.82688023] [-0.17152779 0.98515027 0.00756104 0.36442601] [ 0.48709305 0.0781333 0.869848 0.50390735] [ 0. 0. 0. 1. ]] SLAMing on 186.13800114499998 meters Centerline goodness [0,1] 0.6773347439881858 Centerline is valid? [False, False] Translation: X:3.83, Y:0.36, Z:0.50 [[ 0.85624852 0.15290664 -0.49341467 3.8273328 ] [-0.17161383 0.98513592 0.00747797 0.36486319] [ 0.48722395 0.07827378 0.86976206 0.50423137] [ 0. 0. 0. 1. ]] SLAMing on 186.16800114499998 meters Centerline goodness [0,1] 0.6571460055096419 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.50 [[ 0.85613339 0.15314668 -0.49353998 3.82814825] [-0.17183375 0.98509663 0.00760154 0.36505603] [ 0.48734872 0.07829889 0.86968989 0.5043052 ] [ 0. 0. 0. 1. ]] SLAMing on 186.19800114499998 meters Centerline goodness [0,1] 0.6591375770020533 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.50 [[ 0.85595217 0.15364167 -0.49370044 3.82923765] [-0.17234047 0.98500701 0.00774341 0.36551692] [ 0.4874881 0.07845657 0.86959756 0.50451019] [ 0. 0. 0. 1. ]] SLAMing on 186.22800114499998 meters Centerline goodness [0,1] 0.6668504145351914 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.50 [[ 0.85576711 0.15396816 -0.49391949 3.83036323] [-0.17264459 0.98495241 0.00791172 0.3657098 ] [ 0.48770535 0.07850194 0.86947164 0.50467877] [ 0. 0. 0. 1. ]] SLAMing on 186.25800114499998 meters Centerline goodness [0,1] 0.6672037077907746 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.51 [[ 0.85555101 0.15410313 -0.49425165 3.83124345] [-0.17287259 0.98491296 0.00784387 0.36630612] [ 0.48800362 0.07873173 0.86928349 0.50529604] [ 0. 0. 0. 1. ]] SLAMing on 186.28800114499998 meters Centerline goodness [0,1] 0.6454425071728096 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.51 [[ 0.85538139 0.15422609 -0.49450682 3.8321751 ] [-0.17304786 0.98488228 0.00783129 0.36689159] [ 0.48823879 0.07887461 0.86913847 0.50563359] [ 0. 0. 0. 1. ]] SLAMing on 186.31800114499998 meters Centerline goodness [0,1] 0.6492845927596806 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.51 [[ 0.85524243 0.15446691 -0.49467198 3.83268684] [-0.1734581 0.98481173 0.00762545 0.36834015] [ 0.48833665 0.07928325 0.86904631 0.50632413] [ 0. 0. 0. 1. ]] SLAMing on 186.34800114499998 meters Centerline goodness [0,1] 0.6583716884318087 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.51 [[ 0.85521548 0.15422078 -0.49479535 3.83256117] [-0.17340461 0.98482406 0.00723942 0.36929487] [ 0.48840284 0.07960853 0.86897937 0.50686072] [ 0. 0. 0. 1. ]] SLAMing on 186.37800114499998 meters Centerline goodness [0,1] 0.6900305323244391 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.51 [[ 0.85518804 0.15394034 -0.49493008 3.83246865] [-0.17329915 0.98484522 0.00687782 0.37012612] [ 0.4884883 0.07988913 0.86890558 0.50735415] [ 0. 0. 0. 1. ]] SLAMing on 186.40800114499996 meters Centerline goodness [0,1] 0.6536063326405166 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.51 [[ 0.85508667 0.15396128 -0.49509869 3.83326352] [-0.17335276 0.98483593 0.00685715 0.37029207] [ 0.48864671 0.07996327 0.86880968 0.50745179] [ 0. 0. 0. 1. ]] SLAMing on 186.43800114499996 meters Centerline goodness [0,1] 0.6490309178103384 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.51 [[ 0.85506321 0.1537577 -0.49520246 3.8341379 ] [-0.17315097 0.98487169 0.0068186 0.37026322] [ 0.4887593 0.07991445 0.86875084 0.50707854] [ 0. 0. 0. 1. ]] SLAMing on 186.46800114499996 meters Centerline goodness [0,1] 0.6657082190568875 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.51 [[ 0.85507074 0.15340009 -0.49530035 3.83421607] [-0.17290668 0.9849165 0.00653913 0.37080004] [ 0.4888326 0.08004932 0.86869718 0.50728456] [ 0. 0. 0. 1. ]] SLAMing on 186.49800114499996 meters Centerline goodness [0,1] 0.6381802909058756 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.51 [[ 0.85512038 0.1529026 -0.49536847 3.8341377 ] [-0.1725256 0.98498545 0.00621088 0.37141456] [ 0.4888804 0.08015269 0.86866075 0.50742467] [ 0. 0. 0. 1. ]] SLAMing on 186.52800114499996 meters Centerline goodness [0,1] 0.6631821403260099 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.51 [[ 0.85516811 0.15253139 -0.49540052 3.83376049] [-0.1722318 0.9850383 0.00597924 0.37141726] [ 0.48890051 0.08021047 0.8686441 0.50756318] [ 0. 0. 0. 1. ]] SLAMing on 186.55800114499996 meters Centerline goodness [0,1] 0.6229254602108241 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.51 [[ 0.85532333 0.15182653 -0.49534907 3.83297295] [-0.17162889 0.98514577 0.0055982 0.37128219] [ 0.488841 0.08022794 0.86867598 0.50748098] [ 0. 0. 0. 1. ]] SLAMing on 186.58800114499996 meters Centerline goodness [0,1] 0.6403269754768393 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.51 [[ 0.85535713 0.15130217 -0.49545115 3.83240918] [-0.17127081 0.98521037 0.00518065 0.37190563] [ 0.48890745 0.08042501 0.86862036 0.50794062] [ 0. 0. 0. 1. ]] SLAMing on 186.61800114499997 meters Centerline goodness [0,1] 0.6139740121513149 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.51 [[ 0.85537964 0.15067705 -0.49560276 3.83177749] [-0.17087826 0.98528128 0.00462768 0.37296164] [ 0.48900541 0.08072932 0.86853698 0.50859839] [ 0. 0. 0. 1. ]] SLAMing on 186.64800114499997 meters Centerline goodness [0,1] 0.6340326340326341 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.51 [[ 0.85530576 0.15034658 -0.49583058 3.83176989] [-0.17070947 0.98531205 0.00429482 0.37397254] [ 0.48919356 0.08096959 0.86840865 0.50923576] [ 0. 0. 0. 1. ]] SLAMing on 186.67800114499997 meters Centerline goodness [0,1] 0.6629740851963074 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.51 [[ 0.8553273 0.14999137 -0.495901 3.8320056 ] [-0.17047091 0.98535457 0.00400534 0.3746024 ] [ 0.48923908 0.08111082 0.86836983 0.5092838 ] [ 0. 0. 0. 1. ]] SLAMing on 186.70800114499997 meters Centerline goodness [0,1] 0.6345406497745998 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.51 [[ 0.85529054 0.14998731 -0.49596563 3.83251072] [-0.17043384 0.98536069 0.00407517 0.37406293] [ 0.48931626 0.08104388 0.86833259 0.50914126] [ 0. 0. 0. 1. ]] SLAMing on 186.73800114499997 meters Centerline goodness [0,1] 0.6604553026096613 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.51 [[ 0.85523775 0.1500323 -0.49604304 3.8331723 ] [-0.17042106 0.98536236 0.00420458 0.37352124] [ 0.48941296 0.08094027 0.86828775 0.50895582] [ 0. 0. 0. 1. ]] SLAMing on 186.76800114499997 meters Centerline goodness [0,1] 0.6588460085760626 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.51 [[ 0.85515766 0.14999206 -0.49619328 3.83392801] [-0.17037326 0.98537049 0.00423575 0.37337147] [ 0.48956954 0.08091583 0.86820176 0.5089283 ] [ 0. 0. 0. 1. ]] SLAMing on 186.79800114499997 meters Centerline goodness [0,1] 0.6508865208782897 Centerline is valid? [False, False] Translation: X:3.83, Y:0.37, Z:0.51 [[ 0.85503897 0.1498055 -0.4964541 3.83451846] [-0.17021154 0.98539863 0.004191 0.373425 ] [ 0.48983303 0.08091875 0.86805286 0.50916794] [ 0. 0. 0. 1. ]] SLAMing on 186.82800114499997 meters Centerline goodness [0,1] 0.6467755957290297 Centerline is valid? [False, False] Translation: X:3.84, Y:0.37, Z:0.51 [[ 0.85498134 0.14971845 -0.49657959 3.83511898] [-0.17018597 0.98540351 0.00408242 0.37391682] [ 0.48994248 0.08102049 0.86798159 0.50929869] [ 0. 0. 0. 1. ]] SLAMing on 186.85800114499997 meters Centerline goodness [0,1] 0.6471061093247588 Centerline is valid? [False, False] Translation: X:3.84, Y:0.37, Z:0.51 [[ 0.85481072 0.14969079 -0.49688158 3.83584546] [-0.17022893 0.98539639 0.00400749 0.37438145] [ 0.4902252 0.08115797 0.8678091 0.509778 ] [ 0. 0. 0. 1. ]] SLAMing on 186.88800114499998 meters Centerline goodness [0,1] 0.6467317269255678 Centerline is valid? [False, False] Translation: X:3.84, Y:0.38, Z:0.51 [[ 8.54722917e-01 1.49616301e-01 -4.97055026e-01 3.83596103e+00] [-1.70342128e-01 9.85378078e-01 3.68832864e-03 3.75418425e-01] [ 4.90338960e-01 8.15169118e-02 8.67711183e-01 5.10439636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91800114499998 meters Centerline goodness [0,1] 0.6502207161011281 Centerline is valid? [False, False] Translation: X:3.84, Y:0.38, Z:0.51 [[ 8.54613357e-01 1.49605900e-01 -4.97246503e-01 3.83632153e+00] [-1.70440722e-01 9.85361610e-01 3.52942278e-03 3.75843440e-01] [ 4.90495638e-01 8.17347612e-02 8.67602131e-01 5.10881674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.94800114499998 meters Centerline goodness [0,1] 0.6436245058405736 Centerline is valid? [False, False] Translation: X:3.84, Y:0.38, Z:0.51 [[ 8.54464345e-01 1.49729855e-01 -4.97465229e-01 3.83704220e+00] [-1.70646144e-01 9.85326299e-01 3.46098083e-03 3.76205590e-01] [ 4.90683785e-01 8.19332386e-02 8.67477013e-01 5.11276523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97800114499998 meters Centerline goodness [0,1] 0.6486142723256125 Centerline is valid? [False, False] Translation: X:3.84, Y:0.38, Z:0.51 [[ 8.54290941e-01 1.49794048e-01 -4.97743639e-01 3.83777322e+00] [-1.70815191e-01 9.85297402e-01 3.34673621e-03 3.76732258e-01] [ 4.90926836e-01 8.21630883e-02 8.67317744e-01 5.11799318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.00800114499998 meters Centerline goodness [0,1] 0.6444474248927039 Centerline is valid? [False, False] Translation: X:3.84, Y:0.38, Z:0.51 [[ 0.85395451 0.1545765 -0.49685792 3.83664223] [-0.17425009 0.98467756 0.00685581 0.37732953] [ 0.49030459 0.08072299 0.86780482 0.51146844] [ 0. 0. 0. 1. ]] SLAMing on 187.03800114499998 meters Centerline goodness [0,1] 0.6491864186754404 Centerline is valid? [False, False] Translation: X:3.84, Y:0.38, Z:0.51 [[ 0.85378478 0.15453982 -0.49716092 3.83727526] [-0.17439016 0.98465458 0.00659079 0.37863783] [ 0.49055032 0.08107286 0.86763332 0.51219742] [ 0. 0. 0. 1. ]] SLAMing on 187.06800114499998 meters Centerline goodness [0,1] 0.6432731508444962 Centerline is valid? [False, False] Translation: X:3.84, Y:0.38, Z:0.51 [[ 0.85364732 0.15448458 -0.49741408 3.83778488] [-0.17449325 0.98463793 0.00634417 0.37966237] [ 0.49075285 0.08137971 0.86749005 0.5127969 ] [ 0. 0. 0. 1. ]] SLAMing on 187.09800114499998 meters Centerline goodness [0,1] 0.6427467580460928 Centerline is valid? [False, False] Translation: X:3.84, Y:0.38, Z:0.51 [[ 0.85352566 0.15459527 -0.49758844 3.83847487] [-0.17466356 0.984608 0.00630221 0.38019756] [ 0.49090385 0.08153147 0.86739035 0.51309197] [ 0. 0. 0. 1. ]] SLAMing on 187.12800114499998 meters Centerline goodness [0,1] 0.6896064897812837 Centerline is valid? [False, False] Translation: X:3.84, Y:0.38, Z:0.51 [[ 0.8534534 0.1546822 -0.49768536 3.83913425] [-0.17484014 0.9845774 0.00618602 0.38071249] [ 0.49096662 0.0817359 0.86733559 0.51320346] [ 0. 0. 0. 1. ]] SLAMing on 187.15800114499996 meters Centerline goodness [0,1] 0.6448037261795463 Centerline is valid? [False, False] Translation: X:3.84, Y:0.38, Z:0.51 [[ 0.85339181 0.15440076 -0.49787833 3.83936011] [-0.17469966 0.98460411 0.00589776 0.3813758 ] [ 0.49112367 0.08194607 0.86722684 0.51362806] [ 0. 0. 0. 1. ]] SLAMing on 187.18800114499996 meters Centerline goodness [0,1] 0.6576218149307107 Centerline is valid? [False, False] Translation: X:3.84, Y:0.38, Z:0.51 [[ 0.85336701 0.15411109 -0.49801056 3.83963397] [-0.174557 0.98463123 0.00558503 0.38225226] [ 0.49121747 0.08216515 0.86715298 0.51392815] [ 0. 0. 0. 1. ]] SLAMing on 187.21800114499996 meters Centerline goodness [0,1] 0.6862323225531723 Centerline is valid? [False, False] Translation: X:3.84, Y:0.38, Z:0.51 [[ 0.85342644 0.15339952 -0.49812839 3.83978696] [-0.17417295 0.9847032 0.00483651 0.38456193] [ 0.49125054 0.08263289 0.8670898 0.51434388] [ 0. 0. 0. 1. ]] SLAMing on 187.24800114499996 meters Centerline goodness [0,1] 0.6786630654962863 Centerline is valid? [False, False] Translation: X:3.84, Y:0.39, Z:0.51 [[ 0.85335528 0.15324661 -0.49829734 3.84029652] [-0.17411419 0.98471443 0.00466164 0.38516452] [ 0.49139497 0.0827826 0.86699367 0.51458731] [ 0. 0. 0. 1. ]] SLAMing on 187.27800114499996 meters Centerline goodness [0,1] 0.6793445276148089 Centerline is valid? [False, False] Translation: X:3.84, Y:0.39, Z:0.51 [[ 0.85340277 0.15273905 -0.49837185 3.84000549] [-0.1737423 0.98478177 0.00429894 0.38566574] [ 0.49144412 0.08291955 0.86695272 0.51478395] [ 0. 0. 0. 1. ]] SLAMing on 187.30800114499996 meters Centerline goodness [0,1] 0.67926304464766 Centerline is valid? [False, False] Translation: X:3.84, Y:0.39, Z:0.51 [[ 0.85351173 0.15230432 -0.49831829 3.83977784] [-0.17340384 0.98484268 0.00400062 0.38564898] [ 0.49137443 0.08299573 0.86698493 0.51458211] [ 0. 0. 0. 1. ]] SLAMing on 187.33800114499996 meters Centerline goodness [0,1] 0.6705744958002067 Centerline is valid? [False, False] Translation: X:3.84, Y:0.39, Z:0.51 [[ 0.85344881 0.1521724 -0.49846634 3.84013135] [-0.17334105 0.98485425 0.00387172 0.38584327] [ 0.49150587 0.08310036 0.86690041 0.51479077] [ 0. 0. 0. 1. ]] SLAMing on 187.36800114499997 meters Centerline goodness [0,1] 0.6704486733020287 Centerline is valid? [False, False] Translation: X:3.84, Y:0.39, Z:0.52 [[ 8.53494803e-01 1.51650672e-01 -4.98546582e-01 3.83986070e+00] [-1.73031857e-01 9.84910460e-01 3.37088265e-03 3.87202224e-01] [ 4.91534940e-01 8.33874103e-02 8.66856356e-01 5.15213111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.39800114499997 meters Centerline goodness [0,1] 0.6662397771187203 Centerline is valid? [False, False] Translation: X:3.84, Y:0.39, Z:0.52 [[ 8.53459814e-01 1.51162731e-01 -4.98754624e-01 3.83981015e+00] [-1.72819054e-01 9.84949627e-01 2.79407554e-03 3.88995045e-01] [ 4.91670541e-01 8.38096710e-02 8.66738726e-01 5.15941863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.42800114499997 meters Centerline goodness [0,1] 0.6599328117601966 Centerline is valid? [False, False] Translation: X:3.84, Y:0.39, Z:0.52 [[ 0.85328328 0.15501607 -0.49787313 3.83743881] [-0.17548857 0.98446463 0.00575723 0.38989717] [ 0.49103096 0.0824585 0.86723076 0.51585119] [ 0. 0. 0. 1. ]] SLAMing on 187.45800114499997 meters Centerline goodness [0,1] 0.6500698733264212 Centerline is valid? [False, False] Translation: X:3.84, Y:0.39, Z:0.52 [[ 0.85326725 0.15461261 -0.49802604 3.83724185] [-0.17525478 0.98450843 0.00537773 0.39055746] [ 0.4911423 0.0826928 0.8671454 0.5163289 ] [ 0. 0. 0. 1. ]] SLAMing on 187.48800114499997 meters Centerline goodness [0,1] 0.6538209582326233 Centerline is valid? [False, False] Translation: X:3.84, Y:0.39, Z:0.52 [[ 0.85326859 0.15438703 -0.49809372 3.83727107] [-0.17510394 0.98453623 0.00519767 0.39063672] [ 0.49119377 0.08278316 0.86710762 0.51645601] [ 0. 0. 0. 1. ]] SLAMing on 187.51800114499997 meters Centerline goodness [0,1] 0.6520012634808898 Centerline is valid? [False, False] Translation: X:3.84, Y:0.39, Z:0.52 [[ 0.85327175 0.15410342 -0.49817613 3.83720523] [-0.17489681 0.98457406 0.00500169 0.39060782] [ 0.49126207 0.08286161 0.86706143 0.51657928] [ 0. 0. 0. 1. ]] SLAMing on 187.54800114499997 meters Centerline goodness [0,1] 0.680223736950565 Centerline is valid? [False, False] Translation: X:3.84, Y:0.39, Z:0.52 [[ 0.85339725 0.15339576 -0.49817956 3.83688332] [-0.17440449 0.98466413 0.00443011 0.39157782] [ 0.49121911 0.08310411 0.86706257 0.51669164] [ 0. 0. 0. 1. ]] SLAMing on 187.57800114499997 meters Centerline goodness [0,1] 0.6413384848279446 Centerline is valid? [False, False] Translation: X:3.84, Y:0.39, Z:0.52 [[ 0.85338785 0.15299444 -0.49831905 3.83706994] [-0.17417828 0.98470585 0.00403938 0.39262118] [ 0.49131569 0.08334919 0.86698432 0.51700089] [ 0. 0. 0. 1. ]] SLAMing on 187.60800114499997 meters Centerline goodness [0,1] 0.6413384848279446 Centerline is valid? [False, False] Translation: X:3.84, Y:0.39, Z:0.52 [[ 0.85338785 0.15299444 -0.49831905 3.83706994] [-0.17417828 0.98470585 0.00403938 0.39262118] [ 0.49131569 0.08334919 0.86698432 0.51700089] [ 0. 0. 0. 1. ]] SLAMing on 187.63800114499998 meters Centerline goodness [0,1] 0.6381348461903578 Centerline is valid? [False, False] Translation: X:3.84, Y:0.39, Z:0.52 [[ 8.53332263e-01 1.52689264e-01 -4.98507810e-01 3.83729006e+00] [-1.74014127e-01 9.84736036e-01 3.74467854e-03 3.93585433e-01] [ 4.91470377e-01 8.35519463e-02 8.66877120e-01 5.17401510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.66800114499998 meters Centerline goodness [0,1] 0.6633092872374211 Centerline is valid? [False, False] Translation: X:3.84, Y:0.39, Z:0.52 [[ 8.53220762e-01 1.52662836e-01 -4.98706718e-01 3.83793286e+00] [-1.74159530e-01 9.84711324e-01 3.47357820e-03 3.94822136e-01] [ 4.91612439e-01 8.38907985e-02 8.66763834e-01 5.17899192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69800114499998 meters Centerline goodness [0,1] 0.6768454172985943 Centerline is valid? [False, False] Translation: X:3.84, Y:0.39, Z:0.52 [[ 8.53064890e-01 1.52806732e-01 -4.98929250e-01 3.83900519e+00] [-1.74336025e-01 9.84680002e-01 3.49907686e-03 3.94895144e-01] [ 4.91820338e-01 8.39964026e-02 8.66635656e-01 5.18056292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.72800114499998 meters Centerline goodness [0,1] 0.6751292048236468 Centerline is valid? [False, False] Translation: X:3.84, Y:0.40, Z:0.52 [[ 8.52922470e-01 1.52913293e-01 -4.99140046e-01 3.83991621e+00] [-1.74466481e-01 9.84656795e-01 3.52752926e-03 3.95143538e-01] [ 4.92021044e-01 8.40744984e-02 8.66514149e-01 5.18208232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75800114499998 meters Centerline goodness [0,1] 0.6672716547937747 Centerline is valid? [False, False] Translation: X:3.84, Y:0.40, Z:0.52 [[ 8.52794888e-01 1.52927953e-01 -4.99353502e-01 3.84056325e+00] [-1.74570056e-01 9.84638827e-01 3.41711579e-03 3.95728919e-01] [ 4.92205419e-01 8.42580699e-02 8.66391599e-01 5.18576989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.78800114499998 meters Centerline goodness [0,1] 0.6747341818264612 Centerline is valid? [False, False] Translation: X:3.84, Y:0.40, Z:0.52 [[ 8.52729473e-01 1.52476543e-01 -4.99603193e-01 3.84067232e+00] [-1.74457717e-01 9.84660834e-01 2.74706616e-03 3.97732677e-01] [ 4.92358560e-01 8.48171282e-02 8.66250024e-01 5.19449196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.81800114499998 meters Centerline goodness [0,1] 0.6736325225533859 Centerline is valid? [False, False] Translation: X:3.84, Y:0.40, Z:0.52 [[ 8.52675660e-01 1.52112470e-01 -4.99805978e-01 3.84079861e+00] [-1.74318849e-01 9.84686592e-01 2.29222997e-03 3.98953788e-01] [ 4.92500922e-01 8.51710740e-02 8.66134360e-01 5.20035984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.84800114499998 meters Centerline goodness [0,1] 0.6701778385772914 Centerline is valid? [False, False] Translation: X:3.84, Y:0.40, Z:0.52 [[ 8.52607574e-01 1.51876864e-01 -4.99993744e-01 3.84128229e+00] [-1.74234185e-01 9.84702213e-01 2.00022123e-03 3.99932402e-01] [ 4.92648733e-01 8.54105988e-02 8.66026706e-01 5.20389626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.87800114499998 meters Centerline goodness [0,1] 0.6710186939353131 Centerline is valid? [False, False] Translation: X:3.84, Y:0.40, Z:0.52 [[ 8.52531354e-01 1.51750693e-01 -5.00161990e-01 3.84180302e+00] [-1.74221150e-01 9.84704904e-01 1.80073449e-03 4.00709792e-01] [ 4.92785228e-01 8.56036146e-02 8.65929986e-01 5.20678254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90800114499996 meters Centerline goodness [0,1] 0.6718467902278493 Centerline is valid? [False, False] Translation: X:3.84, Y:0.40, Z:0.52 [[ 8.52524052e-01 1.51437415e-01 -5.00269377e-01 3.84196939e+00] [-1.74132328e-01 9.84721346e-01 1.34259091e-03 4.01880690e-01] [ 4.92829253e-01 8.59684802e-02 8.65868782e-01 5.21049137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.93800114499996 meters Centerline goodness [0,1] 0.6658378008440744 Centerline is valid? [False, False] Translation: X:3.84, Y:0.40, Z:0.52 [[ 8.52462255e-01 1.51214591e-01 -5.00442055e-01 3.84217420e+00] [-1.74069552e-01 9.84732816e-01 1.03558006e-03 4.02574294e-01] [ 4.92958309e-01 8.62289312e-02 8.65769413e-01 5.21479260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.96800114499996 meters Centerline goodness [0,1] 0.6771575931232092 Centerline is valid? [False, False] Translation: X:3.84, Y:0.41, Z:0.52 [[ 8.52395435e-01 1.50935661e-01 -5.00640040e-01 3.84284082e+00] [-1.74153349e-01 9.84718477e-01 3.62764494e-04 4.05392976e-01] [ 4.93044252e-01 8.68789210e-02 8.65655485e-01 5.22211138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.99800114499996 meters Centerline goodness [0,1] 0.6756179362308188 Centerline is valid? [False, False] Translation: X:3.84, Y:0.41, Z:0.52 [[ 8.52180357e-01 1.50938235e-01 -5.01005277e-01 3.84394923e+00] [-1.74344983e-01 9.84684627e-01 1.06165931e-04 4.06856870e-01] [ 4.93348219e-01 8.72572842e-02 8.65444222e-01 5.22919391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.02800114499996 meters Centerline goodness [0,1] 0.6822769386394464 Centerline is valid? [False, False] Translation: X:3.84, Y:0.41, Z:0.52 [[ 8.51999786e-01 1.50944315e-01 -5.01310461e-01 3.84488459e+00] [-1.74545251e-01 9.84649139e-01 -1.70208058e-04 4.08323463e-01] [ 4.93589221e-01 8.76463776e-02 8.65267469e-01 5.23594358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.05800114499996 meters Centerline goodness [0,1] 0.6787599400714532 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.52 [[ 8.51776161e-01 1.51120270e-01 -5.01637354e-01 3.84613370e+00] [-1.74856668e-01 9.84593855e-01 -2.92348055e-04 4.09466293e-01] [ 4.93864877e-01 8.79636515e-02 8.65077962e-01 5.24171569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.08800114499996 meters Centerline goodness [0,1] 0.6881988725626098 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.53 [[ 8.51636121e-01 1.51104123e-01 -5.01879927e-01 3.84671781e+00] [-1.75140480e-01 9.84543151e-01 -7.71956476e-04 4.11220703e-01] [ 4.94005799e-01 8.85569171e-02 8.64936959e-01 5.25020611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.11800114499997 meters Centerline goodness [0,1] 0.688256392456323 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.53 [[ 8.51639135e-01 1.50900117e-01 -5.01936190e-01 3.84663239e+00] [-1.75078681e-01 9.84553869e-01 -1.06499936e-03 4.12062403e-01] [ 4.94022509e-01 8.87853210e-02 8.64903999e-01 5.25348539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.14800114499997 meters Centerline goodness [0,1] 0.6855254001391788 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.53 [[ 8.51539399e-01 1.50724675e-01 -5.02158067e-01 3.84684561e+00] [-1.75049855e-01 9.84558681e-01 -1.32341002e-03 4.12760483e-01] [ 4.94204614e-01 8.90296324e-02 8.64774840e-01 5.25879718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.17800114499997 meters Centerline goodness [0,1] 0.6836803068462765 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.53 [[ 8.51433809e-01 1.50693760e-01 -5.02346355e-01 3.84728085e+00] [-1.75068261e-01 9.84555332e-01 -1.37891078e-03 4.12938040e-01] [ 4.94379989e-01 8.91189539e-02 8.64665391e-01 5.26170594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.20800114499997 meters Centerline goodness [0,1] 0.6768198125216989 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.53 [[ 8.51511724e-01 1.50427224e-01 -5.02294171e-01 3.84707874e+00] [-1.74774105e-01 9.84607542e-01 -1.41434963e-03 4.12581434e-01] [ 4.94349872e-01 8.89923493e-02 8.64695649e-01 5.25885717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.23800114499997 meters Centerline goodness [0,1] 0.670393777345649 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.53 [[ 8.51514821e-01 1.50262614e-01 -5.02338189e-01 3.84709276e+00] [-1.74593117e-01 9.84639641e-01 -1.42155211e-03 4.12047126e-01] [ 4.94408488e-01 8.89152627e-02 8.64670066e-01 5.25803599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.26800114499997 meters Centerline goodness [0,1] 0.6648402459888103 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.53 [[ 8.51494838e-01 1.50235503e-01 -5.02380168e-01 3.84718193e+00] [-1.74514162e-01 9.84653766e-01 -1.32957933e-03 4.11344472e-01] [ 4.94470775e-01 8.88045842e-02 8.64645823e-01 5.25720416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.29800114499997 meters Centerline goodness [0,1] 0.6604819889553826 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.53 [[ 8.51582906e-01 1.49838694e-01 -5.02349401e-01 3.84733239e+00] [-1.74144098e-01 9.84719051e-01 -1.49123473e-03 4.11719227e-01] [ 4.94449581e-01 8.87510935e-02 8.64663435e-01 5.25426792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.32800114499997 meters Centerline goodness [0,1] 0.657708955396616 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.53 [[ 8.51483269e-01 1.49811684e-01 -5.02526319e-01 3.84819290e+00] [-1.74190248e-01 9.84710734e-01 -1.58978594e-03 4.12459811e-01] [ 4.94604892e-01 8.88888605e-02 8.64560450e-01 5.25629103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.35800114499997 meters Centerline goodness [0,1] 0.6508182680956459 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.53 [[ 8.51535111e-01 1.49319823e-01 -5.02584863e-01 3.84810148e+00] [-1.73876418e-01 9.84765402e-01 -2.02329829e-03 4.13339074e-01] [ 4.94626067e-01 8.91105653e-02 8.64525512e-01 5.25808126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.38800114499998 meters Centerline goodness [0,1] 0.6508182680956459 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.53 [[ 8.51535111e-01 1.49319823e-01 -5.02584863e-01 3.84810148e+00] [-1.73876418e-01 9.84765402e-01 -2.02329829e-03 4.13339074e-01] [ 4.94626067e-01 8.91105653e-02 8.64525512e-01 5.25808126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41800114499998 meters Centerline goodness [0,1] 0.6822356215213359 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.53 [[ 8.51552795e-01 1.49050243e-01 -5.02634919e-01 3.84807254e+00] [-1.73711021e-01 9.84794057e-01 -2.26866858e-03 4.13266340e-01] [ 4.94653736e-01 8.92451159e-02 8.64495802e-01 5.25847001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.44800114499998 meters Centerline goodness [0,1] 0.6596119112675405 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.53 [[ 8.51492796e-01 1.48847628e-01 -5.02796581e-01 3.84839390e+00] [-1.73602346e-01 9.84812775e-01 -2.45447607e-03 4.13711742e-01] [ 4.94795153e-01 8.93766349e-02 8.64401280e-01 5.26104601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47800114499998 meters Centerline goodness [0,1] 0.6435774393212323 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.53 [[ 8.51432473e-01 1.48564678e-01 -5.02982386e-01 3.84858261e+00] [-1.73490358e-01 9.84831611e-01 -2.79161638e-03 4.14805763e-01] [ 4.94938218e-01 8.96394672e-02 8.64292153e-01 5.26595275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.50800114499998 meters Centerline goodness [0,1] 0.6767257376136575 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 8.51330266e-01 1.48189050e-01 -5.03266117e-01 3.84878996e+00] [-1.73376883e-01 9.84850047e-01 -3.29248420e-03 4.16298143e-01] [ 4.95153749e-01 9.00577023e-02 8.64125208e-01 5.27391797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53800114499998 meters Centerline goodness [0,1] 0.644453728848966 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 8.51348833e-01 1.47792000e-01 -5.03351457e-01 3.84860940e+00] [-1.73209749e-01 9.84877689e-01 -3.78438087e-03 4.17665230e-01] [ 4.95180318e-01 9.04072075e-02 8.64073486e-01 5.27824854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.56800114499998 meters Centerline goodness [0,1] 0.6657851393045213 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85137697 0.14752231 -0.50338299 3.84809753] [-0.17302059 0.98491012 -0.00399206 0.41753872] [ 0.49519808 0.09049437 0.86405418 0.52804297] [ 0. 0. 0. 1. ]] SLAMing on 188.59800114499998 meters Centerline goodness [0,1] 0.6593238062042523 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85141837 0.14720959 -0.50340451 3.84754769] [-0.1727857 0.98495045 -0.00420887 0.41748933] [ 0.49520891 0.09056461 0.86404061 0.52823122] [ 0. 0. 0. 1. ]] SLAMing on 188.62800114499998 meters Centerline goodness [0,1] 0.6539165913253124 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.8515708 0.14643515 -0.50337254 3.84632784] [-0.17222995 0.98504503 -0.00480913 0.418247 ] [ 0.4951404 0.09079114 0.86405611 0.52860401] [ 0. 0. 0. 1. ]] SLAMing on 188.65800114499996 meters Centerline goodness [0,1] 0.6847601587338423 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85160367 0.1459683 -0.50345253 3.84592752] [-0.17192049 0.98509713 -0.00519446 0.41902086] [ 0.49519142 0.09097743 0.86400727 0.52898454] [ 0. 0. 0. 1. ]] SLAMing on 188.68800114499996 meters Centerline goodness [0,1] 0.6696970401543862 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85161038 0.14569457 -0.50352046 3.84564321] [-0.17174037 0.98512735 -0.00541821 0.41935563] [ 0.49524237 0.09108899 0.86396631 0.52927311] [ 0. 0. 0. 1. ]] SLAMing on 188.71800114499996 meters Centerline goodness [0,1] 0.6765462424396913 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85164055 0.14536082 -0.5035659 3.8451932 ] [-0.17148434 0.98517073 -0.0056354 0.41945175] [ 0.49527922 0.091153 0.86393844 0.52949287] [ 0. 0. 0. 1. ]] SLAMing on 188.74800114499996 meters Centerline goodness [0,1] 0.6561481378736389 Centerline is valid? [False, False] Translation: X:3.84, Y:0.42, Z:0.53 [[ 0.85175014 0.14514565 -0.50344259 3.84432234] [-0.17112808 0.98523358 -0.00547431 0.41760356] [ 0.49521397 0.09081591 0.86401134 0.52907987] [ 0. 0. 0. 1. ]] SLAMing on 188.77800114499996 meters Centerline goodness [0,1] 0.6607761607761609 Centerline is valid? [False, False] Translation: X:3.84, Y:0.42, Z:0.53 [[ 0.85173948 0.14520415 -0.50344375 3.84435066] [-0.17109036 0.98524114 -0.00529019 0.41657423] [ 0.49524533 0.09064023 0.86401181 0.52889463] [ 0. 0. 0. 1. ]] SLAMing on 188.80800114499996 meters Centerline goodness [0,1] 0.66034151201316 Centerline is valid? [False, False] Translation: X:3.84, Y:0.42, Z:0.53 [[ 0.85172551 0.14511768 -0.50349232 3.84435309] [-0.17098536 0.98525947 -0.00527123 0.41597345] [ 0.49530563 0.09057945 0.86398362 0.52890651] [ 0. 0. 0. 1. ]] SLAMing on 188.83800114499996 meters Centerline goodness [0,1] 0.6556477639465191 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85162684 0.14523079 -0.50362659 3.84502009] [-0.17095487 0.98526637 -0.00496149 0.41529478] [ 0.49548578 0.09032276 0.86390719 0.52871046] [ 0. 0. 0. 1. ]] SLAMing on 188.86800114499997 meters Centerline goodness [0,1] 0.6360804762124499 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.53 [[ 0.85155594 0.14529127 -0.50372902 3.8453552 ] [-0.17099725 0.98525936 -0.0048918 0.41497113] [ 0.495593 0.09030192 0.86384787 0.5288051 ] [ 0. 0. 0. 1. ]] SLAMing on 188.89800114499997 meters Centerline goodness [0,1] 0.6592438911940987 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.53 [[ 0.85146496 0.14538993 -0.50385433 3.8457599 ] [-0.17108476 0.98524453 -0.00481894 0.41464398] [ 0.4957191 0.09030495 0.8637752 0.5289162 ] [ 0. 0. 0. 1. ]] SLAMing on 188.92800114499997 meters Centerline goodness [0,1] 0.6500356871503234 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.53 [[ 0.85136783 0.14549047 -0.50398943 3.84606948] [-0.1711974 0.98522513 -0.00478401 0.41419356] [ 0.49584702 0.09035463 0.86369657 0.52912186] [ 0. 0. 0. 1. ]] SLAMing on 188.95800114499997 meters Centerline goodness [0,1] 0.6585388380899603 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.53 [[ 0.85140063 0.1452506 -0.5040032 3.84559102] [-0.1710982 0.98524082 -0.00509181 0.41433495] [ 0.49582494 0.09056921 0.86368678 0.5294128 ] [ 0. 0. 0. 1. ]] SLAMing on 188.98800114499997 meters Centerline goodness [0,1] 0.661763010445249 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85129783 0.1450595 -0.50423184 3.84561404] [-0.1711185 0.9852353 -0.0054639 0.41538625] [ 0.49599442 0.0909348 0.86355104 0.53021114] [ 0. 0. 0. 1. ]] SLAMing on 189.01800114499997 meters Centerline goodness [0,1] 0.6527343116118414 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85114554 0.14501864 -0.50450061 3.84622158] [-0.17123223 0.98521428 -0.00568705 0.41644812] [ 0.49621647 0.09122727 0.86339261 0.53083575] [ 0. 0. 0. 1. ]] SLAMing on 189.04800114499997 meters Centerline goodness [0,1] 0.6556125409018124 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85098157 0.14497841 -0.5047887 3.84689215] [-0.17141324 0.98518082 -0.00602144 0.41783019] [ 0.49643517 0.0916516 0.86322193 0.53158588] [ 0. 0. 0. 1. ]] SLAMing on 189.07800114499997 meters Centerline goodness [0,1] 0.6530371125422787 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85091646 0.14477513 -0.50495678 3.84665532] [-0.17137826 0.98518494 -0.00633382 0.41836549] [ 0.49655883 0.09192817 0.86312139 0.5322205 ] [ 0. 0. 0. 1. ]] SLAMing on 189.10800114499997 meters Centerline goodness [0,1] 0.6525486733887831 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85088352 0.14459952 -0.50506258 3.84637535] [-0.17136109 0.98518595 -0.00663463 0.41881862] [ 0.49662119 0.09219337 0.86305722 0.53274949] [ 0. 0. 0. 1. ]] SLAMing on 189.13800114499998 meters Centerline goodness [0,1] 0.6558372093023256 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85093653 0.14419013 -0.50509032 3.84580284] [-0.17112848 0.98522351 -0.00704819 0.41934482] [ 0.49661057 0.0924329 0.86303771 0.53313983] [ 0. 0. 0. 1. ]] SLAMing on 189.16800114499998 meters Centerline goodness [0,1] 0.6432392204288572 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85090337 0.1441336 -0.50516231 3.84603983] [-0.17105658 0.98523619 -0.00702148 0.41905947] [ 0.49669216 0.09238594 0.86299579 0.53312935] [ 0. 0. 0. 1. ]] SLAMing on 189.19800114499998 meters Centerline goodness [0,1] 0.6541039497182086 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85089809 0.1440968 -0.50518169 3.84640148] [-0.17098785 0.98524847 -0.00697191 0.41871548] [ 0.49672486 0.09231232 0.86298485 0.53292317] [ 0. 0. 0. 1. ]] SLAMing on 189.22800114499998 meters Centerline goodness [0,1] 0.6392247303561861 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85087316 0.14399828 -0.50525178 3.84642266] [-0.17090564 0.98526245 -0.00701219 0.41837703] [ 0.49679586 0.09231686 0.86294349 0.53302629] [ 0. 0. 0. 1. ]] SLAMing on 189.25800114499998 meters Centerline goodness [0,1] 0.6351156740685682 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85088084 0.14389547 -0.50526814 3.84637566] [-0.17084609 0.98527206 -0.00711202 0.41809102] [ 0.4968032 0.09237457 0.86293309 0.53309049] [ 0. 0. 0. 1. ]] SLAMing on 189.28800114499998 meters Centerline goodness [0,1] 0.6420619610941967 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85091355 0.14374357 -0.50525629 3.84604354] [-0.17071505 0.98529419 -0.00719247 0.4178525 ] [ 0.49679221 0.09237502 0.86293937 0.53312222] [ 0. 0. 0. 1. ]] SLAMing on 189.31800114499998 meters Centerline goodness [0,1] 0.6483457844183564 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85080266 0.14371939 -0.50544988 3.84647161] [-0.17077542 0.98528291 -0.00730422 0.41811998] [ 0.49696137 0.09253286 0.86282505 0.53352032] [ 0. 0. 0. 1. ]] SLAMing on 189.34800114499998 meters Centerline goodness [0,1] 0.6668524841474461 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85087827 0.14352514 -0.50537778 3.84626784] [-0.17059361 0.98531373 -0.00739466 0.41840647] [ 0.49689434 0.09250618 0.86286652 0.5334052 ] [ 0. 0. 0. 1. ]] SLAMing on 189.37800114499998 meters Centerline goodness [0,1] 0.6493473489661545 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85090711 0.14330016 -0.50539306 3.84596363] [-0.17041312 0.98534393 -0.00753037 0.41816649] [ 0.49690688 0.09253326 0.86285639 0.53349427] [ 0. 0. 0. 1. ]] SLAMing on 189.40800114499996 meters Centerline goodness [0,1] 0.6642833929151771 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85097402 0.14315343 -0.505322 3.84568837] [-0.1702288 0.98537587 -0.00752066 0.41759481] [ 0.49685549 0.09242024 0.86289809 0.53329968] [ 0. 0. 0. 1. ]] SLAMing on 189.43800114499996 meters Centerline goodness [0,1] 0.6536043247256444 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85108519 0.14300131 -0.50517782 3.8453058 ] [-0.16995018 0.98542507 -0.00737366 0.41665979] [ 0.49676044 0.09213067 0.86298378 0.53281999] [ 0. 0. 0. 1. ]] SLAMing on 189.46800114499996 meters Centerline goodness [0,1] 0.6413951014177672 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85106658 0.14319648 -0.50515388 3.84544685] [-0.16999779 0.98541909 -0.00706892 0.41544174] [ 0.49677603 0.09189117 0.86300034 0.53251894] [ 0. 0. 0. 1. ]] SLAMing on 189.49800114499996 meters Centerline goodness [0,1] 0.6413951014177672 Centerline is valid? [False, False] Translation: X:3.85, Y:0.42, Z:0.53 [[ 0.85106658 0.14319648 -0.50515388 3.84544685] [-0.16999779 0.98541909 -0.00706892 0.41544174] [ 0.49677603 0.09189117 0.86300034 0.53251894] [ 0. 0. 0. 1. ]] SLAMing on 189.52800114499996 meters Centerline goodness [0,1] 0.6511531365313653 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.53 [[ 0.85107966 0.14329678 -0.50510341 3.84548354] [-0.16999354 0.98542123 -0.00687058 0.41424452] [ 0.49675509 0.09171173 0.86303148 0.53221609] [ 0. 0. 0. 1. ]] SLAMing on 189.55800114499996 meters Centerline goodness [0,1] 0.6010521701008329 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.53 [[ 0.85105743 0.14327979 -0.50514568 3.84540323] [-0.1699713 0.98542516 -0.00685709 0.41354982] [ 0.49680078 0.09169604 0.86300685 0.53230127] [ 0. 0. 0. 1. ]] SLAMing on 189.58800114499996 meters Centerline goodness [0,1] 0.6543713956170704 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.53 [[ 0.85100896 0.14309267 -0.50528036 3.8451614 ] [-0.1699053 0.98543489 -0.00708997 0.41386971] [ 0.49690637 0.09188344 0.86292612 0.53279563] [ 0. 0. 0. 1. ]] SLAMing on 189.61800114499997 meters Centerline goodness [0,1] 0.6630204006277116 Centerline is valid? [False, False] Translation: X:3.84, Y:0.41, Z:0.53 [[ 0.85091017 0.14515787 -0.50485748 3.84216531] [-0.17144676 0.98517688 -0.0057038 0.41428989] [ 0.49654596 0.0914096 0.86318387 0.53362391] [ 0. 0. 0. 1. ]] SLAMing on 189.64800114499997 meters Centerline goodness [0,1] 0.6492647397778085 Centerline is valid? [False, False] Translation: X:3.84, Y:0.41, Z:0.53 [[ 0.85086445 0.14519618 -0.50492352 3.84194 ] [-0.17149435 0.98516864 -0.00569538 0.41373508] [ 0.49660787 0.09143753 0.8631453 0.53388011] [ 0. 0. 0. 1. ]] SLAMing on 189.67800114499997 meters Centerline goodness [0,1] 0.6381330135596347 Centerline is valid? [False, False] Translation: X:3.84, Y:0.41, Z:0.53 [[ 0.85085677 0.14546148 -0.50486009 3.84186772] [-0.17161601 0.98514919 -0.00538642 0.41224957] [ 0.49657899 0.09122515 0.86318438 0.53362623] [ 0. 0. 0. 1. ]] SLAMing on 189.70800114499997 meters Centerline goodness [0,1] 0.663055478884902 Centerline is valid? [False, False] Translation: X:3.84, Y:0.41, Z:0.53 [[ 0.85089007 0.14581837 -0.504701 3.84161995] [-0.17170725 0.98513603 -0.00486043 0.40984078] [ 0.49649039 0.09079651 0.86328053 0.53301616] [ 0. 0. 0. 1. ]] SLAMing on 189.73800114499997 meters Centerline goodness [0,1] 0.6556522537830949 Centerline is valid? [False, False] Translation: X:3.84, Y:0.41, Z:0.53 [[ 0.85088006 0.14561414 -0.50477682 3.84147762] [-0.17158657 0.98515613 -0.00504566 0.41013342] [ 0.49654926 0.09090617 0.86323514 0.53331274] [ 0. 0. 0. 1. ]] SLAMing on 189.76800114499997 meters Centerline goodness [0,1] 0.6338727767985899 Centerline is valid? [False, False] Translation: X:3.84, Y:0.41, Z:0.53 [[ 0.85084826 0.14550013 -0.5048633 3.84134492] [-0.17152074 0.98516709 -0.00514235 0.41029088] [ 0.49662649 0.09096989 0.86318399 0.53364602] [ 0. 0. 0. 1. ]] SLAMing on 189.79800114499997 meters Centerline goodness [0,1] 0.6312647794843538 Centerline is valid? [False, False] Translation: X:3.84, Y:0.41, Z:0.53 [[ 0.85076201 0.14566707 -0.50496049 3.84153995] [-0.17165424 0.98514448 -0.0050178 0.40956632] [ 0.49672811 0.09094756 0.86312787 0.53381636] [ 0. 0. 0. 1. ]] SLAMing on 189.82800114499997 meters Centerline goodness [0,1] 0.6450012574015226 Centerline is valid? [False, False] Translation: X:3.84, Y:0.41, Z:0.53 [[ 0.85075536 0.14636606 -0.50476955 3.8420868 ] [-0.1719317 0.9851002 -0.00413372 0.40602071] [ 0.49664354 0.09030267 0.86324424 0.53266394] [ 0. 0. 0. 1. ]] SLAMing on 189.85800114499997 meters Centerline goodness [0,1] 0.6498245134235836 Centerline is valid? [False, False] Translation: X:3.84, Y:0.40, Z:0.53 [[ 0.85072025 0.14660522 -0.50475931 3.84245154] [-0.1720412 0.98508225 -0.00384486 0.40484321] [ 0.49666576 0.09011029 0.86325156 0.53238931] [ 0. 0. 0. 1. ]] SLAMing on 189.88800114499998 meters Centerline goodness [0,1] 0.6194593361469145 Centerline is valid? [False, False] Translation: X:3.84, Y:0.40, Z:0.53 [[ 8.50623365e-01 1.46771679e-01 -5.04874207e-01 3.84292344e+00] [-1.72198308e-01 9.85055133e-01 -3.75877547e-03 4.04612601e-01] [ 4.96777247e-01 9.01357866e-02 8.63184747e-01 5.32526192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91800114499998 meters Centerline goodness [0,1] 0.6437062777193544 Centerline is valid? [False, False] Translation: X:3.84, Y:0.41, Z:0.53 [[ 0.85049331 0.14681517 -0.50508062 3.84340055] [-0.17236492 0.98502538 -0.00391728 0.40574171] [ 0.49694211 0.0903898 0.86306328 0.53310859] [ 0. 0. 0. 1. ]] SLAMing on 189.94800114499998 meters Centerline goodness [0,1] 0.6527433709514634 Centerline is valid? [False, False] Translation: X:3.84, Y:0.41, Z:0.53 [[ 8.50312522e-01 1.47138093e-01 -5.05291002e-01 3.84431624e+00] [-1.72711652e-01 9.84965000e-01 -3.82553448e-03 4.05992240e-01] [ 4.97131070e-01 9.05225435e-02 8.62940536e-01 5.33456467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97800114499998 meters Centerline goodness [0,1] 0.6513136778394241 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.53 [[ 0.85019527 0.14730403 -0.50543993 3.84509881] [-0.17294464 0.98492396 -0.00386485 0.40641414] [ 0.49725059 0.09069901 0.86285314 0.53369853] [ 0. 0. 0. 1. ]] SLAMing on 190.00800114499998 meters Centerline goodness [0,1] 0.6540877629805606 Centerline is valid? [False, False] Translation: X:3.85, Y:0.41, Z:0.53 [[ 0.85001588 0.14749768 -0.50568511 3.84586442] [-0.1732362 0.98487247 -0.00392956 0.40670288] [ 0.49745574 0.09094315 0.86270918 0.53418523] [ 0. 0. 0. 1. ]] SLAMing on 190.03800114499998 meters Centerline goodness [0,1] 0.6524525624299022 Centerline is valid? [False, False] Translation: X:3.83, Y:0.41, Z:0.53 [[ 0.84925518 0.14955462 -0.50635862 3.82731019] [-0.17747561 0.98410029 -0.00700163 0.41176319] [ 0.49726053 0.09581248 0.86229457 0.52548075] [ 0. 0. 0. 1. ]] SLAMing on 190.06800114499998 meters Centerline goodness [0,1] 0.65072404184368 Centerline is valid? [False, False] Translation: X:3.83, Y:0.41, Z:0.53 [[ 0.84914375 0.14947432 -0.50656917 3.82756824] [-0.17757224 0.98408082 -0.0072834 0.41255239] [ 0.49741632 0.09613728 0.86216856 0.52611292] [ 0. 0. 0. 1. ]] SLAMing on 190.09800114499998 meters Centerline goodness [0,1] 0.6440903054448871 Centerline is valid? [False, False] Translation: X:3.83, Y:0.41, Z:0.53 [[ 0.84901733 0.14946809 -0.50678286 3.82796928] [-0.17772253 0.98405199 -0.0075084 0.41366727] [ 0.49757842 0.09644149 0.86204104 0.52677218] [ 0. 0. 0. 1. ]] SLAMing on 190.12800114499996 meters Centerline goodness [0,1] 0.6481753163396295 Centerline is valid? [False, False] Translation: X:3.83, Y:0.42, Z:0.53 [[ 0.84903908 0.14906201 -0.50686602 3.82763118] [-0.1775672 0.98407587 -0.00803596 0.4151613 ] [ 0.49759676 0.09682563 0.86198739 0.52740397] [ 0. 0. 0. 1. ]] SLAMing on 190.15800114499996 meters Centerline goodness [0,1] 0.6358614682894406 Centerline is valid? [False, False] Translation: X:3.83, Y:0.42, Z:0.53 [[ 0.84907927 0.14894921 -0.50683185 3.82753065] [-0.1775338 0.98408044 -0.00821232 0.41565034] [ 0.49754009 0.0969527 0.86200582 0.52751409] [ 0. 0. 0. 1. ]] SLAMing on 190.18800114499996 meters Centerline goodness [0,1] 0.6617977528089888 Centerline is valid? [False, False] Translation: X:3.83, Y:0.41, Z:0.53 [[ 0.84924412 0.14891432 -0.50656583 3.82758234] [-0.17736878 0.98411148 -0.0080564 0.41438537] [ 0.49731754 0.09669081 0.86216365 0.52659638] [ 0. 0. 0. 1. ]] SLAMing on 190.21800114499996 meters Centerline goodness [0,1] 0.6463336535382644 Centerline is valid? [False, False] Translation: X:3.83, Y:0.41, Z:0.53 [[ 0.84927954 0.14870479 -0.50656801 3.82758476] [-0.17721214 0.98413847 -0.00820529 0.41442048] [ 0.4973129 0.09673859 0.86216096 0.52656711] [ 0. 0. 0. 1. ]] SLAMing on 190.24800114499996 meters Centerline goodness [0,1] 0.6306937952524975 Centerline is valid? [False, False] Translation: X:3.83, Y:0.41, Z:0.53 [[ 0.84933287 0.14845738 -0.50655116 3.82769177] [-0.17702589 0.98417049 -0.00838322 0.41463703] [ 0.49728815 0.09679281 0.86216915 0.52645343] [ 0. 0. 0. 1. ]] SLAMing on 190.27800114499996 meters Centerline goodness [0,1] 0.6616255356201737 Centerline is valid? [False, False] Translation: X:3.83, Y:0.42, Z:0.53 [[ 0.84940262 0.14807865 -0.50654507 3.82747077] [-0.17676197 0.98421528 -0.00868789 0.41502568] [ 0.49726291 0.09691742 0.86216971 0.5265331 ] [ 0. 0. 0. 1. ]] SLAMing on 190.30800114499996 meters Centerline goodness [0,1] 0.6477725378874594 Centerline is valid? [False, False] Translation: X:3.83, Y:0.42, Z:0.53 [[ 0.84946196 0.14788935 -0.50650086 3.82767554] [-0.17660719 0.98424199 -0.00880981 0.41530446] [ 0.49721654 0.0969353 0.86219445 0.5263369 ] [ 0. 0. 0. 1. ]] SLAMing on 190.33800114499996 meters Centerline goodness [0,1] 0.6370061034371988 Centerline is valid? [False, False] Translation: X:3.83, Y:0.42, Z:0.53 [[ 0.84943735 0.14785264 -0.50655284 3.82814056] [-0.17659432 0.98424394 -0.00884951 0.41537215] [ 0.49726314 0.09697145 0.8621635 0.52628638] [ 0. 0. 0. 1. ]] SLAMing on 190.36800114499997 meters Centerline goodness [0,1] 0.6506568333717446 Centerline is valid? [False, False] Translation: X:3.81, Y:0.42, Z:0.51 [[ 0.84809093 0.14811697 -0.50872698 3.80867339] [-0.1781491 0.98394736 -0.0105112 0.42268602] [ 0.49900368 0.09954371 0.86086374 0.51442279] [ 0. 0. 0. 1. ]] SLAMing on 190.39800114499997 meters Centerline goodness [0,1] 0.650490342435865 Centerline is valid? [False, False] Translation: X:3.81, Y:0.42, Z:0.51 [[ 0.84807095 0.14794474 -0.5088104 3.80904391] [-0.17810368 0.98395292 -0.01075823 0.42336891] [ 0.49905385 0.09974475 0.86081138 0.51458213] [ 0. 0. 0. 1. ]] SLAMing on 190.42800114499997 meters Centerline goodness [0,1] 0.6493794121718267 Centerline is valid? [False, False] Translation: X:3.81, Y:0.42, Z:0.51 [[ 0.8478216 0.15233248 -0.50793045 3.8078817 ] [-0.18121736 0.9834141 -0.00754845 0.42442901] [ 0.49835609 0.09844555 0.86136501 0.51416567] [ 0. 0. 0. 1. ]] SLAMing on 190.45800114499997 meters Centerline goodness [0,1] 0.6120395948434623 Centerline is valid? [False, False] Translation: X:3.81, Y:0.43, Z:0.51 [[ 0.84774344 0.15211484 -0.50812609 3.80863578] [-0.18126295 0.98340198 -0.00801855 0.4264682 ] [ 0.49847246 0.09890211 0.86124536 0.51475406] [ 0. 0. 0. 1. ]] SLAMing on 190.48800114499997 meters Centerline goodness [0,1] 0.6644448057226467 Centerline is valid? [False, False] Translation: X:3.81, Y:0.43, Z:0.52 [[ 0.8476079 0.15182134 -0.50843989 3.80929593] [-0.18126692 0.98339684 -0.00854113 0.42837407] [ 0.49870146 0.09940287 0.86105512 0.51555578] [ 0. 0. 0. 1. ]] SLAMing on 190.51800114499997 meters Centerline goodness [0,1] 0.6559494494261953 Centerline is valid? [False, False] Translation: X:3.81, Y:0.43, Z:0.52 [[ 0.8475432 0.15172861 -0.50857542 3.8100143 ] [-0.18133299 0.9833823 -0.00880953 0.42942619] [ 0.4987874 0.09968796 0.86097238 0.51583132] [ 0. 0. 0. 1. ]] SLAMing on 190.54800114499997 meters Centerline goodness [0,1] 0.6380198663200891 Centerline is valid? [False, False] Translation: X:3.81, Y:0.43, Z:0.52 [[ 0.84763212 0.15124044 -0.50857262 3.8105599 ] [-0.18115342 0.98340918 -0.00947794 0.43174293] [ 0.49870154 0.10016347 0.86096693 0.51595056] [ 0. 0. 0. 1. ]] SLAMing on 190.57800114499997 meters Centerline goodness [0,1] 0.6374769647064312 Centerline is valid? [False, False] Translation: X:3.81, Y:0.43, Z:0.52 [[ 0.84767966 0.15054425 -0.50869993 3.81036974] [-0.18078947 0.98346878 -0.01021424 0.43364921] [ 0.4987528 0.10062599 0.8608833 0.51651809] [ 0. 0. 0. 1. ]] SLAMing on 190.60800114499997 meters Centerline goodness [0,1] 0.6438417074255225 Centerline is valid? [False, False] Translation: X:3.81, Y:0.44, Z:0.52 [[ 0.84779711 0.14983565 -0.50871341 3.8101071 ] [-0.18037444 0.98353747 -0.01091372 0.43556183] [ 0.49870344 0.10101151 0.86086675 0.51685118] [ 0. 0. 0. 1. ]] SLAMing on 190.63800114499998 meters Centerline goodness [0,1] 0.6422865175120065 Centerline is valid? [False, False] Translation: X:3.81, Y:0.44, Z:0.52 [[ 0.84790939 0.14912925 -0.50873385 3.80981608] [-0.17993522 0.98361047 -0.01156532 0.43722944] [ 0.49867121 0.10134548 0.86084616 0.51712584] [ 0. 0. 0. 1. ]] SLAMing on 190.66800114499998 meters Centerline goodness [0,1] 0.635762679966124 Centerline is valid? [False, False] Translation: X:3.81, Y:0.44, Z:0.52 [[ 0.84803694 0.14819182 -0.50879517 3.80984673] [-0.17937597 0.98370166 -0.01246259 0.43973775] [ 0.4986558 0.10183436 0.8607974 0.51743504] [ 0. 0. 0. 1. ]] SLAMing on 190.69800114499998 meters Centerline goodness [0,1] 0.6315160602581824 Centerline is valid? [False, False] Translation: X:3.81, Y:0.44, Z:0.52 [[ 0.84807813 0.14794785 -0.50879752 3.81027543] [-0.1792236 0.98372655 -0.01268755 0.44040748] [ 0.49864054 0.10194856 0.86079272 0.51730338] [ 0. 0. 0. 1. ]] SLAMing on 190.72800114499998 meters Centerline goodness [0,1] 0.6288208579429135 Centerline is valid? [False, False] Translation: X:3.81, Y:0.44, Z:0.52 [[ 0.84810217 0.1477055 -0.50882786 3.81073005] [-0.17909896 0.98374583 -0.01295044 0.44107559] [ 0.49864443 0.10211383 0.86077087 0.51725019] [ 0. 0. 0. 1. ]] SLAMing on 190.75800114499998 meters Centerline goodness [0,1] 0.6471639965182205 Centerline is valid? [False, False] Translation: X:3.81, Y:0.44, Z:0.52 [[ 0.84812899 0.14742072 -0.50886574 3.81131155] [-0.17895431 0.983768 -0.01326194 0.44217434] [ 0.49865075 0.10231155 0.86074374 0.51722281] [ 0. 0. 0. 1. ]] SLAMing on 190.78800114499998 meters Centerline goodness [0,1] 0.6430477179892806 Centerline is valid? [False, False] Translation: X:3.81, Y:0.45, Z:0.52 [[ 0.84795424 0.14704801 -0.50926465 3.81299057] [-0.17894326 0.98376129 -0.01389369 0.44575064] [ 0.49895181 0.10291069 0.86049781 0.51802764] [ 0. 0. 0. 1. ]] SLAMing on 190.81800114499998 meters Centerline goodness [0,1] 0.6497986259180288 Centerline is valid? [False, False] Translation: X:3.81, Y:0.45, Z:0.52 [[ 0.84780219 0.15120187 -0.50830054 3.81137743] [-0.18174149 0.98328883 -0.01063489 0.44613143] [ 0.49819823 0.10139558 0.86111408 0.51730201] [ 0. 0. 0. 1. ]] SLAMing on 190.84800114499998 meters Centerline goodness [0,1] 0.6591081774147592 Centerline is valid? [False, False] Translation: X:3.81, Y:0.45, Z:0.52 [[ 0.84774308 0.15089184 -0.50849122 3.81189582] [-0.18164842 0.98330145 -0.0110504 0.44767478] [ 0.49833273 0.10173453 0.86099627 0.51778516] [ 0. 0. 0. 1. ]] SLAMing on 190.87800114499996 meters Centerline goodness [0,1] 0.614339838444492 Centerline is valid? [False, False] Translation: X:3.81, Y:0.45, Z:0.52 [[ 0.84784644 0.15054327 -0.5084222 3.81239721] [-0.18143016 0.98333789 -0.01138819 0.44876516] [ 0.49823639 0.10189855 0.86103262 0.51747145] [ 0. 0. 0. 1. ]] SLAMing on 190.90800114499996 meters Centerline goodness [0,1] 0.6407426828105635 Centerline is valid? [False, False] Translation: X:3.81, Y:0.45, Z:0.52 [[ 0.84797087 0.15001728 -0.50837016 3.81206695] [-0.18107263 0.98339849 -0.01183694 0.44950553] [ 0.4981547 0.1020893 0.8610573 0.51747691] [ 0. 0. 0. 1. ]] SLAMing on 190.93800114499996 meters Centerline goodness [0,1] 0.6358427046773154 Centerline is valid? [False, False] Translation: X:3.81, Y:0.45, Z:0.52 [[ 0.84805293 0.14944313 -0.50840237 3.81187407] [-0.18069932 0.98346103 -0.0123349 0.45068896] [ 0.49815056 0.10232861 0.86103129 0.51769194] [ 0. 0. 0. 1. ]] SLAMing on 190.96800114499996 meters Centerline goodness [0,1] 0.6470785200066969 Centerline is valid? [False, False] Translation: X:3.81, Y:0.45, Z:0.52 [[ 0.84825232 0.1483355 -0.50839413 3.81159039] [-0.1800063 0.98357474 -0.01335915 0.45374579] [ 0.49806198 0.10284608 0.86102087 0.51803931] [ 0. 0. 0. 1. ]] SLAMing on 190.99800114499996 meters Centerline goodness [0,1] 0.6497757739993765 Centerline is valid? [False, False] Translation: X:3.81, Y:0.45, Z:0.52 [[ 0.84831394 0.14799824 -0.5083896 3.8117238 ] [-0.17979773 0.98360854 -0.01367572 0.45451857] [ 0.49803237 0.1030086 0.86101858 0.51806085] [ 0. 0. 0. 1. ]] SLAMing on 191.02800114499996 meters Centerline goodness [0,1] 0.6301940052149367 Centerline is valid? [False, False] Translation: X:3.81, Y:0.46, Z:0.52 [[ 0.84833755 0.147624 -0.508459 3.81173785] [-0.17959124 0.98364095 -0.01405223 0.45524881] [ 0.49806665 0.10323582 0.86097153 0.51830171] [ 0. 0. 0. 1. ]] SLAMing on 191.05800114499996 meters Centerline goodness [0,1] 0.6431872893596533 Centerline is valid? [False, False] Translation: X:3.81, Y:0.46, Z:0.52 [[ 0.84841186 0.14709007 -0.50848975 3.81195435] [-0.17935932 0.98367359 -0.01471408 0.4574896 ] [ 0.49802364 0.10368598 0.86094232 0.51864485] [ 0. 0. 0. 1. ]] SLAMing on 191.08800114499996 meters Centerline goodness [0,1] 0.6490273497688752 Centerline is valid? [False, False] Translation: X:3.81, Y:0.46, Z:0.52 [[ 0.84845384 0.14669356 -0.50853425 3.81187897] [-0.17916286 0.98370264 -0.01515842 0.45858787] [ 0.49802284 0.10397167 0.86090832 0.51896195] [ 0. 0. 0. 1. ]] SLAMing on 191.11800114499997 meters Centerline goodness [0,1] 0.6422020557013215 Centerline is valid? [False, False] Translation: X:3.81, Y:0.46, Z:0.52 [[ 0.84840274 0.14644749 -0.50869041 3.8120586 ] [-0.17907418 0.98371409 -0.01546042 0.45948442] [ 0.49814178 0.10420998 0.86081069 0.51938542] [ 0. 0. 0. 1. ]] SLAMing on 191.14800114499997 meters Centerline goodness [0,1] 0.6337409846346818 Centerline is valid? [False, False] Translation: X:3.81, Y:0.46, Z:0.52 [[ 0.84832992 0.14640822 -0.50882313 3.81310351] [-0.17919937 0.98368713 -0.01572316 0.4609248 ] [ 0.49822076 0.10451921 0.86072749 0.51962292] [ 0. 0. 0. 1. ]] SLAMing on 191.17800114499997 meters Centerline goodness [0,1] 0.6373308243468192 Centerline is valid? [False, False] Translation: X:3.81, Y:0.46, Z:0.52 [[ 0.84831931 0.14632045 -0.50886607 3.81359847] [-0.1791755 0.98368949 -0.01584729 0.46138966] [ 0.49824742 0.1046199 0.86069982 0.51959311] [ 0. 0. 0. 1. ]] SLAMing on 191.20800114499997 meters Centerline goodness [0,1] 0.6473174384617243 Centerline is valid? [False, False] Translation: X:3.81, Y:0.46, Z:0.52 [[ 0.84828178 0.14632479 -0.50892737 3.81408666] [-0.17922614 0.98367923 -0.01591115 0.46155223] [ 0.49829309 0.10471023 0.8606624 0.51961505] [ 0. 0. 0. 1. ]] SLAMing on 191.23800114499997 meters Centerline goodness [0,1] 0.6424685028897541 Centerline is valid? [False, False] Translation: X:3.81, Y:0.46, Z:0.52 [[ 0.84822782 0.1464525 -0.50898058 3.81481023] [-0.17936139 0.98365514 -0.01587599 0.46184113] [ 0.49833629 0.10475793 0.86063158 0.51957147] [ 0. 0. 0. 1. ]] SLAMing on 191.26800114499997 meters Centerline goodness [0,1] 0.6435947664997944 Centerline is valid? [False, False] Translation: X:3.82, Y:0.46, Z:0.52 [[ 0.84816218 0.14636765 -0.50911435 3.81522504] [-0.17938806 0.98364731 -0.01605932 0.46259993] [ 0.4984384 0.10494994 0.86054905 0.51990917] [ 0. 0. 0. 1. ]] SLAMing on 191.29800114499997 meters Centerline goodness [0,1] 0.6387300048473097 Centerline is valid? [False, False] Translation: X:3.82, Y:0.46, Z:0.52 [[ 0.84804274 0.14628579 -0.5093368 3.81566935] [-0.17944959 0.98363254 -0.016275 0.46367964] [ 0.49861945 0.10520217 0.86041336 0.52049861] [ 0. 0. 0. 1. ]] SLAMing on 191.32800114499997 meters Centerline goodness [0,1] 0.6512755844407798 Centerline is valid? [False, False] Translation: X:3.82, Y:0.46, Z:0.52 [[ 0.84792122 0.14620974 -0.5095609 3.81630332] [-0.17955998 0.98360759 -0.01656271 0.46499837] [ 0.49878634 0.10554062 0.86027517 0.52110843] [ 0. 0. 0. 1. ]] SLAMing on 191.35800114499997 meters Centerline goodness [0,1] 0.6404872614550035 Centerline is valid? [False, False] Translation: X:3.82, Y:0.47, Z:0.52 [[ 0.84777327 0.14627902 -0.50978715 3.81696116] [-0.17974934 0.98357077 -0.01669503 0.46569206] [ 0.49896961 0.1057875 0.86013856 0.52160819] [ 0. 0. 0. 1. ]] SLAMing on 191.38800114499998 meters Centerline goodness [0,1] 0.6496994376575529 Centerline is valid? [False, False] Translation: X:3.82, Y:0.47, Z:0.52 [[ 0.84768547 0.14633934 -0.50991583 3.81773191] [-0.17984396 0.98355329 -0.01670583 0.46591599] [ 0.49908466 0.10586657 0.86006207 0.52164465] [ 0. 0. 0. 1. ]] SLAMing on 191.41800114499998 meters Centerline goodness [0,1] 0.6496994376575529 Centerline is valid? [False, False] Translation: X:3.82, Y:0.47, Z:0.52 [[ 0.84768547 0.14633934 -0.50991583 3.81773191] [-0.17984396 0.98355329 -0.01670583 0.46591599] [ 0.49908466 0.10586657 0.86006207 0.52164465] [ 0. 0. 0. 1. ]] SLAMing on 191.44800114499998 meters Centerline goodness [0,1] 0.6386899414892326 Centerline is valid? [False, False] Translation: X:3.82, Y:0.47, Z:0.52 [[ 0.84757236 0.14648132 -0.51006305 3.81848886] [-0.18001506 0.98352241 -0.01668054 0.46606971] [ 0.49921505 0.105957 0.85997526 0.52181772] [ 0. 0. 0. 1. ]] SLAMing on 191.47800114499998 meters Centerline goodness [0,1] 0.6577784253727719 Centerline is valid? [False, False] Translation: X:3.82, Y:0.47, Z:0.52 [[ 0.84749951 0.14643566 -0.5101972 3.8193482 ] [-0.18009185 0.98350511 -0.01687101 0.46698481] [ 0.49931103 0.10618053 0.85989196 0.52198597] [ 0. 0. 0. 1. ]] SLAMing on 191.50800114499998 meters Centerline goodness [0,1] 0.6347271886934734 Centerline is valid? [False, False] Translation: X:3.82, Y:0.47, Z:0.52 [[ 0.84735284 0.14661567 -0.51038907 3.82030495] [-0.18029094 0.98346973 -0.01680671 0.46705451] [ 0.49948807 0.10625974 0.85977935 0.52215348] [ 0. 0. 0. 1. ]] SLAMing on 191.53800114499998 meters Centerline goodness [0,1] 0.6637198314702516 Centerline is valid? [False, False] Translation: X:3.82, Y:0.47, Z:0.52 [[ 0.84728734 0.14664356 -0.5104898 3.820878 ] [-0.18038204 0.98345172 -0.01688292 0.46765219] [ 0.4995663 0.10638787 0.85971805 0.52231047] [ 0. 0. 0. 1. ]] SLAMing on 191.56800114499998 meters Centerline goodness [0,1] 0.6339789760560639 Centerline is valid? [False, False] Translation: X:3.82, Y:0.47, Z:0.52 [[ 0.84717865 0.14646916 -0.51072019 3.82129371] [-0.18037205 0.98344881 -0.01715701 0.46865165] [ 0.49975419 0.1066547 0.85957578 0.52288961] [ 0. 0. 0. 1. ]] SLAMing on 191.59800114499998 meters Centerline goodness [0,1] 0.6340155945419104 Centerline is valid? [False, False] Translation: X:3.82, Y:0.47, Z:0.52 [[ 0.84714998 0.14616996 -0.51085346 3.82107413] [-0.18029672 0.98345494 -0.01759172 0.46993155] [ 0.49982998 0.10700803 0.8594878 0.52357739] [ 0. 0. 0. 1. ]] SLAMing on 191.62800114499996 meters Centerline goodness [0,1] 0.6646354839495942 Centerline is valid? [False, False] Translation: X:3.82, Y:0.47, Z:0.52 [[ 0.84714104 0.14605441 -0.51090133 3.82122793] [-0.18020069 0.98347158 -0.01764536 0.46986736] [ 0.49987976 0.10701288 0.85945824 0.52354853] [ 0. 0. 0. 1. ]] SLAMing on 191.65800114499996 meters Centerline goodness [0,1] 0.6589264394142442 Centerline is valid? [False, False] Translation: X:3.82, Y:0.47, Z:0.52 [[ 0.84721764 0.14580625 -0.5108452 3.82091426] [-0.17999773 0.98350586 -0.01780568 0.46983886] [ 0.49982307 0.10703626 0.8594883 0.52351018] [ 0. 0. 0. 1. ]] SLAMing on 191.68800114499996 meters Centerline goodness [0,1] 0.6558519059797832 Centerline is valid? [False, False] Translation: X:3.82, Y:0.47, Z:0.52 [[ 0.8474105 0.14520651 -0.51069611 3.81970809] [-0.17948017 0.98359415 -0.01814995 0.46984699] [ 0.49968221 0.10704028 0.8595697 0.52345294] [ 0. 0. 0. 1. ]] SLAMing on 191.71800114499996 meters Centerline goodness [0,1] 0.6488844602148447 Centerline is valid? [False, False] Translation: X:3.82, Y:0.47, Z:0.52 [[ 0.84787325 0.1437012 -0.51035372 3.81673283] [-0.17802265 0.98384806 -0.01873306 0.46855639] [ 0.49941856 0.10673778 0.85976052 0.5228982 ] [ 0. 0. 0. 1. ]] SLAMing on 191.74800114499996 meters Centerline goodness [0,1] 0.6468289604621247 Centerline is valid? [False, False] Translation: X:3.82, Y:0.47, Z:0.52 [[ 0.8480231 0.14358598 -0.51013712 3.81648704] [-0.17773009 0.98390512 -0.01851315 0.46740901] [ 0.49926829 0.1063663 0.85989382 0.52211351] [ 0. 0. 0. 1. ]] SLAMing on 191.77800114499996 meters Centerline goodness [0,1] 0.6365332428765265 Centerline is valid? [False, False] Translation: X:3.82, Y:0.47, Z:0.52 [[ 0.84833263 0.14307305 -0.50976647 3.81538966] [-0.1770115 0.98403693 -0.01839168 0.46572292] [ 0.49899768 0.10583679 0.86011621 0.52096164] [ 0. 0. 0. 1. ]] SLAMing on 191.80800114499996 meters Centerline goodness [0,1] 0.6394125914796684 Centerline is valid? [False, False] Translation: X:3.82, Y:0.47, Z:0.52 [[ 0.84843109 0.14288688 -0.5096548 3.81503101] [-0.17677834 0.98407888 -0.01838946 0.46516743] [ 0.49891291 0.10569812 0.86018243 0.52067711] [ 0. 0. 0. 1. ]] SLAMing on 191.83800114499996 meters Centerline goodness [0,1] 0.633236987199728 Centerline is valid? [False, False] Translation: X:3.82, Y:0.46, Z:0.52 [[ 0.84841891 0.14293779 -0.50966082 3.81517668] [-0.17676217 0.98408423 -0.0182583 0.46460364] [ 0.49893937 0.10557944 0.86018166 0.52055266] [ 0. 0. 0. 1. ]] SLAMing on 191.86800114499997 meters Centerline goodness [0,1] 0.6374349667271627 Centerline is valid? [False, False] Translation: X:3.82, Y:0.46, Z:0.52 [[ 0.84838944 0.14285155 -0.50973404 3.8152181 ] [-0.17672339 0.98408956 -0.01834591 0.46459172] [ 0.49900321 0.1056464 0.8601364 0.52075063] [ 0. 0. 0. 1. ]] SLAMing on 191.89800114499997 meters Centerline goodness [0,1] 0.6267187234764895 Centerline is valid? [False, False] Translation: X:3.82, Y:0.46, Z:0.52 [[ 0.84828365 0.14293516 -0.50988664 3.81524022] [-0.17684876 0.98406683 -0.01835733 0.46435389] [ 0.49913862 0.10574504 0.86004571 0.52115405] [ 0. 0. 0. 1. ]] SLAMing on 191.92800114499997 meters Centerline goodness [0,1] 0.6381658668993262 Centerline is valid? [False, False] Translation: X:3.82, Y:0.46, Z:0.52 [[ 0.8481525 0.14302254 -0.51008028 3.81555725] [-0.17700773 0.98403728 -0.01840894 0.46438726] [ 0.49930512 0.10590175 0.85992977 0.52161897] [ 0. 0. 0. 1. ]] SLAMing on 191.95800114499997 meters Centerline goodness [0,1] 0.6414030161458207 Centerline is valid? [False, False] Translation: X:3.82, Y:0.46, Z:0.52 [[ 0.84806226 0.14329912 -0.51015269 3.81599021] [-0.17724455 0.98399768 -0.01824634 0.46419103] [ 0.49937438 0.10589582 0.85989029 0.52170173] [ 0. 0. 0. 1. ]] SLAMing on 191.98800114499997 meters Centerline goodness [0,1] 0.6385702209878035 Centerline is valid? [False, False] Translation: X:3.82, Y:0.46, Z:0.52 [[ 0.84786903 0.14381755 -0.51032795 3.8166578 ] [-0.17773611 0.9839133 -0.0180138 0.46380917] [ 0.49952776 0.10597705 0.85979118 0.52208663] [ 0. 0. 0. 1. ]] SLAMing on 192.01800114499997 meters Centerline goodness [0,1] 0.6385702209878035 Centerline is valid? [False, False] Translation: X:3.82, Y:0.46, Z:0.52 [[ 0.84786903 0.14381755 -0.51032795 3.8166578 ] [-0.17773611 0.9839133 -0.0180138 0.46380917] [ 0.49952776 0.10597705 0.85979118 0.52208663] [ 0. 0. 0. 1. ]] SLAMing on 192.04800114499997 meters Centerline goodness [0,1] 0.6393307867124414 Centerline is valid? [False, False] Translation: X:3.82, Y:0.46, Z:0.52 [[ 0.84750423 0.14465571 -0.51069689 3.81832852] [-0.17847435 0.98378858 -0.01751945 0.46336223] [ 0.49988348 0.10599411 0.85958232 0.52254739] [ 0. 0. 0. 1. ]] SLAMing on 192.07800114499997 meters Centerline goodness [0,1] 0.6539634884509224 Centerline is valid? [False, False] Translation: X:3.82, Y:0.46, Z:0.52 [[ 0.8473612 0.14511244 -0.51080463 3.81940843] [-0.178818 0.9837323 -0.01717221 0.46275113] [ 0.50000311 0.10589213 0.8595253 0.52243149] [ 0. 0. 0. 1. ]] SLAMing on 192.10800114499997 meters Centerline goodness [0,1] 0.6437100470389578 Centerline is valid? [False, False] Translation: X:3.82, Y:0.46, Z:0.52 [[ 0.84724526 0.14568267 -0.51083464 3.81994121] [-0.17916566 0.98367845 -0.01662448 0.46105298] [ 0.50007513 0.10560904 0.85951823 0.52213969] [ 0. 0. 0. 1. ]] SLAMing on 192.13800114499998 meters Centerline goodness [0,1] 0.6435791297651137 Centerline is valid? [False, False] Translation: X:3.82, Y:0.46, Z:0.52 [[ 0.84724034 0.14578823 -0.51081269 3.81999627] [-0.17921752 0.98367096 -0.01650832 0.46042298] [ 0.50006489 0.1055331 0.85953352 0.52201377] [ 0. 0. 0. 1. ]] SLAMing on 192.16800114499998 meters Centerline goodness [0,1] 0.6403833221250841 Centerline is valid? [False, False] Translation: X:3.82, Y:0.46, Z:0.52 [[ 0.84720128 0.14592385 -0.51083874 3.81999211] [-0.17929872 0.98365846 -0.01637088 0.45965968] [ 0.50010195 0.10546216 0.85952066 0.52203885] [ 0. 0. 0. 1. ]] SLAMing on 192.19800114499998 meters Centerline goodness [0,1] 0.6410883375284671 Centerline is valid? [False, False] Translation: X:3.82, Y:0.46, Z:0.52 [[ 0.84726001 0.14593566 -0.51073795 3.81980051] [-0.1792329 0.98367231 -0.01625882 0.45909128] [ 0.50002603 0.10531649 0.85958269 0.5217704 ] [ 0. 0. 0. 1. ]] SLAMing on 192.22800114499998 meters Centerline goodness [0,1] 0.6370538378894592 Centerline is valid? [False, False] Translation: X:3.82, Y:0.46, Z:0.52 [[ 0.84727482 0.14625178 -0.51062296 3.81951091] [-0.1792458 0.98367939 -0.01567808 0.4561806 ] [ 0.49999633 0.10481066 0.85966179 0.52111323] [ 0. 0. 0. 1. ]] SLAMing on 192.25800114499998 meters Centerline goodness [0,1] 0.6710022953328232 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:0.52 [[ 0.84729717 0.14644789 -0.51052965 3.81935076] [-0.17923776 0.98368688 -0.01529545 0.454234 ] [ 0.49996134 0.10446598 0.8597241 0.52062984] [ 0. 0. 0. 1. ]] SLAMing on 192.28800114499998 meters Centerline goodness [0,1] 0.6626249581479887 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:0.52 [[ 0.8472591 0.14685533 -0.51047579 3.81956037] [-0.17939231 0.98366687 -0.01476082 0.45208348] [ 0.49997042 0.10408168 0.85976542 0.52014506] [ 0. 0. 0. 1. ]] SLAMing on 192.31800114499998 meters Centerline goodness [0,1] 0.6294421070146664 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:0.52 [[ 0.84726563 0.14718089 -0.51037117 3.81971584] [-0.17946865 0.98366023 -0.01426733 0.45032022] [ 0.49993195 0.10368384 0.85983586 0.51956569] [ 0. 0. 0. 1. ]] SLAMing on 192.34800114499998 meters Centerline goodness [0,1] 0.6730151172479466 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:0.52 [[ 0.84720069 0.14744267 -0.51040341 3.81945627] [-0.17952542 0.98365605 -0.01383451 0.44867248] [ 0.50002161 0.10335099 0.8598238 0.51946533] [ 0. 0. 0. 1. ]] SLAMing on 192.37800114499996 meters Centerline goodness [0,1] 0.6662714878482514 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:0.52 [[ 0.84714739 0.14746975 -0.51048406 3.81929007] [-0.17953568 0.98365496 -0.01377875 0.44822451] [ 0.50010823 0.10332273 0.85977682 0.51970847] [ 0. 0. 0. 1. ]] SLAMing on 192.40800114499996 meters Centerline goodness [0,1] 0.6803952306303738 Centerline is valid? [False, False] Translation: X:3.82, Y:0.45, Z:0.52 [[ 0.84708308 0.1478323 -0.5104859 3.8190019 ] [-0.17970268 0.98363049 -0.01334168 0.44598696] [ 0.50015717 0.1030372 0.85978261 0.51958465] [ 0. 0. 0. 1. ]] SLAMing on 192.43800114499996 meters Centerline goodness [0,1] 0.6756955131999527 Centerline is valid? [False, False] Translation: X:3.82, Y:0.44, Z:0.52 [[ 0.84704808 0.14807642 -0.51047324 3.81890322] [-0.17981114 0.98361467 -0.01304385 0.44441708] [ 0.50017748 0.10283754 0.8597947 0.51943838] [ 0. 0. 0. 1. ]] SLAMing on 192.46800114499996 meters Centerline goodness [0,1] 0.6655957667958046 Centerline is valid? [False, False] Translation: X:3.82, Y:0.44, Z:0.52 [[ 0.8470506 0.14818847 -0.51043654 3.81846837] [-0.17981303 0.9836171 -0.0128322 0.44289391] [ 0.50017253 0.10265267 0.85981967 0.51934422] [ 0. 0. 0. 1. ]] SLAMing on 192.49800114499996 meters Centerline goodness [0,1] 0.6789617486338797 Centerline is valid? [False, False] Translation: X:3.82, Y:0.44, Z:0.52 [[ 0.84706985 0.14833491 -0.51036205 3.81806923] [-0.17983223 0.98361672 -0.0125906 0.44134567] [ 0.50013302 0.10244467 0.85986746 0.51917036] [ 0. 0. 0. 1. ]] SLAMing on 192.52800114499996 meters Centerline goodness [0,1] 0.6786200422436048 Centerline is valid? [False, False] Translation: X:3.82, Y:0.44, Z:0.52 [[ 0.84713105 0.14838614 -0.51024556 3.81745106] [-0.17979014 0.98362628 -0.01244363 0.44010188] [ 0.50004448 0.10227851 0.85993873 0.51901505] [ 0. 0. 0. 1. ]] SLAMing on 192.55800114499996 meters Centerline goodness [0,1] 0.678860358775941 Centerline is valid? [False, False] Translation: X:3.82, Y:0.44, Z:0.52 [[ 0.84715274 0.14859136 -0.51014982 3.81632025] [-0.17981866 0.98362529 -0.01210557 0.43795955] [ 0.49999748 0.10198972 0.86000036 0.51899844] [ 0. 0. 0. 1. ]] SLAMing on 192.58800114499996 meters Centerline goodness [0,1] 0.6772022790686769 Centerline is valid? [False, False] Translation: X:3.82, Y:0.44, Z:0.52 [[ 0.8470902 0.14894573 -0.51015033 3.81631201] [-0.18003676 0.98358943 -0.01177285 0.43659 ] [ 0.50002495 0.10181848 0.86000468 0.51894461] [ 0. 0. 0. 1. ]] SLAMing on 192.61800114499997 meters Centerline goodness [0,1] 0.6801754508760878 Centerline is valid? [False, False] Translation: X:3.82, Y:0.43, Z:0.52 [[ 0.84704095 0.14978834 -0.50998538 3.81623381] [-0.18044951 0.98352453 -0.01083878 0.43302 ] [ 0.4999596 0.1012075 0.86011478 0.51821546] [ 0. 0. 0. 1. ]] SLAMing on 192.64800114499997 meters Centerline goodness [0,1] 0.6859473402895586 Centerline is valid? [False, False] Translation: X:3.82, Y:0.43, Z:0.52 [[ 0.84702185 0.15023689 -0.50988515 3.81621627] [-0.18064728 0.98349394 -0.01030648 0.43086311] [ 0.49992054 0.10083918 0.86018074 0.51773088] [ 0. 0. 0. 1. ]] SLAMing on 192.67800114499997 meters Centerline goodness [0,1] 0.6897695125910124 Centerline is valid? [False, False] Translation: X:3.82, Y:0.43, Z:0.52 [[ 0.8470051 0.1508973 -0.50971792 3.81567134] [-0.18095263 0.98344543 -0.00955143 0.4274792 ] [ 0.49983848 0.10032491 0.86028856 0.51723114] [ 0. 0. 0. 1. ]] SLAMing on 192.70800114499997 meters Centerline goodness [0,1] 0.679088595882489 Centerline is valid? [False, False] Translation: X:3.82, Y:0.43, Z:0.52 [[ 0.84698852 0.15113517 -0.509675 3.81552354] [-0.18107929 0.98342449 -0.00930407 0.42660807] [ 0.4998207 0.10017203 0.8603167 0.51718441] [ 0. 0. 0. 1. ]] SLAMing on 192.73800114499997 meters Centerline goodness [0,1] 0.6847305458500128 Centerline is valid? [False, False] Translation: X:3.82, Y:0.43, Z:0.52 [[ 0.84693061 0.15129667 -0.50972331 3.81523095] [-0.18114199 0.98341505 -0.00907801 0.425494 ] [ 0.4998961 0.10002074 0.8602905 0.51733084] [ 0. 0. 0. 1. ]] SLAMing on 192.76800114499997 meters Centerline goodness [0,1] 0.696674589804537 Centerline is valid? [False, False] Translation: X:3.82, Y:0.42, Z:0.52 [[ 0.84693403 0.15159119 -0.50963011 3.8150819 ] [-0.18124305 0.98339998 -0.00868499 0.42357312] [ 0.49985368 0.09972253 0.86034977 0.51697773] [ 0. 0. 0. 1. ]] SLAMing on 192.79800114499997 meters Centerline goodness [0,1] 0.6906272183929103 Centerline is valid? [False, False] Translation: X:3.82, Y:0.42, Z:0.52 [[ 0.84718719 0.1476579 -0.5103636 3.81627204] [-0.17833479 0.9839042 -0.01136783 0.41969847] [ 0.50047034 0.10064626 0.85988358 0.51669498] [ 0. 0. 0. 1. ]] SLAMing on 192.82800114499997 meters Centerline goodness [0,1] 0.6938354752250704 Centerline is valid? [False, False] Translation: X:3.82, Y:0.42, Z:0.52 [[ 0.84727427 0.14779832 -0.51017836 3.81568008] [-0.17828928 0.98391604 -0.01105258 0.41761897] [ 0.50033912 0.1003239 0.8599976 0.5161936 ] [ 0. 0. 0. 1. ]] SLAMing on 192.85800114499997 meters Centerline goodness [0,1] 0.6745154573121896 Centerline is valid? [False, False] Translation: X:3.82, Y:0.42, Z:0.52 [[ 0.84733563 0.14793919 -0.51003561 3.81525181] [-0.17829107 0.98391844 -0.01080763 0.41612356] [ 0.50023457 0.10009249 0.86008538 0.5158755 ] [ 0. 0. 0. 1. ]] SLAMing on 192.88800114499998 meters Centerline goodness [0,1] 0.6721505449746286 Centerline is valid? [False, False] Translation: X:3.82, Y:0.41, Z:0.52 [[ 0.8473129 0.14819044 -0.51000043 3.81508743] [-0.17838475 0.98390505 -0.01047525 0.41460828] [ 0.50023967 0.09985212 0.86011036 0.51570008] [ 0. 0. 0. 1. ]] SLAMing on 192.91800114499998 meters Centerline goodness [0,1] 0.6946467589220684 Centerline is valid? [False, False] Translation: X:3.81, Y:0.41, Z:0.52 [[ 0.84738723 0.14848889 -0.50979008 3.81454427] [-0.17838763 0.98391016 -0.00993285 0.41230604] [ 0.50011272 0.09935722 0.86024148 0.51509478] [ 0. 0. 0. 1. ]] SLAMing on 192.94800114499998 meters Centerline goodness [0,1] 0.6650603505103085 Centerline is valid? [False, False] Translation: X:3.81, Y:0.41, Z:0.51 [[ 0.84742245 0.14871191 -0.50966651 3.81426035] [-0.17842794 0.98390629 -0.0095852 0.41062709] [ 0.50003866 0.09906146 0.86031864 0.51471718] [ 0. 0. 0. 1. ]] SLAMing on 192.97800114499998 meters Centerline goodness [0,1] 0.6870473379498241 Centerline is valid? [False, False] Translation: X:3.81, Y:0.41, Z:0.51 [[ 0.84747356 0.14895105 -0.50951168 3.81352879] [-0.17846164 0.98390385 -0.00920098 0.4081693 ] [ 0.49994001 0.09872588 0.86041454 0.51435541] [ 0. 0. 0. 1. ]] SLAMing on 193.00800114499998 meters Centerline goodness [0,1] 0.6761857462130618 Centerline is valid? [False, False] Translation: X:3.79, Y:0.41, Z:0.50 [[ 0.84955417 0.1485599 -0.50614985 3.79255904] [-0.17959838 0.98365757 -0.01273632 0.40917974] [ 0.49598602 0.10172389 0.8623515 0.50114997] [ 0. 0. 0. 1. ]] SLAMing on 193.03800114499998 meters Centerline goodness [0,1] 0.6786012032175931 Centerline is valid? [False, False] Translation: X:3.79, Y:0.41, Z:0.50 [[ 0.84969438 0.14834123 -0.50597859 3.79111179] [-0.17930141 0.9837122 -0.0127008 0.4077359 ] [ 0.49585326 0.10151447 0.86245252 0.50108381] [ 0. 0. 0. 1. ]] SLAMing on 193.06800114499998 meters Centerline goodness [0,1] 0.6734137884450848 Centerline is valid? [False, False] Translation: X:3.79, Y:0.41, Z:0.50 [[ 0.8498091 0.14810256 -0.50585584 3.78969231] [-0.17902596 0.98376197 -0.01273134 0.40655431] [ 0.49575619 0.10138053 0.86252408 0.50117929] [ 0. 0. 0. 1. ]] SLAMing on 193.09800114499998 meters Centerline goodness [0,1] 0.6587721470541885 Centerline is valid? [False, False] Translation: X:3.79, Y:0.41, Z:0.50 [[ 0.84995615 0.14795554 -0.50565176 3.78851653] [-0.17876508 0.98381082 -0.01262178 0.40502251] [ 0.49559821 0.10112084 0.86264534 0.5009211 ] [ 0. 0. 0. 1. ]] SLAMing on 193.12800114499996 meters Centerline goodness [0,1] 0.6704878758704073 Centerline is valid? [False, False] Translation: X:3.79, Y:0.40, Z:0.50 [[ 0.85021704 0.14751774 -0.50534097 3.78592661] [-0.17813174 0.98392757 -0.01247449 0.40146006] [ 0.49537871 0.10062329 0.86282958 0.50048102] [ 0. 0. 0. 1. ]] SLAMing on 193.15800114499996 meters Centerline goodness [0,1] 0.6598522552279777 Centerline is valid? [False, False] Translation: X:3.79, Y:0.40, Z:0.50 [[ 0.85022999 0.14782197 -0.50523028 3.78563754] [-0.17821492 0.98391802 -0.01203209 0.39950136] [ 0.49532657 0.10026962 0.86290068 0.50012844] [ 0. 0. 0. 1. ]] SLAMing on 193.18800114499996 meters Centerline goodness [0,1] 0.6629792358989228 Centerline is valid? [False, False] Translation: X:3.79, Y:0.40, Z:0.50 [[ 0.85021512 0.14811821 -0.50516853 3.78568647] [-0.17831179 0.98390545 -0.01161805 0.39778945] [ 0.49531722 0.09995535 0.86294251 0.49975903] [ 0. 0. 0. 1. ]] SLAMing on 193.21800114499996 meters Centerline goodness [0,1] 0.654746293867935 Centerline is valid? [False, False] Translation: X:3.79, Y:0.40, Z:0.50 [[ 0.85016496 0.14854698 -0.50512705 3.78592685] [-0.17847678 0.98388207 -0.01105068 0.3955977 ] [ 0.4953439 0.09954835 0.86297425 0.49929421] [ 0. 0. 0. 1. ]] SLAMing on 193.24800114499996 meters Centerline goodness [0,1] 0.6797586420298825 Centerline is valid? [False, False] Translation: X:3.79, Y:0.39, Z:0.50 [[ 0.85020683 0.14888594 -0.50495675 3.78557009] [-0.17840488 0.98390345 -0.01028139 0.39101724] [ 0.49529794 0.09882806 0.86308341 0.49822595] [ 0. 0. 0. 1. ]] SLAMing on 193.27800114499996 meters Centerline goodness [0,1] 0.6368972746331236 Centerline is valid? [False, False] Translation: X:3.76, Y:0.39, Z:0.48 [[ 0.85071279 0.15033913 -0.50367242 3.76478031] [-0.18018967 0.98357302 -0.01076125 0.3948527 ] [ 0.49378076 0.0999113 0.8638277 0.48369991] [ 0. 0. 0. 1. ]] SLAMing on 193.30800114499996 meters Centerline goodness [0,1] 0.6368972746331236 Centerline is valid? [False, False] Translation: X:3.76, Y:0.39, Z:0.48 [[ 0.85071279 0.15033913 -0.50367242 3.76478031] [-0.18018967 0.98357302 -0.01076125 0.3948527 ] [ 0.49378076 0.0999113 0.8638277 0.48369991] [ 0. 0. 0. 1. ]] SLAMing on 193.33800114499996 meters Centerline goodness [0,1] 0.6626045715038535 Centerline is valid? [False, False] Translation: X:3.76, Y:0.39, Z:0.48 [[ 0.85073866 0.15035164 -0.50362497 3.7644626 ] [-0.18006838 0.98359768 -0.01053484 0.39353026] [ 0.49378043 0.09964933 0.86385815 0.48350418] [ 0. 0. 0. 1. ]] SLAMing on 193.36800114499997 meters Centerline goodness [0,1] 0.6681814190375834 Centerline is valid? [False, False] Translation: X:3.74, Y:0.40, Z:0.47 [[ 0.85114943 0.15160165 -0.50255506 3.74116832] [-0.18067466 0.98349881 -0.00931458 0.39724605] [ 0.49285019 0.09872706 0.86449503 0.46667656] [ 0. 0. 0. 1. ]] SLAMing on 193.39800114499997 meters Centerline goodness [0,1] 0.6737407480186022 Centerline is valid? [False, False] Translation: X:3.74, Y:0.40, Z:0.47 [[ 0.85106593 0.1520125 -0.50257236 3.74150534] [-0.18084742 0.98347196 -0.00878093 0.39542366] [ 0.49293102 0.09836206 0.86449055 0.46638349] [ 0. 0. 0. 1. ]] SLAMing on 193.42800114499997 meters Centerline goodness [0,1] 0.6951649265655437 Centerline is valid? [False, False] Translation: X:3.74, Y:0.39, Z:0.47 [[ 0.85108494 0.15203313 -0.50253393 3.74114807] [-0.18078627 0.98348445 -0.00864072 0.39437171] [ 0.49292063 0.09820522 0.86451431 0.4663105 ] [ 0. 0. 0. 1. ]] SLAMing on 193.45800114499997 meters Centerline goodness [0,1] 0.6743418896777718 Centerline is valid? [False, False] Translation: X:3.74, Y:0.39, Z:0.47 [[ 0.85106217 0.15212137 -0.50254578 3.7407523 ] [-0.18083374 0.98347658 -0.00854241 0.39381789] [ 0.49294252 0.09814735 0.86450839 0.46647934] [ 0. 0. 0. 1. ]] SLAMing on 193.48800114499997 meters Centerline goodness [0,1] 0.6757009142832324 Centerline is valid? [False, False] Translation: X:3.74, Y:0.39, Z:0.47 [[ 0.850797 0.1531559 -0.50268054 3.74194581] [-0.18159183 0.9833435 -0.00774434 0.39225868] [ 0.49312155 0.09787154 0.86443756 0.46636169] [ 0. 0. 0. 1. ]] SLAMing on 193.51800114499997 meters Centerline goodness [0,1] 0.6862961998958876 Centerline is valid? [False, False] Translation: X:3.74, Y:0.39, Z:0.47 [[ 0.8505756 0.15368716 -0.50289304 3.74306472] [-0.18199836 0.9832715 -0.00733191 0.39145891] [ 0.49335357 0.09776206 0.86431755 0.46642188] [ 0. 0. 0. 1. ]] SLAMing on 193.54800114499997 meters Centerline goodness [0,1] 0.6840724276265857 Centerline is valid? [False, False] Translation: X:3.74, Y:0.39, Z:0.47 [[ 0.85038579 0.15414639 -0.50307345 3.74390099] [-0.18239519 0.98319999 -0.00705572 0.39110063] [ 0.49353419 0.09775826 0.86421486 0.46663062] [ 0. 0. 0. 1. ]] SLAMing on 193.57800114499997 meters Centerline goodness [0,1] 0.7212275104716019 Centerline is valid? [False, False] Translation: X:3.74, Y:0.39, Z:0.47 [[ 0.85018347 0.154448 -0.50332284 3.74464828] [-0.18270856 0.98314265 -0.00693666 0.39137615] [ 0.4937668 0.09785883 0.8640706 0.46711774] [ 0. 0. 0. 1. ]] SLAMing on 193.60800114499997 meters Centerline goodness [0,1] 0.7230939754846561 Centerline is valid? [False, False] Translation: X:3.74, Y:0.39, Z:0.47 [[ 8.49680420e-01 1.59698193e-01 -5.02533253e-01 3.74376311e+00] [-1.86457006e-01 9.82458391e-01 -3.04862956e-03 3.90820398e-01] [ 4.93231151e-01 9.62912069e-02 8.64552506e-01 4.66974422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63800114499998 meters Centerline goodness [0,1] 0.7121958630868405 Centerline is valid? [False, False] Translation: X:3.74, Y:0.39, Z:0.47 [[ 8.49523063e-01 1.59978842e-01 -5.02709991e-01 3.74442876e+00] [-1.86764003e-01 9.82400295e-01 -2.97799227e-03 3.91085694e-01] [ 4.93386028e-01 9.64180032e-02 8.64449996e-01 4.67312318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.66800114499998 meters Centerline goodness [0,1] 0.7080094920862996 Centerline is valid? [False, False] Translation: X:3.74, Y:0.39, Z:0.47 [[ 8.49619848e-01 1.62098630e-01 -5.01866663e-01 3.74283382e+00] [-1.88492941e-01 9.82072702e-01 -1.90230778e-03 3.90539629e-01] [ 4.92561189e-01 9.62145620e-02 8.64942908e-01 4.66988520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69800114499998 meters Centerline goodness [0,1] 0.7080717001629548 Centerline is valid? [False, False] Translation: X:3.74, Y:0.39, Z:0.47 [[ 8.49515580e-01 1.62067279e-01 -5.02053261e-01 3.74306001e+00] [-1.88520159e-01 9.82067341e-01 -1.97156551e-03 3.90452332e-01] [ 4.92730585e-01 9.63220362e-02 8.64834456e-01 4.67350444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.72800114499998 meters Centerline goodness [0,1] 0.7306795651131882 Centerline is valid? [False, False] Translation: X:3.74, Y:0.39, Z:0.47 [[ 8.49410105e-01 1.62150465e-01 -5.02204838e-01 3.74352707e+00] [-1.88609368e-01 9.82050304e-01 -1.92509142e-03 3.90195374e-01] [ 4.92878260e-01 9.63557294e-02 8.64746549e-01 4.67563006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75800114499998 meters Centerline goodness [0,1] 0.7258127607788596 Centerline is valid? [False, False] Translation: X:3.74, Y:0.39, Z:0.47 [[ 8.49305170e-01 1.62176677e-01 -5.02373819e-01 3.74409178e+00] [-1.88668411e-01 9.82038939e-01 -1.93729282e-03 3.90098456e-01] [ 4.93036468e-01 9.64274229e-02 8.64648364e-01 4.67732143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.78800114499998 meters Centerline goodness [0,1] 0.7245748873260902 Centerline is valid? [False, False] Translation: X:3.74, Y:0.39, Z:0.47 [[ 8.49261569e-01 1.62223062e-01 -5.02432548e-01 3.74426901e+00] [-1.88699188e-01 9.82033130e-01 -1.88392814e-03 3.89848788e-01] [ 4.93099791e-01 9.64085613e-02 8.64614357e-01 4.67791157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.81800114499998 meters Centerline goodness [0,1] 0.7058964421025127 Centerline is valid? [False, False] Translation: X:3.74, Y:0.39, Z:0.47 [[ 8.49214521e-01 1.62086992e-01 -5.02555972e-01 3.74459613e+00] [-1.88586744e-01 9.82054630e-01 -1.93474995e-03 3.89929197e-01] [ 4.93223821e-01 9.64184121e-02 8.64542510e-01 4.67930729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.84800114499998 meters Centerline goodness [0,1] 0.698032729805014 Centerline is valid? [False, False] Translation: X:3.75, Y:0.39, Z:0.47 [[ 8.49150336e-01 1.62043125e-01 -5.02678559e-01 3.74517207e+00] [-1.88513329e-01 9.82068856e-01 -1.86729626e-03 3.89561417e-01] [ 4.93362375e-01 9.63472236e-02 8.64471388e-01 4.67882556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.87800114499996 meters Centerline goodness [0,1] 0.7285080724444541 Centerline is valid? [False, False] Translation: X:3.75, Y:0.39, Z:0.47 [[ 8.49032014e-01 1.62130147e-01 -5.02850330e-01 3.74581637e+00] [-1.88520273e-01 9.82067888e-01 -1.66438378e-03 3.88803132e-01] [ 4.93563315e-01 9.62105968e-02 8.64371896e-01 4.67878877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.90800114499996 meters Centerline goodness [0,1] 0.7218133263857227 Centerline is valid? [False, False] Translation: X:3.75, Y:0.39, Z:0.47 [[ 8.48991730e-01 1.62239060e-01 -5.02883217e-01 3.74612247e+00] [-1.88432427e-01 9.82085320e-01 -1.28255018e-03 3.86959732e-01] [ 4.93666145e-01 9.58483793e-02 8.64353415e-01 4.67433337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.93800114499996 meters Centerline goodness [0,1] 0.7260508945631405 Centerline is valid? [False, False] Translation: X:3.75, Y:0.39, Z:0.47 [[ 8.48990554e-01 1.62038026e-01 -5.02950015e-01 3.74625187e+00] [-1.88249049e-01 9.82120391e-01 -1.35364405e-03 3.86596220e-01] [ 4.93738124e-01 9.58290932e-02 8.64314439e-01 4.67415768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.96800114499996 meters Centerline goodness [0,1] 0.7248228799930456 Centerline is valid? [False, False] Translation: X:3.75, Y:0.39, Z:0.47 [[ 8.49014220e-01 1.61657178e-01 -5.03032614e-01 3.74612930e+00] [-1.87954053e-01 9.82176535e-01 -1.58990910e-03 3.86851694e-01] [ 4.93809810e-01 9.58968738e-02 8.64265967e-01 4.67572094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.99800114499996 meters Centerline goodness [0,1] 0.7252768814860033 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:0.45 [[ 8.49770894e-01 1.62520919e-01 -5.01474206e-01 3.72252279e+00] [-1.88693897e-01 9.82034828e-01 -1.48637528e-03 3.93930017e-01] [ 4.92223568e-01 9.58882004e-02 8.65171319e-01 4.52247367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.02800114499996 meters Centerline goodness [0,1] 0.7091969473592923 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:0.45 [[ 8.49836068e-01 1.61969291e-01 -5.01542227e-01 3.72213222e+00] [-1.88259281e-01 9.82117663e-01 -1.82761379e-03 3.94097972e-01] [ 4.92277463e-01 9.59731511e-02 8.65131235e-01 4.52422939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.05800114499996 meters Centerline goodness [0,1] 0.7110523921942344 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:0.45 [[ 8.49891254e-01 1.61507877e-01 -5.01597510e-01 3.72168068e+00] [-1.87883177e-01 9.82189156e-01 -2.09128481e-03 3.93809202e-01] [ 4.92325876e-01 9.60190985e-02 8.65098587e-01 4.52564763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.08800114499996 meters Centerline goodness [0,1] 0.7216954582846258 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:0.45 [[ 8.49936168e-01 1.60987109e-01 -5.01688809e-01 3.72105856e+00] [-1.87449966e-01 9.82271300e-01 -2.36698273e-03 3.93521253e-01] [ 4.92413465e-01 9.60533346e-02 8.65044933e-01 4.52816055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.11800114499997 meters Centerline goodness [0,1] 0.7269377492630484 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:0.45 [[ 8.50077615e-01 1.60140623e-01 -5.01720071e-01 3.71997507e+00] [-1.86747609e-01 9.82403806e-01 -2.84462362e-03 3.93296826e-01] [ 4.92436167e-01 9.61131744e-02 8.65025363e-01 4.53041603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.14800114499997 meters Centerline goodness [0,1] 0.7201429499675114 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:0.45 [[ 8.50104459e-01 1.59734349e-01 -5.01804092e-01 3.71964470e+00] [-1.86479298e-01 9.82453747e-01 -3.17907552e-03 3.93751537e-01] [ 4.92491503e-01 9.62786213e-02 8.64975460e-01 4.53388961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.17800114499997 meters Centerline goodness [0,1] 0.688413802066411 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:0.45 [[ 8.49780738e-01 1.63578584e-01 -5.01113505e-01 3.71764285e+00] [-1.88952510e-01 9.81986218e-01 1.27139753e-04 3.92728048e-01] [ 4.92107353e-01 9.45786136e-02 8.65381557e-01 4.53182829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.20800114499997 meters Centerline goodness [0,1] 0.7151641570519088 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:0.45 [[ 8.49534282e-01 1.67337883e-01 -5.00289453e-01 3.71535141e+00] [-1.91421020e-01 9.81502653e-01 3.24583571e-03 3.92267685e-01] [ 4.91578576e-01 9.30084688e-02 8.65852140e-01 4.53000282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.23800114499997 meters Centerline goodness [0,1] 0.6806192785231251 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:0.45 [[ 8.49455489e-01 1.67046525e-01 -5.00520561e-01 3.71517402e+00] [-1.91314653e-01 9.81524501e-01 2.89094030e-03 3.93125100e-01] [ 4.91756115e-01 9.33011921e-02 8.65719822e-01 4.53748968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.26800114499997 meters Centerline goodness [0,1] 0.7269923325875888 Centerline is valid? [False, False] Translation: X:3.71, Y:0.39, Z:0.45 [[ 8.49451169e-01 1.66662178e-01 -5.00655999e-01 3.71481896e+00] [-1.91041483e-01 9.81578468e-01 2.61975214e-03 3.93025898e-01] [ 4.91869762e-01 9.34207132e-02 8.65642367e-01 4.54091529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.29800114499997 meters Centerline goodness [0,1] 0.6733200121628078 Centerline is valid? [False, False] Translation: X:3.71, Y:0.39, Z:0.45 [[ 8.49446817e-01 1.66454443e-01 -5.00732487e-01 3.71433929e+00] [-1.90866772e-01 9.81612712e-01 2.52155586e-03 3.92460706e-01] [ 4.91945099e-01 9.34312660e-02 8.65598416e-01 4.54358559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.32800114499997 meters Centerline goodness [0,1] 0.7099707063035695 Centerline is valid? [False, False] Translation: X:3.71, Y:0.39, Z:0.45 [[ 8.49476302e-01 1.66166450e-01 -5.00778118e-01 3.71383488e+00] [-1.90636784e-01 9.81657828e-01 2.35067442e-03 3.92167510e-01] [ 4.91983363e-01 9.34698877e-02 8.65572499e-01 4.54560235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.35800114499997 meters Centerline goodness [0,1] 0.707601321969038 Centerline is valid? [False, False] Translation: X:3.71, Y:0.39, Z:0.45 [[ 8.49454458e-01 1.65877300e-01 -5.00911015e-01 3.71372563e+00] [-1.90448944e-01 9.81694807e-01 2.12249230e-03 3.92454563e-01] [ 4.92093816e-01 9.35950133e-02 8.65496187e-01 4.54898381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.38800114499998 meters Centerline goodness [0,1] 0.7002511801134641 Centerline is valid? [False, False] Translation: X:3.71, Y:0.39, Z:0.46 [[ 8.49405505e-01 1.65735178e-01 -5.01041055e-01 3.71409702e+00] [-1.90332078e-01 9.81717589e-01 2.06774462e-03 3.92419436e-01] [ 4.92223515e-01 9.36078315e-02 8.65421045e-01 4.55032478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.41800114499998 meters Centerline goodness [0,1] 0.6997633881086244 Centerline is valid? [False, False] Translation: X:3.71, Y:0.39, Z:0.46 [[ 8.49404221e-01 1.65329043e-01 -5.01177390e-01 3.71418689e+00] [-1.89978595e-01 9.81786406e-01 1.89391452e-03 3.92496741e-01] [ 4.92362268e-01 9.36042773e-02 8.65342497e-01 4.55141646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.44800114499998 meters Centerline goodness [0,1] 0.7124505499282703 Centerline is valid? [False, False] Translation: X:3.71, Y:0.39, Z:0.46 [[ 8.49333942e-01 1.65260488e-01 -5.01319087e-01 3.71469062e+00] [-1.89930633e-01 9.81795731e-01 1.87008348e-03 3.92359746e-01] [ 4.92501990e-01 9.36275261e-02 8.65260467e-01 4.55231411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.47800114499998 meters Centerline goodness [0,1] 0.7215093684187672 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:0.46 [[ 8.49262382e-01 1.65179215e-01 -5.01467082e-01 3.71511492e+00] [-1.89875370e-01 9.81806487e-01 1.83464871e-03 3.92068865e-01] [ 4.92646680e-01 9.36581496e-02 8.65174780e-01 4.55352792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.50800114499998 meters Centerline goodness [0,1] 0.7103437811592318 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:0.46 [[ 8.49138839e-01 1.65144692e-01 -5.01687615e-01 3.71536870e+00] [-1.89844382e-01 9.81812418e-01 1.86743949e-03 3.91370986e-01] [ 4.92871528e-01 9.36568598e-02 8.65046848e-01 4.55650837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.53800114499998 meters Centerline goodness [0,1] 0.7159588773695398 Centerline is valid? [False, False] Translation: X:3.72, Y:0.39, Z:0.46 [[ 8.49128794e-01 1.65055139e-01 -5.01734086e-01 3.71551620e+00] [-1.89742847e-01 9.81832032e-01 1.87411601e-03 3.90797664e-01] [ 4.92927930e-01 9.36090879e-02 8.65019881e-01 4.55582715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.56800114499998 meters Centerline goodness [0,1] 0.7110140581882971 Centerline is valid? [False, False] Translation: X:3.71, Y:0.39, Z:0.46 [[ 0.84888389 0.16892369 -0.50086019 3.71302364] [-0.19230941 0.98132144 0.00503151 0.39048772] [ 0.49235478 0.09204896 0.86551358 0.45542405] [ 0. 0. 0. 1. ]] SLAMing on 194.59800114499998 meters Centerline goodness [0,1] 0.7138117953165655 Centerline is valid? [False, False] Translation: X:3.71, Y:0.39, Z:0.46 [[ 0.84850349 0.17304852 -0.50009603 3.71131417] [-0.19509398 0.98074895 0.00835687 0.39029949] [ 0.4919148 0.0904749 0.86592963 0.45534055] [ 0. 0. 0. 1. ]] SLAMing on 194.62800114499996 meters Centerline goodness [0,1] 0.7092422690522371 Centerline is valid? [False, False] Translation: X:3.71, Y:0.39, Z:0.45 [[ 0.84911389 0.17368506 -0.49883775 3.70855682] [-0.19566799 0.98063445 0.00837375 0.39225334] [ 0.49063188 0.09049632 0.86665493 0.45452879] [ 0. 0. 0. 1. ]] SLAMing on 194.65800114499996 meters Centerline goodness [0,1] 0.7065203244978526 Centerline is valid? [False, False] Translation: X:3.71, Y:0.39, Z:0.46 [[ 0.84913218 0.17303278 -0.49903326 3.70815154] [-0.19538898 0.98069655 0.0075778 0.39446991] [ 0.49071141 0.09107105 0.8665497 0.45544637] [ 0. 0. 0. 1. ]] SLAMing on 194.68800114499996 meters Centerline goodness [0,1] 0.7260363683992228 Centerline is valid? [False, False] Translation: X:3.71, Y:0.40, Z:0.46 [[ 0.84919188 0.17238215 -0.49915683 3.70752581] [-0.19496256 0.98078549 0.00703042 0.39510213] [ 0.4907777 0.09134672 0.86648314 0.45595422] [ 0. 0. 0. 1. ]] SLAMing on 194.71800114499996 meters Centerline goodness [0,1] 0.6845446442159271 Centerline is valid? [False, False] Translation: X:3.71, Y:0.40, Z:0.46 [[ 0.84919522 0.17195893 -0.49929711 3.70735379] [-0.19467579 0.98084474 0.00670396 0.39530451] [ 0.49088575 0.09150809 0.8664049 0.45627242] [ 0. 0. 0. 1. ]] SLAMing on 194.74800114499996 meters Centerline goodness [0,1] 0.7127460372757359 Centerline is valid? [False, False] Translation: X:3.71, Y:0.40, Z:0.46 [[ 0.84933006 0.17120782 -0.49932587 3.70756812] [-0.19412844 0.98095687 0.00614501 0.39622072] [ 0.49086922 0.09171421 0.86639247 0.45611327] [ 0. 0. 0. 1. ]] SLAMing on 194.77800114499996 meters Centerline goodness [0,1] 0.6726050639519707 Centerline is valid? [False, False] Translation: X:3.71, Y:0.40, Z:0.46 [[ 0.84927433 0.17080198 -0.49955961 3.70818437] [-0.19382999 0.98101742 0.00589496 0.39675621] [ 0.49108355 0.09182319 0.86625946 0.45630627] [ 0. 0. 0. 1. ]] SLAMing on 194.80800114499996 meters Centerline goodness [0,1] 0.6878014862457086 Centerline is valid? [False, False] Translation: X:3.71, Y:0.40, Z:0.46 [[ 0.84925872 0.17023413 -0.49977992 3.70854133] [-0.19347569 0.98109015 0.0054106 0.39801175] [ 0.49125023 0.09210026 0.86613553 0.45671404] [ 0. 0. 0. 1. ]] SLAMing on 194.83800114499996 meters Centerline goodness [0,1] 0.6669579464773348 Centerline is valid? [False, False] Translation: X:3.68, Y:0.41, Z:0.44 [[ 0.85045995 0.17140124 -0.49733237 3.68311209] [-0.19412692 0.98095738 0.00611291 0.40698141] [ 0.48890961 0.09134682 0.86753856 0.43972679] [ 0. 0. 0. 1. ]] SLAMing on 194.86800114499997 meters Centerline goodness [0,1] 0.6866512379372081 Centerline is valid? [False, False] Translation: X:3.68, Y:0.41, Z:0.44 [[ 0.85042486 0.17081191 -0.49759507 3.68302256] [-0.19374935 0.98103489 0.00563346 0.40791758] [ 0.48912039 0.09161789 0.86739115 0.4403724 ] [ 0. 0. 0. 1. ]] SLAMing on 194.89800114499997 meters Centerline goodness [0,1] 0.6716114655247749 Centerline is valid? [False, False] Translation: X:3.68, Y:0.41, Z:0.44 [[ 0.85059418 0.17005089 -0.49756631 3.68227454] [-0.19317136 0.9811518 0.00509541 0.40848613] [ 0.48905456 0.09178144 0.86741098 0.44048239] [ 0. 0. 0. 1. ]] SLAMing on 194.92800114499997 meters Centerline goodness [0,1] 0.6589091543004075 Centerline is valid? [False, False] Translation: X:3.68, Y:0.41, Z:0.44 [[ 0.85064068 0.1695673 -0.49765185 3.68201969] [-0.19287979 0.98121141 0.00464176 0.40922082] [ 0.48908877 0.09203852 0.86736445 0.44082612] [ 0. 0. 0. 1. ]] SLAMing on 194.95800114499997 meters Centerline goodness [0,1] 0.6805261665321437 Centerline is valid? [False, False] Translation: X:3.66, Y:0.42, Z:0.43 [[ 8.51614971e-01 1.71818999e-01 -4.95207202e-01 3.66034066e+00] [-1.95775471e-01 9.80642250e-01 3.56951026e-03 4.15746445e-01] [ 4.86234415e-01 9.39095751e-02 8.68767567e-01 4.27118560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.98800114499997 meters Centerline goodness [0,1] 0.6821659799882284 Centerline is valid? [False, False] Translation: X:3.66, Y:0.42, Z:0.43 [[ 8.51467196e-01 1.71684113e-01 -4.95508002e-01 3.66051810e+00] [-1.95804358e-01 9.80637402e-01 3.30746336e-03 4.16623601e-01] [ 4.86481518e-01 9.42064296e-02 8.68597076e-01 4.27970476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.01800114499997 meters Centerline goodness [0,1] 0.7037944231820668 Centerline is valid? [False, False] Translation: X:3.66, Y:0.42, Z:0.43 [[ 0.85102201 0.17613243 -0.49471093 3.65959509] [-0.19900275 0.97997691 0.00656949 0.41798444] [ 0.48596239 0.09285805 0.86903276 0.42795671] [ 0. 0. 0. 1. ]] SLAMing on 195.04800114499997 meters Centerline goodness [0,1] 0.7048828082176763 Centerline is valid? [False, False] Translation: X:3.66, Y:0.42, Z:0.43 [[ 0.85046706 0.18086421 -0.49395741 3.65901303] [-0.20228893 0.97927199 0.01027453 0.41762893] [ 0.48557695 0.09118396 0.86942539 0.42769362] [ 0. 0. 0. 1. ]] SLAMing on 195.07800114499997 meters Centerline goodness [0,1] 0.7262098369302448 Centerline is valid? [False, False] Translation: X:3.66, Y:0.42, Z:0.43 [[ 0.85014069 0.18103896 -0.49445495 3.66064372] [-0.20260745 0.9792072 0.01017244 0.41868404] [ 0.48601546 0.09153225 0.86914373 0.42843313] [ 0. 0. 0. 1. ]] SLAMing on 195.10800114499997 meters Centerline goodness [0,1] 0.7092511981708658 Centerline is valid? [False, False] Translation: X:3.66, Y:0.42, Z:0.43 [[ 0.84980557 0.1817628 -0.49476538 3.66291512] [-0.203353 0.97905028 0.01039768 0.41922711] [ 0.48629009 0.09177602 0.86896439 0.42858029] [ 0. 0. 0. 1. ]] SLAMing on 195.13800114499998 meters Centerline goodness [0,1] 0.7145030761428036 Centerline is valid? [False, False] Translation: X:3.66, Y:0.42, Z:0.43 [[ 0.84956234 0.18171049 -0.49520212 3.66396273] [-0.20347391 0.97902756 0.0101692 0.42016593] [ 0.48666437 0.09212134 0.86871828 0.42934766] [ 0. 0. 0. 1. ]] SLAMing on 195.16800114499998 meters Centerline goodness [0,1] 0.6772864476612246 Centerline is valid? [False, False] Translation: X:3.67, Y:0.42, Z:0.43 [[ 0.84926689 0.18189413 -0.49564128 3.66538816] [-0.20378744 0.97896323 0.01008339 0.42133155] [ 0.48704869 0.09244198 0.8684688 0.43008476] [ 0. 0. 0. 1. ]] SLAMing on 195.19800114499998 meters Centerline goodness [0,1] 0.7211930303764567 Centerline is valid? [False, False] Translation: X:3.66, Y:0.42, Z:0.43 [[ 0.84885131 0.18604201 -0.49481292 3.66352669] [-0.20673887 0.97830754 0.01316808 0.42200792] [ 0.48652902 0.09111932 0.86889975 0.43027525] [ 0. 0. 0. 1. ]] SLAMing on 195.22800114499998 meters Centerline goodness [0,1] 0.7211930303764567 Centerline is valid? [False, False] Translation: X:3.66, Y:0.42, Z:0.43 [[ 0.84885131 0.18604201 -0.49481292 3.66352669] [-0.20673887 0.97830754 0.01316808 0.42200792] [ 0.48652902 0.09111932 0.86889975 0.43027525] [ 0. 0. 0. 1. ]] SLAMing on 195.25800114499998 meters Centerline goodness [0,1] 0.7189980323229643 Centerline is valid? [False, False] Translation: X:3.66, Y:0.42, Z:0.43 [[ 0.84878621 0.18577948 -0.49502319 3.66367009] [-0.20663563 0.97833348 0.01285762 0.42271107] [ 0.48668644 0.09137606 0.86878462 0.43080743] [ 0. 0. 0. 1. ]] SLAMing on 195.28800114499998 meters Centerline goodness [0,1] 0.7164709517923362 Centerline is valid? [False, False] Translation: X:3.66, Y:0.42, Z:0.43 [[ 0.84866158 0.18558848 -0.49530843 3.66410893] [-0.20660481 0.97834358 0.01258154 0.42348434] [ 0.48691681 0.09165563 0.86862608 0.43142402] [ 0. 0. 0. 1. ]] SLAMing on 195.31800114499998 meters Centerline goodness [0,1] 0.7239507157736116 Centerline is valid? [False, False] Translation: X:3.66, Y:0.42, Z:0.43 [[ 0.84855922 0.18526844 -0.49560353 3.66421643] [-0.20645035 0.97838023 0.01226308 0.42409088] [ 0.48716066 0.09191157 0.86846229 0.43208991] [ 0. 0. 0. 1. ]] SLAMing on 195.34800114499998 meters Centerline goodness [0,1] 0.7211812222737204 Centerline is valid? [False, False] Translation: X:3.66, Y:0.42, Z:0.43 [[ 0.84852921 0.18487939 -0.49580015 3.66488295] [-0.20616903 0.97844271 0.01200776 0.42460062] [ 0.48733203 0.0920297 0.86835363 0.43216359] [ 0. 0. 0. 1. ]] SLAMing on 195.37800114499996 meters Centerline goodness [0,1] 0.7140385127340492 Centerline is valid? [False, False] Translation: X:3.67, Y:0.42, Z:0.43 [[ 0.84849508 0.18476555 -0.495901 3.66570796] [-0.20609608 0.97845909 0.01192581 0.42489698] [ 0.48742231 0.09208426 0.86829717 0.43206315] [ 0. 0. 0. 1. ]] SLAMing on 195.40800114499996 meters Centerline goodness [0,1] 0.713762892314517 Centerline is valid? [False, False] Translation: X:3.67, Y:0.43, Z:0.43 [[ 0.84843405 0.18413683 -0.49623915 3.66665893] [-0.20576905 0.97853544 0.01129082 0.4268941 ] [ 0.48766665 0.09253114 0.86811245 0.43258199] [ 0. 0. 0. 1. ]] SLAMing on 195.43800114499996 meters Centerline goodness [0,1] 0.7034836020134376 Centerline is valid? [False, False] Translation: X:3.67, Y:0.43, Z:0.43 [[ 0.84832062 0.18369332 -0.49659732 3.66719542] [-0.20555563 0.97858541 0.01083881 0.42808309] [ 0.48795391 0.09288359 0.86791337 0.43330127] [ 0. 0. 0. 1. ]] SLAMing on 195.46800114499996 meters Centerline goodness [0,1] 0.7090283939662821 Centerline is valid? [False, False] Translation: X:3.67, Y:0.43, Z:0.43 [[ 0.84827827 0.18322398 -0.49684298 3.66740417] [-0.2052781 0.97864818 0.01042354 0.42886376] [ 0.48814431 0.09314892 0.86777786 0.43378975] [ 0. 0. 0. 1. ]] SLAMing on 195.49800114499996 meters Centerline goodness [0,1] 0.6942743009320905 Centerline is valid? [False, False] Translation: X:3.67, Y:0.43, Z:0.43 [[ 0.84825394 0.18286339 -0.49701734 3.66756392] [-0.20509798 0.97868992 0.0100427 0.42963521] [ 0.4882623 0.09341849 0.86768249 0.43418966] [ 0. 0. 0. 1. ]] SLAMing on 195.52800114499996 meters Centerline goodness [0,1] 0.7107789633127659 Centerline is valid? [False, False] Translation: X:3.67, Y:0.43, Z:0.44 [[ 0.84808355 0.18239005 -0.49748182 3.6678445 ] [-0.20496656 0.97872375 0.00940879 0.43130383] [ 0.48861334 0.09398769 0.86742338 0.43542043] [ 0. 0. 0. 1. ]] SLAMing on 195.55800114499996 meters Centerline goodness [0,1] 0.7111240405487054 Centerline is valid? [False, False] Translation: X:3.67, Y:0.43, Z:0.44 [[ 0.84786942 0.18595336 -0.49652673 3.66562725] [-0.20757808 0.97814651 0.01186345 0.43424434] [ 0.48788194 0.09300941 0.86794036 0.43575059] [ 0. 0. 0. 1. ]] SLAMing on 195.58800114499996 meters Centerline goodness [0,1] 0.6792912365375162 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.44 [[ 0.8477113 0.18566288 -0.49690528 3.66617511] [-0.20753354 0.97816112 0.01143012 0.43555619] [ 0.48817557 0.09343507 0.86772951 0.43660618] [ 0. 0. 0. 1. ]] SLAMing on 195.61800114499997 meters Centerline goodness [0,1] 0.7007969197707736 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.44 [[ 0.84760924 0.18555656 -0.49711905 3.66670741] [-0.20757469 0.97815521 0.01118624 0.43606153] [ 0.48833527 0.09370777 0.86761024 0.43702104] [ 0. 0. 0. 1. ]] SLAMing on 195.64800114499997 meters Centerline goodness [0,1] 0.6713271044789496 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.44 [[ 0.84760207 0.18529127 -0.4972302 3.66731575] [-0.20752376 0.97817083 0.01075749 0.43748934] [ 0.48836934 0.09406901 0.86755196 0.43723492] [ 0. 0. 0. 1. ]] SLAMing on 195.67800114499997 meters Centerline goodness [0,1] 0.701524274235065 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.44 [[ 0.84756462 0.18481945 -0.49746958 3.66713728] [-0.20729621 0.97822455 0.01024785 0.43890844] [ 0.48853096 0.09443785 0.86742089 0.4380458 ] [ 0. 0. 0. 1. ]] SLAMing on 195.70800114499997 meters Centerline goodness [0,1] 0.701201302346469 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.44 [[ 0.84751498 0.18425079 -0.49776501 3.66672407] [-0.20706183 0.9782811 0.00956487 0.44051364] [ 0.48871644 0.09496176 0.86725919 0.43916181] [ 0. 0. 0. 1. ]] SLAMing on 195.73800114499997 meters Centerline goodness [0,1] 0.6980085763678409 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.44 [[ 0.84749021 0.18381437 -0.4979685 3.66625596] [-0.20685027 0.97833036 0.00909215 0.44148287] [ 0.48884897 0.09529941 0.86714745 0.43996729] [ 0. 0. 0. 1. ]] SLAMing on 195.76800114499997 meters Centerline goodness [0,1] 0.6919099212034384 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.44 [[ 0.84761771 0.18315758 -0.49799349 3.66517706] [-0.2064429 0.97842194 0.00847549 0.44246665] [ 0.48880011 0.09562325 0.86713935 0.44052128] [ 0. 0. 0. 1. ]] SLAMing on 195.79800114499997 meters Centerline goodness [0,1] 0.6854395912238632 Centerline is valid? [False, False] Translation: X:3.66, Y:0.44, Z:0.44 [[ 0.8476095 0.18292282 -0.49809374 3.66478008] [-0.20631839 0.97845023 0.0082383 0.4427389 ] [ 0.48886691 0.09578303 0.86708405 0.44096639] [ 0. 0. 0. 1. ]] SLAMing on 195.82800114499997 meters Centerline goodness [0,1] 0.6867243996071779 Centerline is valid? [False, False] Translation: X:3.66, Y:0.44, Z:0.44 [[ 0.84753476 0.18275031 -0.49828422 3.66491515] [-0.20621392 0.97847329 0.00811349 0.44287658] [ 0.48904054 0.09587668 0.86697578 0.44133135] [ 0. 0. 0. 1. ]] SLAMing on 195.85800114499997 meters Centerline goodness [0,1] 0.6831092849805726 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.44 [[ 0.84744913 0.18260484 -0.49848314 3.66509818] [-0.20615881 0.97848618 0.00795856 0.44287556] [ 0.48921213 0.09602222 0.86686286 0.44174602] [ 0. 0. 0. 1. ]] SLAMing on 195.88800114499998 meters Centerline goodness [0,1] 0.6550277771580286 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.44 [[ 0.84741585 0.18231536 -0.49864566 3.66531303] [-0.20591676 0.97853817 0.00783204 0.4429657 ] [ 0.48937171 0.0960425 0.86677054 0.44183519] [ 0. 0. 0. 1. ]] SLAMing on 195.91800114499998 meters Centerline goodness [0,1] 0.6724884977888954 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.44 [[ 0.84732425 0.18228187 -0.49881353 3.66601399] [-0.20591017 0.97853971 0.00781327 0.44325419] [ 0.48953306 0.09609041 0.86667411 0.44197737] [ 0. 0. 0. 1. ]] SLAMing on 195.94800114499998 meters Centerline goodness [0,1] 0.67007136485281 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.44 [[ 0.8471311 0.18245363 -0.49907873 3.66733179] [-0.20601917 0.97851499 0.00803152 0.44303962] [ 0.4898214 0.09601604 0.86651943 0.44199372] [ 0. 0. 0. 1. ]] SLAMing on 195.97800114499998 meters Centerline goodness [0,1] 0.6700272723208298 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.44 [[ 0.84697434 0.18265687 -0.4992704 3.66843683] [-0.20612348 0.97849074 0.00830563 0.44232322] [ 0.49004854 0.0958767 0.86640642 0.44185861] [ 0. 0. 0. 1. ]] SLAMing on 196.00800114499998 meters Centerline goodness [0,1] 0.6610131716775502 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.44 [[ 0.8468468 0.18274127 -0.49945583 3.6694577 ] [-0.20607596 0.97849817 0.00860382 0.44142469] [ 0.49028889 0.09563972 0.86629663 0.44151852] [ 0. 0. 0. 1. ]] SLAMing on 196.03800114499998 meters Centerline goodness [0,1] 0.6576073605931352 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.44 [[ 0.84674895 0.18242924 -0.49973572 3.66956173] [-0.20596163 0.97852544 0.00823207 0.4422709 ] [ 0.49050588 0.09595589 0.86613881 0.44225661] [ 0. 0. 0. 1. ]] SLAMing on 196.06800114499998 meters Centerline goodness [0,1] 0.6668308629259774 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.44 [[ 0.84669304 0.18198091 -0.49999385 3.66914395] [-0.20578956 0.97856613 0.00767962 0.44372273] [ 0.49067459 0.09639123 0.86599491 0.44327653] [ 0. 0. 0. 1. ]] SLAMing on 196.09800114499998 meters Centerline goodness [0,1] 0.6583543935768121 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.44 [[ 0.84655768 0.18382061 -0.49954987 3.66691114] [-0.20725774 0.97824733 0.00874065 0.44499779] [ 0.49029003 0.09613611 0.86624103 0.44407003] [ 0. 0. 0. 1. ]] SLAMing on 196.12800114499996 meters Centerline goodness [0,1] 0.694454990062306 Centerline is valid? [False, False] Translation: X:3.67, Y:0.45, Z:0.44 [[ 0.84645453 0.18372163 -0.49976104 3.66702112] [-0.20727671 0.97824496 0.00855299 0.44525378] [ 0.49046009 0.09634911 0.8661211 0.44460479] [ 0. 0. 0. 1. ]] SLAMing on 196.15800114499996 meters Centerline goodness [0,1] 0.6874218051831993 Centerline is valid? [False, False] Translation: X:3.67, Y:0.45, Z:0.44 [[ 0.84639269 0.18358653 -0.49991539 3.66713575] [-0.20724054 0.97825416 0.00837623 0.44537687] [ 0.49058207 0.09651315 0.86603374 0.44494926] [ 0. 0. 0. 1. ]] SLAMing on 196.18800114499996 meters Centerline goodness [0,1] 0.6843992291489267 Centerline is valid? [False, False] Translation: X:3.67, Y:0.45, Z:0.45 [[ 0.84631658 0.18372719 -0.49999256 3.6672852 ] [-0.20737706 0.97822468 0.00843978 0.44502797] [ 0.49065568 0.09654426 0.86598857 0.44510494] [ 0. 0. 0. 1. ]] SLAMing on 196.21800114499996 meters Centerline goodness [0,1] 0.6892654102690362 Centerline is valid? [False, False] Translation: X:3.67, Y:0.45, Z:0.45 [[ 0.84624882 0.18357161 -0.50016437 3.66727268] [-0.20732492 0.97823732 0.00825355 0.44547364] [ 0.49079457 0.09671198 0.86589115 0.44557962] [ 0. 0. 0. 1. ]] SLAMing on 196.24800114499996 meters Centerline goodness [0,1] 0.6850451820703229 Centerline is valid? [False, False] Translation: X:3.67, Y:0.45, Z:0.45 [[ 0.84615956 0.18330907 -0.50041161 3.66714058] [-0.20723878 0.97825828 0.00792655 0.4463108 ] [ 0.49098481 0.09699756 0.86575134 0.44637277] [ 0. 0. 0. 1. ]] SLAMing on 196.27800114499996 meters Centerline goodness [0,1] 0.6733870967741935 Centerline is valid? [False, False] Translation: X:3.67, Y:0.45, Z:0.45 [[ 0.84608429 0.18298242 -0.50065838 3.66683318] [-0.20708468 0.97829359 0.00758889 0.4471164 ] [ 0.49117951 0.09725784 0.86561169 0.44716253] [ 0. 0. 0. 1. ]] SLAMing on 196.30800114499996 meters Centerline goodness [0,1] 0.6778580535486614 Centerline is valid? [False, False] Translation: X:3.67, Y:0.45, Z:0.45 [[ 0.84620785 0.18263459 -0.50057655 3.66550052] [-0.20679803 0.97835592 0.00736655 0.44671626] [ 0.49108742 0.09728461 0.86566093 0.44742065] [ 0. 0. 0. 1. ]] SLAMing on 196.33800114499996 meters Centerline goodness [0,1] 0.6772824727532607 Centerline is valid? [False, False] Translation: X:3.66, Y:0.45, Z:0.45 [[ 0.84626489 0.18236416 -0.50057872 3.66494344] [-0.20656541 0.97840611 0.00722594 0.44620421] [ 0.49108703 0.09728719 0.86566086 0.44746905] [ 0. 0. 0. 1. ]] SLAMing on 196.36800114499997 meters Centerline goodness [0,1] 0.6780704297598072 Centerline is valid? [False, False] Translation: X:3.66, Y:0.45, Z:0.45 [[ 0.84623999 0.18233186 -0.50063257 3.66488037] [-0.20649036 0.97842137 0.00730475 0.44561435] [ 0.49116149 0.09719423 0.86562906 0.44747936] [ 0. 0. 0. 1. ]] SLAMing on 196.39800114499997 meters Centerline goodness [0,1] 0.6615312583608312 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.45 [[ 0.84619208 0.18229209 -0.50072803 3.66519547] [-0.20628687 0.97846201 0.00760406 0.44470988] [ 0.49132951 0.09685912 0.86557127 0.44720429] [ 0. 0. 0. 1. ]] SLAMing on 196.42800114499997 meters Centerline goodness [0,1] 0.6646878975205874 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.45 [[ 0.84616042 0.18214788 -0.500834 3.66524971] [-0.20611229 0.9784985 0.00764199 0.44431735] [ 0.49145729 0.0967617 0.86550962 0.44729629] [ 0. 0. 0. 1. ]] SLAMing on 196.45800114499997 meters Centerline goodness [0,1] 0.6566164154103853 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.45 [[ 0.84609104 0.18212022 -0.50096125 3.66559238] [-0.20601738 0.97851739 0.00778172 0.44368431] [ 0.4916165 0.09662268 0.86543473 0.44729349] [ 0. 0. 0. 1. ]] SLAMing on 196.48800114499997 meters Centerline goodness [0,1] 0.6571262595795071 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.45 [[ 0.84601287 0.18213115 -0.50108929 3.66582019] [-0.20595324 0.97852957 0.00794593 0.44274179] [ 0.49177789 0.0964786 0.86535911 0.44730747] [ 0. 0. 0. 1. ]] SLAMing on 196.51800114499997 meters Centerline goodness [0,1] 0.650791174504123 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.45 [[ 0.84589815 0.18237892 -0.50119282 3.66642147] [-0.20595836 0.97852415 0.00846457 0.44082421] [ 0.49197304 0.09606468 0.86529423 0.44689022] [ 0. 0. 0. 1. ]] SLAMing on 196.54800114499997 meters Centerline goodness [0,1] 0.6523037827957469 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.45 [[ 0.84579959 0.18238066 -0.50135851 3.66661465] [-0.20596759 0.97852199 0.0084893 0.44062673] [ 0.49213861 0.09608336 0.865198 0.44718304] [ 0. 0. 0. 1. ]] SLAMing on 196.57800114499997 meters Centerline goodness [0,1] 0.6709177406025952 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.45 [[ 0.84574107 0.18215715 -0.50153844 3.66633153] [-0.20586869 0.97854486 0.0082493 0.44113636] [ 0.49228053 0.09627429 0.86509603 0.44778491] [ 0. 0. 0. 1. ]] SLAMing on 196.60800114499997 meters Centerline goodness [0,1] 0.644757642553381 Centerline is valid? [False, False] Translation: X:3.67, Y:0.44, Z:0.45 [[ 0.84568492 0.18176153 -0.50177661 3.66582495] [-0.20569356 0.97858531 0.00780671 0.44222331] [ 0.49245018 0.0966102 0.86496201 0.44872869] [ 0. 0. 0. 1. ]] SLAMing on 196.63800114499998 meters Centerline goodness [0,1] 0.6628416767324297 Centerline is valid? [False, False] Translation: X:3.64, Y:0.45, Z:0.44 [[ 0.84567624 0.18340071 -0.50119445 3.64453759] [-0.208955 0.97791106 0.00527003 0.44960947] [ 0.49109012 0.10027034 0.86531864 0.43849635] [ 0. 0. 0. 1. ]] SLAMing on 196.66800114499998 meters Centerline goodness [0,1] 0.6606467494685018 Centerline is valid? [False, False] Translation: X:3.64, Y:0.45, Z:0.44 [[ 0.8456253 0.18338514 -0.50128609 3.64464826] [-0.20895167 0.97791179 0.0052658 0.44927284] [ 0.49117924 0.10029168 0.86526558 0.43862698] [ 0. 0. 0. 1. ]] SLAMing on 196.69800114499998 meters Centerline goodness [0,1] 0.6372398441847524 Centerline is valid? [False, False] Translation: X:3.64, Y:0.45, Z:0.44 [[ 0.84549247 0.1834189 -0.50149775 3.64485274] [-0.20901081 0.97789907 0.0052804 0.44874287] [ 0.49138271 0.10035391 0.86514283 0.43897794] [ 0. 0. 0. 1. ]] SLAMing on 196.72800114499998 meters Centerline goodness [0,1] 0.6488711404604677 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.44 [[ 0.84539255 0.18336907 -0.50168439 3.64505264] [-0.20902797 0.97789587 0.00519284 0.44874973] [ 0.4915473 0.10047609 0.86503515 0.43934142] [ 0. 0. 0. 1. ]] SLAMing on 196.75800114499998 meters Centerline goodness [0,1] 0.6487617172643683 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.44 [[ 0.84527787 0.18343649 -0.50185295 3.64548748] [-0.20928216 0.9778429 0.00492276 0.45054108] [ 0.49163636 0.10086777 0.86493895 0.44007204] [ 0. 0. 0. 1. ]] SLAMing on 196.78800114499998 meters Centerline goodness [0,1] 0.6466387589263728 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.44 [[ 0.84516422 0.18328948 -0.50209801 3.6458527 ] [-0.20931354 0.97783763 0.00462666 0.45183629] [ 0.49181835 0.10118562 0.86479835 0.44075626] [ 0. 0. 0. 1. ]] SLAMing on 196.81800114499998 meters Centerline goodness [0,1] 0.6430446194225722 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.44 [[ 0.84500945 0.18304827 -0.50244637 3.64622189] [-0.20926268 0.97784997 0.00430854 0.45289874] [ 0.49210584 0.10150252 0.86459764 0.4415813 ] [ 0. 0. 0. 1. ]] SLAMing on 196.84800114499998 meters Centerline goodness [0,1] 0.6407032927702219 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.44 [[ 0.84494073 0.18295236 -0.50259686 3.64662134] [-0.20921722 0.97786004 0.00422933 0.45293456] [ 0.49224315 0.10157839 0.86451056 0.44175661] [ 0. 0. 0. 1. ]] SLAMing on 196.87800114499996 meters Centerline goodness [0,1] 0.6474889316220205 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.44 [[ 0.84491703 0.18271481 -0.5027231 3.64688494] [-0.20893045 0.97792114 0.00428025 0.451943 ] [ 0.49240561 0.1014177 0.86443691 0.44152757] [ 0. 0. 0. 1. ]] SLAMing on 196.90800114499996 meters Centerline goodness [0,1] 0.6753816537583381 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.44 [[ 0.84489622 0.18230045 -0.50290847 3.64673798] [-0.20860822 0.97799091 0.00404824 0.45212279] [ 0.49257791 0.1014905 0.86433019 0.44191558] [ 0. 0. 0. 1. ]] SLAMing on 196.93800114499996 meters Centerline goodness [0,1] 0.6623595505617977 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.44 [[ 8.45059052e-01 1.80926129e-01 -5.03131130e-01 3.64549611e+00] [-2.07657115e-01 9.78197141e-01 2.97913873e-03 4.54624559e-01] [ 4.92700437e-01 1.01961211e-01 8.64204947e-01 4.42947339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.96800114499996 meters Centerline goodness [0,1] 0.6531284302963776 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.44 [[ 8.45047065e-01 1.80503460e-01 -5.03303048e-01 3.64510218e+00] [-2.07337559e-01 9.78265671e-01 2.72269981e-03 4.54756377e-01] [ 4.92855551e-01 1.02052816e-01 8.64105681e-01 4.43399761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.99800114499996 meters Centerline goodness [0,1] 0.6334686371689354 Centerline is valid? [False, False] Translation: X:3.64, Y:0.45, Z:0.44 [[ 8.45093551e-01 1.80249897e-01 -5.03315870e-01 3.64474158e+00] [-2.07066460e-01 9.78323190e-01 2.68643297e-03 4.54023722e-01] [ 4.92889816e-01 1.01949548e-01 8.64098327e-01 4.43347410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.02800114499996 meters Centerline goodness [0,1] 0.6601437879128286 Centerline is valid? [False, False] Translation: X:3.64, Y:0.45, Z:0.44 [[ 8.45086898e-01 1.80060254e-01 -5.03394915e-01 3.64453788e+00] [-2.06911467e-01 9.78356236e-01 2.59220483e-03 4.53354819e-01] [ 4.92966308e-01 1.01967542e-01 8.64052568e-01 4.43478659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.05800114499996 meters Centerline goodness [0,1] 0.6449662921348315 Centerline is valid? [False, False] Translation: X:3.64, Y:0.45, Z:0.44 [[ 8.45038487e-01 1.79935327e-01 -5.03520838e-01 3.64473528e+00] [-2.06813031e-01 9.78377183e-01 2.54139980e-03 4.53171428e-01] [ 4.93090586e-01 1.01987090e-01 8.63979344e-01 4.43597538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.08800114499996 meters Centerline goodness [0,1] 0.6688632989968962 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.44 [[ 8.44847473e-01 1.79829289e-01 -5.03879126e-01 3.64548388e+00] [-2.06862664e-01 9.78367227e-01 2.32532695e-03 4.54165577e-01] [ 4.93396985e-01 1.02269232e-01 8.63771046e-01 4.44335794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.11800114499997 meters Centerline goodness [0,1] 0.6688632989968962 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.44 [[ 8.44847473e-01 1.79829289e-01 -5.03879126e-01 3.64548388e+00] [-2.06862664e-01 9.78367227e-01 2.32532695e-03 4.54165577e-01] [ 4.93396985e-01 1.02269232e-01 8.63771046e-01 4.44335794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.14800114499997 meters Centerline goodness [0,1] 0.6446883979885057 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.44 [[ 8.44627240e-01 1.79931789e-01 -5.04211639e-01 3.64630792e+00] [-2.07047638e-01 9.78328184e-01 2.28924671e-03 4.54566218e-01] [ 4.93696365e-01 1.02462269e-01 8.63577086e-01 4.44929753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.17800114499997 meters Centerline goodness [0,1] 0.644728276728995 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.44 [[ 0.8440035 0.18488097 -0.50346511 3.64609239] [-0.21048138 0.97757862 0.00613481 0.45407295] [ 0.49331094 0.10079223 0.86399378 0.44450812] [ 0. 0. 0. 1. ]] SLAMing on 197.20800114499997 meters Centerline goodness [0,1] 0.644728276728995 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.44 [[ 0.8440035 0.18488097 -0.50346511 3.64609239] [-0.21048138 0.97757862 0.00613481 0.45407295] [ 0.49331094 0.10079223 0.86399378 0.44450812] [ 0. 0. 0. 1. ]] SLAMing on 197.23800114499997 meters Centerline goodness [0,1] 0.6590141796083727 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.44 [[ 0.84373765 0.18511522 -0.5038245 3.6476391 ] [-0.21076514 0.97751708 0.00619819 0.45495418] [ 0.49364443 0.100959 0.8637838 0.44493962] [ 0. 0. 0. 1. ]] SLAMing on 197.26800114499997 meters Centerline goodness [0,1] 0.6596945775138879 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.45 [[ 0.8436201 0.18516778 -0.504002 3.6483843 ] [-0.21080531 0.97750792 0.00627651 0.45473427] [ 0.49382815 0.10095131 0.86367968 0.44502763] [ 0. 0. 0. 1. ]] SLAMing on 197.29800114499997 meters Centerline goodness [0,1] 0.666132563020469 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.45 [[ 0.84365877 0.18484403 -0.50405611 3.64817656] [-0.21054457 0.97756529 0.00608926 0.45469972] [ 0.49387332 0.10098902 0.86364944 0.44511471] [ 0. 0. 0. 1. ]] SLAMing on 197.32800114499997 meters Centerline goodness [0,1] 0.649686998576239 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.44 [[ 0.8438032 0.18425594 -0.50402967 3.64766523] [-0.20999648 0.97768464 0.00584987 0.4544857 ] [ 0.49385994 0.10090831 0.86366653 0.4449043 ] [ 0. 0. 0. 1. ]] SLAMing on 197.35800114499997 meters Centerline goodness [0,1] 0.6540976951874069 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 0.84387108 0.18374795 -0.50410146 3.64729907] [-0.20966519 0.97775824 0.00541693 0.45541034] [ 0.49388471 0.10112133 0.86362745 0.44526213] [ 0. 0. 0. 1. ]] SLAMing on 197.38800114499998 meters Centerline goodness [0,1] 0.6457596371882086 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 0.84381125 0.18332819 -0.50435439 3.64727135] [-0.2094527 0.977806 0.00499819 0.45649172] [ 0.49407706 0.10142086 0.86348229 0.44596041] [ 0. 0. 0. 1. ]] SLAMing on 197.41800114499998 meters Centerline goodness [0,1] 0.6619542241516467 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 0.84372106 0.18302969 -0.50461362 3.64736372] [-0.20934905 0.97782998 0.00463665 0.45749416] [ 0.49427497 0.10172834 0.86333284 0.44669212] [ 0. 0. 0. 1. ]] SLAMing on 197.44800114499998 meters Centerline goodness [0,1] 0.6407188353048225 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 0.8436599 0.18268412 -0.50484104 3.64765874] [-0.20931554 0.97783976 0.00405011 0.45949903] [ 0.49439354 0.10225416 0.86320282 0.44748702] [ 0. 0. 0. 1. ]] SLAMing on 197.47800114499998 meters Centerline goodness [0,1] 0.6331491964937911 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 0.84352067 0.18275027 -0.50504972 3.64803628] [-0.20944036 0.97781318 0.00401615 0.45963959] [ 0.49457822 0.10239009 0.86308091 0.4479348 ] [ 0. 0. 0. 1. ]] SLAMing on 197.50800114499998 meters Centerline goodness [0,1] 0.635289547054253 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 0.84342944 0.18275406 -0.50520068 3.64831473] [-0.20949026 0.97780266 0.00397299 0.45952757] [ 0.49471265 0.10248369 0.86299275 0.44821007] [ 0. 0. 0. 1. ]] SLAMing on 197.53800114499998 meters Centerline goodness [0,1] 0.6311951353328457 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 0.84328641 0.18277349 -0.50543237 3.64882037] [-0.2095916 0.97778127 0.00389122 0.45966868] [ 0.49491352 0.10265296 0.86285745 0.44863689] [ 0. 0. 0. 1. ]] SLAMing on 197.56800114499998 meters Centerline goodness [0,1] 0.6312532942227926 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 0.84319539 0.1827905 -0.50557806 3.6491269 ] [-0.2097066 0.97775713 0.00376021 0.46033887] [ 0.49501988 0.10285247 0.86277267 0.44906834] [ 0. 0. 0. 1. ]] SLAMing on 197.59800114499996 meters Centerline goodness [0,1] 0.6293754289636239 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 8.43212597e-01 1.82170742e-01 -5.05773009e-01 3.64846460e+00] [-2.09407089e-01 9.77823708e-01 3.07682534e-03 4.62418629e-01] [ 4.95117346e-01 1.03318036e-01 8.62661114e-01 4.50090317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.62800114499996 meters Centerline goodness [0,1] 0.6613577863577864 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 8.43206944e-01 1.81994447e-01 -5.05845897e-01 3.64844450e+00] [-2.09230343e-01 9.77861639e-01 3.04620581e-03 4.62125644e-01] [ 4.95201690e-01 1.03269728e-01 8.62618484e-01 4.50139767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.65800114499996 meters Centerline goodness [0,1] 0.6504156266459045 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 8.43173564e-01 1.81980051e-01 -5.05906713e-01 3.64846126e+00] [-2.09106654e-01 9.77887449e-01 3.24724929e-03 4.60973471e-01] [ 4.95310759e-01 1.03050465e-01 8.62582085e-01 4.50012638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.68800114499996 meters Centerline goodness [0,1] 0.6361757343315803 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 8.43280760e-01 1.81757716e-01 -5.05807959e-01 3.64789456e+00] [-2.08702648e-01 9.77972959e-01 3.47800787e-03 4.58833722e-01] [ 4.95298661e-01 1.02630523e-01 8.62639097e-01 4.49373655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.71800114499996 meters Centerline goodness [0,1] 0.6482007792803117 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 0.84323011 0.18172066 -0.50590571 3.64786522] [-0.20857034 0.97800053 0.00365703 0.45769576] [ 0.49544061 0.10243321 0.86258103 0.44933883] [ 0. 0. 0. 1. ]] SLAMing on 197.74800114499996 meters Centerline goodness [0,1] 0.6461745825051972 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 0.84322343 0.18184992 -0.5058704 3.64832924] [-0.20857127 0.97799936 0.00390796 0.45672651] [ 0.49545159 0.10221475 0.86260064 0.4489229 ] [ 0. 0. 0. 1. ]] SLAMing on 197.77800114499996 meters Centerline goodness [0,1] 0.6555086197054458 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 0.84314476 0.18194557 -0.50596712 3.64865765] [-0.20858483 0.97799568 0.00410062 0.45597549] [ 0.49557975 0.10207965 0.86254302 0.44888749] [ 0. 0. 0. 1. ]] SLAMing on 197.80800114499996 meters Centerline goodness [0,1] 0.6384678410487505 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 0.84317223 0.18155238 -0.50606257 3.64819865] [-0.20829681 0.97805816 0.00383095 0.45666099] [ 0.49565414 0.10218107 0.86248826 0.44930027] [ 0. 0. 0. 1. ]] SLAMing on 197.83800114499996 meters Centerline goodness [0,1] 0.657595959136311 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 0.84310613 0.18136836 -0.50623865 3.64792932] [-0.20818924 0.97808161 0.00368885 0.45693338] [ 0.49581175 0.10228335 0.86238554 0.44987015] [ 0. 0. 0. 1. ]] SLAMing on 197.86800114499997 meters Centerline goodness [0,1] 0.655068524181674 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 0.84301296 0.1814727 -0.5063564 3.64814115] [-0.20827184 0.97806366 0.00378388 0.45671444] [ 0.49593546 0.10226992 0.862316 0.45006908] [ 0. 0. 0. 1. ]] SLAMing on 197.89800114499997 meters Centerline goodness [0,1] 0.6412227548159537 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 0.84294991 0.18157002 -0.50642647 3.64821308] [-0.20834356 0.97804804 0.00387226 0.45621855] [ 0.4960125 0.10224657 0.86227446 0.45017066] [ 0. 0. 0. 1. ]] SLAMing on 197.92800114499997 meters Centerline goodness [0,1] 0.636893820772914 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 0.84298958 0.18154786 -0.50636838 3.64764268] [-0.20828941 0.97805943 0.00390781 0.45539168] [ 0.49596783 0.10217693 0.86230841 0.45015153] [ 0. 0. 0. 1. ]] SLAMing on 197.95800114499997 meters Centerline goodness [0,1] 0.6350421508316245 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 0.84304127 0.18123103 -0.50639583 3.64695107] [-0.20805708 0.97810977 0.00367921 0.45557946] [ 0.4959775 0.10225752 0.86229329 0.45046807] [ 0. 0. 0. 1. ]] SLAMing on 197.98800114499997 meters Centerline goodness [0,1] 0.6282842492172256 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 8.43101492e-01 1.80987927e-01 -5.06382508e-01 3.64632311e+00] [-2.07885735e-01 9.78146914e-01 3.48354971e-03 4.55738126e-01] [ 4.95946968e-01 1.02332714e-01 8.62301931e-01 4.50711769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.01800114499997 meters Centerline goodness [0,1] 0.6442809789765245 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 8.43189048e-01 1.80814048e-01 -5.06298834e-01 3.64574582e+00] [-2.07735352e-01 9.78179246e-01 3.37424262e-03 4.55692800e-01] [ 4.95861122e-01 1.02331042e-01 8.62351497e-01 4.50731850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.04800114499997 meters Centerline goodness [0,1] 0.6199041584338307 Centerline is valid? [False, False] Translation: X:3.65, Y:0.46, Z:0.45 [[ 8.43109119e-01 1.80850650e-01 -5.06418853e-01 3.64593212e+00] [-2.07767315e-01 9.78172295e-01 3.42123415e-03 4.55423915e-01] [ 4.95983624e-01 1.02332812e-01 8.62280836e-01 4.50901211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.07800114499997 meters Centerline goodness [0,1] 0.6228054216319476 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.45 [[ 0.84302452 0.18114164 -0.50645569 3.64635333] [-0.20794511 0.97813347 0.00370786 0.4548359 ] [ 0.4960529 0.10218917 0.86225802 0.4508081 ] [ 0. 0. 0. 1. ]] SLAMing on 198.10800114499997 meters Centerline goodness [0,1] 0.6492471213463242 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.45 [[ 0.84293259 0.18124197 -0.50657279 3.64649563] [-0.20803725 0.97811361 0.00377804 0.45439616] [ 0.49617048 0.10220138 0.86218892 0.45102772] [ 0. 0. 0. 1. ]] SLAMing on 198.13800114499998 meters Centerline goodness [0,1] 0.6442764039330563 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.45 [[ 0.8428479 0.18143821 -0.50664346 3.6466905 ] [-0.20820524 0.97807739 0.00389874 0.45384352] [ 0.4962439 0.10219978 0.86214686 0.45113288] [ 0. 0. 0. 1. ]] SLAMing on 198.16800114499998 meters Centerline goodness [0,1] 0.6431842916742245 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.45 [[ 0.84273613 0.18159896 -0.50677177 3.64724176] [-0.20832685 0.97805091 0.0040422 0.45377355] [ 0.49638265 0.10216766 0.86207078 0.45127763] [ 0. 0. 0. 1. ]] SLAMing on 198.19800114499998 meters Centerline goodness [0,1] 0.6337494325919202 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.45 [[ 0.84269995 0.18151109 -0.50686341 3.64725263] [-0.2082892 0.9780593 0.00395238 0.45395988] [ 0.49645987 0.1022435 0.86201732 0.45153169] [ 0. 0. 0. 1. ]] SLAMing on 198.22800114499998 meters Centerline goodness [0,1] 0.6496497631083807 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.45 [[ 0.8426622 0.18137298 -0.50697561 3.64720894] [-0.20818521 0.97808172 0.00388143 0.45410306] [ 0.49656756 0.10227409 0.86195166 0.45181966] [ 0. 0. 0. 1. ]] SLAMing on 198.25800114499998 meters Centerline goodness [0,1] 0.625751423451217 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.45 [[ 8.42784586e-01 1.80860946e-01 -5.06955086e-01 3.64599846e+00] [-2.07804628e-01 9.78164070e-01 3.50552044e-03 4.54388023e-01] [ 4.96519262e-01 1.02393214e-01 8.61965343e-01 4.52190440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.28800114499998 meters Centerline goodness [0,1] 0.6238579946045204 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.45 [[ 8.42799670e-01 1.80842038e-01 -5.06936755e-01 3.64577165e+00] [-2.07713941e-01 9.78182913e-01 3.62047219e-03 4.53542524e-01] [ 4.96531606e-01 1.02246498e-01 8.61975648e-01 4.52052139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.31800114499998 meters Centerline goodness [0,1] 0.6174950117903137 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.45 [[ 0.84283899 0.18086846 -0.50686195 3.64547646] [-0.20763142 0.97819975 0.00379911 0.45238671] [ 0.49649937 0.10203843 0.86201887 0.4517647 ] [ 0. 0. 0. 1. ]] SLAMing on 198.34800114499996 meters Centerline goodness [0,1] 0.6256320718351058 Centerline is valid? [False, False] Translation: X:3.64, Y:0.45, Z:0.45 [[ 8.42981239e-01 1.80524392e-01 -5.06748038e-01 3.64421825e+00] [-2.07316906e-01 9.78267122e-01 3.62471149e-03 4.51975566e-01] [ 4.96389294e-01 1.02001871e-01 8.62086589e-01 4.51816995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.37800114499996 meters Centerline goodness [0,1] 0.621115194410417 Centerline is valid? [False, False] Translation: X:3.64, Y:0.45, Z:0.45 [[ 8.42964777e-01 1.80355605e-01 -5.06835516e-01 3.64390019e+00] [-2.07237536e-01 9.78284594e-01 3.44326008e-03 4.52403238e-01] [ 4.96450389e-01 1.02132797e-01 8.62035906e-01 4.52253027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.40800114499996 meters Centerline goodness [0,1] 0.6170357442371768 Centerline is valid? [False, False] Translation: X:3.64, Y:0.45, Z:0.45 [[ 8.42909799e-01 1.80237290e-01 -5.06969023e-01 3.64377643e+00] [-2.07182670e-01 9.78296601e-01 3.33200990e-03 4.52597136e-01] [ 4.96566624e-01 1.02226612e-01 8.61957834e-01 4.52644154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.43800114499996 meters Centerline goodness [0,1] 0.6154789759432998 Centerline is valid? [False, False] Translation: X:3.64, Y:0.45, Z:0.45 [[ 8.42902426e-01 1.80093342e-01 -5.07032434e-01 3.64366753e+00] [-2.07084896e-01 9.78317654e-01 3.22688255e-03 4.52626643e-01] [ 4.96619921e-01 1.02278812e-01 8.61920935e-01 4.52820335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.46800114499996 meters Centerline goodness [0,1] 0.6085117930395061 Centerline is valid? [False, False] Translation: X:3.64, Y:0.45, Z:0.45 [[ 8.42828018e-01 1.80370296e-01 -5.07057678e-01 3.64386723e+00] [-2.07228195e-01 9.78286220e-01 3.54209528e-03 4.51663936e-01] [ 4.96686428e-01 1.02091270e-01 8.61904847e-01 4.52712714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.49800114499996 meters Centerline goodness [0,1] 0.609426238776941 Centerline is valid? [False, False] Translation: X:3.64, Y:0.45, Z:0.45 [[ 0.84272035 0.18069918 -0.50711953 3.64438144] [-0.20743993 0.97824017 0.00385186 0.45063086] [ 0.49678073 0.1019508 0.86186713 0.45257768] [ 0. 0. 0. 1. ]] SLAMing on 198.52800114499996 meters Centerline goodness [0,1] 0.6072043497961033 Centerline is valid? [False, False] Translation: X:3.64, Y:0.45, Z:0.45 [[ 0.84267994 0.18100174 -0.50707879 3.64462119] [-0.20759585 0.97820575 0.00418098 0.44934186] [ 0.49678415 0.10174422 0.86188957 0.45225612] [ 0. 0. 0. 1. ]] SLAMing on 198.55800114499996 meters Centerline goodness [0,1] 0.6089882565492322 Centerline is valid? [False, False] Translation: X:3.64, Y:0.45, Z:0.45 [[ 0.84266031 0.1811624 -0.50705403 3.64498472] [-0.2075995 0.97820359 0.00449232 0.44835021] [ 0.49681591 0.10147866 0.86190257 0.4518175 ] [ 0. 0. 0. 1. ]] SLAMing on 198.58800114499996 meters Centerline goodness [0,1] 0.6055796708265508 Centerline is valid? [False, False] Translation: X:3.64, Y:0.45, Z:0.45 [[ 0.84262323 0.18098495 -0.507179 3.64493444] [-0.20748989 0.97822747 0.00435478 0.44894437] [ 0.49692458 0.10156508 0.86182974 0.45217992] [ 0. 0. 0. 1. ]] SLAMing on 198.61800114499997 meters Centerline goodness [0,1] 0.6050704989154013 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.45 [[ 0.84252613 0.18100915 -0.50733165 3.64538721] [-0.20751914 0.97822111 0.004389 0.44896271] [ 0.49707698 0.10158318 0.86173971 0.45236987] [ 0. 0. 0. 1. ]] SLAMing on 198.64800114499997 meters Centerline goodness [0,1] 0.6014998531770233 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.45 [[ 0.84242854 0.181243 -0.50741022 3.64598403] [-0.20761973 0.9781983 0.0047039 0.44800253] [ 0.49720036 0.10138567 0.86169179 0.45215223] [ 0. 0. 0. 1. ]] SLAMing on 198.67800114499997 meters Centerline goodness [0,1] 0.5960205275952102 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.45 [[ 0.84236611 0.18163482 -0.50737376 3.64639392] [-0.20778872 0.97815996 0.00519091 0.44615578] [ 0.49723554 0.1010539 0.86171046 0.45161508] [ 0. 0. 0. 1. ]] SLAMing on 198.70800114499997 meters Centerline goodness [0,1] 0.6165134728183923 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.45 [[ 0.84233208 0.18154811 -0.50746129 3.64621499] [-0.20775486 0.97816765 0.00509578 0.44618972] [ 0.49730734 0.10113521 0.86165949 0.45191479] [ 0. 0. 0. 1. ]] SLAMing on 198.73800114499997 meters Centerline goodness [0,1] 0.597825354390852 Centerline is valid? [False, False] Translation: X:3.65, Y:0.45, Z:0.45 [[ 0.84232737 0.18135239 -0.50753907 3.64606666] [-0.20765904 0.97818906 0.00488637 0.4468371 ] [ 0.49735532 0.10127916 0.86161489 0.45224857] [ 0. 0. 0. 1. ]] SLAMing on 198.76800114499997 meters Centerline goodness [0,1] 0.6369219003059204 Centerline is valid? [False, False] Translation: X:3.63, Y:0.45, Z:0.44 [[ 8.43363350e-01 1.83027919e-01 -5.05211877e-01 3.62520052e+00] [-2.10880439e-01 9.77509599e-01 2.10350218e-03 4.53971095e-01] [ 4.94234459e-01 1.04765286e-01 8.62992778e-01 4.40653252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.79800114499997 meters Centerline goodness [0,1] 0.631776330563665 Centerline is valid? [False, False] Translation: X:3.62, Y:0.45, Z:0.44 [[ 8.43419787e-01 1.82804948e-01 -5.05198391e-01 3.62441547e+00] [-2.10739575e-01 9.77540404e-01 1.89488916e-03 4.54112263e-01] [ 4.94198234e-01 1.04867107e-01 8.63001156e-01 4.40953910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.82800114499997 meters Centerline goodness [0,1] 0.6419902640375081 Centerline is valid? [False, False] Translation: X:3.62, Y:0.45, Z:0.44 [[ 8.43419099e-01 1.82800637e-01 -5.05201098e-01 3.62411552e+00] [-2.10734677e-01 9.77541459e-01 1.89538381e-03 4.53514021e-01] [ 4.94201496e-01 1.04864787e-01 8.62999570e-01 4.40990123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.85800114499997 meters Centerline goodness [0,1] 0.6356697049975304 Centerline is valid? [False, False] Translation: X:3.62, Y:0.45, Z:0.44 [[ 8.43452352e-01 1.82801146e-01 -5.05145395e-01 3.62376197e+00] [-2.10705955e-01 9.77547577e-01 1.93287664e-03 4.52842196e-01] [ 4.94156989e-01 1.04806853e-01 8.63032093e-01 4.40900611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.88800114499998 meters Centerline goodness [0,1] 0.640314875866245 Centerline is valid? [False, False] Translation: X:3.62, Y:0.45, Z:0.44 [[ 8.43486853e-01 1.82721388e-01 -5.05116644e-01 3.62349522e+00] [-2.10623171e-01 9.77565464e-01 1.90894962e-03 4.52396239e-01] [ 4.94133392e-01 1.04779095e-01 8.63048974e-01 4.40841669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.91800114499998 meters Centerline goodness [0,1] 0.6066708480802832 Centerline is valid? [False, False] Translation: X:3.62, Y:0.45, Z:0.44 [[ 8.43517257e-01 1.82855025e-01 -5.05017501e-01 3.62331500e+00] [-2.10623902e-01 9.77564797e-01 2.15386515e-03 4.51444419e-01] [ 4.94081177e-01 1.04551934e-01 8.63106415e-01 4.40539441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.94800114499998 meters Centerline goodness [0,1] 0.6173293289703707 Centerline is valid? [False, False] Translation: X:3.62, Y:0.45, Z:0.44 [[ 8.43801692e-01 1.82625976e-01 -5.04625066e-01 3.62214796e+00] [-2.10395626e-01 9.77614295e-01 1.99272682e-03 4.51687941e-01] [ 4.93692602e-01 1.04489440e-01 8.63336303e-01 4.40140949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.97800114499998 meters Centerline goodness [0,1] 0.6286539883072374 Centerline is valid? [False, False] Translation: X:3.60, Y:0.46, Z:0.43 [[ 8.43946718e-01 1.84233907e-01 -5.03797385e-01 3.60193269e+00] [-2.13117112e-01 9.77026620e-01 2.81748581e-04 4.57749694e-01] [ 4.92275364e-01 1.07130063e-01 8.63821808e-01 4.28068986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.00800114499998 meters Centerline goodness [0,1] 0.5998743154681749 Centerline is valid? [False, False] Translation: X:3.58, Y:0.46, Z:0.41 [[ 8.44825611e-01 1.85946007e-01 -5.01690910e-01 3.57923493e+00] [-2.14889957e-01 9.76638261e-01 1.14504613e-04 4.64630502e-01] [ 4.89991830e-01 1.07711602e-01 8.65046945e-01 4.12527760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.03800114499998 meters Centerline goodness [0,1] 0.5998743154681749 Centerline is valid? [False, False] Translation: X:3.58, Y:0.46, Z:0.41 [[ 8.44825611e-01 1.85946007e-01 -5.01690910e-01 3.57923493e+00] [-2.14889957e-01 9.76638261e-01 1.14504613e-04 4.64630502e-01] [ 4.89991830e-01 1.07711602e-01 8.65046945e-01 4.12527760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.06800114499998 meters Centerline goodness [0,1] 0.6184888251892328 Centerline is valid? [False, False] Translation: X:3.58, Y:0.46, Z:0.41 [[ 8.44943176e-01 1.85996038e-01 -5.01474329e-01 3.57814792e+00] [-2.14705454e-01 9.76678724e-01 4.87493915e-04 4.62164181e-01] [ 4.89869980e-01 1.07257369e-01 8.65172387e-01 4.11947421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.09800114499996 meters Centerline goodness [0,1] 0.6154928948074001 Centerline is valid? [False, False] Translation: X:3.56, Y:0.47, Z:0.40 [[ 8.45172021e-01 1.86937914e-01 -5.00737926e-01 3.55612214e+00] [-2.16131276e-01 9.76364268e-01 -2.96777686e-04 4.68168477e-01] [ 4.88847139e-01 1.08475955e-01 8.65598892e-01 3.97845812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.12800114499996 meters Centerline goodness [0,1] 0.61548576905075 Centerline is valid? [False, False] Translation: X:3.54, Y:0.47, Z:0.38 [[ 8.45228344e-01 1.88145974e-01 -5.00190104e-01 3.53505078e+00] [-2.18098764e-01 9.75925621e-01 -1.45300852e-03 4.73984092e-01] [ 4.87874960e-01 1.10318967e-01 8.65914401e-01 3.84708557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.15800114499996 meters Centerline goodness [0,1] 0.6140897062420778 Centerline is valid? [False, False] Translation: X:3.53, Y:0.47, Z:0.38 [[ 8.45260665e-01 1.88095239e-01 -5.00154565e-01 3.53479266e+00] [-2.17977779e-01 9.75952797e-01 -1.35151902e-03 4.73336735e-01] [ 4.87873032e-01 1.10164967e-01 8.65935093e-01 3.84560275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.18800114499996 meters Centerline goodness [0,1] 0.6265293842348064 Centerline is valid? [False, False] Translation: X:3.51, Y:0.48, Z:0.37 [[ 8.45848269e-01 1.90522006e-01 -4.98238970e-01 3.51213828e+00] [-2.19832796e-01 9.75537551e-01 -1.68231551e-04 4.79633217e-01] [ 4.86018773e-01 1.09671564e-01 8.67039734e-01 3.68243557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.21800114499996 meters Centerline goodness [0,1] 0.6176987215119512 Centerline is valid? [False, False] Translation: X:3.51, Y:0.48, Z:0.37 [[ 8.45658882e-01 1.91056222e-01 -4.98355872e-01 3.51273267e+00] [-2.20122495e-01 9.75472137e-01 4.44417533e-04 4.78177036e-01] [ 4.86217176e-01 1.09323512e-01 8.66972449e-01 3.68100625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.24800114499996 meters Centerline goodness [0,1] 0.6285720649486602 Centerline is valid? [False, False] Translation: X:3.49, Y:0.49, Z:0.35 [[ 8.45807655e-01 1.93130229e-01 -4.97302851e-01 3.49065527e+00] [-2.21942172e-01 9.75059101e-01 1.19243233e-03 4.85370847e-01] [ 4.85129966e-01 1.09363907e-01 8.67576194e-01 3.52738606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.27800114499996 meters Centerline goodness [0,1] 0.629887710265856 Centerline is valid? [False, False] Translation: X:3.49, Y:0.48, Z:0.35 [[ 8.45703856e-01 1.93483372e-01 -4.97342109e-01 3.49096056e+00] [-2.22202434e-01 9.74999452e-01 1.46524213e-03 4.84729927e-01] [ 4.85191784e-01 1.09271466e-01 8.67553272e-01 3.52708881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.30800114499996 meters Centerline goodness [0,1] 0.6157996403117298 Centerline is valid? [False, False] Translation: X:3.47, Y:0.49, Z:0.34 [[ 8.45646953e-01 1.95532644e-01 -4.96636905e-01 3.46960889e+00] [-2.24758311e-01 9.74414096e-01 9.33445071e-04 4.90907400e-01] [ 4.84112520e-01 1.10833907e-01 8.67957898e-01 3.39666324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.33800114499996 meters Centerline goodness [0,1] 0.6446752324523445 Centerline is valid? [False, False] Translation: X:3.47, Y:0.49, Z:0.34 [[ 8.45640693e-01 1.95471068e-01 -4.96671802e-01 3.46933729e+00] [-2.24700854e-01 9.74427361e-01 9.18454477e-04 4.90542216e-01] [ 4.84150125e-01 1.10825896e-01 8.67937945e-01 3.39774175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.36800114499997 meters Centerline goodness [0,1] 0.6541605579990226 Centerline is valid? [False, False] Translation: X:3.47, Y:0.49, Z:0.34 [[ 8.45554741e-01 1.95495426e-01 -4.96808533e-01 3.46907297e+00] [-2.24707150e-01 9.74425836e-01 9.93538050e-04 4.89947546e-01] [ 4.84297302e-01 1.10796339e-01 8.67859605e-01 3.40122690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.39800114499997 meters Centerline goodness [0,1] 0.6434726745087614 Centerline is valid? [False, False] Translation: X:3.47, Y:0.49, Z:0.34 [[ 0.84519852 0.19967356 -0.49575189 3.4665834 ] [-0.22744089 0.97378172 0.00444934 0.48871713] [ 0.48364254 0.10899367 0.8684528 0.33969854] [ 0. 0. 0. 1. ]] SLAMing on 199.42800114499997 meters Centerline goodness [0,1] 0.6449360494757609 Centerline is valid? [False, False] Translation: X:3.47, Y:0.49, Z:0.34 [[ 0.84518437 0.19955331 -0.49582441 3.4662222 ] [-0.22734192 0.97380507 0.0043971 0.48862443] [ 0.48371378 0.10900532 0.86841166 0.33995767] [ 0. 0. 0. 1. ]] SLAMing on 199.45800114499997 meters Centerline goodness [0,1] 0.6438356164383562 Centerline is valid? [False, False] Translation: X:3.47, Y:0.49, Z:0.34 [[ 0.84513468 0.19957861 -0.49589894 3.46612485] [-0.22734587 0.97380385 0.00446168 0.48799979] [ 0.48379875 0.10896986 0.86836878 0.34006851] [ 0. 0. 0. 1. ]] SLAMing on 199.48800114499997 meters Centerline goodness [0,1] 0.6469938839946126 Centerline is valid? [False, False] Translation: X:3.47, Y:0.49, Z:0.34 [[ 0.84512133 0.19968742 -0.49587788 3.46601249] [-0.22736007 0.97379963 0.00465576 0.48708968] [ 0.48381539 0.10880815 0.86837979 0.33991379] [ 0. 0. 0. 1. ]] SLAMing on 199.51800114499997 meters Centerline goodness [0,1] 0.638202396215571 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:0.32 [[ 0.84556851 0.20134556 -0.49444299 3.44272486] [-0.22858291 0.9735088 0.00551967 0.49344769] [ 0.48245596 0.10835396 0.86919254 0.32378857] [ 0. 0. 0. 1. ]] SLAMing on 199.54800114499997 meters Centerline goodness [0,1] 0.6400830187012873 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:0.32 [[ 0.84552547 0.20143026 -0.49448208 3.44267117] [-0.22857541 0.97350941 0.00571896 0.49244995] [ 0.48253493 0.10819092 0.86916901 0.32370459] [ 0. 0. 0. 1. ]] SLAMing on 199.57800114499997 meters Centerline goodness [0,1] 0.6425163456441068 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:0.32 [[ 0.84551288 0.20138202 -0.49452326 3.44250929] [-0.22850111 0.97352659 0.00576337 0.49182224] [ 0.48259218 0.10812611 0.86914529 0.32372666] [ 0. 0. 0. 1. ]] SLAMing on 199.60800114499997 meters Centerline goodness [0,1] 0.6474498668251558 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:0.32 [[ 0.84545474 0.20137653 -0.49462489 3.44252005] [-0.22849452 0.97352798 0.00579007 0.49158743] [ 0.48269715 0.10812383 0.86908728 0.32390581] [ 0. 0. 0. 1. ]] SLAMing on 199.63800114499998 meters Centerline goodness [0,1] 0.6561302260011455 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:0.32 [[ 0.84523405 0.20174611 -0.4948514 3.44360704] [-0.22882306 0.9734494 0.0060232 0.49201703] [ 0.48292795 0.10814239 0.86895674 0.32421506] [ 0. 0. 0. 1. ]] SLAMing on 199.66800114499998 meters Centerline goodness [0,1] 0.6530697694918242 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:0.32 [[ 0.84510699 0.20188889 -0.49501016 3.44428701] [-0.22895726 0.97341725 0.00611855 0.49191292] [ 0.48308669 0.10816534 0.86886564 0.32431718] [ 0. 0. 0. 1. ]] SLAMing on 199.69800114499998 meters Centerline goodness [0,1] 0.653534106442083 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:0.32 [[ 0.8449886 0.20208978 -0.49513028 3.44494889] [-0.22910189 0.97338202 0.00630556 0.49157291] [ 0.4832252 0.10810715 0.86879586 0.3243028 ] [ 0. 0. 0. 1. ]] SLAMing on 199.72800114499998 meters Centerline goodness [0,1] 0.6425000550575902 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:0.32 [[ 0.84495244 0.20202184 -0.49521971 3.44496151] [-0.22908345 0.97338691 0.00622107 0.49152627] [ 0.48329717 0.10819013 0.8687455 0.32446154] [ 0. 0. 0. 1. ]] SLAMing on 199.75800114499998 meters Centerline goodness [0,1] 0.6583193721894013 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:0.33 [[ 0.84495265 0.20187333 -0.49527991 3.44458289] [-0.22908292 0.97338885 0.00593003 0.49240421] [ 0.48329705 0.10844958 0.86871321 0.32502073] [ 0. 0. 0. 1. ]] SLAMing on 199.78800114499998 meters Centerline goodness [0,1] 0.6577909052835762 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:0.33 [[ 0.84494382 0.20152991 -0.49543479 3.44427738] [-0.22894888 0.97342291 0.0055 0.49377256] [ 0.48337598 0.10878205 0.86862772 0.325738 ] [ 0. 0. 0. 1. ]] SLAMing on 199.81800114499998 meters Centerline goodness [0,1] 0.6479059612288556 Centerline is valid? [False, False] Translation: X:3.44, Y:0.50, Z:0.33 [[ 0.84489943 0.20131391 -0.49559829 3.44418246] [-0.2289119 0.97343346 0.00516176 0.49500594] [ 0.48347109 0.10908718 0.86853652 0.32637267] [ 0. 0. 0. 1. ]] SLAMing on 199.84800114499996 meters Centerline goodness [0,1] 0.6572830121972777 Centerline is valid? [False, False] Translation: X:3.44, Y:0.50, Z:0.33 [[ 0.84487307 0.20116224 -0.4957048 3.44400138] [-0.22888879 0.97344016 0.00491709 0.49565029] [ 0.48352809 0.10930696 0.86847716 0.32681625] [ 0. 0. 0. 1. ]] SLAMing on 199.87800114499996 meters Centerline goodness [0,1] 0.6550925415278728 Centerline is valid? [False, False] Translation: X:3.44, Y:0.50, Z:0.33 [[ 0.8448671 0.20112353 -0.49573068 3.44396148] [-0.22891249 0.97343517 0.00480118 0.4955548 ] [ 0.4835273 0.10942258 0.86846304 0.32690217] [ 0. 0. 0. 1. ]] SLAMing on 199.90800114499996 meters Centerline goodness [0,1] 0.6531921931855773 Centerline is valid? [False, False] Translation: X:3.44, Y:0.50, Z:0.33 [[ 0.84481919 0.20101908 -0.49585468 3.44397995] [-0.2289528 0.97342692 0.00454502 0.49601552] [ 0.48359192 0.1096876 0.86839362 0.32729433] [ 0. 0. 0. 1. ]] SLAMing on 199.93800114499996 meters Centerline goodness [0,1] 0.6529337776110511 Centerline is valid? [False, False] Translation: X:3.44, Y:0.50, Z:0.33 [[ 0.84479356 0.20072684 -0.49601671 3.44401959] [-0.2288198 0.97345964 0.00422159 0.49703053] [ 0.48369963 0.10993208 0.86830271 0.32776452] [ 0. 0. 0. 1. ]] SLAMing on 199.96800114499996 meters Centerline goodness [0,1] 0.6398309771907701 Centerline is valid? [False, False] Translation: X:3.44, Y:0.50, Z:0.33 [[ 0.8448612 0.20027217 -0.49608529 3.44380451] [-0.22854702 0.9735255 0.00378879 0.49798433] [ 0.48371047 0.11017781 0.86826553 0.32805765] [ 0. 0. 0. 1. ]] SLAMing on 199.99800114499996 meters Centerline goodness [0,1] 0.6388385557077827 Centerline is valid? [False, False] Translation: X:3.44, Y:0.50, Z:0.33 [[ 0.84502277 0.19979281 -0.49600337 3.44349615] [-0.22809701 0.97363181 0.00358358 0.49754749] [ 0.48364063 0.11010868 0.8683132 0.32767089] [ 0. 0. 0. 1. ]] SLAMing on 200.02800114499996 meters Centerline goodness [0,1] 0.6373885800017651 Centerline is valid? [False, False] Translation: X:3.44, Y:0.50, Z:0.33 [[ 0.84515488 0.19945805 -0.49591301 3.44296648] [-0.22776329 0.97371036 0.00346656 0.49689234] [ 0.48356707 0.110021 0.86836529 0.32741376] [ 0. 0. 0. 1. ]] SLAMing on 200.05800114499996 meters Centerline goodness [0,1] 0.635427008184967 Centerline is valid? [False, False] Translation: X:3.44, Y:0.50, Z:0.33 [[ 8.45322486e-01 1.99017020e-01 -4.95804518e-01 3.44249964e+00] [-2.27335070e-01 9.73811024e-01 3.29469013e-03 4.96472629e-01] [ 4.83475605e-01 1.09928679e-01 8.68427904e-01 3.27064066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.08800114499996 meters Centerline goodness [0,1] 0.6265740434447018 Centerline is valid? [False, False] Translation: X:3.44, Y:0.50, Z:0.33 [[ 8.45590483e-01 1.98095081e-01 -4.95716728e-01 3.44163733e+00] [-2.26490457e-01 9.74009123e-01 2.88116360e-03 4.96669294e-01] [ 4.83403360e-01 1.09838824e-01 8.68479490e-01 3.26818192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.11800114499997 meters Centerline goodness [0,1] 0.6201303723345486 Centerline is valid? [False, False] Translation: X:3.44, Y:0.50, Z:0.33 [[ 8.45742140e-01 1.97499897e-01 -4.95695495e-01 3.44090567e+00] [-2.26011206e-01 9.74121481e-01 2.50494894e-03 4.96986576e-01] [ 4.83362357e-01 1.09914196e-01 8.68492776e-01 3.26934731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.14800114499997 meters Centerline goodness [0,1] 0.6154118297401879 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:0.31 [[ 8.46392424e-01 1.97945066e-01 -4.94406327e-01 3.41886108e+00] [-2.27449642e-01 9.73789718e-01 4.95980737e-04 5.04654347e-01] [ 4.81545974e-01 1.12032748e-01 8.69230774e-01 3.13931895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.17800114499997 meters Centerline goodness [0,1] 0.6100608070757325 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:0.31 [[ 8.46486297e-01 1.97598120e-01 -4.94384397e-01 3.41824051e+00] [-2.27124167e-01 9.73865743e-01 3.57100790e-04 5.04250172e-01] [ 4.81534591e-01 1.11984363e-01 8.69243315e-01 3.13917044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.20800114499997 meters Centerline goodness [0,1] 0.6354820936639118 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:0.31 [[ 8.46798888e-01 1.96730115e-01 -4.94195209e-01 3.41657343e+00] [-2.26334976e-01 9.74049523e-01 -7.14938897e-05 5.03542100e-01] [ 4.81356543e-01 1.11914202e-01 8.69350959e-01 3.13648782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.23800114499997 meters Centerline goodness [0,1] 0.5988795271075036 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:0.31 [[ 8.46893802e-01 1.96450171e-01 -4.94143925e-01 3.41609906e+00] [-2.26102544e-01 9.74103474e-01 -2.46990478e-04 5.03452047e-01] [ 4.81298792e-01 1.11936373e-01 8.69380078e-01 3.13647680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.26800114499997 meters Centerline goodness [0,1] 0.6313164746899687 Centerline is valid? [False, False] Translation: X:3.42, Y:0.50, Z:0.31 [[ 8.46873050e-01 1.96290312e-01 -4.94243008e-01 3.41610813e+00] [-2.25992236e-01 9.74129039e-01 -3.53350347e-04 5.03637287e-01] [ 4.81387108e-01 1.11994325e-01 8.69323716e-01 3.13859638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.29800114499997 meters Centerline goodness [0,1] 0.5901048347856859 Centerline is valid? [False, False] Translation: X:3.41, Y:0.50, Z:0.31 [[ 8.46678912e-01 2.00128996e-01 -4.93034689e-01 3.41331912e+00] [-2.28461430e-01 9.73548812e-01 2.84335201e-03 5.02973298e-01] [ 4.80562373e-01 1.10232004e-01 8.70005006e-01 3.13173655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.32800114499997 meters Centerline goodness [0,1] 0.6221554504882683 Centerline is valid? [False, False] Translation: X:3.41, Y:0.50, Z:0.31 [[ 0.84635219 0.2039657 -0.49202231 3.41030986] [-0.2310508 0.97292392 0.00587933 0.50305913] [ 0.47989946 0.10870616 0.87056274 0.31326719] [ 0. 0. 0. 1. ]] SLAMing on 200.35800114499997 meters Centerline goodness [0,1] 0.6299615877080667 Centerline is valid? [False, False] Translation: X:3.41, Y:0.50, Z:0.31 [[ 0.84634895 0.20399117 -0.49201733 3.41001508] [-0.23109825 0.97291286 0.00584505 0.50278095] [ 0.47988232 0.1087574 0.87056578 0.31337539] [ 0. 0. 0. 1. ]] SLAMing on 200.38800114499998 meters Centerline goodness [0,1] 0.6201550387596899 Centerline is valid? [False, False] Translation: X:3.39, Y:0.51, Z:0.30 [[ 8.46495443e-01 2.04931665e-01 -4.91374070e-01 3.39208310e+00] [-2.34458716e-01 9.72124876e-01 1.52823437e-03 5.08304125e-01] [ 4.77990141e-01 1.13913290e-01 8.70947293e-01 3.04085954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.41800114499998 meters Centerline goodness [0,1] 0.6394031561315349 Centerline is valid? [False, False] Translation: X:3.39, Y:0.51, Z:0.30 [[ 8.46948407e-01 2.05728209e-01 -4.90259421e-01 3.38950353e+00] [-2.35082169e-01 9.71973918e-01 1.75414414e-03 5.08103894e-01] [ 4.76880248e-01 1.13765578e-01 8.71574795e-01 3.03265100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.44800114499998 meters Centerline goodness [0,1] 0.6354226440079453 Centerline is valid? [False, False] Translation: X:3.39, Y:0.51, Z:0.30 [[ 0.84665537 0.20980383 -0.48903685 3.3865586 ] [-0.23781865 0.97129685 0.00497173 0.50753554] [ 0.47604304 0.11209274 0.87224896 0.30292865] [ 0. 0. 0. 1. ]] SLAMing on 200.47800114499998 meters Centerline goodness [0,1] 0.6328133618692496 Centerline is valid? [False, False] Translation: X:3.39, Y:0.51, Z:0.30 [[ 0.8466378 0.21022841 -0.4888849 3.38572533] [-0.23817938 0.97120746 0.00516222 0.50773105] [ 0.47589391 0.11207177 0.87233302 0.30322719] [ 0. 0. 0. 1. ]] SLAMing on 200.50800114499998 meters Centerline goodness [0,1] 0.6220110429177941 Centerline is valid? [False, False] Translation: X:3.39, Y:0.51, Z:0.30 [[ 0.84663793 0.21026143 -0.48887047 3.38541461] [-0.23819543 0.97120333 0.00519834 0.50731222] [ 0.47588564 0.1120456 0.8723409 0.30329338] [ 0. 0. 0. 1. ]] SLAMing on 200.53800114499998 meters Centerline goodness [0,1] 0.6296508048201249 Centerline is valid? [False, False] Translation: X:3.36, Y:0.51, Z:0.29 [[ 0.84711389 0.21195969 -0.48731011 3.36222598] [-0.23965639 0.97084122 0.00566979 0.51355305] [ 0.47430251 0.11198402 0.87321057 0.28764844] [ 0. 0. 0. 1. ]] SLAMing on 200.56800114499998 meters Centerline goodness [0,1] 0.6322146474056862 Centerline is valid? [False, False] Translation: X:3.36, Y:0.51, Z:0.29 [[ 0.84714147 0.21195429 -0.48726452 3.36180793] [-0.2396225 0.97084935 0.00570846 0.51293378] [ 0.47427037 0.11192367 0.87323577 0.28761158] [ 0. 0. 0. 1. ]] SLAMing on 200.59800114499996 meters Centerline goodness [0,1] 0.6283805978320376 Centerline is valid? [False, False] Translation: X:3.36, Y:0.51, Z:0.29 [[ 0.84708688 0.21206701 -0.48731037 3.36159937] [-0.23968205 0.97083382 0.00584905 0.51202913] [ 0.47433777 0.1118449 0.87320925 0.28767789] [ 0. 0. 0. 1. ]] SLAMing on 200.62800114499996 meters Centerline goodness [0,1] 0.627582576654823 Centerline is valid? [False, False] Translation: X:3.34, Y:0.52, Z:0.28 [[ 0.8467213 0.2137596 -0.48720619 3.3410931 ] [-0.24210199 0.97023825 0.00493596 0.51832834] [ 0.47376119 0.11377421 0.87327302 0.27538117] [ 0. 0. 0. 1. ]] SLAMing on 200.65800114499996 meters Centerline goodness [0,1] 0.6265076064353727 Centerline is valid? [False, False] Translation: X:3.34, Y:0.52, Z:0.28 [[ 0.84665445 0.21413357 -0.48715813 3.34109161] [-0.24227577 0.97019244 0.00539232 0.51696119] [ 0.47379181 0.11346118 0.87329713 0.27509222] [ 0. 0. 0. 1. ]] SLAMing on 200.68800114499996 meters Centerline goodness [0,1] 0.6250957560900874 Centerline is valid? [False, False] Translation: X:3.32, Y:0.52, Z:0.27 [[ 0.84476143 0.214669 -0.49019929 3.32281081] [-0.24442914 0.96966116 0.00341062 0.52386796] [ 0.47605937 0.11693783 0.87160371 0.26643632] [ 0. 0. 0. 1. ]] SLAMing on 200.71800114499996 meters Centerline goodness [0,1] 0.6537063794386795 Centerline is valid? [False, False] Translation: X:3.32, Y:0.52, Z:0.27 [[ 0.84462435 0.21501287 -0.49028478 3.32348743] [-0.24465378 0.96960327 0.00374607 0.52325342] [ 0.47618718 0.116786 0.87155424 0.26635873] [ 0. 0. 0. 1. ]] SLAMing on 200.74800114499996 meters Centerline goodness [0,1] 0.6594383298392732 Centerline is valid? [False, False] Translation: X:3.32, Y:0.52, Z:0.27 [[ 0.84451785 0.21514265 -0.49041129 3.3236062 ] [-0.2446984 0.96959111 0.00397266 0.52238365] [ 0.47635311 0.11664787 0.87148206 0.26644665] [ 0. 0. 0. 1. ]] SLAMing on 200.77800114499996 meters Centerline goodness [0,1] 0.657522278525249 Centerline is valid? [False, False] Translation: X:3.32, Y:0.52, Z:0.27 [[ 0.84458299 0.21513587 -0.49030208 3.32311648] [-0.24462432 0.96960942 0.00406325 0.52156743] [ 0.47627567 0.11650806 0.87154309 0.26623186] [ 0. 0. 0. 1. ]] SLAMing on 200.80800114499996 meters Centerline goodness [0,1] 0.6493654266958424 Centerline is valid? [False, False] Translation: X:3.30, Y:0.53, Z:0.25 [[ 0.84458781 0.21649484 -0.48969522 3.30063506] [-0.24609876 0.9692363 0.00404874 0.52895918] [ 0.47550692 0.11709387 0.87188428 0.25203241] [ 0. 0. 0. 1. ]] SLAMing on 200.83800114499996 meters Centerline goodness [0,1] 0.6595679818831113 Centerline is valid? [False, False] Translation: X:3.30, Y:0.53, Z:0.25 [[ 0.84438136 0.21694758 -0.48985085 3.30137288] [-0.24658198 0.96911301 0.00415942 0.5294616 ] [ 0.47562321 0.11727626 0.87179633 0.25244111] [ 0. 0. 0. 1. ]] SLAMing on 200.86800114499997 meters Centerline goodness [0,1] 0.6640406162464986 Centerline is valid? [False, False] Translation: X:3.30, Y:0.53, Z:0.25 [[ 0.84387391 0.22141825 -0.48872362 3.29951021] [-0.24971617 0.96828999 0.0075055 0.52941148] [ 0.47488805 0.1157085 0.87240638 0.25224823] [ 0. 0. 0. 1. ]] SLAMing on 200.89800114499997 meters Centerline goodness [0,1] 0.6511612649258627 Centerline is valid? [False, False] Translation: X:3.30, Y:0.53, Z:0.25 [[ 0.84330678 0.22589466 -0.48765283 3.29772007] [-0.25286352 0.96744095 0.01086474 0.52914308] [ 0.4742296 0.11414731 0.87297003 0.2521267 ] [ 0. 0. 0. 1. ]] SLAMing on 200.92800114499997 meters Centerline goodness [0,1] 0.6511612649258627 Centerline is valid? [False, False] Translation: X:3.30, Y:0.53, Z:0.25 [[ 0.84330678 0.22589466 -0.48765283 3.29772007] [-0.25286352 0.96744095 0.01086474 0.52914308] [ 0.4742296 0.11414731 0.87297003 0.2521267 ] [ 0. 0. 0. 1. ]] SLAMing on 200.95800114499997 meters Centerline goodness [0,1] 0.6625675586967462 Centerline is valid? [False, False] Translation: X:3.30, Y:0.53, Z:0.25 [[ 0.84328178 0.22634582 -0.48748683 3.29721458] [-0.25333956 0.96731606 0.0108953 0.5300172 ] [ 0.47401994 0.11431189 0.87306236 0.25245909] [ 0. 0. 0. 1. ]] SLAMing on 200.98800114499997 meters Centerline goodness [0,1] 0.6640161223193358 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:0.24 [[ 0.84391073 0.23036541 -0.48450641 3.27638901] [-0.25826253 0.96602834 0.00947148 0.53784419] [ 0.47022883 0.11713676 0.87473643 0.24098745] [ 0. 0. 0. 1. ]] SLAMing on 201.01800114499997 meters Centerline goodness [0,1] 0.6642975857242828 Centerline is valid? [False, False] Translation: X:3.28, Y:0.54, Z:0.24 [[ 0.843888 0.2302606 -0.48459581 3.27601938] [-0.25825494 0.96603215 0.00928796 0.53798364] [ 0.47027378 0.11731126 0.87468888 0.24137137] [ 0. 0. 0. 1. ]] SLAMing on 201.04800114499997 meters Centerline goodness [0,1] 0.6606610555847799 Centerline is valid? [False, False] Translation: X:3.25, Y:0.55, Z:0.23 [[ 0.84484788 0.23175251 -0.48220621 3.25060089] [-0.25967835 0.96565199 0.00913212 0.54693411] [ 0.46775978 0.11750327 0.87601014 0.22630627] [ 0. 0. 0. 1. ]] SLAMing on 201.07800114499997 meters Centerline goodness [0,1] 0.6565168956554028 Centerline is valid? [False, False] Translation: X:3.25, Y:0.55, Z:0.23 [[ 0.84489058 0.23147098 -0.48226663 3.24987704] [-0.25946702 0.96571057 0.00894264 0.5468861 ] [ 0.46779994 0.11757673 0.87597884 0.22665697] [ 0. 0. 0. 1. ]] SLAMing on 201.10800114499997 meters Centerline goodness [0,1] 0.6546255698798071 Centerline is valid? [False, False] Translation: X:3.25, Y:0.55, Z:0.23 [[ 0.84505516 0.23100498 -0.48220169 3.24851801] [-0.2590979 0.96581262 0.00861778 0.54696264] [ 0.46770722 0.11765494 0.87601785 0.22696969] [ 0. 0. 0. 1. ]] SLAMing on 201.13800114499998 meters Centerline goodness [0,1] 0.649007490227764 Centerline is valid? [False, False] Translation: X:3.22, Y:0.56, Z:0.21 [[ 0.84668753 0.23149271 -0.4790943 3.22160352] [-0.25926864 0.96576827 0.0084509 0.55640294] [ 0.4646504 0.11705885 0.87772275 0.21059567] [ 0. 0. 0. 1. ]] SLAMing on 201.16800114499998 meters Centerline goodness [0,1] 0.6413220626263065 Centerline is valid? [False, False] Translation: X:3.22, Y:0.55, Z:0.21 [[ 0.84706834 0.2305995 -0.47885185 3.21880951] [-0.25830111 0.96602893 0.00828461 0.55438287] [ 0.46449517 0.11667033 0.87785664 0.21036926] [ 0. 0. 0. 1. ]] SLAMing on 201.19800114499998 meters Centerline goodness [0,1] 0.6357298001737619 Centerline is valid? [False, False] Translation: X:3.19, Y:0.56, Z:0.19 [[ 0.84805071 0.23041207 -0.47720046 3.19473587] [-0.25799182 0.96611404 0.00799285 0.56196701] [ 0.46287171 0.11633547 0.87875812 0.19425747] [ 0. 0. 0. 1. ]] SLAMing on 201.22800114499998 meters Centerline goodness [0,1] 0.6318881422068068 Centerline is valid? [False, False] Translation: X:3.17, Y:0.57, Z:0.18 [[ 0.84815866 0.22987237 -0.47726888 3.17231504] [-0.25781849 0.96616673 0.00717426 0.56871383] [ 0.46277048 0.11696384 0.87872803 0.18007581] [ 0. 0. 0. 1. ]] SLAMing on 201.25800114499998 meters Centerline goodness [0,1] 0.6255777787377425 Centerline is valid? [False, False] Translation: X:3.15, Y:0.57, Z:0.17 [[ 0.84847353 0.22853262 -0.47735261 3.15035682] [-0.2572404 0.96633236 0.00539811 0.57378318] [ 0.46251492 0.11821422 0.87869525 0.16666535] [ 0. 0. 0. 1. ]] SLAMing on 201.28800114499998 meters Centerline goodness [0,1] 0.63867920458957 Centerline is valid? [False, False] Translation: X:3.13, Y:0.58, Z:0.15 [[ 0.84898783 0.229492 -0.47597592 3.12790763] [-0.25849235 0.96600191 0.0046911 0.58107183] [ 0.46087022 0.11905345 0.8794458 0.15304951] [ 0. 0. 0. 1. ]] SLAMing on 201.31800114499998 meters Centerline goodness [0,1] 0.6186287192755497 Centerline is valid? [False, False] Translation: X:3.10, Y:0.59, Z:0.14 [[ 0.84938976 0.23019166 -0.47491983 3.10465189] [-0.25896991 0.96587251 0.00498906 0.58945948] [ 0.45986044 0.11875228 0.88001492 0.13814234] [ 0. 0. 0. 1. ]] SLAMing on 201.34800114499996 meters Centerline goodness [0,1] 0.6123169681309216 Centerline is valid? [False, False] Translation: X:3.08, Y:0.60, Z:0.12 [[ 0.84953619 0.2294907 -0.47499714 3.0805745 ] [-0.25798341 0.9661344 0.00537397 0.59693352] [ 0.46014435 0.117976 0.87997093 0.12259424] [ 0. 0. 0. 1. ]] SLAMing on 201.37800114499996 meters Centerline goodness [0,1] 0.6637977407208177 Centerline is valid? [False, False] Translation: X:3.08, Y:0.60, Z:0.12 [[ 0.8495156 0.22961402 -0.47497436 3.08082732] [-0.25795066 0.96614129 0.00569816 0.59551662] [ 0.46020072 0.11767927 0.87998119 0.12213652] [ 0. 0. 0. 1. ]] SLAMing on 201.40800114499996 meters Centerline goodness [0,1] 0.6768807023584094 Centerline is valid? [False, False] Translation: X:3.08, Y:0.59, Z:0.12 [[ 0.84949159 0.22953253 -0.47505669 3.08088102] [-0.25782732 0.96617372 0.00578069 0.59476333] [ 0.46031415 0.11757194 0.87993621 0.12207721] [ 0. 0. 0. 1. ]] SLAMing on 201.43800114499996 meters Centerline goodness [0,1] 0.6712691141363959 Centerline is valid? [False, False] Translation: X:3.08, Y:0.59, Z:0.12 [[ 0.84946569 0.22945914 -0.47513844 3.08083102] [-0.25778114 0.96618632 0.00573316 0.59446142] [ 0.46038779 0.11761161 0.87989238 0.12222025] [ 0. 0. 0. 1. ]] SLAMing on 201.46800114499996 meters Centerline goodness [0,1] 0.6603461604535303 Centerline is valid? [False, False] Translation: X:3.08, Y:0.59, Z:0.12 [[ 0.84937762 0.22949076 -0.47528061 3.0808252 ] [-0.25784641 0.966169 0.0057185 0.5944891 ] [ 0.46051373 0.11769223 0.87981569 0.12258724] [ 0. 0. 0. 1. ]] SLAMing on 201.49800114499996 meters Centerline goodness [0,1] 0.6761356310971679 Centerline is valid? [False, False] Translation: X:3.08, Y:0.59, Z:0.12 [[ 0.84891043 0.23367244 -0.47407624 3.07823797] [-0.26071451 0.96537416 0.00898182 0.59429006] [ 0.45975975 0.11597379 0.88043799 0.1225171 ] [ 0. 0. 0. 1. ]] SLAMing on 201.52800114499996 meters Centerline goodness [0,1] 0.6815842181207331 Centerline is valid? [False, False] Translation: X:3.08, Y:0.60, Z:0.12 [[ 0.84889944 0.23344551 -0.47420769 3.07808278] [-0.26063976 0.96539721 0.00866855 0.5950254 ] [ 0.45982242 0.11623865 0.88037033 0.12300464] [ 0. 0. 0. 1. ]] SLAMing on 201.55800114499996 meters Centerline goodness [0,1] 0.6986032253189698 Centerline is valid? [False, False] Translation: X:3.08, Y:0.60, Z:0.12 [[ 0.8488129 0.2335385 -0.4743168 3.07802468] [-0.26084511 0.96534316 0.00850929 0.59532012] [ 0.45986573 0.11650042 0.88031311 0.12346984] [ 0. 0. 0. 1. ]] SLAMing on 201.58800114499996 meters Centerline goodness [0,1] 0.6817447843778931 Centerline is valid? [False, False] Translation: X:3.08, Y:0.60, Z:0.12 [[ 0.84875827 0.23338817 -0.47448853 3.07833842] [-0.26084464 0.96534569 0.00823248 0.59621207] [ 0.45996682 0.1167804 0.88022319 0.12387334] [ 0. 0. 0. 1. ]] SLAMing on 201.61800114499997 meters Centerline goodness [0,1] 0.6836434025163995 Centerline is valid? [False, False] Translation: X:3.08, Y:0.60, Z:0.12 [[ 0.84871867 0.23315754 -0.47467272 3.07838298] [-0.26082042 0.96535558 0.00783017 0.5975994 ] [ 0.46005362 0.11715872 0.88012755 0.12455988] [ 0. 0. 0. 1. ]] SLAMing on 201.64800114499997 meters Centerline goodness [0,1] 0.6623648037230145 Centerline is valid? [False, False] Translation: X:3.06, Y:0.61, Z:0.11 [[ 0.84884141 0.23532711 -0.47338083 3.05658217] [-0.26360574 0.96460625 0.00684129 0.60661361] [ 0.45823605 0.11897874 0.8808313 0.11281372] [ 0. 0. 0. 1. ]] SLAMing on 201.67800114499997 meters Centerline goodness [0,1] 0.6682673672423447 Centerline is valid? [False, False] Translation: X:3.05, Y:0.61, Z:0.11 [[ 0.848548 0.23837616 -0.47238025 3.05317083] [-0.26569601 0.96401304 0.00919155 0.60710863] [ 0.45757177 0.11771008 0.88134693 0.11323451] [ 0. 0. 0. 1. ]] SLAMing on 201.70800114499997 meters Centerline goodness [0,1] 0.658555001833754 Centerline is valid? [False, False] Translation: X:3.05, Y:0.61, Z:0.11 [[ 0.84868166 0.23796048 -0.47234972 3.0523176 ] [-0.26542837 0.96409053 0.00878851 0.60775205] [ 0.4574792 0.11791637 0.88136741 0.11353253] [ 0. 0. 0. 1. ]] SLAMing on 201.73800114499997 meters Centerline goodness [0,1] 0.693923870047338 Centerline is valid? [False, False] Translation: X:3.05, Y:0.61, Z:0.11 [[ 0.84878078 0.23751015 -0.47239827 3.05180523] [-0.26517033 0.96416574 0.00831432 0.60866483] [ 0.45744496 0.11820897 0.88134599 0.11396328] [ 0. 0. 0. 1. ]] SLAMing on 201.76800114499997 meters Centerline goodness [0,1] 0.6459686293123907 Centerline is valid? [False, False] Translation: X:3.05, Y:0.61, Z:0.11 [[ 0.84898936 0.23678953 -0.4723852 3.05085837] [-0.26464554 0.96431466 0.00774445 0.60934078] [ 0.45736178 0.11843968 0.88135818 0.11422365] [ 0. 0. 0. 1. ]] SLAMing on 201.79800114499997 meters Centerline goodness [0,1] 0.7008129378189052 Centerline is valid? [False, False] Translation: X:3.05, Y:0.61, Z:0.11 [[ 0.84910201 0.23642084 -0.47236741 3.05018418] [-0.26429836 0.96441101 0.00760127 0.60890768] [ 0.45735342 0.11839168 0.88136897 0.11422286] [ 0. 0. 0. 1. ]] SLAMing on 201.82800114499997 meters Centerline goodness [0,1] 0.6878961666163598 Centerline is valid? [False, False] Translation: X:3.05, Y:0.61, Z:0.11 [[ 0.84926442 0.23601426 -0.47227875 3.04937675] [-0.26388863 0.96452419 0.00747491 0.6081934 ] [ 0.45728846 0.11828081 0.88141756 0.1140584 ] [ 0. 0. 0. 1. ]] SLAMing on 201.85800114499997 meters Centerline goodness [0,1] 0.6262785039081846 Centerline is valid? [False, False] Translation: X:3.05, Y:0.61, Z:0.11 [[ 0.84946694 0.23561719 -0.47211276 3.04855206] [-0.26345419 0.96464357 0.00739438 0.6073991 ] [ 0.45716278 0.11809881 0.88150716 0.11367737] [ 0. 0. 0. 1. ]] SLAMing on 201.88800114499998 meters Centerline goodness [0,1] 0.6489427927444457 Centerline is valid? [False, False] Translation: X:3.05, Y:0.61, Z:0.11 [[ 0.84974385 0.23489735 -0.47197312 3.04731896] [-0.26266388 0.96485977 0.00730122 0.60626265] [ 0.45710291 0.11776613 0.8815827 0.11325384] [ 0. 0. 0. 1. ]] SLAMing on 201.91800114499998 meters Centerline goodness [0,1] 0.6133253120770041 Centerline is valid? [False, False] Translation: X:3.05, Y:0.61, Z:0.11 [[ 0.84982433 0.23471412 -0.47191937 3.0470039 ] [-0.26242021 0.96492567 0.00735423 0.60539233] [ 0.45709326 0.11759137 0.88161104 0.11299123] [ 0. 0. 0. 1. ]] SLAMing on 201.94800114499998 meters Centerline goodness [0,1] 0.6694266286278128 Centerline is valid? [False, False] Translation: X:3.05, Y:0.60, Z:0.11 [[ 0.84983125 0.23475794 -0.47188511 3.04717829] [-0.26229702 0.96495664 0.00767777 0.60376039] [ 0.45715109 0.11724925 0.88162662 0.11245148] [ 0. 0. 0. 1. ]] SLAMing on 201.97800114499998 meters Centerline goodness [0,1] 0.6379369504610766 Centerline is valid? [False, False] Translation: X:3.05, Y:0.60, Z:0.11 [[ 0.84985539 0.23471988 -0.47186057 3.04741121] [-0.26213551 0.96499875 0.00789875 0.6025096 ] [ 0.45719885 0.11697861 0.8816378 0.11197907] [ 0. 0. 0. 1. ]] SLAMing on 202.00800114499998 meters Centerline goodness [0,1] 0.6422108617997476 Centerline is valid? [False, False] Translation: X:3.05, Y:0.60, Z:0.11 [[ 0.84915707 0.23933818 -0.47079666 3.04733048] [-0.2650257 0.96416499 0.01213485 0.59990838] [ 0.45682999 0.11446883 0.88215829 0.11047483] [ 0. 0. 0. 1. ]] SLAMing on 202.03800114499998 meters Centerline goodness [0,1] 0.6570232857602747 Centerline is valid? [False, False] Translation: X:3.05, Y:0.60, Z:0.11 [[ 0.84899704 0.23943982 -0.47103355 3.04843832] [-0.26516413 0.96412664 0.01215783 0.60042204] [ 0.45704706 0.11457924 0.88203151 0.11068171] [ 0. 0. 0. 1. ]] SLAMing on 202.06800114499998 meters Centerline goodness [0,1] 0.6524590163934426 Centerline is valid? [False, False] Translation: X:3.05, Y:0.60, Z:0.11 [[ 0.84826216 0.24422467 -0.46989959 3.04784289] [-0.26850309 0.96314787 0.01588309 0.5996154 ] [ 0.45646183 0.11269647 0.88257697 0.11007617] [ 0. 0. 0. 1. ]] SLAMing on 202.09800114499996 meters Centerline goodness [0,1] 0.6516212153747047 Centerline is valid? [False, False] Translation: X:3.05, Y:0.60, Z:0.11 [[ 0.84760107 0.24842424 -0.46888998 3.04646061] [-0.27150889 0.96224813 0.01901198 0.59967823] [ 0.45591155 0.11119322 0.88305194 0.1100682 ] [ 0. 0. 0. 1. ]] SLAMing on 202.12800114499996 meters Centerline goodness [0,1] 0.643464045258018 Centerline is valid? [False, False] Translation: X:3.03, Y:0.61, Z:0.11 [[ 0.84472107 0.25073731 -0.47283943 3.02965889] [-0.27592452 0.96103453 0.01668211 0.609597 ] [ 0.45859784 0.11637626 0.88099068 0.10500932] [ 0. 0. 0. 1. ]] SLAMing on 202.15800114499996 meters Centerline goodness [0,1] 0.6717925523895674 Centerline is valid? [False, False] Translation: X:3.03, Y:0.61, Z:0.11 [[ 0.84413447 0.25469384 -0.47177118 3.02772063] [-0.27879821 0.96015163 0.01950422 0.61002757] [ 0.45793947 0.11506478 0.88150527 0.10515193] [ 0. 0. 0. 1. ]] SLAMing on 202.18800114499996 meters Centerline goodness [0,1] 0.6743123221522808 Centerline is valid? [False, False] Translation: X:3.03, Y:0.61, Z:0.11 [[ 0.84419938 0.25467279 -0.47166638 3.02741451] [-0.27902313 0.9600965 0.01899501 0.61226958] [ 0.45768275 0.11557025 0.88157247 0.10568098] [ 0. 0. 0. 1. ]] SLAMing on 202.21800114499996 meters Centerline goodness [0,1] 0.6722259379921898 Centerline is valid? [False, False] Translation: X:3.03, Y:0.61, Z:0.11 [[ 0.84365601 0.25826872 -0.47068228 3.02539738] [-0.28163583 0.95927911 0.02156024 0.61347554] [ 0.45708401 0.11437157 0.88203931 0.10608117] [ 0. 0. 0. 1. ]] SLAMing on 202.24800114499996 meters Centerline goodness [0,1] 0.6784230569499741 Centerline is valid? [False, False] Translation: X:3.02, Y:0.62, Z:0.11 [[ 0.84296399 0.26223342 -0.46972902 3.02472369] [-0.28455852 0.95834934 0.02435156 0.61536788] [ 0.45655029 0.11313791 0.88247473 0.10628153] [ 0. 0. 0. 1. ]] SLAMing on 202.27800114499996 meters Centerline goodness [0,1] 0.6720981127169509 Centerline is valid? [False, False] Translation: X:3.02, Y:0.62, Z:0.10 [[ 0.84424355 0.26195112 -0.46758361 3.0207419 ] [-0.28436718 0.9584275 0.02349527 0.61850508] [ 0.4542996 0.11312971 0.88363654 0.10410249] [ 0. 0. 0. 1. ]] SLAMing on 202.30800114499996 meters Centerline goodness [0,1] 0.6724179091520716 Centerline is valid? [False, False] Translation: X:3.02, Y:0.62, Z:0.10 [[ 0.84432137 0.26124289 -0.46783927 3.02052117] [-0.28399098 0.95855736 0.02273568 0.62057256] [ 0.45439031 0.11366591 0.88352108 0.10494982] [ 0. 0. 0. 1. ]] SLAMing on 202.33800114499996 meters Centerline goodness [0,1] 0.6422239603702256 Centerline is valid? [False, False] Translation: X:3.02, Y:0.62, Z:0.11 [[ 0.84492527 0.26005926 -0.46740824 3.01844117] [-0.28321042 0.95881638 0.02151747 0.62330433] [ 0.4537545 0.11419423 0.88377969 0.10501119] [ 0. 0. 0. 1. ]] SLAMing on 202.36800114499997 meters Centerline goodness [0,1] 0.6522809463639929 Centerline is valid? [False, False] Translation: X:3.02, Y:0.62, Z:0.11 [[ 0.84497366 0.25964149 -0.467553 3.01836504] [-0.28295331 0.95890077 0.02113629 0.62382324] [ 0.45382479 0.11443606 0.88371231 0.10529496] [ 0. 0. 0. 1. ]] SLAMing on 202.39800114499997 meters Centerline goodness [0,1] 0.6511986450099887 Centerline is valid? [False, False] Translation: X:3.02, Y:0.62, Z:0.11 [[ 0.84496019 0.25933829 -0.46774559 3.01895512] [-0.28280472 0.95895172 0.02081081 0.62493762] [ 0.45394247 0.11469635 0.88361812 0.10558788] [ 0. 0. 0. 1. ]] SLAMing on 202.42800114499997 meters Centerline goodness [0,1] 0.6645028741284724 Centerline is valid? [False, False] Translation: X:3.02, Y:0.63, Z:0.11 [[ 0.84449963 0.26273643 -0.46667971 3.01732719] [-0.28516757 0.95819159 0.02341633 0.62720308] [ 0.4533209 0.11330683 0.88411635 0.10573655] [ 0. 0. 0. 1. ]] SLAMing on 202.45800114499997 meters Centerline goodness [0,1] 0.6402893419873685 Centerline is valid? [False, False] Translation: X:3.02, Y:0.63, Z:0.11 [[ 0.84452118 0.26223073 -0.46692507 3.01770339] [-0.28487601 0.95828994 0.0229357 0.62857662] [ 0.45346404 0.11364607 0.8839994 0.10617625] [ 0. 0. 0. 1. ]] SLAMing on 202.48800114499997 meters Centerline goodness [0,1] 0.6469777816655004 Centerline is valid? [False, False] Translation: X:3.02, Y:0.63, Z:0.11 [[ 0.84445294 0.26198554 -0.46718606 3.01854885] [-0.28475571 0.95833126 0.02270217 0.62928936] [ 0.45366664 0.11386298 0.88386752 0.10641694] [ 0. 0. 0. 1. ]] SLAMing on 202.51800114499997 meters Centerline goodness [0,1] 0.6492068701454983 Centerline is valid? [False, False] Translation: X:3.02, Y:0.63, Z:0.11 [[ 0.84440609 0.26165471 -0.46745605 3.01943303] [-0.2846178 0.95838128 0.02231648 0.63050889] [ 0.45384034 0.11420214 0.88373458 0.10672916] [ 0. 0. 0. 1. ]] SLAMing on 202.54800114499997 meters Centerline goodness [0,1] 0.6789515348755387 Centerline is valid? [False, False] Translation: X:3.02, Y:0.63, Z:0.11 [[ 0.84435508 0.26113556 -0.46783834 3.02083241] [-0.2844222 0.95845442 0.02165961 0.63293263] [ 0.45405782 0.11477521 0.88354861 0.10725906] [ 0. 0. 0. 1. ]] SLAMing on 202.57800114499997 meters Centerline goodness [0,1] 0.6480052898391007 Centerline is valid? [False, False] Translation: X:3.02, Y:0.63, Z:0.11 [[ 0.84432603 0.26078141 -0.46808826 3.02147635] [-0.28427115 0.95850855 0.02124318 0.6343492 ] [ 0.45420643 0.11512781 0.88342635 0.10770363] [ 0. 0. 0. 1. ]] SLAMing on 202.60800114499997 meters Centerline goodness [0,1] 0.6321042172665048 Centerline is valid? [False, False] Translation: X:3.02, Y:0.64, Z:0.11 [[ 0.84425522 0.26043022 -0.46841138 3.02225319] [-0.28416717 0.9585499 0.02076326 0.63604937] [ 0.45440306 0.11557764 0.88326648 0.10833749] [ 0. 0. 0. 1. ]] SLAMing on 202.63800114499998 meters Centerline goodness [0,1] 0.652064250630559 Centerline is valid? [False, False] Translation: X:3.00, Y:0.65, Z:0.10 [[ 0.84235462 0.26026826 -0.47191009 3.00409885] [-0.28636148 0.95796749 0.01718677 0.64664819] [ 0.4565477 0.12065952 0.88147914 0.10187371] [ 0. 0. 0. 1. ]] SLAMing on 202.66800114499998 meters Centerline goodness [0,1] 0.663757006447039 Centerline is valid? [False, False] Translation: X:3.01, Y:0.65, Z:0.10 [[ 0.84223293 0.26003366 -0.47225648 3.00542018] [-0.28644988 0.95795132 0.01660551 0.64901528] [ 0.45671671 0.12129211 0.88130476 0.10259084] [ 0. 0. 0. 1. ]] SLAMing on 202.69800114499998 meters Centerline goodness [0,1] 0.6993661066536637 Centerline is valid? [False, False] Translation: X:3.01, Y:0.65, Z:0.10 [[ 0.84209141 0.25972724 -0.47267729 3.00617497] [-0.28641364 0.95797027 0.01613048 0.65048236] [ 0.45700031 0.12179788 0.88108796 0.10343263] [ 0. 0. 0. 1. ]] SLAMing on 202.72800114499998 meters Centerline goodness [0,1] 0.683783424238393 Centerline is valid? [False, False] Translation: X:3.01, Y:0.65, Z:0.10 [[ 0.8420769 0.25924271 -0.47296904 3.00659337] [-0.28627814 0.95802251 0.0154178 0.6527959 ] [ 0.45711194 0.12241772 0.88094414 0.10432645] [ 0. 0. 0. 1. ]] SLAMing on 202.75800114499998 meters Centerline goodness [0,1] 0.6587617344658024 Centerline is valid? [False, False] Translation: X:2.98, Y:0.67, Z:0.09 [[ 0.84241053 0.26232666 -0.47066891 2.98401542] [-0.2902388 0.95685435 0.01382751 0.66575375] [ 0.45398892 0.12495794 0.88220155 0.09329538] [ 0. 0. 0. 1. ]] SLAMing on 202.78800114499998 meters Centerline goodness [0,1] 0.6636978024437183 Centerline is valid? [False, False] Translation: X:2.98, Y:0.67, Z:0.09 [[ 0.84240569 0.26192379 -0.47090189 2.98450926] [-0.29008335 0.95690878 0.0133134 0.66762743] [ 0.45409725 0.12538551 0.88208512 0.09389289] [ 0. 0. 0. 1. ]] SLAMing on 202.81800114499998 meters Centerline goodness [0,1] 0.6740093031577064 Centerline is valid? [False, False] Translation: X:2.98, Y:0.67, Z:0.09 [[ 0.84249707 0.26116741 -0.47115844 2.98429301] [-0.28968825 0.95703952 0.0124927 0.66988132] [ 0.45417993 0.125964 0.88196012 0.09479708] [ 0. 0. 0. 1. ]] SLAMing on 202.84800114499996 meters Centerline goodness [0,1] 0.6740093031577064 Centerline is valid? [False, False] Translation: X:2.98, Y:0.67, Z:0.09 [[ 0.84249707 0.26116741 -0.47115844 2.98429301] [-0.28968825 0.95703952 0.0124927 0.66988132] [ 0.45417993 0.125964 0.88196012 0.09479708] [ 0. 0. 0. 1. ]] SLAMing on 202.87800114499996 meters Centerline goodness [0,1] 0.6887299950688125 Centerline is valid? [False, False] Translation: X:2.98, Y:0.67, Z:0.10 [[ 0.84260959 0.26040746 -0.47137781 2.98405396] [-0.28928655 0.95717146 0.01166572 0.67212231] [ 0.45422722 0.12653362 0.88185422 0.09566306] [ 0. 0. 0. 1. ]] SLAMing on 202.90800114499996 meters Centerline goodness [0,1] 0.6749460528681892 Centerline is valid? [False, False] Translation: X:2.98, Y:0.68, Z:0.10 [[ 0.8427916 0.25933349 -0.47164443 2.98396327] [-0.28872753 0.95735409 0.01046728 0.67549817] [ 0.45424524 0.127355 0.8817267 0.0966839 ] [ 0. 0. 0. 1. ]] SLAMing on 202.93800114499996 meters Centerline goodness [0,1] 0.6731566612583378 Centerline is valid? [False, False] Translation: X:2.98, Y:0.68, Z:0.10 [[ 0.84290156 0.25875554 -0.47176534 2.98368516] [-0.28836495 0.95746903 0.00993534 0.67631169] [ 0.45427153 0.12766608 0.88166817 0.09702195] [ 0. 0. 0. 1. ]] SLAMing on 202.96800114499996 meters Centerline goodness [0,1] 0.6759961302225121 Centerline is valid? [False, False] Translation: X:2.98, Y:0.68, Z:0.10 [[ 0.84295924 0.25824829 -0.47194019 2.98368904] [-0.28804271 0.95757046 0.00949838 0.67689363] [ 0.45436892 0.12793219 0.8815794 0.0973343 ] [ 0. 0. 0. 1. ]] SLAMing on 202.99800114499996 meters Centerline goodness [0,1] 0.6660562488695967 Centerline is valid? [False, False] Translation: X:2.98, Y:0.68, Z:0.10 [[ 0.84302984 0.25776742 -0.47207696 2.98374584] [-0.28773859 0.95766601 0.00907241 0.67777532] [ 0.45443063 0.12818644 0.88151066 0.09762662] [ 0. 0. 0. 1. ]] SLAMing on 203.02800114499996 meters Centerline goodness [0,1] 0.6618359675739323 Centerline is valid? [False, False] Translation: X:2.98, Y:0.68, Z:0.10 [[ 0.84258849 0.26137625 -0.47087906 2.98244315] [-0.29014066 0.95690894 0.01198627 0.67934652] [ 0.45372131 0.12652167 0.88211634 0.09716838] [ 0. 0. 0. 1. ]] SLAMing on 203.05800114499996 meters Centerline goodness [0,1] 0.6666666666666667 Centerline is valid? [False, False] Translation: X:2.98, Y:0.68, Z:0.10 [[ 0.84258543 0.26092576 -0.47113432 2.98279107] [-0.28989417 0.95698899 0.01155185 0.68065208] [ 0.45388453 0.12684568 0.88198583 0.09770643] [ 0. 0. 0. 1. ]] SLAMing on 203.08800114499996 meters Centerline goodness [0,1] 0.6542160183690635 Centerline is valid? [False, False] Translation: X:2.98, Y:0.68, Z:0.10 [[ 0.84265256 0.26069352 -0.47114281 2.98323052] [-0.2896778 0.95705558 0.01146244 0.68037471] [ 0.45389804 0.12682076 0.88198246 0.09726588] [ 0. 0. 0. 1. ]] SLAMing on 203.11800114499997 meters Centerline goodness [0,1] 0.6375227686703097 Centerline is valid? [False, False] Translation: X:2.97, Y:0.69, Z:0.09 [[ 0.84074831 0.25929496 -0.47529823 2.96504284] [-0.29078454 0.95675848 0.00758691 0.68972329] [ 0.45671286 0.1318307 0.87979204 0.09027552] [ 0. 0. 0. 1. ]] SLAMing on 203.14800114499997 meters Centerline goodness [0,1] 0.6640176700974587 Centerline is valid? [False, False] Translation: X:2.97, Y:0.69, Z:0.09 [[ 0.84069477 0.25910833 -0.47549467 2.96532293] [-0.29069489 0.95678707 0.00741507 0.69001142] [ 0.45686846 0.13199005 0.87968735 0.09059266] [ 0. 0. 0. 1. ]] SLAMing on 203.17800114499997 meters Centerline goodness [0,1] 0.6402823636570647 Centerline is valid? [False, False] Translation: X:2.97, Y:0.69, Z:0.09 [[ 0.84067753 0.2589258 -0.47562455 2.96563168] [-0.29062959 0.95680867 0.00718358 0.69061917] [ 0.45694171 0.1321915 0.87961906 0.09084378] [ 0. 0. 0. 1. ]] SLAMing on 203.20800114499997 meters Centerline goodness [0,1] 0.6551582689546729 Centerline is valid? [False, False] Translation: X:2.96, Y:0.69, Z:0.09 [[ 0.84033984 0.26246981 -0.47427688 2.96279741] [-0.29296617 0.95607039 0.01001203 0.69131419] [ 0.45606993 0.13053358 0.88031881 0.09055335] [ 0. 0. 0. 1. ]] SLAMing on 203.23800114499997 meters Centerline goodness [0,1] 0.6512922283811218 Centerline is valid? [False, False] Translation: X:2.94, Y:0.70, Z:0.08 [[ 0.84226705 0.26432058 -0.46980937 2.94451166] [-0.29631068 0.95507204 0.00611412 0.69897072] [ 0.45031788 0.13405981 0.88274672 0.07803351] [ 0. 0. 0. 1. ]] SLAMing on 203.26800114499997 meters Centerline goodness [0,1] 0.6528703112165739 Centerline is valid? [False, False] Translation: X:2.94, Y:0.70, Z:0.08 [[ 0.84230892 0.26399107 -0.46991957 2.94421113] [-0.29612639 0.95513127 0.00578019 0.69948202] [ 0.4503608 0.13428688 0.88269031 0.07845396] [ 0. 0. 0. 1. ]] SLAMing on 203.29800114499997 meters Centerline goodness [0,1] 0.6392090755843091 Centerline is valid? [False, False] Translation: X:2.94, Y:0.70, Z:0.08 [[ 0.84226426 0.26388967 -0.47005656 2.94413304] [-0.29607569 0.95514747 0.00570055 0.69901862] [ 0.45047765 0.13437095 0.88261789 0.07868092] [ 0. 0. 0. 1. ]] SLAMing on 203.32800114499997 meters Centerline goodness [0,1] 0.6532322517297284 Centerline is valid? [False, False] Translation: X:2.92, Y:0.71, Z:0.07 [[ 8.41160951e-01 2.63387322e-01 -4.72308557e-01 2.92449377e+00] [-2.97514215e-01 9.54713995e-01 2.54541826e-03 7.07721208e-01] [ 4.51590020e-01 1.38377403e-01 8.81429605e-01 6.95330373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.35800114499997 meters Centerline goodness [0,1] 0.6325925925925926 Centerline is valid? [False, False] Translation: X:2.92, Y:0.71, Z:0.07 [[ 8.41168033e-01 2.63453621e-01 -4.72258964e-01 2.92482546e+00] [-2.97576538e-01 9.54694550e-01 2.55339727e-03 7.07603212e-01] [ 4.51535761e-01 1.38385351e-01 8.81456154e-01 6.93091177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.38800114499998 meters Centerline goodness [0,1] 0.6353953297828758 Centerline is valid? [False, False] Translation: X:2.92, Y:0.71, Z:0.07 [[ 0.84046762 0.26790209 -0.47100175 2.92335009] [-0.30056037 0.95374294 0.00615384 0.7069564 ] [ 0.45086322 0.13639235 0.88211081 0.06878837] [ 0. 0. 0. 1. ]] SLAMing on 203.41800114499998 meters Centerline goodness [0,1] 0.6327086336697101 Centerline is valid? [False, False] Translation: X:2.90, Y:0.72, Z:0.05 [[ 0.84051627 0.27069551 -0.46931476 2.89824813] [-0.30280163 0.95302493 0.00739349 0.71953718] [ 0.44927005 0.13589492 0.883 0.05438301] [ 0. 0. 0. 1. ]] SLAMing on 203.44800114499998 meters Centerline goodness [0,1] 0.637146455971602 Centerline is valid? [False, False] Translation: X:2.90, Y:0.72, Z:0.05 [[ 0.84039359 0.27075324 -0.46950111 2.89860339] [-0.30291856 0.95298805 0.0073563 0.71958521] [ 0.44942069 0.13603842 0.88290123 0.05473666] [ 0. 0. 0. 1. ]] SLAMing on 203.47800114499998 meters Centerline goodness [0,1] 0.6299165945034411 Centerline is valid? [False, False] Translation: X:2.90, Y:0.72, Z:0.06 [[ 0.84020252 0.27098458 -0.46970958 2.89918874] [-0.30317881 0.9529047 0.00743201 0.71934754] [ 0.44960243 0.13616159 0.88278971 0.05508246] [ 0. 0. 0. 1. ]] SLAMing on 203.50800114499998 meters Centerline goodness [0,1] 0.6308697334577653 Centerline is valid? [False, False] Translation: X:2.90, Y:0.72, Z:0.06 [[ 0.84008548 0.27105302 -0.46987939 2.89972555] [-0.30330955 0.95286345 0.00738608 0.71922713] [ 0.44973292 0.13631397 0.88269972 0.05530624] [ 0. 0. 0. 1. ]] SLAMing on 203.53800114499998 meters Centerline goodness [0,1] 0.632117417540039 Centerline is valid? [False, False] Translation: X:2.88, Y:0.73, Z:0.05 [[ 0.83700655 0.27148046 -0.4750983 2.88432903] [-0.30643691 0.95188232 0.00405758 0.72741538] [ 0.45333922 0.14219143 0.87992337 0.05085179] [ 0. 0. 0. 1. ]] SLAMing on 203.56800114499998 meters Centerline goodness [0,1] 0.6334964159745136 Centerline is valid? [False, False] Translation: X:2.86, Y:0.74, Z:0.04 [[ 8.35536941e-01 2.72699312e-01 -4.76983340e-01 2.86472726e+00] [-3.09186159e-01 9.50999222e-01 2.09729677e-03 7.38329625e-01] [ 4.54182716e-01 1.45724278e-01 8.78909833e-01 4.22598457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.59800114499996 meters Centerline goodness [0,1] 0.6368614387734148 Centerline is valid? [False, False] Translation: X:2.84, Y:0.75, Z:0.03 [[ 0.83654591 0.27639086 -0.47307403 2.83955854] [-0.31197795 0.95008324 0.00340423 0.75054478] [ 0.4504006 0.14474087 0.88101611 0.02611689] [ 0. 0. 0. 1. ]] SLAMing on 203.62800114499996 meters Centerline goodness [0,1] 0.6766877757710157 Centerline is valid? [False, False] Translation: X:2.84, Y:0.75, Z:0.03 [[ 0.83576639 0.28097451 -0.4717498 2.83812558] [-0.31514513 0.9490183 0.00691521 0.75020575] [ 0.44964219 0.14289015 0.88170534 0.02573262] [ 0. 0. 0. 1. ]] SLAMing on 203.65800114499996 meters Centerline goodness [0,1] 0.6948430955160338 Centerline is valid? [False, False] Translation: X:2.84, Y:0.75, Z:0.03 [[ 0.83543649 0.28160464 -0.47195837 2.83966834] [-0.31579511 0.9488007 0.0071191 0.75003655] [ 0.4497992 0.14309458 0.88159209 0.02590633] [ 0. 0. 0. 1. ]] SLAMing on 203.68800114499996 meters Centerline goodness [0,1] 0.6919328269424362 Centerline is valid? [False, False] Translation: X:2.84, Y:0.75, Z:0.03 [[ 0.83524498 0.28185979 -0.47214498 2.84033652] [-0.31604611 0.94871603 0.00726256 0.74946209] [ 0.44997854 0.14315357 0.88149099 0.02607042] [ 0. 0. 0. 1. ]] SLAMing on 203.71800114499996 meters Centerline goodness [0,1] 0.6930097442700947 Centerline is valid? [False, False] Translation: X:2.84, Y:0.75, Z:0.03 [[ 0.8352831 0.28154676 -0.47226429 2.84016 ] [-0.31588985 0.94877067 0.00691531 0.75000924] [ 0.45001749 0.14340725 0.88142987 0.02647023] [ 0. 0. 0. 1. ]] SLAMing on 203.74800114499996 meters Centerline goodness [0,1] 0.6871498159032177 Centerline is valid? [False, False] Translation: X:2.84, Y:0.75, Z:0.03 [[ 0.83559927 0.28048458 -0.47233703 2.8383796 ] [-0.31518156 0.94901264 0.00596595 0.7515079 ] [ 0.44992716 0.14388678 0.88139783 0.02739424] [ 0. 0. 0. 1. ]] SLAMing on 203.77800114499996 meters Centerline goodness [0,1] 0.6534016796723037 Centerline is valid? [False, False] Translation: X:2.82, Y:0.76, Z:0.01 [[ 0.83634134 0.28149688 -0.47041755 2.81600558] [-0.31681901 0.94847625 0.00430314 0.76141501] [ 0.44739119 0.14543833 0.88243346 0.01431359] [ 0. 0. 0. 1. ]] SLAMing on 203.80800114499996 meters Centerline goodness [0,1] 0.6788955176118312 Centerline is valid? [False, False] Translation: X:2.82, Y:0.76, Z:0.01 [[ 0.8364074 0.281121 -0.47052485 2.81556878] [-0.31648223 0.94858929 0.00416618 0.76120242] [ 0.44750604 0.14542814 0.88237691 0.01450519] [ 0. 0. 0. 1. ]] SLAMing on 203.83800114499996 meters Centerline goodness [0,1] 0.6698046545554011 Centerline is valid? [False, False] Translation: X:2.81, Y:0.76, Z:0.01 [[ 0.8365102 0.28086646 -0.47049412 2.81475908] [-0.31616899 0.94869358 0.00420329 0.76018532] [ 0.44753531 0.14523955 0.88239312 0.01440552] [ 0. 0. 0. 1. ]] SLAMing on 203.86800114499997 meters Centerline goodness [0,1] 0.6480921755334863 Centerline is valid? [False, False] Translation: X:2.79, Y:0.77, Z:-0.00 [[ 8.37639063e-01 2.78264527e-01 -4.70031545e-01 2.79196803e+00] [-3.14391681e-01 9.49291799e-01 1.71792777e-03 7.67146487e-01] [ 4.46675130e-01 1.46335004e-01 8.82647945e-01 -8.94081381e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.89800114499997 meters Centerline goodness [0,1] 0.6431230140717203 Centerline is valid? [False, False] Translation: X:2.79, Y:0.77, Z:-0.00 [[ 8.37753058e-01 2.78156178e-01 -4.69892492e-01 2.79132458e+00] [-3.14123343e-01 9.49380170e-01 1.95399728e-03 7.65241494e-01] [ 4.46650131e-01 1.45967233e-01 8.82721489e-01 -1.51313265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.92800114499997 meters Centerline goodness [0,1] 0.6357220658981574 Centerline is valid? [False, False] Translation: X:2.79, Y:0.76, Z:-0.00 [[ 8.37793904e-01 2.78033477e-01 -4.69892285e-01 2.79120171e+00] [-3.13937860e-01 9.49441328e-01 2.04567841e-03 7.64540036e-01] [ 4.46703922e-01 1.45803121e-01 8.82721392e-01 -1.70690809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.95800114499997 meters Centerline goodness [0,1] 0.6442957602239366 Centerline is valid? [False, False] Translation: X:2.77, Y:0.78, Z:-0.02 [[ 0.83819574 0.27999365 -0.46800796 2.76782603] [-0.31543921 0.94894173 0.00277314 0.77503128] [ 0.44488875 0.14530363 0.8837199 -0.01686805] [ 0. 0. 0. 1. ]] SLAMing on 203.98800114499997 meters Centerline goodness [0,1] 0.6253122019890105 Centerline is valid? [False, False] Translation: X:2.77, Y:0.77, Z:-0.02 [[ 0.83744646 0.28435484 -0.46671806 2.76649121] [-0.31817599 0.94800817 0.00667501 0.77294423] [ 0.44435061 0.14290852 0.88438097 -0.01806179] [ 0. 0. 0. 1. ]] SLAMing on 204.01800114499997 meters Centerline goodness [0,1] 0.6376370694939497 Centerline is valid? [False, False] Translation: X:2.74, Y:0.78, Z:-0.03 [[ 0.83782688 0.28577574 -0.46516487 2.7436818 ] [-0.31986392 0.94744483 0.00594662 0.78318364] [ 0.44241745 0.14380722 0.88520409 -0.0319516 ] [ 0. 0. 0. 1. ]] SLAMing on 204.04800114499997 meters Centerline goodness [0,1] 0.6398752617681872 Centerline is valid? [False, False] Translation: X:2.72, Y:0.79, Z:-0.05 [[ 0.83844745 0.28721992 -0.46315287 2.72001572] [-0.32150479 0.94689375 0.00518593 0.79319764] [ 0.44004607 0.14455773 0.88626323 -0.04609742] [ 0. 0. 0. 1. ]] SLAMing on 204.07800114499997 meters Centerline goodness [0,1] 0.6343511623169379 Centerline is valid? [False, False] Translation: X:2.72, Y:0.79, Z:-0.05 [[ 0.8383861 0.28733963 -0.46318969 2.71983753] [-0.3215775 0.94686829 0.00532543 0.79231137] [ 0.44010983 0.14448661 0.88624317 -0.04609362] [ 0. 0. 0. 1. ]] SLAMing on 204.10800114499997 meters Centerline goodness [0,1] 0.6402797647432841 Centerline is valid? [False, False] Translation: X:2.69, Y:0.80, Z:-0.06 [[ 0.83919414 0.29078915 -0.45955942 2.69473175] [-0.32447328 0.94587587 0.00599349 0.80284764] [ 0.43642901 0.14408505 0.8881268 -0.06090276] [ 0. 0. 0. 1. ]] SLAMing on 204.13800114499998 meters Centerline goodness [0,1] 0.6372318276455147 Centerline is valid? [False, False] Translation: X:2.69, Y:0.80, Z:-0.06 [[ 0.83848209 0.29504551 -0.458144 2.69228638] [-0.32734367 0.94485864 0.0093955 0.80191398] [ 0.43565342 0.14209259 0.88882833 -0.06123569] [ 0. 0. 0. 1. ]] SLAMing on 204.16800114499998 meters Centerline goodness [0,1] 0.64305621643668 Centerline is valid? [False, False] Translation: X:2.67, Y:0.81, Z:-0.07 [[ 0.83871234 0.29690431 -0.45651883 2.66988076] [-0.3298285 0.94400704 0.00799207 0.81244158] [ 0.43332987 0.14386988 0.88967785 -0.07315934] [ 0. 0. 0. 1. ]] SLAMing on 204.19800114499998 meters Centerline goodness [0,1] 0.6340077856237551 Centerline is valid? [False, False] Translation: X:2.67, Y:0.81, Z:-0.07 [[ 0.83868813 0.29680759 -0.45662618 2.66980862] [-0.32978762 0.94402216 0.00789262 0.81279227] [ 0.43340782 0.14397022 0.88962365 -0.07279971] [ 0. 0. 0. 1. ]] SLAMing on 204.22800114499998 meters Centerline goodness [0,1] 0.6335843236868366 Centerline is valid? [False, False] Translation: X:2.65, Y:0.82, Z:-0.09 [[ 0.83876206 0.29862023 -0.45530667 2.64777274] [-0.33164102 0.94337357 0.00778053 0.82248579] [ 0.43184771 0.14447235 0.89030068 -0.08637747] [ 0. 0. 0. 1. ]] SLAMing on 204.25800114499998 meters Centerline goodness [0,1] 0.6256828743057916 Centerline is valid? [False, False] Translation: X:2.62, Y:0.83, Z:-0.10 [[ 0.83993081 0.29885759 -0.45299048 2.62243629] [-0.33168246 0.94336226 0.00737468 0.83213338] [ 0.4295381 0.14405477 0.89148485 -0.10222893] [ 0. 0. 0. 1. ]] SLAMing on 204.28800114499998 meters Centerline goodness [0,1] 0.6217042674639848 Centerline is valid? [False, False] Translation: X:2.60, Y:0.84, Z:-0.12 [[ 0.8403609 0.2997469 -0.45160309 2.59970687] [-0.33264658 0.94302616 0.00692197 0.84126251] [ 0.42794837 0.14440727 0.89219209 -0.11678985] [ 0. 0. 0. 1. ]] SLAMing on 204.31800114499998 meters Centerline goodness [0,1] 0.6180425723617524 Centerline is valid? [False, False] Translation: X:2.60, Y:0.84, Z:-0.12 [[ 0.84039874 0.29968834 -0.45157154 2.59956482] [-0.33250127 0.94307626 0.00707597 0.84031323] [ 0.42798698 0.14420148 0.89220686 -0.1171248 ] [ 0. 0. 0. 1. ]] SLAMing on 204.34800114499996 meters Centerline goodness [0,1] 0.6480618752544213 Centerline is valid? [False, False] Translation: X:2.58, Y:0.85, Z:-0.13 [[ 0.84090539 0.30098321 -0.44976354 2.57671192] [-0.3332262 0.9428137 0.00791391 0.85053095] [ 0.42642518 0.14321815 0.89311261 -0.13291774] [ 0. 0. 0. 1. ]] SLAMing on 204.37800114499996 meters Centerline goodness [0,1] 0.6517802713869635 Centerline is valid? [False, False] Translation: X:2.58, Y:0.85, Z:-0.13 [[ 0.84012474 0.30490503 -0.44857925 2.57507929] [-0.33565946 0.94191213 0.01158754 0.84801501] [ 0.42605533 0.14083489 0.89366794 -0.13386186] [ 0. 0. 0. 1. ]] SLAMing on 204.40800114499996 meters Centerline goodness [0,1] 0.6481242792212197 Centerline is valid? [False, False] Translation: X:2.58, Y:0.85, Z:-0.13 [[ 0.84011397 0.30489079 -0.44860909 2.57533046] [-0.33558313 0.94193762 0.01172518 0.84736025] [ 0.42613668 0.14069516 0.89365116 -0.13411643] [ 0. 0. 0. 1. ]] SLAMing on 204.43800114499996 meters Centerline goodness [0,1] 0.6021031207598372 Centerline is valid? [False, False] Translation: X:2.55, Y:0.86, Z:-0.15 [[ 0.84000384 0.30585789 -0.44815678 2.55313421] [-0.33667315 0.9415508 0.01154508 0.8568454 ] [ 0.42549353 0.14118444 0.89388042 -0.14765853] [ 0. 0. 0. 1. ]] SLAMing on 204.46800114499996 meters Centerline goodness [0,1] 0.6431168010115378 Centerline is valid? [False, False] Translation: X:2.53, Y:0.87, Z:-0.16 [[ 0.83934212 0.30718355 -0.44848977 2.53254909] [-0.33895029 0.94075106 0.01000692 0.86595577] [ 0.42499119 0.14361651 0.89373195 -0.15813859] [ 0. 0. 0. 1. ]] SLAMing on 204.49800114499996 meters Centerline goodness [0,1] 0.6299658965151207 Centerline is valid? [False, False] Translation: X:2.51, Y:0.88, Z:-0.17 [[ 0.83898864 0.30950551 -0.44755379 2.51055306] [-0.34141059 0.9398616 0.00994904 0.87571516] [ 0.4237179 0.14445247 0.89420167 -0.170099 ] [ 0. 0. 0. 1. ]] SLAMing on 204.52800114499996 meters Centerline goodness [0,1] 0.6479216500428758 Centerline is valid? [False, False] Translation: X:2.51, Y:0.87, Z:-0.17 [[ 0.8381997 0.31368848 -0.44611747 2.50839859] [-0.34421297 0.93879621 0.01338291 0.87441903] [ 0.42301145 0.14234186 0.89487435 -0.17063101] [ 0. 0. 0. 1. ]] SLAMing on 204.55800114499996 meters Centerline goodness [0,1] 0.6584750534970154 Centerline is valid? [False, False] Translation: X:2.51, Y:0.87, Z:-0.17 [[ 0.83793817 0.31431746 -0.44616607 2.50891953] [-0.34476309 0.93858935 0.01372778 0.87396296] [ 0.4230816 0.14231857 0.89484489 -0.1704475 ] [ 0. 0. 0. 1. ]] SLAMing on 204.58800114499996 meters Centerline goodness [0,1] 0.652655764292472 Centerline is valid? [False, False] Translation: X:2.49, Y:0.88, Z:-0.18 [[ 0.83663186 0.31579609 -0.44757118 2.48902 ] [-0.34741942 0.93763112 0.01215022 0.88363621] [ 0.42349366 0.14532966 0.89416576 -0.17917802] [ 0. 0. 0. 1. ]] SLAMing on 204.61800114499997 meters Centerline goodness [0,1] 0.6547787909490037 Centerline is valid? [False, False] Translation: X:2.47, Y:0.89, Z:-0.19 [[ 0.83638154 0.31881342 -0.44589677 2.46685984] [-0.35046481 0.93649628 0.01221197 0.89332813] [ 0.421474 0.14605726 0.89500108 -0.19139759] [ 0. 0. 0. 1. ]] SLAMing on 204.64800114499997 meters Centerline goodness [0,1] 0.6528460047771418 Centerline is valid? [False, False] Translation: X:2.44, Y:0.90, Z:-0.20 [[ 0.83571211 0.32242051 -0.44455627 2.44407455] [-0.35384574 0.93521222 0.01308817 0.90388282] [ 0.41997435 0.1463664 0.8956553 -0.20327266] [ 0. 0. 0. 1. ]] SLAMing on 204.67800114499997 meters Centerline goodness [0,1] 0.6706494682054763 Centerline is valid? [False, False] Translation: X:2.42, Y:0.92, Z:-0.22 [[ 0.83600108 0.32434628 -0.44260783 2.41911323] [-0.35515329 0.93470113 0.0141396 0.91607403] [ 0.41829217 0.14537291 0.8966038 -0.21807642] [ 0. 0. 0. 1. ]] SLAMing on 204.70800114499997 meters Centerline goodness [0,1] 0.677513060709782 Centerline is valid? [False, False] Translation: X:2.42, Y:0.92, Z:-0.22 [[ 0.83580435 0.32465001 -0.44275666 2.41965338] [-0.35539744 0.93460433 0.014402 0.91521144] [ 0.4184779 0.14531733 0.89652614 -0.2180407 ] [ 0. 0. 0. 1. ]] SLAMing on 204.73800114499997 meters Centerline goodness [0,1] 0.677513060709782 Centerline is valid? [False, False] Translation: X:2.42, Y:0.92, Z:-0.22 [[ 0.83580435 0.32465001 -0.44275666 2.41965338] [-0.35539744 0.93460433 0.014402 0.91521144] [ 0.4184779 0.14531733 0.89652614 -0.2180407 ] [ 0. 0. 0. 1. ]] SLAMing on 204.76800114499997 meters Centerline goodness [0,1] 0.6747783140644292 Centerline is valid? [False, False] Translation: X:2.42, Y:0.91, Z:-0.22 [[ 0.83563447 0.32518931 -0.44268155 2.42020201] [-0.35570793 0.9344768 0.01499963 0.91340345] [ 0.41855335 0.14493113 0.89655343 -0.21874684] [ 0. 0. 0. 1. ]] SLAMing on 204.79800114499997 meters Centerline goodness [0,1] 0.6542167321729366 Centerline is valid? [False, False] Translation: X:2.39, Y:0.93, Z:-0.23 [[ 0.83628484 0.32601698 -0.44084077 2.39498092] [-0.35625256 0.93426762 0.01510407 0.92604443] [ 0.41678744 0.14441935 0.89745823 -0.23322709] [ 0. 0. 0. 1. ]] SLAMing on 204.82800114499997 meters Centerline goodness [0,1] 0.6552009667890073 Centerline is valid? [False, False] Translation: X:2.39, Y:0.93, Z:-0.23 [[ 0.83639933 0.32566929 -0.44088057 2.39447616] [-0.35598319 0.93437415 0.01486315 0.92634594] [ 0.41678788 0.14451455 0.8974427 -0.23299621] [ 0. 0. 0. 1. ]] SLAMing on 204.85800114499997 meters Centerline goodness [0,1] 0.6792321820543834 Centerline is valid? [False, False] Translation: X:2.37, Y:0.94, Z:-0.24 [[ 0.83543147 0.32555714 -0.44279432 2.37474472] [-0.35688274 0.93405297 0.013407 0.93605584] [ 0.4179581 0.14682502 0.89652297 -0.24306326] [ 0. 0. 0. 1. ]] SLAMing on 204.88800114499998 meters Centerline goodness [0,1] 0.6750258183287683 Centerline is valid? [False, False] Translation: X:2.35, Y:0.95, Z:-0.26 [[ 0.83572536 0.32609443 -0.44184334 2.35146062] [-0.35734829 0.93387616 0.01332324 0.94747684] [ 0.4169716 0.14675739 0.89699328 -0.25704058] [ 0. 0. 0. 1. ]] SLAMing on 204.91800114499998 meters Centerline goodness [0,1] 0.6669794249715166 Centerline is valid? [False, False] Translation: X:2.35, Y:0.95, Z:-0.26 [[ 0.83583968 0.32580682 -0.44183929 2.35091106] [-0.35706808 0.93398462 0.01323307 0.94704445] [ 0.41698253 0.14670598 0.89699662 -0.2570792 ] [ 0. 0. 0. 1. ]] SLAMing on 204.94800114499998 meters Centerline goodness [0,1] 0.6208771617044037 Centerline is valid? [False, False] Translation: X:2.32, Y:0.96, Z:-0.27 [[ 0.83703825 0.32620865 -0.4392663 2.32422447] [-0.3568648 0.93405658 0.01363146 0.96022776] [ 0.41474628 0.14534863 0.89825347 -0.27258472] [ 0. 0. 0. 1. ]] SLAMing on 204.97800114499998 meters Centerline goodness [0,1] 0.6719824890556598 Centerline is valid? [False, False] Translation: X:2.30, Y:0.97, Z:-0.29 [[ 0.83777909 0.32688752 -0.4373451 2.29897515] [-0.35728711 0.93389548 0.01360735 0.97250188] [ 0.41288269 0.14485781 0.8991908 -0.28691941] [ 0. 0. 0. 1. ]] SLAMing on 205.00800114499998 meters Centerline goodness [0,1] 0.6620861961274204 Centerline is valid? [False, False] Translation: X:2.28, Y:0.98, Z:-0.30 [[ 0.83772386 0.32762946 -0.4368955 2.2771975 ] [-0.35898396 0.93327249 0.01153166 0.98283011] [ 0.41152066 0.14717814 0.89943835 -0.2974877 ] [ 0. 0. 0. 1. ]] SLAMing on 205.03800114499998 meters Centerline goodness [0,1] 0.6467628462017989 Centerline is valid? [False, False] Translation: X:2.25, Y:0.99, Z:-0.31 [[ 0.83798962 0.32902575 -0.43533373 2.25464929] [-0.36076279 0.93259946 0.01041446 0.99372679] [ 0.40941863 0.148325 0.90020891 -0.30953082] [ 0. 0. 0. 1. ]] SLAMing on 205.06800114499995 meters Centerline goodness [0,1] 0.6615514633929366 Centerline is valid? [False, False] Translation: X:2.25, Y:0.99, Z:-0.31 [[ 0.83775055 0.33211679 -0.43344257 2.25015029] [-0.3626262 0.93184221 0.01312779 0.9937332 ] [ 0.40826004 0.14617982 0.90108557 -0.31017349] [ 0. 0. 0. 1. ]] SLAMing on 205.09800114499996 meters Centerline goodness [0,1] 0.660472972972973 Centerline is valid? [False, False] Translation: X:2.23, Y:1.00, Z:-0.32 [[ 0.83754586 0.33447393 -0.43202329 2.2283758 ] [-0.36543584 0.93075736 0.01214007 1.00343843] [ 0.4061694 0.14770893 0.90178074 -0.32135208] [ 0. 0. 0. 1. ]] SLAMing on 205.12800114499996 meters Centerline goodness [0,1] 0.6741647810461866 Centerline is valid? [False, False] Translation: X:2.23, Y:1.00, Z:-0.32 [[ 0.83744331 0.33460672 -0.43211925 2.22839226] [-0.36556973 0.93070388 0.01220923 1.00298445] [ 0.40626035 0.14774518 0.90173383 -0.32114041] [ 0. 0. 0. 1. ]] SLAMing on 205.15800114499996 meters Centerline goodness [0,1] 0.6774614839737914 Centerline is valid? [False, False] Translation: X:2.23, Y:1.00, Z:-0.32 [[ 0.83651184 0.33889412 -0.43057952 2.22611692] [-0.36847706 0.92950395 0.01571836 1.00128237] [ 0.40555222 0.14551008 0.90241577 -0.32162198] [ 0. 0. 0. 1. ]] SLAMing on 205.18800114499996 meters Centerline goodness [0,1] 0.6750541723787202 Centerline is valid? [False, False] Translation: X:2.23, Y:1.00, Z:-0.32 [[ 0.83645097 0.33903166 -0.4305895 2.22572461] [-0.36857505 0.92946296 0.01584435 1.00062123] [ 0.40558873 0.14545153 0.9024088 -0.32148058] [ 0. 0. 0. 1. ]] SLAMing on 205.21800114499996 meters Centerline goodness [0,1] 0.6745214200450949 Centerline is valid? [False, False] Translation: X:2.21, Y:1.01, Z:-0.33 [[ 0.83586043 0.34062332 -0.43048007 2.20537676] [-0.37133924 0.92839794 0.01358066 1.00916364] [ 0.4042827 0.14850261 0.90249791 -0.33069367] [ 0. 0. 0. 1. ]] SLAMing on 205.24800114499996 meters Centerline goodness [0,1] 0.675179092597506 Centerline is valid? [False, False] Translation: X:2.18, Y:1.02, Z:-0.34 [[ 0.83608393 0.34278178 -0.42832735 2.18128442] [-0.37309098 0.92768692 0.01414526 1.01946402] [ 0.40220242 0.14797845 0.90351292 -0.34457619] [ 0. 0. 0. 1. ]] SLAMing on 205.27800114499996 meters Centerline goodness [0,1] 0.6733601663054536 Centerline is valid? [False, False] Translation: X:2.16, Y:1.03, Z:-0.36 [[ 0.83629505 0.34532031 -0.42586907 2.15547947] [-0.37459389 0.92704914 0.01610326 1.03135932] [ 0.40036233 0.14606088 0.90464149 -0.35918571] [ 0. 0. 0. 1. ]] SLAMing on 205.30800114499996 meters Centerline goodness [0,1] 0.6776999647639183 Centerline is valid? [False, False] Translation: X:2.16, Y:1.03, Z:-0.36 [[ 0.83615034 0.34563844 -0.42589515 2.15524471] [-0.37475551 0.92697603 0.01654539 1.02967365] [ 0.40051332 0.14577212 0.90462123 -0.35929777] [ 0. 0. 0. 1. ]] SLAMing on 205.33800114499996 meters Centerline goodness [0,1] 0.6814754566837397 Centerline is valid? [False, False] Translation: X:2.13, Y:1.04, Z:-0.37 [[ 0.83562526 0.34663042 -0.42611945 2.1334366 ] [-0.37587609 0.92652143 0.01658914 1.03860973] [ 0.4005591 0.14630581 0.9045148 -0.37161551] [ 0. 0. 0. 1. ]] SLAMing on 205.36800114499997 meters Centerline goodness [0,1] 0.6800745695799978 Centerline is valid? [False, False] Translation: X:2.11, Y:1.05, Z:-0.39 [[ 0.83605875 0.34684732 -0.42509141 2.10837203] [-0.37536752 0.92670382 0.01786778 1.04826234] [ 0.40013123 0.144627 0.90497405 -0.38702227] [ 0. 0. 0. 1. ]] SLAMing on 205.39800114499997 meters Centerline goodness [0,1] 0.6823099958469038 Centerline is valid? [False, False] Translation: X:2.11, Y:1.05, Z:-0.39 [[ 0.83611482 0.3469347 -0.42490979 2.10796645] [-0.37529277 0.92672796 0.01818324 1.0467913 ] [ 0.40008418 0.1442623 0.90505306 -0.38759453] [ 0. 0. 0. 1. ]] SLAMing on 205.42800114499997 meters Centerline goodness [0,1] 0.6805689488910318 Centerline is valid? [False, False] Translation: X:2.08, Y:1.06, Z:-0.40 [[ 0.83703155 0.34771806 -0.42245749 2.08067308] [-0.37476486 0.92689594 0.02037707 1.05932599] [ 0.3986596 0.14126597 0.90615366 -0.4039684 ] [ 0. 0. 0. 1. ]] SLAMing on 205.45800114499997 meters Centerline goodness [0,1] 0.6806577334033981 Centerline is valid? [False, False] Translation: X:2.08, Y:1.06, Z:-0.40 [[ 0.83714526 0.3476353 -0.42230026 2.07972663] [-0.37456973 0.92697097 0.02055068 1.05785324] [ 0.39860423 0.14097699 0.90622302 -0.40435678] [ 0. 0. 0. 1. ]] SLAMing on 205.48800114499997 meters Centerline goodness [0,1] 0.6717478785758026 Centerline is valid? [False, False] Translation: X:2.05, Y:1.07, Z:-0.42 [[ 0.83804332 0.34810578 -0.42012588 2.05427575] [-0.37466628 0.92692936 0.02066737 1.06790787] [ 0.39662144 0.14008685 0.90723046 -0.41840075] [ 0. 0. 0. 1. ]] SLAMing on 205.51800114499997 meters Centerline goodness [0,1] 0.6738157118832857 Centerline is valid? [False, False] Translation: X:2.03, Y:1.08, Z:-0.43 [[ 0.8392084 0.34889524 -0.41713471 2.02815366] [-0.37518957 0.92672579 0.02030032 1.08039923] [ 0.39365218 0.13946839 0.90861792 -0.4321646 ] [ 0. 0. 0. 1. ]] SLAMing on 205.54800114499997 meters Centerline goodness [0,1] 0.6737019010410983 Centerline is valid? [False, False] Translation: X:2.00, Y:1.09, Z:-0.45 [[ 0.84044445 0.34988347 -0.41380512 2.00030095] [-0.37539848 0.92662454 0.02104622 1.09347673] [ 0.3908057 0.13765364 0.91012218 -0.44672822] [ 0. 0. 0. 1. ]] SLAMing on 205.57800114499997 meters Centerline goodness [0,1] 0.6798495455929034 Centerline is valid? [False, False] Translation: X:1.98, Y:1.10, Z:-0.46 [[ 0.84169062 0.34985181 -0.41129139 1.97524756] [-0.37577147 0.92651531 0.01910991 1.10344143] [ 0.3877534 0.13846694 0.91130358 -0.4584847 ] [ 0. 0. 0. 1. ]] SLAMing on 205.60800114499997 meters Centerline goodness [0,1] 0.673316006064544 Centerline is valid? [False, False] Translation: X:1.97, Y:1.10, Z:-0.46 [[ 0.84180948 0.34966141 -0.41121003 1.97401535] [-0.37549345 0.92662535 0.0192388 1.1017869 ] [ 0.38776471 0.13821127 0.91133758 -0.45862703] [ 0. 0. 0. 1. ]] SLAMing on 205.63800114499998 meters Centerline goodness [0,1] 0.6702463267070009 Centerline is valid? [False, False] Translation: X:1.95, Y:1.11, Z:-0.47 [[ 0.84236345 0.34962763 -0.41010285 1.94999207] [-0.37568752 0.92656652 0.01825841 1.11217071] [ 0.38637121 0.1386903 0.9118565 -0.47087106] [ 0. 0. 0. 1. ]] SLAMing on 205.66800114499998 meters Centerline goodness [0,1] 0.6729969175055506 Centerline is valid? [False, False] Translation: X:1.95, Y:1.11, Z:-0.47 [[ 0.8424072 0.34976173 -0.40989858 1.9487617 ] [-0.37562223 0.92658459 0.01868012 1.10967458] [ 0.3863393 0.13823075 0.91193981 -0.47131733] [ 0. 0. 0. 1. ]] SLAMing on 205.69800114499998 meters Centerline goodness [0,1] 0.6647606354392829 Centerline is valid? [False, False] Translation: X:1.92, Y:1.12, Z:-0.49 [[ 0.84389705 0.34955691 -0.40699845 1.92196281] [-0.37486573 0.92688845 0.0188015 1.11990881] [ 0.38381436 0.13670324 0.91323533 -0.48642696] [ 0. 0. 0. 1. ]] SLAMing on 205.72800114499998 meters Centerline goodness [0,1] 0.66432020603069 Centerline is valid? [False, False] Translation: X:1.92, Y:1.12, Z:-0.49 [[ 0.843876 0.34957925 -0.4070229 1.92140205] [-0.3747918 0.92691336 0.01904529 1.11859051] [ 0.3839328 0.13647699 0.91321938 -0.48639356] [ 0. 0. 0. 1. ]] SLAMing on 205.75800114499998 meters Centerline goodness [0,1] 0.6579375964340819 Centerline is valid? [False, False] Translation: X:1.90, Y:1.13, Z:-0.50 [[ 0.84446588 0.35111628 -0.40446846 1.8969199 ] [-0.37571596 0.92652179 0.01987193 1.12989466] [ 0.3817262 0.13518409 0.91433603 -0.50012621] [ 0. 0. 0. 1. ]] SLAMing on 205.78800114499998 meters Centerline goodness [0,1] 0.6568123393316195 Centerline is valid? [False, False] Translation: X:1.87, Y:1.14, Z:-0.51 [[ 0.84513415 0.35301894 -0.4014049 1.87142837] [-0.37682875 0.92604425 0.02102694 1.14072159] [ 0.37914161 0.13349032 0.91565931 -0.51437654] [ 0. 0. 0. 1. ]] SLAMing on 205.81800114499995 meters Centerline goodness [0,1] 0.6627036736090322 Centerline is valid? [False, False] Translation: X:1.84, Y:1.15, Z:-0.53 [[ 0.84621672 0.35355548 -0.39864243 1.84473938] [-0.37699502 0.92597756 0.02098359 1.14950613] [ 0.3765528 0.13252954 0.91686635 -0.52804449] [ 0. 0. 0. 1. ]] SLAMing on 205.84800114499996 meters Centerline goodness [0,1] 0.6580119011944005 Centerline is valid? [False, False] Translation: X:1.82, Y:1.16, Z:-0.54 [[ 0.84747304 0.35474372 -0.39490042 1.81755348] [-0.37754728 0.9257436 0.02137397 1.16187213] [ 0.37315881 0.13097971 0.91847527 -0.54186329] [ 0. 0. 0. 1. ]] SLAMing on 205.87800114499996 meters Centerline goodness [0,1] 0.6604764344262295 Centerline is valid? [False, False] Translation: X:1.79, Y:1.17, Z:-0.55 [[ 0.8481453 0.35617438 -0.39215987 1.79240983] [-0.37870624 0.92527138 0.02131796 1.17336168] [ 0.37044722 0.13043266 0.91965003 -0.55431888] [ 0. 0. 0. 1. ]] SLAMing on 205.90800114499996 meters Centerline goodness [0,1] 0.6608042872636795 Centerline is valid? [False, False] Translation: X:1.77, Y:1.18, Z:-0.57 [[ 0.84851372 0.35759088 -0.39006825 1.7664249 ] [-0.37938011 0.92496275 0.02268581 1.18360499] [ 0.36891084 0.12873491 0.92050645 -0.56785454] [ 0. 0. 0. 1. ]] SLAMing on 205.93800114499996 meters Centerline goodness [0,1] 0.6598339719029374 Centerline is valid? [False, False] Translation: X:1.74, Y:1.20, Z:-0.58 [[ 0.84934909 0.35899051 -0.38695212 1.73815126] [-0.37958222 0.92482492 0.02482364 1.19750821] [ 0.36677441 0.12579621 0.92176561 -0.58232581] [ 0. 0. 0. 1. ]] SLAMing on 205.96800114499996 meters Centerline goodness [0,1] 0.6582189444965469 Centerline is valid? [False, False] Translation: X:1.71, Y:1.21, Z:-0.60 [[ 0.84985741 0.36008133 -0.3848166 1.71085938] [-0.37973716 0.92471098 0.02663274 1.21105466] [ 0.36543409 0.12349513 0.92260874 -0.59574971] [ 0. 0. 0. 1. ]] SLAMing on 205.99800114499996 meters Centerline goodness [0,1] 0.6523890422595031 Centerline is valid? [False, False] Translation: X:1.69, Y:1.22, Z:-0.61 [[ 0.84949757 0.36013239 -0.38556263 1.68770561] [-0.37995732 0.92462457 0.02649228 1.2193517 ] [ 0.36604141 0.12399221 0.92230126 -0.60613727] [ 0. 0. 0. 1. ]] SLAMing on 206.02800114499996 meters Centerline goodness [0,1] 0.6523088038419855 Centerline is valid? [False, False] Translation: X:1.66, Y:1.23, Z:-0.62 [[ 0.85042461 0.36016126 -0.38348645 1.66034003] [-0.37952319 0.92479091 0.02690577 1.23233097] [ 0.3643352 0.12266067 0.9231545 -0.6191997 ] [ 0. 0. 0. 1. ]] SLAMing on 206.05800114499996 meters Centerline goodness [0,1] 0.6516644021739131 Centerline is valid? [False, False] Translation: X:1.64, Y:1.24, Z:-0.63 [[ 0.85095881 0.36029727 -0.38217139 1.63517633] [-0.37966186 0.92474722 0.02644701 1.24455896] [ 0.36294072 0.12259058 0.92371293 -0.63087291] [ 0. 0. 0. 1. ]] SLAMing on 206.08800114499996 meters Centerline goodness [0,1] 0.66225614927905 Centerline is valid? [False, False] Translation: X:1.61, Y:1.26, Z:-0.64 [[ 0.85089533 0.36122748 -0.38143394 1.61253825] [-0.38093942 0.92424845 0.02549423 1.25560133] [ 0.36174895 0.1236103 0.92404448 -0.64088787] [ 0. 0. 0. 1. ]] SLAMing on 206.11800114499997 meters Centerline goodness [0,1] 0.6510433183230798 Centerline is valid? [False, False] Translation: X:1.59, Y:1.27, Z:-0.65 [[ 0.85136687 0.36210871 -0.37954148 1.58773347] [-0.38185534 0.92388677 0.02489441 1.26809306] [ 0.35966784 0.12373566 0.92483973 -0.65183688] [ 0. 0. 0. 1. ]] SLAMing on 206.14800114499997 meters Centerline goodness [0,1] 0.6432419869424666 Centerline is valid? [False, False] Translation: X:1.56, Y:1.28, Z:-0.66 [[ 0.85288056 0.36246198 -0.37578726 1.55786546] [-0.38142715 0.92404443 0.02559739 1.28225718] [ 0.35652221 0.12150394 0.92635237 -0.66466562] [ 0. 0. 0. 1. ]] SLAMing on 206.17800114499997 meters Centerline goodness [0,1] 0.6477716553718833 Centerline is valid? [False, False] Translation: X:1.53, Y:1.30, Z:-0.68 [[ 0.85437207 0.36234599 -0.37249665 1.52960791] [-0.38093697 0.9242538 0.02533648 1.29632944] [ 0.35346202 0.12025097 0.92768761 -0.67750526] [ 0. 0. 0. 1. ]] SLAMing on 206.20800114499997 meters Centerline goodness [0,1] 0.6460109910934243 Centerline is valid? [False, False] Translation: X:1.50, Y:1.31, Z:-0.69 [[ 0.85535793 0.36240371 -0.37017072 1.50389919] [-0.38114211 0.92420227 0.02410078 1.30833221] [ 0.35084684 0.12047286 0.92865106 -0.68863209] [ 0. 0. 0. 1. ]] SLAMing on 206.23800114499997 meters Centerline goodness [0,1] 0.6577635702117816 Centerline is valid? [False, False] Translation: X:1.48, Y:1.32, Z:-0.70 [[ 0.85676155 0.36158008 -0.36772203 1.47646202] [-0.3802365 0.92459739 0.0232349 1.3197816 ] [ 0.34839611 0.11991456 0.92964544 -0.70120403] [ 0. 0. 0. 1. ]] SLAMing on 206.26800114499997 meters Centerline goodness [0,1] 0.6495198470234718 Centerline is valid? [False, False] Translation: X:1.45, Y:1.33, Z:-0.71 [[ 0.85754998 0.36244341 -0.3650244 1.44939867] [-0.38029586 0.92453836 0.02457405 1.33288668] [ 0.34638577 0.11774379 0.93067357 -0.71428477] [ 0. 0. 0. 1. ]] SLAMing on 206.29800114499997 meters Centerline goodness [0,1] 0.634995592494648 Centerline is valid? [False, False] Translation: X:1.43, Y:1.34, Z:-0.72 [[ 0.85718068 0.36365796 -0.36468366 1.42661815] [-0.38169077 0.92397274 0.02421847 1.34444991] [ 0.345765 0.11843678 0.93081647 -0.72337315] [ 0. 0. 0. 1. ]] SLAMing on 206.32800114499997 meters Centerline goodness [0,1] 0.6738720228111372 Centerline is valid? [False, False] Translation: X:1.40, Y:1.36, Z:-0.73 [[ 0.8566094 0.36546603 -0.36421823 1.40350791] [-0.38316439 0.92333287 0.02532707 1.35510869] [ 0.34555085 0.11786005 0.93096918 -0.73378082] [ 0. 0. 0. 1. ]] SLAMing on 206.35800114499997 meters Centerline goodness [0,1] 0.6710730622350918 Centerline is valid? [False, False] Translation: X:1.38, Y:1.37, Z:-0.74 [[ 0.85559008 0.36624089 -0.36583224 1.38218616] [-0.38418498 0.92290601 0.0254244 1.36615062] [ 0.34694023 0.11879438 0.93033347 -0.74233065] [ 0. 0. 0. 1. ]] SLAMing on 206.38800114499998 meters Centerline goodness [0,1] 0.6697609946654346 Centerline is valid? [False, False] Translation: X:1.36, Y:1.38, Z:-0.75 [[ 0.85568094 0.36703569 -0.36482179 1.35720508] [-0.38458675 0.92271483 0.02627509 1.3792837 ] [ 0.34627037 0.11782253 0.93070655 -0.7540769 ] [ 0. 0. 0. 1. ]] SLAMing on 206.41800114499998 meters Centerline goodness [0,1] 0.6713489035179672 Centerline is valid? [False, False] Translation: X:1.34, Y:1.39, Z:-0.76 [[ 0.85444025 0.36812895 -0.36662369 1.33735316] [-0.38629715 0.92202138 0.02551644 1.38970826] [ 0.34742822 0.11982341 0.93001934 -0.76187124] [ 0. 0. 0. 1. ]] SLAMing on 206.44800114499998 meters Centerline goodness [0,1] 0.6764687414973105 Centerline is valid? [False, False] Translation: X:1.31, Y:1.40, Z:-0.77 [[ 0.85453599 0.36869023 -0.36583569 1.3122783 ] [-0.38636927 0.92195899 0.02665358 1.403185 ] [ 0.34711242 0.11857123 0.93029771 -0.77356877] [ 0. 0. 0. 1. ]] SLAMing on 206.47800114499998 meters Centerline goodness [0,1] 0.6817096666108227 Centerline is valid? [False, False] Translation: X:1.29, Y:1.42, Z:-0.78 [[ 0.85428373 0.36936594 -0.36574324 1.28957465] [-0.38723058 0.92160873 0.02626459 1.41536789] [ 0.34677341 0.11918955 0.93034513 -0.78304542] [ 0. 0. 0. 1. ]] SLAMing on 206.50800114499998 meters Centerline goodness [0,1] 0.6860000418471324 Centerline is valid? [False, False] Translation: X:1.26, Y:1.43, Z:-0.79 [[ 0.85502475 0.36972656 -0.36364124 1.26422175] [-0.38743641 0.92153035 0.0259776 1.42916423] [ 0.34471105 0.11867636 0.93117679 -0.79466234] [ 0. 0. 0. 1. ]] SLAMing on 206.53800114499998 meters Centerline goodness [0,1] 0.6881475125054941 Centerline is valid? [False, False] Translation: X:1.23, Y:1.45, Z:-0.81 [[ 0.85648604 0.36981559 -0.36009456 1.23476219] [-0.38692777 0.92173465 0.02630868 1.44537542] [ 0.34164099 0.11679756 0.93254478 -0.80704768] [ 0. 0. 0. 1. ]] SLAMing on 206.56800114499995 meters Centerline goodness [0,1] 0.675517890772128 Centerline is valid? [False, False] Translation: X:1.21, Y:1.46, Z:-0.82 [[ 0.85690875 0.37068306 -0.35819193 1.20924824] [-0.38768245 0.92142351 0.02609661 1.45903566] [ 0.33972004 0.11650231 0.93328319 -0.81738937] [ 0. 0. 0. 1. ]] SLAMing on 206.59800114499996 meters Centerline goodness [0,1] 0.6687728841929073 Centerline is valid? [False, False] Translation: X:1.18, Y:1.47, Z:-0.83 [[ 0.85747721 0.3714841 -0.35599495 1.18386915] [-0.38837795 0.92114057 0.02574148 1.47276585] [ 0.33748394 0.11618786 0.93413327 -0.82814833] [ 0. 0. 0. 1. ]] SLAMing on 206.62800114499996 meters Centerline goodness [0,1] 0.6830043492806959 Centerline is valid? [False, False] Translation: X:1.16, Y:1.49, Z:-0.84 [[ 0.85828726 0.37192149 -0.35357798 1.15804524] [-0.38866693 0.92102956 0.02534892 1.48700425] [ 0.33508358 0.11566741 0.93506152 -0.83949339] [ 0. 0. 0. 1. ]] SLAMing on 206.65800114499996 meters Centerline goodness [0,1] 0.6830043492806959 Centerline is valid? [False, False] Translation: X:1.16, Y:1.49, Z:-0.84 [[ 0.85828726 0.37192149 -0.35357798 1.15804524] [-0.38866693 0.92102956 0.02534892 1.48700425] [ 0.33508358 0.11566741 0.93506152 -0.83949339] [ 0. 0. 0. 1. ]] SLAMing on 206.68800114499996 meters Centerline goodness [0,1] 0.6748286812635802 Centerline is valid? [False, False] Translation: X:1.13, Y:1.50, Z:-0.85 [[ 0.86001577 0.3715013 -0.34979944 1.12744017] [-0.38784069 0.92138714 0.02500694 1.50371091] [ 0.33159082 0.11416009 0.93649079 -0.85107848] [ 0. 0. 0. 1. ]] SLAMing on 206.71800114499996 meters Centerline goodness [0,1] 0.6772175653696985 Centerline is valid? [False, False] Translation: X:1.10, Y:1.52, Z:-0.86 [[ 0.86087784 0.37165725 -0.34750574 1.10209733] [-0.38825593 0.92125315 0.02345135 1.51766636] [ 0.32885662 0.11473241 0.93738455 -0.86091385] [ 0. 0. 0. 1. ]] SLAMing on 206.74800114499996 meters Centerline goodness [0,1] 0.6607172643869892 Centerline is valid? [False, False] Translation: X:1.07, Y:1.53, Z:-0.87 [[ 0.86208771 0.37208949 -0.34402644 1.07420203] [-0.38824897 0.92125485 0.02349986 1.53258844] [ 0.32568008 0.11330897 0.93866584 -0.87271994] [ 0. 0. 0. 1. ]] SLAMing on 206.77800114499996 meters Centerline goodness [0,1] 0.6770978548095129 Centerline is valid? [False, False] Translation: X:1.05, Y:1.54, Z:-0.88 [[ 0.86377633 0.37087554 -0.34108913 1.04765822] [-0.38746503 0.92164716 0.0209132 1.54469022] [ 0.32212002 0.11409578 0.9397983 -0.88335899] [ 0. 0. 0. 1. ]] SLAMing on 206.80800114499996 meters Centerline goodness [0,1] 0.6533640955290889 Centerline is valid? [False, False] Translation: X:1.02, Y:1.56, Z:-0.90 [[ 0.8651193 0.37045914 -0.33812515 1.01973846] [-0.38646024 0.92205678 0.0214422 1.55881216] [ 0.31971405 0.11212187 0.94085685 -0.89619575] [ 0. 0. 0. 1. ]] SLAMing on 206.83800114499996 meters Centerline goodness [0,1] 0.6459700872455338 Centerline is valid? [False, False] Translation: X:0.99, Y:1.57, Z:-0.91 [[ 0.86629313 0.37002852 -0.33558174 0.991719 ] [-0.38544109 0.9224665 0.0221524 1.57306299] [ 0.31775993 0.11015652 0.94175059 -0.90839865] [ 0. 0. 0. 1. ]] SLAMing on 206.86800114499997 meters Centerline goodness [0,1] 0.6561994776769058 Centerline is valid? [False, False] Translation: X:0.96, Y:1.59, Z:-0.92 [[ 0.86813739 0.36871715 -0.33224258 0.96183308] [-0.3834466 0.92328372 0.02271297 1.58676833] [ 0.31512883 0.10767931 0.94292046 -0.92166047] [ 0. 0. 0. 1. ]] SLAMing on 206.89800114499997 meters Centerline goodness [0,1] 0.6474701088080759 Centerline is valid? [False, False] Translation: X:0.96, Y:1.59, Z:-0.92 [[ 0.86830678 0.36843913 -0.33210833 0.96053044] [-0.38313822 0.923412 0.02270222 1.58551133] [ 0.3150372 0.1075309 0.94296801 -0.92166566] [ 0. 0. 0. 1. ]] SLAMing on 206.92800114499997 meters Centerline goodness [0,1] 0.6563736149943047 Centerline is valid? [False, False] Translation: X:0.93, Y:1.60, Z:-0.93 [[ 0.86922133 0.36821431 -0.32995833 0.93438809] [-0.38252695 0.92365695 0.02304269 1.59845354] [ 0.31325295 0.10618876 0.94371422 -0.93375476] [ 0. 0. 0. 1. ]] SLAMing on 206.95800114499997 meters Centerline goodness [0,1] 0.6710340237916979 Centerline is valid? [False, False] Translation: X:0.91, Y:1.61, Z:-0.95 [[ 0.8698459 0.36828294 -0.32823129 0.9081703 ] [-0.38207352 0.92381988 0.02401361 1.61161352] [ 0.31207039 0.10452034 0.9442921 -0.94556658] [ 0. 0. 0. 1. ]] SLAMing on 206.98800114499997 meters Centerline goodness [0,1] 0.6532059122286946 Centerline is valid? [False, False] Translation: X:0.89, Y:1.62, Z:-0.95 [[ 0.86775694 0.36781831 -0.33422685 0.89319395] [-0.38303867 0.923475 0.0218012 1.61868759] [ 0.31666902 0.10910367 0.94224048 -0.94973505] [ 0. 0. 0. 1. ]] SLAMing on 207.01800114499997 meters Centerline goodness [0,1] 0.6776859504132231 Centerline is valid? [False, False] Translation: X:0.89, Y:1.62, Z:-0.95 [[ 0.86762693 0.3681511 -0.33419796 0.8931177 ] [-0.38324216 0.92338014 0.0222389 1.6171272 ] [ 0.31677903 0.10878368 0.9422405 -0.94998613] [ 0. 0. 0. 1. ]] SLAMing on 207.04800114499997 meters Centerline goodness [0,1] 0.6161716376263409 Centerline is valid? [False, False] Translation: X:0.87, Y:1.63, Z:-0.96 [[ 0.86728921 0.37013124 -0.33288479 0.86963293] [-0.38505972 0.92261438 0.02262123 1.62853946] [ 0.31549712 0.10856138 0.94269613 -0.95912825] [ 0. 0. 0. 1. ]] SLAMing on 207.07800114499997 meters Centerline goodness [0,1] 0.6624090608465609 Centerline is valid? [False, False] Translation: X:0.84, Y:1.64, Z:-0.97 [[ 0.86753906 0.3733022 -0.32866615 0.84147936] [-0.38723993 0.9216489 0.02466878 1.64244564] [ 0.3121237 0.10587153 0.94412394 -0.97012603] [ 0. 0. 0. 1. ]] SLAMing on 207.10800114499997 meters Centerline goodness [0,1] 0.6609403817062809 Centerline is valid? [False, False] Translation: X:0.81, Y:1.66, Z:-0.98 [[ 0.86748822 0.37600343 -0.32570785 0.81480185] [-0.3892736 0.92075108 0.02614398 1.65637294] [ 0.30972609 0.10410987 0.94510893 -0.98013785] [ 0. 0. 0. 1. ]] SLAMing on 207.13800114499998 meters Centerline goodness [0,1] 0.6766494312306102 Centerline is valid? [False, False] Translation: X:0.80, Y:1.67, Z:-0.98 [[ 0.8657105 0.37953237 -0.32634416 0.79570365] [-0.39360076 0.91895229 0.02459926 1.66616854] [ 0.30923093 0.10715348 0.94493088 -0.98464004] [ 0. 0. 0. 1. ]] SLAMing on 207.16800114499998 meters Centerline goodness [0,1] 0.6826049913762651 Centerline is valid? [False, False] Translation: X:0.77, Y:1.68, Z:-0.99 [[ 0.86528374 0.38513137 -0.32087048 0.76730951] [-0.39831548 0.91686953 0.02636364 1.68075742] [ 0.30434983 0.10499565 0.94675609 -0.99351704] [ 0. 0. 0. 1. ]] SLAMing on 207.19800114499998 meters Centerline goodness [0,1] 0.7010916939936076 Centerline is valid? [False, False] Translation: X:0.77, Y:1.68, Z:-0.99 [[ 0.86452345 0.38772278 -0.3197972 0.76523348] [-0.40042863 0.9159018 0.02794287 1.68073663] [ 0.30373692 0.10389869 0.94707389 -0.99281481] [ 0. 0. 0. 1. ]] SLAMing on 207.22800114499998 meters Centerline goodness [0,1] 0.6997579193478306 Centerline is valid? [False, False] Translation: X:0.75, Y:1.69, Z:-1.00 [[ 0.86200511 0.38972291 -0.32413462 0.74928892] [-0.40361771 0.91455173 0.0262275 1.69052876] [ 0.30665933 0.10821823 0.94564733 -0.99580744] [ 0. 0. 0. 1. ]] SLAMing on 207.25800114499998 meters Centerline goodness [0,1] 0.6905973359808057 Centerline is valid? [False, False] Translation: X:0.72, Y:1.71, Z:-1.01 [[ 0.86230353 0.39201953 -0.32055156 0.72220362] [-0.40544425 0.91372754 0.02677584 1.70514378] [ 0.30339344 0.10687688 0.94685255 -1.00545658] [ 0. 0. 0. 1. ]] SLAMing on 207.28800114499998 meters Centerline goodness [0,1] 0.6751647804999379 Centerline is valid? [False, False] Translation: X:0.69, Y:1.72, Z:-1.02 [[ 0.86326779 0.39241161 -0.31746158 0.69385925] [-0.4052649 0.9137858 0.02749314 1.72093705] [ 0.30088051 0.10492209 0.9478725 -1.01631815] [ 0. 0. 0. 1. ]] SLAMing on 207.31800114499995 meters Centerline goodness [0,1] 0.673107125144652 Centerline is valid? [False, False] Translation: X:0.67, Y:1.73, Z:-1.02 [[ 0.86323285 0.39283806 -0.31702887 0.67064833] [-0.40582973 0.91355053 0.02697503 1.73352162] [ 0.30021871 0.10537401 0.94803219 -1.0249335 ] [ 0. 0. 0. 1. ]] SLAMing on 207.34800114499996 meters Centerline goodness [0,1] 0.7036486095615884 Centerline is valid? [False, False] Translation: X:0.65, Y:1.75, Z:-1.03 [[ 0.86321956 0.39253543 -0.31743965 0.64777034] [-0.40571114 0.91361736 0.02649129 1.74573342] [ 0.30041714 0.105921 0.94790837 -1.03346149] [ 0. 0. 0. 1. ]] SLAMing on 207.37800114499996 meters Centerline goodness [0,1] 0.6820849867724867 Centerline is valid? [False, False] Translation: X:0.62, Y:1.76, Z:-1.05 [[ 0.86528396 0.39028594 -0.31457997 0.61896934] [-0.403064 0.91479444 0.02627822 1.76064243] [ 0.29803203 0.10405774 0.94886716 -1.0458975 ] [ 0. 0. 0. 1. ]] SLAMing on 207.40800114499996 meters Centerline goodness [0,1] 0.6959694088466308 Centerline is valid? [False, False] Translation: X:0.60, Y:1.77, Z:-1.05 [[ 0.86524572 0.38969583 -0.31541561 0.59679124] [-0.40275998 0.91494839 0.02557016 1.77269769] [ 0.29855359 0.10491231 0.94860906 -1.05426965] [ 0. 0. 0. 1. ]] SLAMing on 207.43800114499996 meters Centerline goodness [0,1] 0.6845276167289083 Centerline is valid? [False, False] Translation: X:0.57, Y:1.79, Z:-1.06 [[ 0.86583589 0.38899057 -0.31466579 0.57290905] [-0.40211759 0.91524768 0.0249626 1.78540617] [ 0.29770735 0.10491913 0.94887423 -1.06409323] [ 0. 0. 0. 1. ]] SLAMing on 207.46800114499996 meters Centerline goodness [0,1] 0.6761554817001425 Centerline is valid? [False, False] Translation: X:0.54, Y:1.80, Z:-1.08 [[ 0.86810335 0.38554795 -0.31264894 0.54460844] [-0.39838988 0.91688881 0.02450356 1.79958938] [ 0.29611161 0.10328455 0.94955264 -1.07674088] [ 0. 0. 0. 1. ]] SLAMing on 207.49800114499996 meters Centerline goodness [0,1] 0.6697255273957066 Centerline is valid? [False, False] Translation: X:0.52, Y:1.81, Z:-1.09 [[ 0.86831806 0.38517652 -0.31251046 0.52205688] [-0.39826811 0.91696581 0.02358419 1.8117654 ] [ 0.29564549 0.10398437 0.9496215 -1.08534088] [ 0. 0. 0. 1. ]] SLAMing on 207.52800114499996 meters Centerline goodness [0,1] 0.6644028729600131 Centerline is valid? [False, False] Translation: X:0.52, Y:1.81, Z:-1.09 [[ 0.86843713 0.3847637 -0.31268808 0.52175917] [-0.39789959 0.91712964 0.02343362 1.81157544] [ 0.29579191 0.10406784 0.94956676 -1.08505981] [ 0. 0. 0. 1. ]] SLAMing on 207.55800114499996 meters Centerline goodness [0,1] 0.6738557244675154 Centerline is valid? [False, False] Translation: X:0.50, Y:1.82, Z:-1.09 [[ 0.86875218 0.38480986 -0.31175476 0.49803399] [-0.39799787 0.91709981 0.02292677 1.82464537] [ 0.29473268 0.10416005 0.94988596 -1.09377292] [ 0. 0. 0. 1. ]] SLAMing on 207.58800114499996 meters Centerline goodness [0,1] 0.6561117626483962 Centerline is valid? [False, False] Translation: X:0.48, Y:1.84, Z:-1.10 [[ 0.86849518 0.38600532 -0.31099198 0.4771416 ] [-0.39976453 0.91637713 0.02100657 1.83621949] [ 0.29309459 0.10607946 0.95018036 -1.1011939 ] [ 0. 0. 0. 1. ]] SLAMing on 207.61800114499997 meters Centerline goodness [0,1] 0.6754857719807958 Centerline is valid? [False, False] Translation: X:0.45, Y:1.85, Z:-1.11 [[ 0.86799483 0.38819664 -0.30965842 0.45498677] [-0.40196003 0.91541928 0.02087287 1.84839603] [ 0.29157007 0.10635276 0.95061874 -1.10940303] [ 0. 0. 0. 1. ]] SLAMing on 207.64800114499997 meters Centerline goodness [0,1] 0.6551773897627244 Centerline is valid? [False, False] Translation: X:0.43, Y:1.86, Z:-1.12 [[ 0.86805355 0.39072159 -0.30629995 0.42926645] [-0.40388068 0.91454675 0.02201471 1.86335182] [ 0.28872725 0.10459869 0.95168046 -1.11945594] [ 0. 0. 0. 1. ]] SLAMing on 207.67800114499997 meters Centerline goodness [0,1] 0.6941822762850829 Centerline is valid? [False, False] Translation: X:0.41, Y:1.88, Z:-1.13 [[ 0.86668007 0.39584064 -0.30360475 0.40705459] [-0.40881845 0.91233875 0.022483 1.87755896] [ 0.28589006 0.10463366 0.95253277 -1.12598454] [ 0. 0. 0. 1. ]] SLAMing on 207.70800114499997 meters Centerline goodness [0,1] 0.6839745444026613 Centerline is valid? [False, False] Translation: X:0.38, Y:1.89, Z:-1.13 [[ 0.86611255 0.39888222 -0.30123418 0.38186143] [-0.41139098 0.91115149 0.02367338 1.89285615] [ 0.28391286 0.10342121 0.95325628 -1.13385278] [ 0. 0. 0. 1. ]] SLAMing on 207.73800114499997 meters Centerline goodness [0,1] 0.6978856954079947 Centerline is valid? [False, False] Translation: X:0.36, Y:1.90, Z:-1.14 [[ 0.86377864 0.4018931 -0.30392168 0.36443983] [-0.41534796 0.90939459 0.0220804 1.90439406] [ 0.2852587 0.10716067 0.95244111 -1.13651276] [ 0. 0. 0. 1. ]] SLAMing on 207.76800114499997 meters Centerline goodness [0,1] 0.6961498009939988 Centerline is valid? [False, False] Translation: X:0.34, Y:1.92, Z:-1.14 [[ 0.86258079 0.40669116 -0.30092638 0.34014982] [-0.41975102 0.90734621 0.02306382 1.91967818] [ 0.28242427 0.10641975 0.95336843 -1.1435905 ] [ 0. 0. 0. 1. ]] SLAMing on 207.79800114499997 meters Centerline goodness [0,1] 0.7013054075267484 Centerline is valid? [False, False] Translation: X:0.31, Y:1.94, Z:-1.15 [[ 0.86275743 0.40850584 -0.29794731 0.31343141] [-0.42086501 0.9067901 0.02458367 1.93590585] [ 0.28021825 0.10418585 0.95426571 -1.15352995] [ 0. 0. 0. 1. ]] SLAMing on 207.82800114499997 meters Centerline goodness [0,1] 0.699760666831724 Centerline is valid? [False, False] Translation: X:0.29, Y:1.95, Z:-1.16 [[ 0.86214539 0.41022828 -0.29735179 0.28954736] [-0.422324 0.90608482 0.0255486 1.95007927] [ 0.27990671 0.10355219 0.9544261 -1.16126498] [ 0. 0. 0. 1. ]] SLAMing on 207.85800114499997 meters Centerline goodness [0,1] 0.6980672840906748 Centerline is valid? [False, False] Translation: X:0.26, Y:1.97, Z:-1.17 [[ 0.8634492 0.40890427 -0.29538581 0.26209217] [-0.42052653 0.90690247 0.02617928 1.96585982] [ 0.27859094 0.10161309 0.9550193 -1.17280607] [ 0. 0. 0. 1. ]] SLAMing on 207.88800114499998 meters Centerline goodness [0,1] 0.684019619966201 Centerline is valid? [False, False] Translation: X:0.23, Y:1.98, Z:-1.18 [[ 0.86484792 0.40777242 -0.29284763 0.23457851] [-0.41908879 0.90757092 0.02606928 1.98186577] [ 0.27641032 0.10018319 0.95580367 -1.18353827] [ 0. 0. 0. 1. ]] SLAMing on 207.91800114499998 meters Centerline goodness [0,1] 0.688921011874032 Centerline is valid? [False, False] Translation: X:0.20, Y:2.00, Z:-1.19 [[ 0.86656886 0.40643131 -0.28960664 0.20443053] [-0.41705235 0.90848022 0.02703746 1.99983932] [ 0.27409077 0.09735131 0.9567638 -1.19454987] [ 0. 0. 0. 1. ]] SLAMing on 207.94800114499998 meters Centerline goodness [0,1] 0.6815239351832763 Centerline is valid? [False, False] Translation: X:0.18, Y:2.02, Z:-1.20 [[ 0.8679137 0.40554642 -0.28680638 0.17755981] [-0.41612687 0.90893515 0.02598683 2.01575568] [ 0.27122727 0.09679352 0.95763604 -1.20423899] [ 0. 0. 0. 1. ]] SLAMing on 207.97800114499998 meters Centerline goodness [0,1] 0.668577910694029 Centerline is valid? [False, False] Translation: X:0.15, Y:2.03, Z:-1.21 [[ 0.87012988 0.40266466 -0.28413932 0.14806222] [-0.41314474 0.91032573 0.02486956 2.03331743] [ 0.26867343 0.09575092 0.95846041 -1.21461372] [ 0. 0. 0. 1. ]] SLAMing on 208.00800114499998 meters Centerline goodness [0,1] 0.6619750283768445 Centerline is valid? [False, False] Translation: X:0.12, Y:2.05, Z:-1.22 [[ 0.87148079 0.40113388 -0.28215746 0.12065116] [-0.41148416 0.9110917 0.0243453 2.04983261] [ 0.26683705 0.09488686 0.95905916 -1.22471194] [ 0. 0. 0. 1. ]] SLAMing on 208.03800114499998 meters Centerline goodness [0,1] 0.6572171329537014 Centerline is valid? [False, False] Translation: X:0.10, Y:2.06, Z:-1.23 [[ 0.87154872 0.40040088 -0.28298758 0.09790788] [-0.4110772 0.91130106 0.02336475 2.06322171] [ 0.26724215 0.09596622 0.95883894 -1.23218337] [ 0. 0. 0. 1. ]] SLAMing on 208.06800114499995 meters Centerline goodness [0,1] 0.6481058031024041 Centerline is valid? [False, False] Translation: X:0.07, Y:2.08, Z:-1.24 [[ 0.87174501 0.39913112 -0.28417421 0.07470637] [-0.41018314 0.91173151 0.02225857 2.07769627] [ 0.26797467 0.09715967 0.95851425 -1.23949496] [ 0. 0. 0. 1. ]] SLAMing on 208.09800114499996 meters Centerline goodness [0,1] 0.6481026762684935 Centerline is valid? [False, False] Translation: X:0.05, Y:2.09, Z:-1.25 [[ 0.87219816 0.40020561 -0.28125762 0.04769719] [-0.4106492 0.91148995 0.02352263 2.09436872] [ 0.26577738 0.09498182 0.95934396 -1.24962092] [ 0. 0. 0. 1. ]] SLAMing on 208.12800114499996 meters Centerline goodness [0,1] 0.6765245347567133 Centerline is valid? [False, False] Translation: X:0.03, Y:2.11, Z:-1.26 [[ 0.87107014 0.40276274 -0.28110316 0.02690317] [-0.4133473 0.91027347 0.0233713 2.10885204] [ 0.26529384 0.09583519 0.95939293 -1.25600491] [ 0. 0. 0. 1. ]] SLAMing on 208.15800114499996 meters Centerline goodness [0,1] 0.6518167781780752 Centerline is valid? [False, False] Translation: X:0.00, Y:2.13, Z:-1.26 [[ 0.87004883 0.40567147 -0.28008159 0.00328937] [-0.41581207 0.909105 0.02506827 2.12584112] [ 0.26479306 0.09465068 0.95964883 -1.26292015] [ 0. 0. 0. 1. ]] SLAMing on 208.18800114499996 meters Centerline goodness [0,1] 0.7092446657476184 Centerline is valid? [False, False] Translation: X:0.00, Y:2.13, Z:-1.26 [[ 0.86848557 0.40986786 -0.27882099 0.00373843] [-0.41925517 0.90743602 0.02801724 2.12774518] [ 0.26449557 0.09256458 0.95993432 -1.26215917] [ 0. 0. 0. 1. ]] SLAMing on 208.21800114499996 meters Centerline goodness [0,1] 0.7090725098614238 Centerline is valid? [False, False] Translation: X:-0.01, Y:2.14, Z:-1.26 [[ 0.86600588 0.4117919 -0.2836569 -0.01212304] [-0.42222337 0.90610818 0.02637019 2.13902253] [ 0.26788287 0.09692983 0.95856318 -1.26423532] [ 0. 0. 0. 1. ]] SLAMing on 208.24800114499996 meters Centerline goodness [0,1] 0.7035840006587479 Centerline is valid? [False, False] Translation: X:-0.03, Y:2.15, Z:-1.27 [[ 0.86387327 0.41427015 -0.28653658 -0.02758871] [-0.4259688 0.90443585 0.02337473 2.14982176] [ 0.26883741 0.10186284 0.95778411 -1.26708562] [ 0. 0. 0. 1. ]] SLAMing on 208.27800114499996 meters Centerline goodness [0,1] 0.7167497836211516 Centerline is valid? [False, False] Translation: X:-0.06, Y:2.17, Z:-1.28 [[ 0.86346973 0.41845053 -0.28163661 -0.0550204 ] [-0.4295166 0.90272917 0.0244035 2.17027254] [ 0.26445325 0.09989592 0.95921076 -1.2752104 ] [ 0. 0. 0. 1. ]] SLAMing on 208.30800114499996 meters Centerline goodness [0,1] 0.7067464971298067 Centerline is valid? [False, False] Translation: X:-0.08, Y:2.19, Z:-1.28 [[ 0.86335135 0.42070182 -0.27862954 -0.08073684] [-0.43145317 0.9017962 0.02473401 2.18734699] [ 0.2616727 0.09886146 0.96008011 -1.28311312] [ 0. 0. 0. 1. ]] SLAMing on 208.33800114499996 meters Centerline goodness [0,1] 0.7071970009063195 Centerline is valid? [False, False] Translation: X:-0.11, Y:2.21, Z:-1.29 [[ 0.86407788 0.42123111 -0.27556083 -0.10926027] [-0.43156723 0.90173024 0.0251456 2.20574203] [ 0.25907364 0.09719527 0.9609547 -1.29206671] [ 0. 0. 0. 1. ]] SLAMing on 208.36800114499997 meters Centerline goodness [0,1] 0.7019294059568866 Centerline is valid? [False, False] Translation: X:-0.14, Y:2.22, Z:-1.30 [[ 0.8647626 0.4212948 -0.27330629 -0.13617241] [-0.43144556 0.9017935 0.02496441 2.22223486] [ 0.25698321 0.09632849 0.96160306 -1.30067989] [ 0. 0. 0. 1. ]] SLAMing on 208.39800114499997 meters Centerline goodness [0,1] 0.7018679642076615 Centerline is valid? [False, False] Translation: X:-0.17, Y:2.24, Z:-1.31 [[ 0.86658772 0.41980776 -0.26979097 -0.16756471] [-0.42953635 0.90270481 0.02495098 2.24173214] [ 0.25401622 0.09426281 0.9625956 -1.31051657] [ 0. 0. 0. 1. ]] SLAMing on 208.42800114499997 meters Centerline goodness [0,1] 0.7098825127055 Centerline is valid? [False, False] Translation: X:-0.19, Y:2.26, Z:-1.32 [[ 0.86758155 0.41903438 -0.2677918 -0.19401495] [-0.42873741 0.90310624 0.0241527 2.25804179] [ 0.25196526 0.09385793 0.96317402 -1.31968793] [ 0. 0. 0. 1. ]] SLAMing on 208.45800114499997 meters Centerline goodness [0,1] 0.7108706385780119 Centerline is valid? [False, False] Translation: X:-0.22, Y:2.27, Z:-1.33 [[ 0.86840022 0.41817045 -0.26648552 -0.21995922] [-0.42780987 0.90355653 0.02375533 2.27451473] [ 0.25071851 0.09337601 0.96354613 -1.32872518] [ 0. 0. 0. 1. ]] SLAMing on 208.48800114499997 meters Centerline goodness [0,1] 0.7032962505150391 Centerline is valid? [False, False] Translation: X:-0.25, Y:2.29, Z:-1.34 [[ 0.86928804 0.41704638 -0.26535 -0.2473468 ] [-0.42625581 0.90426268 0.02479896 2.29203863] [ 0.25028842 0.09154954 0.96383317 -1.33848065] [ 0. 0. 0. 1. ]] SLAMing on 208.51800114499997 meters Centerline goodness [0,1] 0.6982801184990125 Centerline is valid? [False, False] Translation: X:-0.27, Y:2.31, Z:-1.35 [[ 0.86873955 0.4172928 -0.26675515 -0.26899513] [-0.42663348 0.90408265 0.02486851 2.30608987] [ 0.25154615 0.09220242 0.96344343 -1.3454407 ] [ 0. 0. 0. 1. ]] SLAMing on 208.54800114499997 meters Centerline goodness [0,1] 0.6982801184990125 Centerline is valid? [False, False] Translation: X:-0.28, Y:2.32, Z:-1.35 [[ 0.86657307 0.41807367 -0.27251701 -0.28397513] [-0.42854884 0.90322779 0.02292287 2.31586629] [ 0.25572838 0.0969225 0.96187786 -1.34734361] [ 0. 0. 0. 1. ]] SLAMing on 208.57800114499997 meters Centerline goodness [0,1] 0.6999814344947088 Centerline is valid? [False, False] Translation: X:-0.31, Y:2.33, Z:-1.36 [[ 0.86709158 0.41795204 -0.27105034 -0.31134044] [-0.42782558 0.90352659 0.02459627 2.33363875] [ 0.25518125 0.09463505 0.96225087 -1.35691951] [ 0. 0. 0. 1. ]] SLAMing on 208.60800114499997 meters Centerline goodness [0,1] 0.6990953489809797 Centerline is valid? [False, False] Translation: X:-0.33, Y:2.35, Z:-1.37 [[ 0.86675982 0.41843273 -0.27136962 -0.33413156] [-0.42795783 0.90342158 0.02610651 2.35061555] [ 0.25608499 0.09350668 0.96212108 -1.36620993] [ 0. 0. 0. 1. ]] SLAMing on 208.63800114499998 meters Centerline goodness [0,1] 0.6998126916822757 Centerline is valid? [False, False] Translation: X:-0.36, Y:2.37, Z:-1.37 [[ 0.86652116 0.41904606 -0.27118531 -0.3582396 ] [-0.42834091 0.90321377 0.0269989 2.36732188] [ 0.25625209 0.09276465 0.96214842 -1.37437152] [ 0. 0. 0. 1. ]] SLAMing on 208.66800114499998 meters Centerline goodness [0,1] 0.7083875229660824 Centerline is valid? [False, False] Translation: X:-0.39, Y:2.39, Z:-1.38 [[ 0.86691977 0.41904103 -0.26991616 -0.38532784] [-0.42785874 0.90340192 0.02831722 2.38606993] [ 0.25570885 0.09093723 0.96246735 -1.38353861] [ 0. 0. 0. 1. ]] SLAMing on 208.69800114499998 meters Centerline goodness [0,1] 0.7212141207522269 Centerline is valid? [False, False] Translation: X:-0.41, Y:2.40, Z:-1.39 [[ 0.8660886 0.41970411 -0.27154924 -0.40635477] [-0.42894311 0.90291433 0.02745033 2.40073996] [ 0.25670672 0.09270476 0.962033 -1.38931547] [ 0. 0. 0. 1. ]] SLAMing on 208.72800114499998 meters Centerline goodness [0,1] 0.7059562290255502 Centerline is valid? [False, False] Translation: X:-0.43, Y:2.42, Z:-1.39 [[ 0.86517452 0.4198321 -0.27425183 -0.42730763] [-0.42952015 0.90265893 0.02681955 2.41744816] [ 0.25881557 0.0945931 0.96128385 -1.39440199] [ 0. 0. 0. 1. ]] SLAMing on 208.75800114499998 meters Centerline goodness [0,1] 0.7095439953905671 Centerline is valid? [False, False] Translation: X:-0.45, Y:2.44, Z:-1.40 [[ 0.86563624 0.42017903 -0.27225629 -0.45328473] [-0.4297569 0.90255495 0.02652469 2.43501885] [ 0.25687139 0.09404328 0.96185911 -1.40301379] [ 0. 0. 0. 1. ]] SLAMing on 208.78800114499998 meters Centerline goodness [0,1] 0.7104724067291577 Centerline is valid? [False, False] Translation: X:-0.48, Y:2.46, Z:-1.41 [[ 0.86694607 0.41955278 -0.26903526 -0.48430363] [-0.42837712 0.90316469 0.02804612 2.45770278] [ 0.25474997 0.09093408 0.96272189 -1.41297547] [ 0. 0. 0. 1. ]] SLAMing on 208.81800114499995 meters Centerline goodness [0,1] 0.7210499121628604 Centerline is valid? [False, False] Translation: X:-0.50, Y:2.47, Z:-1.41 [[ 0.86513833 0.42022694 -0.27376081 -0.50090373] [-0.43029497 0.9023343 0.02527942 2.46983395] [ 0.25764686 0.09592771 0.96146553 -1.4146909 ] [ 0. 0. 0. 1. ]] SLAMing on 208.84800114499996 meters Centerline goodness [0,1] 0.7133004315774258 Centerline is valid? [False, False] Translation: X:-0.53, Y:2.49, Z:-1.42 [[ 0.86560305 0.42072158 -0.27152296 -0.52635544] [-0.43079217 0.90211917 0.0244767 2.48606924] [ 0.25524394 0.09578285 0.96212067 -1.4231855 ] [ 0. 0. 0. 1. ]] SLAMing on 208.87800114499996 meters Centerline goodness [0,1] 0.712120898028566 Centerline is valid? [False, False] Translation: X:-0.56, Y:2.51, Z:-1.43 [[ 0.86680855 0.42060866 -0.267827 -0.55757406] [-0.42995116 0.90248374 0.02578953 2.50627349] [ 0.25255681 0.09279794 0.9631218 -1.43292352] [ 0. 0. 0. 1. ]] SLAMing on 208.90800114499996 meters Centerline goodness [0,1] 0.7227362102866605 Centerline is valid? [False, False] Translation: X:-0.56, Y:2.51, Z:-1.43 [[ 0.86591606 0.42343374 -0.26625786 -0.56005117] [-0.43221016 0.90134431 0.02779964 2.50857385] [ 0.25176131 0.0910072 0.96350087 -1.43162135] [ 0. 0. 0. 1. ]] SLAMing on 208.93800114499996 meters Centerline goodness [0,1] 0.7038121948685987 Centerline is valid? [False, False] Translation: X:-0.59, Y:2.53, Z:-1.44 [[ 0.86607132 0.42384524 -0.26509561 -0.58605728] [-0.43253032 0.90119141 0.02777705 2.52533808] [ 0.25067506 0.09060498 0.96382195 -1.43954084] [ 0. 0. 0. 1. ]] SLAMing on 208.96800114499996 meters Centerline goodness [0,1] 0.7048702852268709 Centerline is valid? [False, False] Translation: X:-0.61, Y:2.54, Z:-1.45 [[ 0.86641237 0.42451902 -0.26289392 -0.61241733] [-0.43302694 0.90095408 0.02773834 2.54202497] [ 0.2486308 0.08980731 0.96442593 -1.44831901] [ 0. 0. 0. 1. ]] SLAMing on 208.99800114499996 meters Centerline goodness [0,1] 0.7008066028887638 Centerline is valid? [False, False] Translation: X:-0.64, Y:2.56, Z:-1.46 [[ 0.86676236 0.42458631 -0.26162852 -0.63908061] [-0.43302039 0.90096268 0.02756063 2.55965461] [ 0.2474194 0.08940197 0.96477507 -1.45587495] [ 0. 0. 0. 1. ]] SLAMing on 209.02800114499996 meters Centerline goodness [0,1] 0.6845609567740185 Centerline is valid? [False, False] Translation: X:-0.67, Y:2.58, Z:-1.46 [[ 0.86713486 0.42498486 -0.25974028 -0.66556349] [-0.43318876 0.90087392 0.0278151 2.57876585] [ 0.24581424 0.08839712 0.96527784 -1.46410643] [ 0. 0. 0. 1. ]] SLAMing on 209.05800114499996 meters Centerline goodness [0,1] 0.6937577062130362 Centerline is valid? [False, False] Translation: X:-0.69, Y:2.60, Z:-1.47 [[ 0.86768533 0.4237921 -0.25985078 -0.69147733] [-0.43198996 0.901453 0.02769785 2.5964909 ] [ 0.2459814 0.08821991 0.96525147 -1.47202419] [ 0. 0. 0. 1. ]] SLAMing on 209.08800114499996 meters Centerline goodness [0,1] 0.6902532520580658 Centerline is valid? [False, False] Translation: X:-0.71, Y:2.61, Z:-1.48 [[ 0.86724789 0.42277999 -0.2629414 -0.71286698] [-0.43147671 0.90172724 0.0267549 2.61089815] [ 0.24841286 0.09024996 0.96444077 -1.47735703] [ 0. 0. 0. 1. ]] SLAMing on 209.11800114499997 meters Centerline goodness [0,1] 0.6689045049567073 Centerline is valid? [False, False] Translation: X:-0.74, Y:2.63, Z:-1.49 [[ 0.86810775 0.42041505 -0.26389416 -0.73666442] [-0.42936091 0.90276484 0.02578457 2.62720139] [ 0.24907459 0.09092205 0.96420694 -1.48649907] [ 0. 0. 0. 1. ]] SLAMing on 209.14800114499997 meters Centerline goodness [0,1] 0.6752104614484762 Centerline is valid? [False, False] Translation: X:-0.76, Y:2.64, Z:-1.50 [[ 0.86879489 0.41953335 -0.26303461 -0.76186043] [-0.4284828 0.90319543 0.02530821 2.64311944] [ 0.24818929 0.09071817 0.9644544 -1.49552304] [ 0. 0. 0. 1. ]] SLAMing on 209.17800114499997 meters Centerline goodness [0,1] 0.6591856834517298 Centerline is valid? [False, False] Translation: X:-0.79, Y:2.66, Z:-1.50 [[ 0.86976333 0.4181053 -0.26210628 -0.78949841] [-0.42683774 0.90396631 0.02558232 2.66119562] [ 0.24763135 0.08962629 0.96469987 -1.50454269] [ 0. 0. 0. 1. ]] SLAMing on 209.20800114499997 meters Centerline goodness [0,1] 0.6523349234245543 Centerline is valid? [False, False] Translation: X:-0.81, Y:2.68, Z:-1.51 [[ 0.87014814 0.41806008 -0.2608984 -0.81406541] [-0.42669288 0.90403672 0.02551048 2.67687035] [ 0.24652665 0.08912559 0.96502914 -1.51357538] [ 0. 0. 0. 1. ]] SLAMing on 209.23800114499997 meters Centerline goodness [0,1] 0.7008475110933524 Centerline is valid? [False, False] Translation: X:-0.84, Y:2.70, Z:-1.52 [[ 0.87100236 0.41743259 -0.25904619 -0.84141917] [-0.42580489 0.90444865 0.02574553 2.69657694] [ 0.245041 0.08787871 0.96552175 -1.52250799] [ 0. 0. 0. 1. ]] SLAMing on 209.26800114499997 meters Centerline goodness [0,1] 0.7028776827191894 Centerline is valid? [False, False] Translation: X:-0.86, Y:2.71, Z:-1.53 [[ 0.87086221 0.41802003 -0.25856963 -0.86488813] [-0.42653804 0.90412181 0.02508093 2.71206672] [ 0.24426278 0.08844775 0.96566697 -1.52957407] [ 0. 0. 0. 1. ]] SLAMing on 209.29800114499997 meters Centerline goodness [0,1] 0.7001766635820644 Centerline is valid? [False, False] Translation: X:-0.89, Y:2.73, Z:-1.54 [[ 0.87101895 0.41820703 -0.25773801 -0.88953495] [-0.42685302 0.9039948 0.02428786 2.7286803 ] [ 0.24315117 0.08886106 0.96590953 -1.53697703] [ 0. 0. 0. 1. ]] SLAMing on 209.32800114499997 meters Centerline goodness [0,1] 0.6992433795712485 Centerline is valid? [False, False] Translation: X:-0.89, Y:2.73, Z:-1.54 [[ 0.87001675 0.42122931 -0.25619666 -0.89160795] [-0.42921699 0.90280422 0.02678267 2.72934524] [ 0.24257707 0.08666258 0.96625357 -1.53634656] [ 0. 0. 0. 1. ]] SLAMing on 209.35800114499997 meters Centerline goodness [0,1] 0.7111942348739406 Centerline is valid? [False, False] Translation: X:-0.92, Y:2.75, Z:-1.54 [[ 0.8694448 0.42215089 -0.25662106 -0.91549244] [-0.43040268 0.90226166 0.02602746 2.74956616] [ 0.24252686 0.08782096 0.96616158 -1.54086211] [ 0. 0. 0. 1. ]] SLAMing on 209.38800114499998 meters Centerline goodness [0,1] 0.7106308361854059 Centerline is valid? [False, False] Translation: X:-0.94, Y:2.77, Z:-1.55 [[ 0.86862533 0.42293523 -0.25810042 -0.93680274] [-0.43181224 0.90163824 0.02422131 2.76544931] [ 0.24295725 0.09041168 0.96581442 -1.54506319] [ 0. 0. 0. 1. ]] SLAMing on 209.41800114499998 meters Centerline goodness [0,1] 0.7143309814525329 Centerline is valid? [False, False] Translation: X:-0.94, Y:2.77, Z:-1.54 [[ 0.86760815 0.42594336 -0.25657038 -0.93897788] [-0.43415602 0.90044087 0.0267354 2.76619365] [ 0.24241422 0.08819572 0.96615571 -1.54431249] [ 0. 0. 0. 1. ]] SLAMing on 209.44800114499998 meters Centerline goodness [0,1] 0.7076190476190476 Centerline is valid? [False, False] Translation: X:-0.97, Y:2.78, Z:-1.55 [[ 0.86764871 0.42696024 -0.25473648 -0.96514879] [-0.43557913 0.8998154 0.02455766 2.78467198] [ 0.23970095 0.08965047 0.96669863 -1.54938455] [ 0. 0. 0. 1. ]] SLAMing on 209.47800114499998 meters Centerline goodness [0,1] 0.6810472444275262 Centerline is valid? [False, False] Translation: X:-0.99, Y:2.80, Z:-1.56 [[ 0.86789775 0.42773824 -0.25257375 -0.99122717] [-0.43655065 0.89938456 0.02304214 2.80279428] [ 0.23701693 0.09026301 0.96730324 -1.55619764] [ 0. 0. 0. 1. ]] SLAMing on 209.50800114499998 meters Centerline goodness [0,1] 0.7070758521159641 Centerline is valid? [False, False] Translation: X:-1.02, Y:2.82, Z:-1.56 [[ 0.86786232 0.42874917 -0.25097638 -1.01786619] [-0.43761846 0.89888358 0.02232488 2.8231381 ] [ 0.23517032 0.09045698 0.96773574 -1.56201524] [ 0. 0. 0. 1. ]] SLAMing on 209.53800114499998 meters Centerline goodness [0,1] 0.7040078076931238 Centerline is valid? [False, False] Translation: X:-1.04, Y:2.84, Z:-1.57 [[ 0.86707486 0.42913557 -0.25302934 -1.03956846] [-0.43843251 0.89850807 0.02145195 2.83843287] [ 0.23655469 0.09233584 0.96722074 -1.56680849] [ 0. 0. 0. 1. ]] SLAMing on 209.56800114499995 meters Centerline goodness [0,1] 0.7124570847285212 Centerline is valid? [False, False] Translation: X:-1.06, Y:2.85, Z:-1.57 [[ 0.86582254 0.43025169 -0.25541108 -1.05949301] [-0.44014636 0.89769978 0.02015658 2.85210435] [ 0.23795487 0.09496623 0.96662242 -1.57109407] [ 0. 0. 0. 1. ]] SLAMing on 209.59800114499996 meters Centerline goodness [0,1] 0.7087259146082676 Centerline is valid? [False, False] Translation: X:-1.09, Y:2.87, Z:-1.58 [[ 0.86556206 0.43129177 -0.25453827 -1.08615287] [-0.44086256 0.89732258 0.02126963 2.87039194] [ 0.23757636 0.09380621 0.96682877 -1.5785013 ] [ 0. 0. 0. 1. ]] SLAMing on 209.62800114499996 meters Centerline goodness [0,1] 0.7226706887028933 Centerline is valid? [False, False] Translation: X:-1.11, Y:2.89, Z:-1.58 [[ 0.86502712 0.4312339 -0.25644765 -1.10835257] [-0.44129896 0.89713628 0.02004311 2.88512796] [ 0.23871176 0.09583224 0.96635029 -1.58374015] [ 0. 0. 0. 1. ]] SLAMing on 209.65800114499996 meters Centerline goodness [0,1] 0.7028015134124048 Centerline is valid? [False, False] Translation: X:-1.13, Y:2.90, Z:-1.59 [[ 0.86436604 0.43134764 -0.25847738 -1.13106619] [-0.44158248 0.89699276 0.02022153 2.89936612] [ 0.24057485 0.09666028 0.96580564 -1.58977134] [ 0. 0. 0. 1. ]] SLAMing on 209.68800114499996 meters Centerline goodness [0,1] 0.7003528011561677 Centerline is valid? [False, False] Translation: X:-1.16, Y:2.92, Z:-1.60 [[ 0.86477914 0.43066633 -0.25823158 -1.15697805] [-0.44099226 0.89729578 0.01964969 2.91633674] [ 0.24017257 0.09688549 0.96588319 -1.59729198] [ 0. 0. 0. 1. ]] SLAMing on 209.71800114499996 meters Centerline goodness [0,1] 0.6943258343424044 Centerline is valid? [False, False] Translation: X:-1.18, Y:2.93, Z:-1.61 [[ 0.86515495 0.43032194 -0.25754599 -1.18315189] [-0.44043952 0.89755612 0.02015042 2.9335163 ] [ 0.23983315 0.09600019 0.96605591 -1.60589455] [ 0. 0. 0. 1. ]] SLAMing on 209.74800114499996 meters Centerline goodness [0,1] 0.6951089732674953 Centerline is valid? [False, False] Translation: X:-1.21, Y:2.95, Z:-1.61 [[ 0.8658344 0.42863341 -0.25807789 -1.20966179] [-0.43884042 0.89834779 0.01975662 2.95068813] [ 0.24031205 0.09614905 0.96592209 -1.61348573] [ 0. 0. 0. 1. ]] SLAMing on 209.77800114499996 meters Centerline goodness [0,1] 0.7311128643623259 Centerline is valid? [False, False] Translation: X:-1.23, Y:2.97, Z:-1.62 [[ 0.86620347 0.42720429 -0.25920658 -1.2341063 ] [-0.43774584 0.89890492 0.01866877 2.96639443] [ 0.24097744 0.09729565 0.96564146 -1.62081328] [ 0. 0. 0. 1. ]] SLAMing on 209.80800114499996 meters Centerline goodness [0,1] 0.6888884164877447 Centerline is valid? [False, False] Translation: X:-1.26, Y:2.98, Z:-1.63 [[ 0.86680287 0.42612115 -0.25898563 -1.25988948] [-0.43688497 0.89934674 0.01752033 2.98264827] [ 0.24038367 0.09796026 0.96572226 -1.6286459 ] [ 0. 0. 0. 1. ]] SLAMing on 209.83800114499996 meters Centerline goodness [0,1] 0.7161718982920908 Centerline is valid? [False, False] Translation: X:-1.29, Y:3.00, Z:-1.64 [[ 0.86754696 0.42536116 -0.25774048 -1.2874336 ] [-0.4360429 0.8997613 0.01721039 3.00012908] [ 0.23922554 0.09745508 0.96606089 -1.63686361] [ 0. 0. 0. 1. ]] SLAMing on 209.86800114499997 meters Centerline goodness [0,1] 0.7067608390418245 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.02, Z:-1.64 [[ 0.86797172 0.42551971 -0.25604311 -1.31393815] [-0.43617815 0.89970703 0.01660961 3.01701416] [ 0.2374315 0.09726374 0.96652266 -1.6446953 ] [ 0. 0. 0. 1. ]] SLAMing on 209.89800114499997 meters Centerline goodness [0,1] 0.7026624385468321 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.03, Z:-1.65 [[ 0.86826923 0.42623345 -0.25383774 -1.34046954] [-0.43680127 0.89941309 0.01614748 3.03415727] [ 0.23518758 0.09685629 0.96711202 -1.65223475] [ 0. 0. 0. 1. ]] SLAMing on 209.92800114499997 meters Centerline goodness [0,1] 0.6990853528230114 Centerline is valid? [False, False] Translation: X:-1.37, Y:3.05, Z:-1.66 [[ 0.86868391 0.42702182 -0.25107892 -1.36939877] [-0.43724507 0.89919077 0.01651399 3.05417482] [ 0.23281969 0.09543758 0.96782574 -1.65955158] [ 0. 0. 0. 1. ]] SLAMing on 209.95800114499997 meters Centerline goodness [0,1] 0.711482201200111 Centerline is valid? [False, False] Translation: X:-1.39, Y:3.07, Z:-1.67 [[ 0.86843241 0.4277124 -0.2507733 -1.39357494] [-0.43819811 0.89874665 0.01539097 3.06964731] [ 0.23196457 0.09652237 0.96792348 -1.66543459] [ 0. 0. 0. 1. ]] SLAMing on 209.98800114499997 meters Centerline goodness [0,1] 0.6996858370199397 Centerline is valid? [False, False] Translation: X:-1.42, Y:3.09, Z:-1.67 [[ 0.8687796 0.4277522 -0.24949961 -1.42047789] [-0.43818995 0.89875643 0.01504831 3.08661662] [ 0.23067632 0.09625455 0.96825797 -1.67283893] [ 0. 0. 0. 1. ]] SLAMing on 210.01800114499997 meters Centerline goodness [0,1] 0.6914221026101073 Centerline is valid? [False, False] Translation: X:-1.45, Y:3.10, Z:-1.68 [[ 0.86990788 0.42653344 -0.24764794 -1.44907362] [-0.43703768 0.89933749 0.01378971 3.10491392] [ 0.22860085 0.0962357 0.96875195 -1.6802167 ] [ 0. 0. 0. 1. ]] SLAMing on 210.04800114499997 meters Centerline goodness [0,1] 0.7328347045624533 Centerline is valid? [False, False] Translation: X:-1.45, Y:3.11, Z:-1.68 [[ 0.87011405 0.42606165 -0.24773577 -1.4497286 ] [-0.43666873 0.89952369 0.01332446 3.10569587] [ 0.22852124 0.09658467 0.968736 -1.67961983] [ 0. 0. 0. 1. ]] SLAMing on 210.07800114499997 meters Centerline goodness [0,1] 0.7254939697202977 Centerline is valid? [False, False] Translation: X:-1.48, Y:3.12, Z:-1.69 [[ 0.87048164 0.42674212 -0.24526084 -1.47501077] [-0.43736061 0.8992023 0.01228534 3.12094836] [ 0.22578178 0.09657327 0.96937928 -1.68759304] [ 0. 0. 0. 1. ]] SLAMing on 210.10800114499997 meters Centerline goodness [0,1] 0.7165813211064213 Centerline is valid? [False, False] Translation: X:-1.50, Y:3.14, Z:-1.70 [[ 0.87148643 0.42611494 -0.24277037 -1.50440691] [-0.43647181 0.89963483 0.01222795 3.14041674] [ 0.22361519 0.09530593 0.97000671 -1.6954968 ] [ 0. 0. 0. 1. ]] SLAMing on 210.13800114499998 meters Centerline goodness [0,1] 0.7139003660807947 Centerline is valid? [False, False] Translation: X:-1.51, Y:3.14, Z:-1.70 [[ 0.87060297 0.4287336 -0.24132544 -1.50674452] [-0.4384521 0.8986337 0.01473846 3.13994425] [ 0.22318205 0.0929783 0.97033232 -1.69511557] [ 0. 0. 0. 1. ]] SLAMing on 210.16800114499998 meters Centerline goodness [0,1] 0.7390027439547248 Centerline is valid? [False, False] Translation: X:-1.51, Y:3.14, Z:-1.70 [[ 0.8696406 0.43157219 -0.23973043 -1.50897494] [-0.44060962 0.89752972 0.01742311 3.13924708] [ 0.22268451 0.09047569 0.97068314 -1.69502298] [ 0. 0. 0. 1. ]] SLAMing on 210.19800114499998 meters Centerline goodness [0,1] 0.7112906328140027 Centerline is valid? [False, False] Translation: X:-1.51, Y:3.14, Z:-1.69 [[ 0.86863717 0.43439557 -0.23826448 -1.51094189] [-0.44276275 0.89641269 0.02013527 3.13859382] [ 0.22232998 0.08800439 0.97099156 -1.69478847] [ 0. 0. 0. 1. ]] SLAMing on 210.22800114499998 meters Centerline goodness [0,1] 0.693968199472137 Centerline is valid? [False, False] Translation: X:-1.54, Y:3.16, Z:-1.70 [[ 0.86897805 0.43306507 -0.23944057 -1.53758722] [-0.44150158 0.8970347 0.02012697 3.15744963] [ 0.22350279 0.0882235 0.97070238 -1.70058175] [ 0. 0. 0. 1. ]] SLAMing on 210.25800114499998 meters Centerline goodness [0,1] 0.7023089137805245 Centerline is valid? [False, False] Translation: X:-1.54, Y:3.16, Z:-1.70 [[ 0.8678599 0.43624341 -0.23772019 -1.53920532] [-0.4440021 0.89573489 0.02282862 3.15823813] [ 0.2228931 0.08573622 0.97106538 -1.7003002 ] [ 0. 0. 0. 1. ]] SLAMing on 210.28800114499998 meters Centerline goodness [0,1] 0.7200764736208971 Centerline is valid? [False, False] Translation: X:-1.56, Y:3.17, Z:-1.70 [[ 0.86718412 0.43652057 -0.23966956 -1.56186891] [-0.44471394 0.89540829 0.02176026 3.17443297] [ 0.22410091 0.08771424 0.97061063 -1.70416663] [ 0. 0. 0. 1. ]] SLAMing on 210.31800114499995 meters Centerline goodness [0,1] 0.7222604803305501 Centerline is valid? [False, False] Translation: X:-1.56, Y:3.17, Z:-1.70 [[ 0.86601382 0.43977121 -0.2379524 -1.56370309] [-0.44727198 0.89406135 0.02453736 3.1748405 ] [ 0.22353487 0.08517975 0.97096682 -1.70381101] [ 0. 0. 0. 1. ]] SLAMing on 210.34800114499996 meters Centerline goodness [0,1] 0.7154039698071009 Centerline is valid? [False, False] Translation: X:-1.59, Y:3.19, Z:-1.71 [[ 0.86581314 0.43884221 -0.24038535 -1.58667882] [-0.44696835 0.89426252 0.02266806 3.1914426 ] [ 0.22491531 0.08781834 0.97041282 -1.70792432] [ 0. 0. 0. 1. ]] SLAMing on 210.37800114499996 meters Centerline goodness [0,1] 0.7110680030175666 Centerline is valid? [False, False] Translation: X:-1.61, Y:3.21, Z:-1.71 [[ 0.86595695 0.43841693 -0.24064323 -1.61073785] [-0.44694988 0.89431351 0.02095563 3.20820291] [ 0.22439779 0.08940879 0.9703874 -1.71396641] [ 0. 0. 0. 1. ]] SLAMing on 210.40800114499996 meters Centerline goodness [0,1] 0.7221394806708541 Centerline is valid? [False, False] Translation: X:-1.63, Y:3.22, Z:-1.72 [[ 0.86560164 0.43884986 -0.24113191 -1.63379349] [-0.44759327 0.8940066 0.02030919 3.22367891] [ 0.22448621 0.09034935 0.97027982 -1.71998085] [ 0. 0. 0. 1. ]] SLAMing on 210.43800114499996 meters Centerline goodness [0,1] 0.7127014606571879 Centerline is valid? [False, False] Translation: X:-1.66, Y:3.24, Z:-1.73 [[ 0.86523445 0.43971746 -0.24086904 -1.65674623] [-0.44866923 0.89348687 0.01942013 3.24000251] [ 0.22375269 0.09126756 0.97036332 -1.72614179] [ 0. 0. 0. 1. ]] SLAMing on 210.46800114499996 meters Centerline goodness [0,1] 0.7127014606571879 Centerline is valid? [False, False] Translation: X:-1.68, Y:3.25, Z:-1.73 [[ 0.86439377 0.44043162 -0.24257657 -1.67823528] [-0.44971389 0.89297445 0.0188159 3.25350049] [ 0.2249018 0.0928257 0.96994978 -1.7312801 ] [ 0. 0. 0. 1. ]] SLAMing on 210.49800114499996 meters Centerline goodness [0,1] 0.7182663207955037 Centerline is valid? [False, False] Translation: X:-1.71, Y:3.27, Z:-1.74 [[ 0.8650359 0.43999137 -0.2410819 -1.70544045] [-0.4493121 0.89319456 0.01794744 3.27233655] [ 0.22322976 0.09279583 0.97033881 -1.73842796] [ 0. 0. 0. 1. ]] SLAMing on 210.52800114499996 meters Centerline goodness [0,1] 0.7296917859996976 Centerline is valid? [False, False] Translation: X:-1.71, Y:3.27, Z:-1.74 [[ 0.86401477 0.4428946 -0.23942191 -1.70794446] [-0.45154656 0.89201052 0.02056514 3.27221841] [ 0.22267505 0.09034155 0.9706978 -1.7379303 ] [ 0. 0. 0. 1. ]] SLAMing on 210.55800114499996 meters Centerline goodness [0,1] 0.714356617250383 Centerline is valid? [False, False] Translation: X:-1.71, Y:3.27, Z:-1.74 [[ 0.8628606 0.44606871 -0.23768528 -1.70994747] [-0.45398495 0.89069921 0.02350722 3.27162726] [ 0.22219193 0.08762208 0.97105773 -1.73787463] [ 0. 0. 0. 1. ]] SLAMing on 210.58800114499996 meters Centerline goodness [0,1] 0.7445160450432858 Centerline is valid? [False, False] Translation: X:-1.71, Y:3.27, Z:-1.74 [[ 0.8616954 0.44918907 -0.23603011 -1.71150624] [-0.4564093 0.88938035 0.0263277 3.2718108 ] [ 0.22174666 0.08503988 0.97138903 -1.73765674] [ 0. 0. 0. 1. ]] SLAMing on 210.61800114499997 meters Centerline goodness [0,1] 0.703349593495935 Centerline is valid? [False, False] Translation: X:-1.73, Y:3.29, Z:-1.74 [[ 0.86114613 0.44897247 -0.23843461 -1.73280017] [-0.45678415 0.88923518 0.02467851 3.28712016] [ 0.22310442 0.08766135 0.97084495 -1.74195417] [ 0. 0. 0. 1. ]] SLAMing on 210.64800114499997 meters Centerline goodness [0,1] 0.7379480840543882 Centerline is valid? [False, False] Translation: X:-1.73, Y:3.29, Z:-1.74 [[ 0.86115799 0.44880295 -0.23871077 -1.73204077] [-0.45666642 0.88929944 0.02454132 3.2874502 ] [ 0.22329957 0.08787724 0.97078056 -1.74188546] [ 0. 0. 0. 1. ]] SLAMing on 210.67800114499997 meters Centerline goodness [0,1] 0.7151136289639903 Centerline is valid? [False, False] Translation: X:-1.76, Y:3.31, Z:-1.75 [[ 0.86150366 0.44722353 -0.24042162 -1.75578484] [-0.45535963 0.88998855 0.02383242 3.30590408] [ 0.22463091 0.08894658 0.97037594 -1.74847065] [ 0. 0. 0. 1. ]] SLAMing on 210.70800114499997 meters Centerline goodness [0,1] 0.7243427184255586 Centerline is valid? [False, False] Translation: X:-1.76, Y:3.31, Z:-1.75 [[ 0.86142597 0.44735059 -0.2404636 -1.75516876] [-0.45545633 0.8899346 0.02399887 3.30550821] [ 0.22473278 0.08884742 0.97036143 -1.74885809] [ 0. 0. 0. 1. ]] SLAMing on 210.73800114499997 meters Centerline goodness [0,1] 0.7126731211739679 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.32, Z:-1.76 [[ 0.86180249 0.44640733 -0.2408671 -1.77972867] [-0.45482461 0.89029208 0.02268444 3.32270583] [ 0.22456858 0.09000278 0.97029297 -1.75562882] [ 0. 0. 0. 1. ]] SLAMing on 210.76800114499997 meters Centerline goodness [0,1] 0.7191471825792739 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.32, Z:-1.76 [[ 0.86083028 0.4490179 -0.23948729 -1.78175689] [-0.45683509 0.88919757 0.02508756 3.32239057] [ 0.22421628 0.08781006 0.97057532 -1.75517078] [ 0. 0. 0. 1. ]] SLAMing on 210.79800114499997 meters Centerline goodness [0,1] 0.7207640870379648 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.32, Z:-1.75 [[ 0.85956773 0.45227638 -0.23788525 -1.78271526] [-0.45946934 0.88776416 0.02761725 3.32442175] [ 0.22367663 0.08556208 0.97090056 -1.75441668] [ 0. 0. 0. 1. ]] SLAMing on 210.82800114499997 meters Centerline goodness [0,1] 0.7209683052475334 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.32, Z:-1.75 [[ 0.85822518 0.45572456 -0.23614543 -1.78401057] [-0.46218487 0.88625499 0.03061451 3.32458163] [ 0.22323685 0.0828687 0.97123534 -1.75422162] [ 0. 0. 0. 1. ]] SLAMing on 210.85800114499997 meters Centerline goodness [0,1] 0.7221082048818829 Centerline is valid? [False, False] Translation: X:-1.79, Y:3.32, Z:-1.75 [[ 0.85694868 0.45901933 -0.2343933 -1.78566703] [-0.46476513 0.8847988 0.0335329 3.32447825] [ 0.22278316 0.08020186 0.97156334 -1.75402555] [ 0. 0. 0. 1. ]] SLAMing on 210.88800114499998 meters Centerline goodness [0,1] 0.7178159153754993 Centerline is valid? [False, False] Translation: X:-1.81, Y:3.34, Z:-1.76 [[ 0.85671963 0.45783219 -0.2375314 -1.80845838] [-0.46427411 0.88513031 0.03152598 3.34306827] [ 0.22467985 0.08327075 0.97086814 -1.75714572] [ 0. 0. 0. 1. ]] SLAMing on 210.91800114499998 meters Centerline goodness [0,1] 0.713593084989689 Centerline is valid? [False, False] Translation: X:-1.81, Y:3.35, Z:-1.76 [[ 0.85570163 0.46055721 -0.23592747 -1.81032197] [-0.4664529 0.88390489 0.0336725 3.34549987] [ 0.22404555 0.08123544 0.97118711 -1.75603142] [ 0. 0. 0. 1. ]] SLAMing on 210.94800114499998 meters Centerline goodness [0,1] 0.7053500834577879 Centerline is valid? [False, False] Translation: X:-1.83, Y:3.36, Z:-1.76 [[ 0.85564753 0.45940955 -0.23834883 -1.83249444] [-0.46627906 0.88412132 0.03022143 3.36378452] [ 0.2246133 0.08527818 0.97070928 -1.75893052] [ 0. 0. 0. 1. ]] SLAMing on 210.97800114499998 meters Centerline goodness [0,1] 0.7075705966377321 Centerline is valid? [False, False] Translation: X:-1.83, Y:3.36, Z:-1.76 [[ 0.85572128 0.45915627 -0.23857201 -1.83223577] [-0.46611832 0.88421792 0.0298729 3.36476529] [ 0.22466597 0.08563991 0.97066524 -1.75840827] [ 0. 0. 0. 1. ]] SLAMing on 211.00800114499998 meters Centerline goodness [0,1] 0.692121051702841 Centerline is valid? [False, False] Translation: X:-1.86, Y:3.39, Z:-1.76 [[ 0.85676647 0.45623406 -0.24041985 -1.85799239] [-0.46394579 0.88545337 0.02695612 3.38632609] [ 0.22517887 0.08844668 0.97029463 -1.76301481] [ 0. 0. 0. 1. ]] SLAMing on 211.03800114499998 meters Centerline goodness [0,1] 0.6889354660783232 Centerline is valid? [False, False] Translation: X:-1.86, Y:3.39, Z:-1.76 [[ 0.85569263 0.45917866 -0.23863168 -1.86003214] [-0.46620661 0.88418005 0.02961486 3.38658985] [ 0.22459188 0.08591045 0.97065848 -1.76287868] [ 0. 0. 0. 1. ]] SLAMing on 211.06800114499995 meters Centerline goodness [0,1] 0.6840431171585086 Centerline is valid? [False, False] Translation: X:-1.86, Y:3.39, Z:-1.76 [[ 0.85475306 0.46170459 -0.23712039 -1.86231436] [-0.4681434 0.88307519 0.0319368 3.38740721] [ 0.2241405 0.08370827 0.97095518 -1.76208049] [ 0. 0. 0. 1. ]] SLAMing on 211.09800114499996 meters Centerline goodness [0,1] 0.67933349582327 Centerline is valid? [False, False] Translation: X:-1.89, Y:3.41, Z:-1.77 [[ 0.85536513 0.45943503 -0.2393114 -1.88625965] [-0.46656487 0.88399552 0.02948124 3.40848769] [ 0.22509492 0.08643707 0.97049519 -1.76665871] [ 0. 0. 0. 1. ]] SLAMing on 211.12800114499996 meters Centerline goodness [0,1] 0.6854398940280384 Centerline is valid? [False, False] Translation: X:-1.89, Y:3.41, Z:-1.77 [[ 0.85539416 0.45927947 -0.23950615 -1.885797 ] [-0.46645556 0.88405801 0.02933676 3.40898909] [ 0.22521111 0.08662448 0.97045152 -1.76645769] [ 0. 0. 0. 1. ]] SLAMing on 211.15800114499996 meters Centerline goodness [0,1] 0.6947087594486439 Centerline is valid? [False, False] Translation: X:-1.91, Y:3.43, Z:-1.77 [[ 0.85614074 0.45703879 -0.24111943 -1.91205143] [-0.46467952 0.88504678 0.02766115 3.42976862] [ 0.22604419 0.08836142 0.97010117 -1.77140466] [ 0. 0. 0. 1. ]] SLAMing on 211.18800114499996 meters Centerline goodness [0,1] 0.6927769643728647 Centerline is valid? [False, False] Translation: X:-1.91, Y:3.43, Z:-1.77 [[ 0.85509578 0.45983431 -0.23950705 -1.91440908] [-0.46682843 0.88383207 0.03020073 3.42988013] [ 0.22557134 0.08598418 0.9704248 -1.77084572] [ 0. 0. 0. 1. ]] SLAMing on 211.21800114499996 meters Centerline goodness [0,1] 0.695394355521869 Centerline is valid? [False, False] Translation: X:-1.94, Y:3.45, Z:-1.77 [[ 0.85554719 0.45790419 -0.24158386 -1.93896344] [-0.46566004 0.88453689 0.02748117 3.45109644] [ 0.22627358 0.08898451 0.96999073 -1.77470562] [ 0. 0. 0. 1. ]] SLAMing on 211.24800114499996 meters Centerline goodness [0,1] 0.6714995211687935 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.47, Z:-1.78 [[ 0.85469127 0.45816624 -0.24410351 -1.95907004] [-0.46679046 0.88401876 0.02484939 3.46608255] [ 0.22717724 0.09270663 0.96943075 -1.77826682] [ 0. 0. 0. 1. ]] SLAMing on 211.27800114499996 meters Centerline goodness [0,1] 0.6654490377761939 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.47, Z:-1.78 [[ 0.8536187 0.46108971 -0.24234561 -1.96134861] [-0.46902011 0.88275896 0.02750919 3.46600076] [ 0.22661697 0.0901826 0.9697999 -1.77806795] [ 0. 0. 0. 1. ]] SLAMing on 211.30800114499996 meters Centerline goodness [0,1] 0.7099362914943557 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.48, Z:-1.78 [[ 0.8533012 0.460498 -0.24457853 -1.98394303] [-0.46905149 0.882797 0.02569343 3.48420985] [ 0.22774497 0.09279569 0.96928901 -1.78218075] [ 0. 0. 0. 1. ]] SLAMing on 211.33800114499996 meters Centerline goodness [0,1] 0.7091595212575921 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.48, Z:-1.78 [[ 0.85320088 0.46058948 -0.24475617 -1.98314011] [-0.46914492 0.88274502 0.02577345 3.48421446] [ 0.22792827 0.09283618 0.96924205 -1.78224316] [ 0. 0. 0. 1. ]] SLAMing on 211.36800114499997 meters Centerline goodness [0,1] 0.6881013111379604 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.50, Z:-1.79 [[ 0.85253336 0.46038596 -0.24745028 -2.00439543] [-0.46950543 0.88258957 0.0245011 3.50013996] [ 0.229677 0.09529124 0.96859076 -1.78706223] [ 0. 0. 0. 1. ]] SLAMing on 211.39800114499997 meters Centerline goodness [0,1] 0.6924602290450514 Centerline is valid? [False, False] Translation: X:-2.01, Y:3.50, Z:-1.79 [[ 0.85121199 0.46383766 -0.24554586 -2.00619049] [-0.47215731 0.8810826 0.02758475 3.49954274] [ 0.22914103 0.0924558 0.96899242 -1.78721003] [ 0. 0. 0. 1. ]] SLAMing on 211.42800114499997 meters Centerline goodness [0,1] 0.6850639156761607 Centerline is valid? [False, False] Translation: X:-2.03, Y:3.52, Z:-1.79 [[ 0.85122783 0.46304174 -0.24698892 -2.03089322] [-0.47161974 0.88138914 0.02698143 3.52056507] [ 0.23018688 0.0935175 0.96864259 -1.79254879] [ 0. 0. 0. 1. ]] SLAMing on 211.45800114499997 meters Centerline goodness [0,1] 0.7078911350938993 Centerline is valid? [False, False] Translation: X:-2.03, Y:3.52, Z:-1.79 [[ 0.84999356 0.46629783 -0.24510666 -2.03314385] [-0.47413846 0.8799461 0.02979239 3.52044695] [ 0.22957278 0.09089116 0.96903825 -1.79231192] [ 0. 0. 0. 1. ]] SLAMing on 211.48800114499997 meters Centerline goodness [0,1] 0.713558028902253 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.52, Z:-1.79 [[ 0.84869802 0.46965778 -0.24317329 -2.03512336] [-0.47670741 0.87844786 0.03285409 3.52000304] [ 0.22904524 0.08803931 0.9694263 -1.79234051] [ 0. 0. 0. 1. ]] SLAMing on 211.51800114499997 meters Centerline goodness [0,1] 0.6823985922483418 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.54, Z:-1.80 [[ 0.84913547 0.46724764 -0.24626938 -2.06005996] [-0.47499532 0.87944914 0.03080027 3.54258436] [ 0.23097275 0.0908232 0.9687119 -1.79561903] [ 0. 0. 0. 1. ]] SLAMing on 211.54800114499997 meters Centerline goodness [0,1] 0.7229366062380362 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.54, Z:-1.80 [[ 0.84918921 0.46697708 -0.24659702 -2.05979008] [-0.47483775 0.87954747 0.03041971 3.54332868] [ 0.23109909 0.09126149 0.96864057 -1.79501267] [ 0. 0. 0. 1. ]] SLAMing on 211.57800114499997 meters Centerline goodness [0,1] 0.7198846093168962 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.54, Z:-1.79 [[ 0.84929461 0.46662715 -0.24689625 -2.05957622] [-0.47459949 0.87968972 0.03002202 3.54401428] [ 0.23120118 0.09167929 0.96857675 -1.79455058] [ 0. 0. 0. 1. ]] SLAMing on 211.60800114499997 meters Centerline goodness [0,1] 0.7145249626578554 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.55, Z:-1.79 [[ 0.84949049 0.46620557 -0.24701879 -2.05968777] [-0.47428971 0.87987307 0.02954075 3.5451683 ] [ 0.23111724 0.09206388 0.9685603 -1.79412988] [ 0. 0. 0. 1. ]] SLAMing on 211.63800114499998 meters Centerline goodness [0,1] 0.70763585294584 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.55, Z:-1.79 [[ 0.8495109 0.46603229 -0.24727543 -2.05920528] [-0.47417776 0.87993932 0.02936385 3.54573427] [ 0.23127188 0.0923076 0.96850019 -1.79377845] [ 0. 0. 0. 1. ]] SLAMing on 211.66800114499998 meters Centerline goodness [0,1] 0.7024761646559126 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.55, Z:-1.79 [[ 0.84955819 0.46575062 -0.24764336 -2.05848794] [-0.4739902 0.8800498 0.02908007 3.54642995] [ 0.23148255 0.09267531 0.96841474 -1.7933892 ] [ 0. 0. 0. 1. ]] SLAMing on 211.69800114499998 meters Centerline goodness [0,1] 0.6944602175937493 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.55, Z:-1.80 [[ 0.84924228 0.46846943 -0.24356507 -2.0626817 ] [-0.47548121 0.87910697 0.03299323 3.54718569] [ 0.22957607 0.08779137 0.96932322 -1.79786978] [ 0. 0. 0. 1. ]] SLAMing on 211.72800114499998 meters Centerline goodness [0,1] 0.6983611029027346 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.55, Z:-1.80 [[ 0.84933587 0.46821145 -0.24373472 -2.06279507] [-0.4752731 0.87922629 0.03281156 3.54738364] [ 0.22966072 0.08797252 0.96928674 -1.79755921] [ 0. 0. 0. 1. ]] SLAMing on 211.75800114499998 meters Centerline goodness [0,1] 0.6739583805594596 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.55, Z:-1.80 [[ 0.84941707 0.46803534 -0.24378999 -2.06314831] [-0.47511272 0.8793156 0.03274095 3.5471283 ] [ 0.22969227 0.08801701 0.96927523 -1.797452 ] [ 0. 0. 0. 1. ]] SLAMing on 211.78800114499998 meters Centerline goodness [0,1] 0.6924698522078158 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.55, Z:-1.80 [[ 0.84962759 0.46762476 -0.2438443 -2.06387076] [-0.47477645 0.87951028 0.03238793 3.5473926 ] [ 0.22960897 0.08825386 0.96927343 -1.797119 ] [ 0. 0. 0. 1. ]] SLAMing on 211.81800114499995 meters Centerline goodness [0,1] 0.6811188811188811 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.55, Z:-1.80 [[ 0.85008754 0.46679247 -0.24383593 -2.06572992] [-0.47408476 0.87990956 0.03166722 3.5482122 ] [ 0.22933558 0.08867899 0.96929935 -1.7962886 ] [ 0. 0. 0. 1. ]] SLAMing on 211.84800114499996 meters Centerline goodness [0,1] 0.685287246830419 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.55, Z:-1.80 [[ 0.85018451 0.4666149 -0.24383774 -2.06619158] [-0.47392312 0.87999997 0.03157425 3.54831862] [ 0.22931022 0.0887164 0.96930193 -1.79607159] [ 0. 0. 0. 1. ]] SLAMing on 211.87800114499996 meters Centerline goodness [0,1] 0.6615095365378516 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.55, Z:-1.79 [[ 0.84940865 0.46871978 -0.24250097 -2.06936099] [-0.47547592 0.87908332 0.03369218 3.54855912] [ 0.22897075 0.08668494 0.96956594 -1.79492875] [ 0. 0. 0. 1. ]] SLAMing on 211.90800114499996 meters Centerline goodness [0,1] 0.6876121267173839 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.55, Z:-1.79 [[ 0.84823905 0.47182241 -0.24057041 -2.072302 ] [-0.47783792 0.87768749 0.0365458 3.54780825] [ 0.22838876 0.08395408 0.96994344 -1.79462783] [ 0. 0. 0. 1. ]] SLAMing on 211.93800114499996 meters Centerline goodness [0,1] 0.6597912412071705 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.55, Z:-1.79 [[ 0.84806952 0.47212808 -0.2405684 -2.07184245] [-0.47807655 0.87754377 0.03687478 3.54719833] [ 0.22851892 0.08373774 0.96993149 -1.79486477] [ 0. 0. 0. 1. ]] SLAMing on 211.96800114499996 meters Centerline goodness [0,1] 0.6953729847891429 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.55, Z:-1.79 [[ 0.84681528 0.47537137 -0.23859159 -2.07445909] [-0.48055398 0.87605837 0.03986986 3.54599693] [ 0.22797315 0.08089373 0.97030122 -1.79493972] [ 0. 0. 0. 1. ]] SLAMing on 211.99800114499996 meters Centerline goodness [0,1] 0.677148088704026 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.54, Z:-1.80 [[ 0.84661131 0.47576743 -0.23852598 -2.07385022] [-0.48082916 0.87588223 0.04041838 3.54442651] [ 0.22815042 0.08047159 0.97029465 -1.79579677] [ 0. 0. 0. 1. ]] SLAMing on 212.02800114499996 meters Centerline goodness [0,1] 0.6914698904078636 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.54, Z:-1.80 [[ 0.84649462 0.47590979 -0.23865609 -2.07361424] [-0.4809255 0.87581711 0.04068231 3.54354704] [ 0.2283802 0.08033844 0.97025163 -1.79583524] [ 0. 0. 0. 1. ]] SLAMing on 212.05800114499996 meters Centerline goodness [0,1] 0.7065401942362982 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.54, Z:-1.80 [[ 0.84644582 0.47586854 -0.23891132 -2.07301961] [-0.48091863 0.87582363 0.04062321 3.54368666] [ 0.22857548 0.08051156 0.97019129 -1.79562009] [ 0. 0. 0. 1. ]] SLAMing on 212.08800114499996 meters Centerline goodness [0,1] 0.7006190971123865 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.54, Z:-1.79 [[ 0.84635222 0.4757793 -0.2394201 -2.07190878] [-0.48091289 0.87583518 0.0404417 3.54459347] [ 0.22893387 0.08091229 0.97007344 -1.79490392] [ 0. 0. 0. 1. ]] SLAMing on 212.11800114499997 meters Centerline goodness [0,1] 0.6917994823593516 Centerline is valid? [False, False] Translation: X:-2.09, Y:3.56, Z:-1.80 [[ 0.84450081 0.47636974 -0.24472486 -2.08929317] [-0.48256739 0.87503221 0.03804399 3.55984611] [ 0.23226514 0.08596806 0.96884591 -1.79551819] [ 0. 0. 0. 1. ]] SLAMing on 212.14800114499997 meters Centerline goodness [0,1] 0.7201573120552865 Centerline is valid? [False, False] Translation: X:-2.09, Y:3.56, Z:-1.80 [[ 0.84307793 0.4798832 -0.24275856 -2.09129149] [-0.48528097 0.87338839 0.04117155 3.55860951] [ 0.23178004 0.08309528 0.96921266 -1.79572205] [ 0. 0. 0. 1. ]] SLAMing on 212.17800114499997 meters Centerline goodness [0,1] 0.7228786983593146 Centerline is valid? [False, False] Translation: X:-2.09, Y:3.56, Z:-1.80 [[ 0.84285996 0.48006809 -0.24314956 -2.09009663] [-0.48548978 0.87326888 0.04124468 3.55861106] [ 0.2321352 0.08328314 0.96911153 -1.79544302] [ 0. 0. 0. 1. ]] SLAMing on 212.20800114499997 meters Centerline goodness [0,1] 0.7273782694802977 Centerline is valid? [False, False] Translation: X:-2.09, Y:3.56, Z:-1.80 [[ 0.84118014 0.48398093 -0.24120207 -2.0907375 ] [-0.48861124 0.87136971 0.04442851 3.55913743] [ 0.23167873 0.08048167 0.96945741 -1.79534353] [ 0. 0. 0. 1. ]] SLAMing on 212.23800114499997 meters Centerline goodness [0,1] 0.7197308907425506 Centerline is valid? [False, False] Translation: X:-2.09, Y:3.56, Z:-1.79 [[ 0.84108316 0.48390608 -0.24168995 -2.08981093] [-0.48864861 0.87136422 0.04412401 3.56028036] [ 0.23195185 0.0809895 0.9693498 -1.79447584] [ 0. 0. 0. 1. ]] SLAMing on 212.26800114499997 meters Centerline goodness [0,1] 0.7294275695614554 Centerline is valid? [False, False] Translation: X:-2.09, Y:3.56, Z:-1.79 [[ 0.84094265 0.48404914 -0.24189233 -2.08920173] [-0.48881408 0.87127135 0.04412518 3.5605433 ] [ 0.23211261 0.08113363 0.96929927 -1.79416716] [ 0. 0. 0. 1. ]] SLAMing on 212.29800114499997 meters Centerline goodness [0,1] 0.7362005204766471 Centerline is valid? [False, False] Translation: X:-2.09, Y:3.56, Z:-1.79 [[ 0.84081465 0.48421348 -0.24200831 -2.08889291] [-0.48896439 0.87118065 0.04425052 3.5603328 ] [ 0.23225966 0.08112696 0.9692646 -1.79403109] [ 0. 0. 0. 1. ]] SLAMing on 212.32800114499997 meters Centerline goodness [0,1] 0.7304770378481966 Centerline is valid? [False, False] Translation: X:-2.10, Y:3.57, Z:-1.79 [[ 0.83942486 0.48236183 -0.25038564 -2.10387954] [-0.48920241 0.87131962 0.03851124 3.5734732 ] [ 0.23674228 0.09016197 0.96737992 -1.79142145] [ 0. 0. 0. 1. ]] SLAMing on 212.35800114499997 meters Centerline goodness [0,1] 0.7304770378481966 Centerline is valid? [False, False] Translation: X:-2.10, Y:3.57, Z:-1.79 [[ 0.83942486 0.48236183 -0.25038564 -2.10387954] [-0.48920241 0.87131962 0.03851124 3.5734732 ] [ 0.23674228 0.09016197 0.96737992 -1.79142145] [ 0. 0. 0. 1. ]] SLAMing on 212.38800114499998 meters Centerline goodness [0,1] 0.74146786896473 Centerline is valid? [False, False] Translation: X:-2.10, Y:3.57, Z:-1.79 [[ 0.83951726 0.48211642 -0.25054844 -2.1040641 ] [-0.48902201 0.87143143 0.03827198 3.57372587] [ 0.23678734 0.09039372 0.96734727 -1.79104573] [ 0. 0. 0. 1. ]] SLAMing on 212.41800114499998 meters Centerline goodness [0,1] 0.7441622052625584 Centerline is valid? [False, False] Translation: X:-2.10, Y:3.57, Z:-1.79 [[ 0.83969076 0.48166011 -0.25084451 -2.10435833] [-0.48867969 0.87164173 0.03785307 3.57454453] [ 0.23687885 0.09079774 0.96728702 -1.79019102] [ 0. 0. 0. 1. ]] SLAMing on 212.44800114499998 meters Centerline goodness [0,1] 0.7328698655034533 Centerline is valid? [False, False] Translation: X:-2.10, Y:3.58, Z:-1.79 [[ 0.8399337 0.4810526 -0.25119669 -2.10491785] [-0.48819944 0.87193123 0.03737954 3.57541536] [ 0.23700777 0.09123775 0.96721404 -1.78917664] [ 0. 0. 0. 1. ]] SLAMing on 212.47800114499998 meters Centerline goodness [0,1] 0.7377984989765749 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.57, Z:-1.79 [[ 0.840069 0.48089161 -0.25105244 -2.10652274] [-0.48792081 0.87207005 0.03777706 3.57281078] [ 0.23710198 0.09075838 0.96723605 -1.78958468] [ 0. 0. 0. 1. ]] SLAMing on 212.50800114499998 meters Centerline goodness [0,1] 0.7169652791970389 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.58, Z:-1.79 [[ 0.83862418 0.47920538 -0.25898203 -2.12115449] [-0.48819809 0.87211444 0.03284863 3.58376558] [ 0.24160321 0.09888687 0.96532341 -1.78885511] [ 0. 0. 0. 1. ]] SLAMing on 212.53800114499995 meters Centerline goodness [0,1] 0.7344958164213964 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.58, Z:-1.79 [[ 0.8385754 0.47925163 -0.25905438 -2.12137903] [-0.48821506 0.87209908 0.03300375 3.58347105] [ 0.24173819 0.09879812 0.9652987 -1.78852707] [ 0. 0. 0. 1. ]] SLAMing on 212.56800114499995 meters Centerline goodness [0,1] 0.720779514045705 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.58, Z:-1.79 [[ 0.83725509 0.48257099 -0.25715587 -2.1237616 ] [-0.49070882 0.87057806 0.03603752 3.58307481] [ 0.24126492 0.09601606 0.96569776 -1.78813001] [ 0. 0. 0. 1. ]] SLAMing on 212.59800114499996 meters Centerline goodness [0,1] 0.7194808126410835 Centerline is valid? [False, False] Translation: X:-2.14, Y:3.60, Z:-1.79 [[ 0.83634918 0.48213523 -0.26089398 -2.14440347] [-0.49135824 0.87032382 0.0332193 3.59922897] [ 0.24307844 0.10040947 0.96479574 -1.79029485] [ 0. 0. 0. 1. ]] SLAMing on 212.62800114499996 meters Centerline goodness [0,1] 0.7338873582945666 Centerline is valid? [False, False] Translation: X:-2.16, Y:3.61, Z:-1.79 [[ 0.83517804 0.48171111 -0.26539036 -2.16375236] [-0.49220177 0.86995993 0.03011887 3.61415565] [ 0.24538757 0.10547098 0.96367049 -1.79191178] [ 0. 0. 0. 1. ]] SLAMing on 212.65800114499996 meters Centerline goodness [0,1] 0.7426571847838357 Centerline is valid? [False, False] Translation: X:-2.18, Y:3.63, Z:-1.79 [[ 0.83271347 0.48335405 -0.27010577 -2.18117603] [-0.49496134 0.86845791 0.02818034 3.62559381] [ 0.24819658 0.11022576 0.96241817 -1.79291802] [ 0. 0. 0. 1. ]] SLAMing on 212.68800114499996 meters Centerline goodness [0,1] 0.7412554336809387 Centerline is valid? [False, False] Translation: X:-2.20, Y:3.64, Z:-1.80 [[ 0.83136356 0.48359277 -0.27381138 -2.20121974] [-0.49604739 0.86788523 0.02668735 3.6402494 ] [ 0.25054266 0.11363653 0.96141308 -1.79598546] [ 0. 0. 0. 1. ]] SLAMing on 212.71800114499996 meters Centerline goodness [0,1] 0.7434491163924437 Centerline is valid? [False, False] Translation: X:-2.22, Y:3.66, Z:-1.80 [[ 0.83004064 0.48366521 -0.27766976 -2.2217842 ] [-0.49691769 0.86742296 0.02549946 3.65546013] [ 0.25319033 0.11681343 0.96033811 -1.79905486] [ 0. 0. 0. 1. ]] SLAMing on 212.74800114499996 meters Centerline goodness [0,1] 0.7424852177432046 Centerline is valid? [False, False] Translation: X:-2.24, Y:3.67, Z:-1.80 [[ 0.82940326 0.48464974 -0.27785764 -2.24401325] [-0.49841773 0.86661024 0.02380044 3.6705142 ] [ 0.25232915 0.11874901 0.96032738 -1.80485758] [ 0. 0. 0. 1. ]] SLAMing on 212.77800114499996 meters Centerline goodness [0,1] 0.7426874268742687 Centerline is valid? [False, False] Translation: X:-2.27, Y:3.69, Z:-1.81 [[ 0.82969366 0.48455601 -0.27715321 -2.27176673] [-0.49815738 0.86675238 0.02407354 3.69021352] [ 0.25188818 0.11809226 0.96052411 -1.81188394] [ 0. 0. 0. 1. ]] SLAMing on 212.80800114499996 meters Centerline goodness [0,1] 0.7508474576271187 Centerline is valid? [False, False] Translation: X:-2.30, Y:3.71, Z:-1.82 [[ 0.83029277 0.48287702 -0.27828709 -2.29975664] [-0.49652577 0.86768566 0.02416102 3.71035991] [ 0.25313252 0.11811599 0.96019401 -1.81833868] [ 0. 0. 0. 1. ]] SLAMing on 212.83800114499996 meters Centerline goodness [0,1] 0.7482234415759648 Centerline is valid? [False, False] Translation: X:-2.30, Y:3.71, Z:-1.82 [[ 0.83007764 0.48334534 -0.2781158 -2.29979642] [-0.49683222 0.867493 0.02477166 3.70854642] [ 0.25323677 0.11761448 0.96022808 -1.81894866] [ 0. 0. 0. 1. ]] SLAMing on 212.86800114499997 meters Centerline goodness [0,1] 0.7670384416866767 Centerline is valid? [False, False] Translation: X:-2.30, Y:3.71, Z:-1.82 [[ 0.82991201 0.4836984 -0.27799624 -2.30028708] [-0.49706555 0.86734617 0.02522798 3.70700471] [ 0.25332171 0.11724535 0.96025082 -1.81914584] [ 0. 0. 0. 1. ]] SLAMing on 212.89800114499997 meters Centerline goodness [0,1] 0.7601849565666315 Centerline is valid? [False, False] Translation: X:-2.33, Y:3.72, Z:-1.83 [[ 0.82998636 0.48390324 -0.2774172 -2.32504328] [-0.49749601 0.86713075 0.02412422 3.72464305] [ 0.25223077 0.11799118 0.96044663 -1.82603843] [ 0. 0. 0. 1. ]] SLAMing on 212.92800114499997 meters Centerline goodness [0,1] 0.75652466367713 Centerline is valid? [False, False] Translation: X:-2.35, Y:3.74, Z:-1.83 [[ 0.83048964 0.48287911 -0.27769536 -2.35167238] [-0.49664772 0.86763628 0.02341648 3.74415112] [ 0.2522459 0.11846962 0.96038375 -1.83252806] [ 0. 0. 0. 1. ]] SLAMing on 212.95800114499997 meters Centerline goodness [0,1] 0.7603148264418333 Centerline is valid? [False, False] Translation: X:-2.38, Y:3.76, Z:-1.84 [[ 0.8307088 0.48182349 -0.27887095 -2.37667466] [-0.4959026 0.86808311 0.02263479 3.76208533] [ 0.25298914 0.11948991 0.9600618 -1.83898156] [ 0. 0. 0. 1. ]] SLAMing on 212.98800114499997 meters Centerline goodness [0,1] 0.7560599284436493 Centerline is valid? [False, False] Translation: X:-2.41, Y:3.78, Z:-1.85 [[ 0.8317877 0.48023527 -0.27839417 -2.40563851] [-0.49428997 0.86901302 0.02222168 3.78134103] [ 0.25259979 0.11912373 0.96020981 -1.84648947] [ 0. 0. 0. 1. ]] SLAMing on 213.01800114499997 meters Centerline goodness [0,1] 0.752898518286405 Centerline is valid? [False, False] Translation: X:-2.43, Y:3.80, Z:-1.85 [[ 0.83281489 0.47906214 -0.27734243 -2.43439335] [-0.49296939 0.86976677 0.0220669 3.80137606] [ 0.25179464 0.11834368 0.96051769 -1.85422966] [ 0. 0. 0. 1. ]] SLAMing on 213.04800114499997 meters Centerline goodness [0,1] 0.7718466150610765 Centerline is valid? [False, False] Translation: X:-2.44, Y:3.80, Z:-1.85 [[ 0.8329774 0.47877718 -0.27734645 -2.43529028] [-0.4927087 0.86991798 0.02192804 3.80139587] [ 0.25176731 0.11838545 0.96051971 -1.85383788] [ 0. 0. 0. 1. ]] SLAMing on 213.07800114499997 meters Centerline goodness [0,1] 0.7514356579447188 Centerline is valid? [False, False] Translation: X:-2.46, Y:3.82, Z:-1.86 [[ 0.83503387 0.47552653 -0.27675433 -2.46469105] [-0.48955619 0.87172568 0.020714 3.82062932] [ 0.25110391 0.11818991 0.96071742 -1.86291402] [ 0. 0. 0. 1. ]] SLAMing on 213.10800114499997 meters Centerline goodness [0,1] 0.7476459931560466 Centerline is valid? [False, False] Translation: X:-2.49, Y:3.84, Z:-1.87 [[ 0.83602464 0.47439723 -0.27569924 -2.49259474] [-0.48829269 0.8724386 0.02052142 3.83885809] [ 0.25026597 0.11746551 0.96102487 -1.8716968 ] [ 0. 0. 0. 1. ]] SLAMing on 213.13800114499998 meters Centerline goodness [0,1] 0.7466892584830784 Centerline is valid? [False, False] Translation: X:-2.49, Y:3.84, Z:-1.87 [[ 0.83609761 0.47433231 -0.27558963 -2.49329599] [-0.48819866 0.87249011 0.02056867 3.83837221] [ 0.25020561 0.11734507 0.9610553 -1.87167068] [ 0. 0. 0. 1. ]] SLAMing on 213.16800114499998 meters Centerline goodness [0,1] 0.7463440692679235 Centerline is valid? [False, False] Translation: X:-2.50, Y:3.84, Z:-1.87 [[ 0.8349118 0.47760137 -0.27353102 -2.49613909] [-0.49051454 0.87110833 0.0237858 3.83659661] [ 0.24963528 0.1143119 0.96156904 -1.87208911] [ 0. 0. 0. 1. ]] SLAMing on 213.19800114499998 meters Centerline goodness [0,1] 0.7542624083442911 Centerline is valid? [False, False] Translation: X:-2.50, Y:3.84, Z:-1.87 [[ 0.8350732 0.47737515 -0.27343319 -2.49748916] [-0.49025358 0.87125387 0.02383515 3.83576983] [ 0.24960803 0.1141475 0.96159564 -1.87191721] [ 0. 0. 0. 1. ]] SLAMing on 213.22800114499998 meters Centerline goodness [0,1] 0.7516469331434167 Centerline is valid? [False, False] Translation: X:-2.50, Y:3.83, Z:-1.87 [[ 0.8350191 0.47749786 -0.27338416 -2.49801206] [-0.49030622 0.87121691 0.02410217 3.8348078 ] [ 0.24968564 0.11391618 0.96160293 -1.87191621] [ 0. 0. 0. 1. ]] SLAMing on 213.25800114499998 meters Centerline goodness [0,1] 0.74925545628306 Centerline is valid? [False, False] Translation: X:-2.50, Y:3.83, Z:-1.87 [[ 0.83493718 0.4776763 -0.27332264 -2.49837661] [-0.49040839 0.87115121 0.0243964 3.83393728] [ 0.24975893 0.11367025 0.96161299 -1.87189919] [ 0. 0. 0. 1. ]] SLAMing on 213.28800114499995 meters Centerline goodness [0,1] 0.7256301682665662 Centerline is valid? [False, False] Translation: X:-2.53, Y:3.85, Z:-1.88 [[ 0.83611519 0.47596461 -0.27270695 -2.52858054] [-0.48847053 0.87223098 0.02469113 3.85398802] [ 0.24961555 0.11256468 0.96178026 -1.87929349] [ 0. 0. 0. 1. ]] SLAMing on 213.31800114499995 meters Centerline goodness [0,1] 0.7360065538924807 Centerline is valid? [False, False] Translation: X:-2.56, Y:3.87, Z:-1.89 [[ 0.8367597 0.47494054 -0.27251547 -2.55679661] [-0.48722496 0.87291039 0.02528416 3.87291197] [ 0.24989006 0.11161957 0.96181913 -1.88676762] [ 0. 0. 0. 1. ]] SLAMing on 213.34800114499996 meters Centerline goodness [0,1] 0.7253382343172206 Centerline is valid? [False, False] Translation: X:-2.58, Y:3.89, Z:-1.90 [[ 0.8372659 0.4747989 -0.27120439 -2.58353997] [-0.48696947 0.87305857 0.02508926 3.89068905] [ 0.24868967 0.11106188 0.96219474 -1.89508616] [ 0. 0. 0. 1. ]] SLAMing on 213.37800114499996 meters Centerline goodness [0,1] 0.7395808026150142 Centerline is valid? [False, False] Translation: X:-2.61, Y:3.91, Z:-1.90 [[ 0.83723545 0.4741782 -0.27238177 -2.6095426 ] [-0.48639838 0.87336955 0.02534252 3.90816399] [ 0.24990681 0.1112684 0.96185546 -1.9015324 ] [ 0. 0. 0. 1. ]] SLAMing on 213.40800114499996 meters Centerline goodness [0,1] 0.7577705613360726 Centerline is valid? [False, False] Translation: X:-2.63, Y:3.92, Z:-1.91 [[ 0.83696016 0.47484608 -0.27206411 -2.63367216] [-0.48700208 0.87302693 0.02555307 3.92335437] [ 0.24965307 0.11110889 0.96193979 -1.90936157] [ 0. 0. 0. 1. ]] SLAMing on 213.43800114499996 meters Centerline goodness [0,1] 0.7580342352291551 Centerline is valid? [False, False] Translation: X:-2.66, Y:3.94, Z:-1.92 [[ 0.83708388 0.47490646 -0.27157767 -2.66085827] [-0.48682914 0.87310308 0.02623729 3.94163736] [ 0.24957556 0.11024911 0.96205882 -1.9165583 ] [ 0. 0. 0. 1. ]] SLAMing on 213.46800114499996 meters Centerline goodness [0,1] 0.7658850310517824 Centerline is valid? [False, False] Translation: X:-2.66, Y:3.94, Z:-1.92 [[ 0.83554433 0.47890278 -0.26929131 -2.66301941] [-0.48978559 0.87133089 0.02987551 3.93966153] [ 0.2489493 0.10693269 0.96259527 -1.91728754] [ 0. 0. 0. 1. ]] SLAMing on 213.49800114499996 meters Centerline goodness [0,1] 0.7566148074588988 Centerline is valid? [False, False] Translation: X:-2.68, Y:3.95, Z:-1.92 [[ 0.8346001 0.47934016 -0.27143267 -2.68479971] [-0.4906274 0.8708749 0.02935401 3.95445638] [ 0.25045445 0.10867345 0.96200969 -1.92240721] [ 0. 0. 0. 1. ]] SLAMing on 213.52800114499996 meters Centerline goodness [0,1] 0.7646164691368903 Centerline is valid? [False, False] Translation: X:-2.71, Y:3.97, Z:-1.93 [[ 0.83477671 0.47937237 -0.27083201 -2.71144252] [-0.49061445 0.87088533 0.02926109 3.97187627] [ 0.24989058 0.10844762 0.9621818 -1.92962504] [ 0. 0. 0. 1. ]] SLAMing on 213.55800114499996 meters Centerline goodness [0,1] 0.7504993963341017 Centerline is valid? [False, False] Translation: X:-2.74, Y:3.99, Z:-1.94 [[ 0.83523939 0.47981661 -0.26860971 -2.74157051] [-0.49073493 0.87080656 0.02958311 3.99137684] [ 0.24810157 0.10710719 0.96279471 -1.93638923] [ 0. 0. 0. 1. ]] SLAMing on 213.58800114499996 meters Centerline goodness [0,1] 0.7502199155524278 Centerline is valid? [False, False] Translation: X:-2.77, Y:4.01, Z:-1.94 [[ 0.83594838 0.47952972 -0.26691115 -2.77250261] [-0.48981465 0.87126668 0.03124076 4.01260254] [ 0.24753166 0.10462132 0.96321465 -1.94418845] [ 0. 0. 0. 1. ]] SLAMing on 213.61800114499997 meters Centerline goodness [0,1] 0.7849275998244845 Centerline is valid? [False, False] Translation: X:-2.78, Y:4.01, Z:-1.94 [[ 0.83468194 0.48279258 -0.26498563 -2.77542686] [-0.49223985 0.8697874 0.03420259 4.01139235] [ 0.24699392 0.10188821 0.96364558 -1.94389967] [ 0. 0. 0. 1. ]] SLAMing on 213.64800114499997 meters Centerline goodness [0,1] 0.7433490854992562 Centerline is valid? [False, False] Translation: X:-2.80, Y:4.03, Z:-1.95 [[ 0.83472301 0.48257389 -0.26525448 -2.80186599] [-0.49201194 0.86991179 0.03431807 4.02985786] [ 0.247309 0.10186228 0.9635675 -1.95019716] [ 0. 0. 0. 1. ]] SLAMing on 213.67800114499997 meters Centerline goodness [0,1] 0.7708924904984492 Centerline is valid? [False, False] Translation: X:-2.83, Y:4.05, Z:-1.95 [[ 0.8338217 0.48357922 -0.26625647 -2.82709372] [-0.49318141 0.86925096 0.03427648 4.04650546] [ 0.24801909 0.10273226 0.96329259 -1.95423875] [ 0. 0. 0. 1. ]] SLAMing on 213.70800114499997 meters Centerline goodness [0,1] 0.7529499169653002 Centerline is valid? [False, False] Translation: X:-2.86, Y:4.07, Z:-1.96 [[ 0.83429276 0.48258211 -0.26658974 -2.85563208] [-0.49201661 0.86988578 0.03490541 4.06650159] [ 0.24874735 0.10204525 0.96317783 -1.9606156 ] [ 0. 0. 0. 1. ]] SLAMing on 213.73800114499997 meters Centerline goodness [0,1] 0.7538156288156288 Centerline is valid? [False, False] Translation: X:-2.88, Y:4.08, Z:-1.97 [[ 0.83450475 0.48210951 -0.26678125 -2.88259607] [-0.49157118 0.87014163 0.03480407 4.08482499] [ 0.24891684 0.10209781 0.96312847 -1.96704622] [ 0. 0. 0. 1. ]] SLAMing on 213.76800114499997 meters Centerline goodness [0,1] 0.7795116218333769 Centerline is valid? [False, False] Translation: X:-2.91, Y:4.10, Z:-1.97 [[ 0.83351735 0.48210763 -0.26985377 -2.90503722] [-0.49197709 0.86992214 0.03455448 4.10018893] [ 0.25141075 0.10396012 0.96228111 -1.97132828] [ 0. 0. 0. 1. ]] SLAMing on 213.79800114499997 meters Centerline goodness [0,1] 0.8037210314438037 Centerline is valid? [False, False] Translation: X:-2.92, Y:4.11, Z:-1.97 [[ 0.83212815 0.48254868 -0.27333042 -2.92436605] [-0.49326069 0.8692577 0.03293837 4.11388683] [ 0.25348894 0.1074142 0.9613561 -1.97477724] [ 0. 0. 0. 1. ]] SLAMing on 213.82800114499997 meters Centerline goodness [0,1] 0.8034970676085202 Centerline is valid? [False, False] Translation: X:-2.95, Y:4.13, Z:-1.98 [[ 0.83106252 0.4827629 -0.27617942 -2.94542487] [-0.49400068 0.86886286 0.03225912 4.12882969] [ 0.25553554 0.10962347 0.96056456 -1.97930899] [ 0. 0. 0. 1. ]] SLAMing on 213.85800114499997 meters Centerline goodness [0,1] 0.7921192110522199 Centerline is valid? [False, False] Translation: X:-2.97, Y:4.15, Z:-1.99 [[ 0.83155054 0.48214721 -0.27578572 -2.97174134] [-0.49349491 0.86917578 0.03156332 4.14697913] [ 0.25492443 0.10985235 0.96070078 -1.98666763] [ 0. 0. 0. 1. ]] SLAMing on 213.88800114499998 meters Centerline goodness [0,1] 0.7967292260183111 Centerline is valid? [False, False] Translation: X:-3.00, Y:4.17, Z:-2.00 [[ 0.83278286 0.4805622 -0.2748321 -3.00234916] [-0.49147761 0.87028368 0.03249736 4.16700357] [ 0.25479889 0.10801058 0.96094289 -1.9951212 ] [ 0. 0. 0. 1. ]] SLAMing on 213.91800114499998 meters Centerline goodness [0,1] 0.7903599835287488 Centerline is valid? [False, False] Translation: X:-3.03, Y:4.18, Z:-2.00 [[ 0.83324882 0.47981123 -0.27473184 -3.02714386] [-0.49103582 0.870582 0.03115768 4.18354763] [ 0.2541264 0.10894108 0.96101593 -2.00232026] [ 0. 0. 0. 1. ]] SLAMing on 213.94800114499998 meters Centerline goodness [0,1] 0.7993147120055517 Centerline is valid? [False, False] Translation: X:-3.05, Y:4.20, Z:-2.01 [[ 0.83411783 0.47895365 -0.27358884 -3.05333073] [-0.49026595 0.87105066 0.03016688 4.20096702] [ 0.25275828 0.10896856 0.96137355 -2.01092063] [ 0. 0. 0. 1. ]] SLAMing on 213.97800114499998 meters Centerline goodness [0,1] 0.7956394402863651 Centerline is valid? [False, False] Translation: X:-3.08, Y:4.22, Z:-2.02 [[ 0.83479516 0.4777429 -0.27363983 -3.08003964] [-0.48910916 0.87171402 0.02978082 4.21857267] [ 0.25276325 0.10897886 0.96137108 -2.01834718] [ 0. 0. 0. 1. ]] SLAMing on 214.00800114499998 meters Centerline goodness [0,1] 0.797917662913533 Centerline is valid? [False, False] Translation: X:-3.11, Y:4.24, Z:-2.03 [[ 0.83527852 0.47677668 -0.27384996 -3.10558587] [-0.48821203 0.87222801 0.02945027 4.23656066] [ 0.2529008 0.10909767 0.96132143 -2.0260471 ] [ 0. 0. 0. 1. ]] SLAMing on 214.03800114499995 meters Centerline goodness [0,1] 0.7906850622586663 Centerline is valid? [False, False] Translation: X:-3.13, Y:4.25, Z:-2.03 [[ 0.83532044 0.47776387 -0.27199531 -3.13045225] [-0.48913555 0.87172483 0.02902146 4.25272718] [ 0.25097047 0.10880036 0.96186086 -2.03403931] [ 0. 0. 0. 1. ]] SLAMing on 214.06800114499995 meters Centerline goodness [0,1] 0.79655209801583 Centerline is valid? [False, False] Translation: X:-3.16, Y:4.27, Z:-2.04 [[ 0.83556016 0.4785274 -0.26990879 -3.15667752] [-0.48977537 0.87137682 0.0286797 4.27034805] [ 0.24891628 0.10823106 0.96245869 -2.04198056] [ 0. 0. 0. 1. ]] SLAMing on 214.09800114499996 meters Centerline goodness [0,1] 0.7914696055885799 Centerline is valid? [False, False] Translation: X:-3.18, Y:4.29, Z:-2.05 [[ 0.83552214 0.47980712 -0.26774593 -3.18455835] [-0.49083741 0.87077652 0.0287558 4.28863034] [ 0.24694411 0.10739361 0.96306034 -2.04860713] [ 0. 0. 0. 1. ]] SLAMing on 214.12800114499996 meters Centerline goodness [0,1] 0.8097292375728934 Centerline is valid? [False, False] Translation: X:-3.21, Y:4.30, Z:-2.05 [[ 0.83435786 0.48041659 -0.27027182 -3.20548225] [-0.49189744 0.87019446 0.02825805 4.30248708] [ 0.24876468 0.10936869 0.96236928 -2.05373896] [ 0. 0. 0. 1. ]] SLAMing on 214.15800114499996 meters Centerline goodness [0,1] 0.8069570871261378 Centerline is valid? [False, False] Translation: X:-3.23, Y:4.32, Z:-2.06 [[ 0.83479824 0.48019358 -0.26930655 -3.23297857] [-0.49140308 0.87045492 0.02883123 4.32080847] [ 0.24826378 0.10826981 0.96262285 -2.06187039] [ 0. 0. 0. 1. ]] SLAMing on 214.18800114499996 meters Centerline goodness [0,1] 0.8042347535867539 Centerline is valid? [False, False] Translation: X:-3.26, Y:4.34, Z:-2.07 [[ 0.83543785 0.480031 -0.26760762 -3.2613836 ] [-0.49075211 0.87078486 0.02993504 4.34014691] [ 0.24739841 0.10632014 0.96306285 -2.07058505] [ 0. 0. 0. 1. ]] SLAMing on 214.21800114499996 meters Centerline goodness [0,1] 0.7985347985347986 Centerline is valid? [False, False] Translation: X:-3.29, Y:4.36, Z:-2.08 [[ 0.83600872 0.47980907 -0.26621922 -3.29115148] [-0.4898927 0.87120378 0.03176672 4.36117733] [ 0.24717315 0.1038616 0.96338892 -2.07878424] [ 0. 0. 0. 1. ]] SLAMing on 214.24800114499996 meters Centerline goodness [0,1] 0.7858131188653954 Centerline is valid? [False, False] Translation: X:-3.32, Y:4.38, Z:-2.09 [[ 0.83686861 0.47851955 -0.26583823 -3.31867157] [-0.48860335 0.87194126 0.03138803 4.38043527] [ 0.24681511 0.10362179 0.96350653 -2.08615646] [ 0. 0. 0. 1. ]] SLAMing on 214.27800114499996 meters Centerline goodness [0,1] 0.7858131188653954 Centerline is valid? [False, False] Translation: X:-3.35, Y:4.40, Z:-2.09 [[ 0.8374452 0.47753158 -0.26579905 -3.34548362] [-0.48745704 0.87256672 0.03182709 4.39912669] [ 0.24712584 0.10291217 0.96350293 -2.09390457] [ 0. 0. 0. 1. ]] SLAMing on 214.30800114499996 meters Centerline goodness [0,1] 0.7983876196857371 Centerline is valid? [False, False] Translation: X:-3.37, Y:4.42, Z:-2.10 [[ 0.83860918 0.47497342 -0.26671125 -3.37379739] [-0.48502753 0.87393844 0.03130348 4.41779946] [ 0.24795753 0.10311092 0.96326798 -2.10097747] [ 0. 0. 0. 1. ]] SLAMing on 214.33800114499996 meters Centerline goodness [0,1] 0.7784047912477567 Centerline is valid? [False, False] Translation: X:-3.40, Y:4.44, Z:-2.11 [[ 0.83971801 0.47302377 -0.26668743 -3.40180737] [-0.48297269 0.87507286 0.03138279 4.43601938] [ 0.24821574 0.10245005 0.96327199 -2.10938037] [ 0. 0. 0. 1. ]] SLAMing on 214.36800114499997 meters Centerline goodness [0,1] 0.8152211472011057 Centerline is valid? [False, False] Translation: X:-3.42, Y:4.45, Z:-2.11 [[ 0.83823408 0.4718179 -0.27340719 -3.41720811] [-0.48356419 0.87488507 0.02723573 4.44678984] [ 0.25205018 0.10938001 0.96151273 -2.10985186] [ 0. 0. 0. 1. ]] SLAMing on 214.39800114499997 meters Centerline goodness [0,1] 0.7936915182613945 Centerline is valid? [False, False] Translation: X:-3.45, Y:4.47, Z:-2.12 [[ 0.84021735 0.46945302 -0.27138286 -3.44711865] [-0.48088658 0.87636304 0.02712784 4.46725823] [ 0.25056515 0.10771109 0.96208909 -2.1199551 ] [ 0. 0. 0. 1. ]] SLAMing on 214.42800114499997 meters Centerline goodness [0,1] 0.7907564113634401 Centerline is valid? [False, False] Translation: X:-3.48, Y:4.49, Z:-2.13 [[ 0.84261618 0.46604399 -0.26981654 -3.47793715] [-0.47737748 0.87830608 0.02625223 4.48857426] [ 0.24921621 0.10668379 0.96255382 -2.12891443] [ 0. 0. 0. 1. ]] SLAMing on 214.45800114499997 meters Centerline goodness [0,1] 0.7847410856724012 Centerline is valid? [False, False] Translation: X:-3.51, Y:4.51, Z:-2.14 [[ 0.84416068 0.46368514 -0.26905173 -3.50541036] [-0.47507936 0.87957943 0.02529101 4.5067836 ] [ 0.24837943 0.10647125 0.96279361 -2.13786866] [ 0. 0. 0. 1. ]] SLAMing on 214.48800114499997 meters Centerline goodness [0,1] 0.7781681034482759 Centerline is valid? [False, False] Translation: X:-3.53, Y:4.52, Z:-2.15 [[ 0.84572762 0.46117364 -0.26844676 -3.53274203] [-0.47274504 0.88087442 0.02392476 4.5245459 ] [ 0.24750135 0.10667304 0.96299738 -2.14664332] [ 0. 0. 0. 1. ]] SLAMing on 214.51800114499997 meters Centerline goodness [0,1] 0.7647375910992281 Centerline is valid? [False, False] Translation: X:-3.56, Y:4.54, Z:-2.16 [[ 0.84747915 0.45837764 -0.26771071 -3.56192129] [-0.46994018 0.88239389 0.02317846 4.54387872] [ 0.24685078 0.10616476 0.9632205 -2.15536864] [ 0. 0. 0. 1. ]] SLAMing on 214.54800114499997 meters Centerline goodness [0,1] 0.7532417263402361 Centerline is valid? [False, False] Translation: X:-3.59, Y:4.56, Z:-2.17 [[ 0.84978265 0.45490601 -0.26632681 -3.59239517] [-0.46635867 0.88431118 0.02243471 4.56352133] [ 0.24572146 0.10513919 0.96362166 -2.16511306] [ 0. 0. 0. 1. ]] SLAMing on 214.57800114499997 meters Centerline goodness [0,1] 0.7729697048217486 Centerline is valid? [False, False] Translation: X:-3.62, Y:4.58, Z:-2.17 [[ 0.85106092 0.45378817 -0.26414315 -3.62042148] [-0.46517101 0.88495826 0.02155923 4.58196082] [ 0.24353899 0.10452352 0.9642425 -2.17411908] [ 0. 0. 0. 1. ]] SLAMing on 214.60800114499997 meters Centerline goodness [0,1] 0.7600043029259896 Centerline is valid? [False, False] Translation: X:-3.62, Y:4.58, Z:-2.17 [[ 0.85106924 0.45381097 -0.26407717 -3.62067382] [-0.46519985 0.88494432 0.02150946 4.58242996] [ 0.24345482 0.10454262 0.96426168 -2.17384362] [ 0. 0. 0. 1. ]] SLAMing on 214.63800114499998 meters Centerline goodness [0,1] 0.7577544496284776 Centerline is valid? [False, False] Translation: X:-3.65, Y:4.61, Z:-2.18 [[ 0.85303962 0.45242178 -0.26007293 -3.65426998] [-0.46330893 0.88593561 0.02151587 4.60517973] [ 0.24014212 0.10214023 0.96534923 -2.1827146 ] [ 0. 0. 0. 1. ]] SLAMing on 214.66800114499998 meters Centerline goodness [0,1] 0.7560302049622438 Centerline is valid? [False, False] Translation: X:-3.68, Y:4.62, Z:-2.19 [[ 0.8540431 0.45150319 -0.25837037 -3.68139889] [-0.46252242 0.88638006 0.0200849 4.62316436] [ 0.23808274 0.10234872 0.96583712 -2.19078047] [ 0. 0. 0. 1. ]] SLAMing on 214.69800114499998 meters Centerline goodness [0,1] 0.7476661647666165 Centerline is valid? [False, False] Translation: X:-3.71, Y:4.64, Z:-2.20 [[ 0.85523425 0.45086368 -0.25553143 -3.70814311] [-0.46201641 0.88668531 0.01816585 4.64071873] [ 0.23476629 0.10252366 0.96663007 -2.19961144] [ 0. 0. 0. 1. ]] SLAMing on 214.72800114499998 meters Centerline goodness [0,1] 0.742873738786223 Centerline is valid? [False, False] Translation: X:-3.74, Y:4.66, Z:-2.21 [[ 0.85648691 0.44989542 -0.25303021 -3.7380277 ] [-0.46071025 0.88736213 0.01828974 4.66092591] [ 0.2327579 0.10090869 0.96728548 -2.208236 ] [ 0. 0. 0. 1. ]] SLAMing on 214.75800114499998 meters Centerline goodness [0,1] 0.7372149609181542 Centerline is valid? [False, False] Translation: X:-3.77, Y:4.68, Z:-2.22 [[ 0.85847521 0.44786648 -0.24987184 -3.76949288] [-0.45829387 0.88861444 0.01819611 4.68175951] [ 0.23018915 0.09889382 0.96810793 -2.21813993] [ 0. 0. 0. 1. ]] SLAMing on 214.78800114499995 meters Centerline goodness [0,1] 0.7349929949347991 Centerline is valid? [False, False] Translation: X:-3.80, Y:4.70, Z:-2.23 [[ 0.86000693 0.44582547 -0.24824931 -3.7986989 ] [-0.45614267 0.8897318 0.01764048 4.70072985] [ 0.22873988 0.09806617 0.96853554 -2.22708555] [ 0. 0. 0. 1. ]] SLAMing on 214.81800114499995 meters Centerline goodness [0,1] 0.7232475503391838 Centerline is valid? [False, False] Translation: X:-3.83, Y:4.72, Z:-2.24 [[ 0.86142307 0.44389904 -0.24678721 -3.8266468 ] [-0.4542709 0.8907112 0.01647743 4.71870757] [ 0.22713045 0.09791421 0.9689296 -2.23565063] [ 0. 0. 0. 1. ]] SLAMing on 214.84800114499996 meters Centerline goodness [0,1] 0.7144519883608147 Centerline is valid? [False, False] Translation: X:-3.86, Y:4.74, Z:-2.25 [[ 0.86359053 0.44125086 -0.2439448 -3.85756464] [-0.45127057 0.89223746 0.01634613 4.7386135 ] [ 0.22486943 0.09596875 0.96965135 -2.24627635] [ 0. 0. 0. 1. ]] SLAMing on 214.87800114499996 meters Centerline goodness [0,1] 0.7299051315222078 Centerline is valid? [False, False] Translation: X:-3.86, Y:4.74, Z:-2.25 [[ 0.8648016 0.43997158 -0.24195702 -3.86112614] [-0.44977101 0.89299619 0.01624361 4.73911764] [ 0.22321342 0.09477775 0.97015099 -2.2493899 ] [ 0. 0. 0. 1. ]] SLAMing on 214.90800114499996 meters Centerline goodness [0,1] 0.6909855510028036 Centerline is valid? [False, False] Translation: X:-3.89, Y:4.76, Z:-2.26 [[ 0.86651816 0.43823649 -0.23894573 -3.89214786] [-0.44764231 0.89406217 0.01640739 4.75974029] [ 0.22082265 0.09274492 0.9708943 -2.25913458] [ 0. 0. 0. 1. ]] SLAMing on 214.93800114499996 meters Centerline goodness [0,1] 0.690281484032022 Centerline is valid? [False, False] Translation: X:-3.89, Y:4.76, Z:-2.26 [[ 0.8664837 0.43830886 -0.23893793 -3.89168504] [-0.44768528 0.89403815 0.01654342 4.75973421] [ 0.22087075 0.09263439 0.97089391 -2.25936645] [ 0. 0. 0. 1. ]] SLAMing on 214.96800114499996 meters Centerline goodness [0,1] 0.6849264864398741 Centerline is valid? [False, False] Translation: X:-3.92, Y:4.78, Z:-2.27 [[ 0.86692988 0.43726864 -0.23922526 -3.91969191] [-0.44634316 0.89468393 0.01784513 4.77848801] [ 0.22183411 0.09130608 0.9708001 -2.26711297] [ 0. 0. 0. 1. ]] SLAMing on 214.99800114499996 meters Centerline goodness [0,1] 0.7112108010179874 Centerline is valid? [False, False] Translation: X:-3.92, Y:4.78, Z:-2.27 [[ 0.86581322 0.44042189 -0.23747848 -3.92164605] [-0.44879974 0.89339472 0.02060752 4.77836392] [ 0.22123802 0.08873802 0.97117419 -2.26700282] [ 0. 0. 0. 1. ]] SLAMing on 215.02800114499996 meters Centerline goodness [0,1] 0.6977301686715763 Centerline is valid? [False, False] Translation: X:-3.95, Y:4.80, Z:-2.27 [[ 0.86613174 0.44084083 -0.23553168 -3.94821525] [-0.44917608 0.89321834 0.02004595 4.79677613] [ 0.21921829 0.08843277 0.97165991 -2.27424908] [ 0. 0. 0. 1. ]] SLAMing on 215.05800114499996 meters Centerline goodness [0,1] 0.7209136485435215 Centerline is valid? [False, False] Translation: X:-3.95, Y:4.80, Z:-2.27 [[ 0.86494053 0.44411607 -0.23374944 -3.950002 ] [-0.45177023 0.89184315 0.0227915 4.79703312] [ 0.21858991 0.08588775 0.9720297 -2.27404332] [ 0. 0. 0. 1. ]] SLAMing on 215.08800114499996 meters Centerline goodness [0,1] 0.71029679770893 Centerline is valid? [False, False] Translation: X:-3.97, Y:4.82, Z:-2.28 [[ 0.86464437 0.44335754 -0.23627147 -3.97368598] [-0.4512892 0.89209448 0.02248324 4.81649092] [ 0.22074459 0.08718676 0.97142694 -2.27902857] [ 0. 0. 0. 1. ]] SLAMing on 215.11800114499997 meters Centerline goodness [0,1] 0.7250895668222777 Centerline is valid? [False, False] Translation: X:-3.98, Y:4.82, Z:-2.28 [[ 0.86360071 0.44634954 -0.23444808 -3.97587544] [-0.45362014 0.89084212 0.02508143 4.81679196] [ 0.22005131 0.08469003 0.97180503 -2.2788268 ] [ 0. 0. 0. 1. ]] SLAMing on 215.14800114499997 meters Centerline goodness [0,1] 0.7283366750937146 Centerline is valid? [False, False] Translation: X:-3.98, Y:4.82, Z:-2.28 [[ 0.86273628 0.44879792 -0.23295179 -3.97850118] [-0.45554092 0.88980019 0.02716783 4.81761919] [ 0.21947341 0.0826804 0.97210872 -2.27787617] [ 0. 0. 0. 1. ]] SLAMing on 215.17800114499997 meters Centerline goodness [0,1] 0.7198016990980367 Centerline is valid? [False, False] Translation: X:-4.00, Y:4.84, Z:-2.28 [[ 0.8636598 0.44745542 -0.23211073 -4.00358964] [-0.45494112 0.89021561 0.0233399 4.8362545 ] [ 0.21707216 0.08543899 0.9724093 -2.28317911] [ 0. 0. 0. 1. ]] SLAMing on 215.20800114499997 meters Centerline goodness [0,1] 0.7063492063492063 Centerline is valid? [False, False] Translation: X:-4.00, Y:4.84, Z:-2.28 [[ 0.86375545 0.44718167 -0.23228233 -4.003235 ] [-0.45474405 0.8903244 0.02302845 4.83723773] [ 0.21710452 0.08573806 0.97237576 -2.28287276] [ 0. 0. 0. 1. ]] SLAMing on 215.23800114499997 meters Centerline goodness [0,1] 0.7090679001570954 Centerline is valid? [False, False] Translation: X:-4.00, Y:4.84, Z:-2.28 [[ 0.86390966 0.44678064 -0.23248043 -4.00326663] [-0.45445195 0.89048537 0.02256617 4.83862309] [ 0.21710255 0.08615605 0.97233925 -2.28217878] [ 0. 0. 0. 1. ]] SLAMing on 215.26800114499997 meters Centerline goodness [0,1] 0.6953868950338846 Centerline is valid? [False, False] Translation: X:-4.00, Y:4.84, Z:-2.28 [[ 0.86445436 0.44569543 -0.23253868 -4.00480346] [-0.45356469 0.89096269 0.02155351 4.84006793] [ 0.21678959 0.08683931 0.9723483 -2.28136119] [ 0. 0. 0. 1. ]] SLAMing on 215.29800114499997 meters Centerline goodness [0,1] 0.688023560209424 Centerline is valid? [False, False] Translation: X:-4.03, Y:4.86, Z:-2.29 [[ 0.86555428 0.44461731 -0.23050216 -4.0312303 ] [-0.45277835 0.89141553 0.01923859 4.85788429] [ 0.21402701 0.08771435 0.97288161 -2.28903173] [ 0. 0. 0. 1. ]] SLAMing on 215.32800114499997 meters Centerline goodness [0,1] 0.6952568306010929 Centerline is valid? [False, False] Translation: X:-4.03, Y:4.86, Z:-2.29 [[ 0.86561736 0.44441083 -0.23066339 -4.03075067] [-0.45261542 0.89150166 0.01908073 4.85847283] [ 0.21411648 0.0878852 0.97284651 -2.28893119] [ 0. 0. 0. 1. ]] SLAMing on 215.35800114499997 meters Centerline goodness [0,1] 0.6709295959706558 Centerline is valid? [False, False] Translation: X:-4.03, Y:4.86, Z:-2.29 [[ 0.86450377 0.44753293 -0.22879577 -4.03279711] [-0.45498474 0.89022366 0.02215244 4.85780377] [ 0.21359335 0.08494771 0.97322236 -2.28913176] [ 0. 0. 0. 1. ]] SLAMing on 215.38800114499998 meters Centerline goodness [0,1] 0.6617992062970028 Centerline is valid? [False, False] Translation: X:-4.03, Y:4.86, Z:-2.29 [[ 0.86459418 0.44737028 -0.22877224 -4.03235172] [-0.45482707 0.89030557 0.02209802 4.85792457] [ 0.2135632 0.08494599 0.97322913 -2.28967093] [ 0. 0. 0. 1. ]] SLAMing on 215.41800114499998 meters Centerline goodness [0,1] 0.6792647575544624 Centerline is valid? [False, False] Translation: X:-4.03, Y:4.86, Z:-2.29 [[ 0.86364004 0.45003012 -0.22715363 -4.03450159] [-0.45684571 0.88920213 0.02472994 4.85750581] [ 0.21311471 0.08241639 0.97354489 -2.2896043 ] [ 0. 0. 0. 1. ]] SLAMing on 215.44800114499998 meters Centerline goodness [0,1] 0.6755749457391533 Centerline is valid? [False, False] Translation: X:-4.04, Y:4.86, Z:-2.29 [[ 0.86256335 0.45292406 -0.22548673 -4.03651766] [-0.45909244 0.88796503 0.02742696 4.85697017] [ 0.21264666 0.07986176 0.9738601 -2.28957304] [ 0. 0. 0. 1. ]] SLAMing on 215.47800114499998 meters Centerline goodness [0,1] 0.669834774382329 Centerline is valid? [False, False] Translation: X:-4.06, Y:4.88, Z:-2.29 [[ 0.86269717 0.45142369 -0.22796985 -4.05969915] [-0.45809431 0.88852611 0.02590286 4.87527466] [ 0.21425033 0.08208537 0.97332358 -2.29469699] [ 0. 0. 0. 1. ]] SLAMing on 215.50800114499998 meters Centerline goodness [0,1] 0.6732313785895038 Centerline is valid? [False, False] Translation: X:-4.06, Y:4.88, Z:-2.29 [[ 0.86165213 0.45422682 -0.22634841 -4.06215469] [-0.46029362 0.88731239 0.02839916 4.87519043] [ 0.21374141 0.07971653 0.97363232 -2.29414242] [ 0. 0. 0. 1. ]] SLAMing on 215.53800114499995 meters Centerline goodness [0,1] 0.6773646416141681 Centerline is valid? [False, False] Translation: X:-4.06, Y:4.88, Z:-2.29 [[ 0.8605909 0.45705942 -0.22467753 -4.06467026] [-0.46252234 0.88606884 0.03090469 4.87541305] [ 0.21320503 0.07732208 0.97394297 -2.29345732] [ 0. 0. 0. 1. ]] SLAMing on 215.56800114499995 meters Centerline goodness [0,1] 0.6715920869814525 Centerline is valid? [False, False] Translation: X:-4.09, Y:4.89, Z:-2.30 [[ 0.85994597 0.45758373 -0.22607533 -4.08669977] [-0.4637428 0.88551686 0.02832841 4.89264965] [ 0.21315614 0.08047991 0.97369782 -2.29662736] [ 0. 0. 0. 1. ]] SLAMing on 215.59800114499996 meters Centerline goodness [0,1] 0.6679770318021201 Centerline is valid? [False, False] Translation: X:-4.11, Y:4.91, Z:-2.30 [[ 0.85974892 0.45744655 -0.22710007 -4.10998556] [-0.46418685 0.88535389 0.02605871 4.91033926] [ 0.2129844 0.08301292 0.97352273 -2.30061515] [ 0. 0. 0. 1. ]] SLAMing on 215.62800114499996 meters Centerline goodness [0,1] 0.6948352646622206 Centerline is valid? [False, False] Translation: X:-4.11, Y:4.91, Z:-2.30 [[ 0.85847721 0.46078538 -0.22515266 -4.11208364] [-0.46681566 0.88387923 0.02899378 4.9101903 ] [ 0.21236767 0.08021429 0.97389201 -2.30043558] [ 0. 0. 0. 1. ]] SLAMing on 215.65800114499996 meters Centerline goodness [0,1] 0.6926985529658677 Centerline is valid? [False, False] Translation: X:-4.11, Y:4.91, Z:-2.30 [[ 0.85836878 0.46100722 -0.22511195 -4.11168777] [-0.46698226 0.88378241 0.02926132 4.9095981 ] [ 0.21243966 0.08000628 0.97389342 -2.30084722] [ 0. 0. 0. 1. ]] SLAMing on 215.68800114499996 meters Centerline goodness [0,1] 0.6580622347949081 Centerline is valid? [False, False] Translation: X:-4.14, Y:4.93, Z:-2.31 [[ 0.85887655 0.45944034 -0.22637502 -4.13573335] [-0.46601717 0.88437007 0.02678771 4.92691198] [ 0.21250665 0.08248732 0.9736718 -2.30628024] [ 0. 0. 0. 1. ]] SLAMing on 215.71800114499996 meters Centerline goodness [0,1] 0.7053853809576468 Centerline is valid? [False, False] Translation: X:-4.14, Y:4.93, Z:-2.31 [[ 0.85899209 0.45915071 -0.2265242 -4.13594079] [-0.46577805 0.8845024 0.0265766 4.92700511] [ 0.21256386 0.08268091 0.97364289 -2.30602013] [ 0. 0. 0. 1. ]] SLAMing on 215.74800114499996 meters Centerline goodness [0,1] 0.6502508786277934 Centerline is valid? [False, False] Translation: X:-4.14, Y:4.93, Z:-2.31 [[ 0.85904128 0.45899631 -0.22665054 -4.13600341] [-0.46565986 0.88456871 0.0264404 4.92723591] [ 0.21262402 0.08282867 0.97361719 -2.30569471] [ 0. 0. 0. 1. ]] SLAMing on 215.77800114499996 meters Centerline goodness [0,1] 0.7018404635570454 Centerline is valid? [False, False] Translation: X:-4.14, Y:4.93, Z:-2.31 [[ 0.85917558 0.45866733 -0.2268074 -4.13622281] [-0.46539554 0.88471606 0.02616259 4.92807357] [ 0.21266008 0.08307689 0.97358817 -2.30512195] [ 0. 0. 0. 1. ]] SLAMing on 215.80800114499996 meters Centerline goodness [0,1] 0.6933146952450686 Centerline is valid? [False, False] Translation: X:-4.14, Y:4.93, Z:-2.30 [[ 0.85914422 0.45866974 -0.22692128 -4.1360079 ] [-0.46540654 0.88471007 0.02616945 4.92836245] [ 0.21276268 0.08312731 0.97356145 -2.30485616] [ 0. 0. 0. 1. ]] SLAMing on 215.83800114499996 meters Centerline goodness [0,1] 0.6407038512616201 Centerline is valid? [False, False] Translation: X:-4.14, Y:4.93, Z:-2.30 [[ 0.85907801 0.45873731 -0.22703534 -4.13573873] [-0.46548507 0.88466861 0.02617436 4.92847915] [ 0.21285819 0.08319574 0.97353472 -2.30467222] [ 0. 0. 0. 1. ]] SLAMing on 215.86800114499997 meters Centerline goodness [0,1] 0.6857623889590394 Centerline is valid? [False, False] Translation: X:-4.14, Y:4.93, Z:-2.30 [[ 0.85806771 0.46137591 -0.22550406 -4.13833324] [-0.46754417 0.88350762 0.02857855 4.92748782] [ 0.21242001 0.08091078 0.97382297 -2.30433937] [ 0. 0. 0. 1. ]] SLAMing on 215.89800114499997 meters Centerline goodness [0,1] 0.6947788493515131 Centerline is valid? [False, False] Translation: X:-4.14, Y:4.93, Z:-2.30 [[ 0.85693338 0.46428053 -0.22384989 -4.14070833] [-0.46980133 0.88221692 0.03130531 4.92657839] [ 0.21201861 0.07833841 0.97412073 -2.30405241] [ 0. 0. 0. 1. ]] SLAMing on 215.92800114499997 meters Centerline goodness [0,1] 0.7015215852795471 Centerline is valid? [False, False] Translation: X:-4.14, Y:4.93, Z:-2.30 [[ 0.85689685 0.464259 -0.22403429 -4.14028573] [-0.46980946 0.88221503 0.03123639 4.92655693] [ 0.21214819 0.07848706 0.97408055 -2.30398142] [ 0. 0. 0. 1. ]] SLAMing on 215.95800114499997 meters Centerline goodness [0,1] 0.6917464963633138 Centerline is valid? [False, False] Translation: X:-4.16, Y:4.94, Z:-2.31 [[ 0.85623294 0.46390383 -0.22728481 -4.16156364] [-0.47001848 0.88215116 0.02986558 4.94233945] [ 0.21435432 0.08125617 0.97337026 -2.30759126] [ 0. 0. 0. 1. ]] SLAMing on 215.98800114499997 meters Centerline goodness [0,1] 0.6921832406196671 Centerline is valid? [False, False] Translation: X:-4.16, Y:4.94, Z:-2.31 [[ 0.85616442 0.46398967 -0.2273677 -4.16121407] [-0.47007868 0.88211364 0.03002613 4.94195941] [ 0.21449596 0.0811734 0.97334596 -2.30769625] [ 0. 0. 0. 1. ]] SLAMing on 216.01800114499997 meters Centerline goodness [0,1] 0.7062757429469861 Centerline is valid? [False, False] Translation: X:-4.16, Y:4.94, Z:-2.31 [[ 0.85610811 0.46409726 -0.22736017 -4.16098632] [-0.4701448 0.88207157 0.03022613 4.94128509] [ 0.2145758 0.08101536 0.97334153 -2.30801908] [ 0. 0. 0. 1. ]] SLAMing on 216.04800114499997 meters Centerline goodness [0,1] 0.7058458125346645 Centerline is valid? [False, False] Translation: X:-4.16, Y:4.94, Z:-2.31 [[ 0.85610502 0.46403371 -0.22750145 -4.16096348] [-0.47007817 0.88210501 0.0302863 4.94077013] [ 0.21473403 0.08101522 0.97330665 -2.30795338] [ 0. 0. 0. 1. ]] SLAMing on 216.07800114499997 meters Centerline goodness [0,1] 0.6870991366874541 Centerline is valid? [False, False] Translation: X:-4.19, Y:4.96, Z:-2.31 [[ 0.85656926 0.46288332 -0.22809675 -4.18606115] [-0.46949968 0.88249591 0.02776735 4.95846461] [ 0.21414749 0.08330669 0.97324244 -2.31240647] [ 0. 0. 0. 1. ]] SLAMing on 216.10800114499997 meters Centerline goodness [0,1] 0.6969817755043292 Centerline is valid? [False, False] Translation: X:-4.19, Y:4.96, Z:-2.31 [[ 0.85650656 0.4629423 -0.22821247 -4.18596624] [-0.46953438 0.88247225 0.0279321 4.95800235] [ 0.21432212 0.08322957 0.9732106 -2.31232212] [ 0. 0. 0. 1. ]] SLAMing on 216.13800114499998 meters Centerline goodness [0,1] 0.6952570921985816 Centerline is valid? [False, False] Translation: X:-4.19, Y:4.96, Z:-2.31 [[ 0.85644318 0.46299575 -0.2283419 -4.1858077 ] [-0.46955689 0.88245393 0.02813158 4.95736888] [ 0.21452601 0.08312641 0.97317449 -2.31231975] [ 0. 0. 0. 1. ]] SLAMing on 216.16800114499998 meters Centerline goodness [0,1] 0.6952570921985816 Centerline is valid? [False, False] Translation: X:-4.19, Y:4.96, Z:-2.31 [[ 0.85644318 0.46299575 -0.2283419 -4.1858077 ] [-0.46955689 0.88245393 0.02813158 4.95736888] [ 0.21452601 0.08312641 0.97317449 -2.31231975] [ 0. 0. 0. 1. ]] SLAMing on 216.19800114499998 meters Centerline goodness [0,1] 0.6910407119612141 Centerline is valid? [False, False] Translation: X:-4.19, Y:4.96, Z:-2.31 [[ 0.85644406 0.46298603 -0.22835829 -4.18592089] [-0.4695309 0.88246524 0.02821059 4.95683018] [ 0.21457937 0.08306048 0.97316836 -2.31240746] [ 0. 0. 0. 1. ]] SLAMing on 216.22800114499998 meters Centerline goodness [0,1] 0.7075777058484458 Centerline is valid? [False, False] Translation: X:-4.19, Y:4.96, Z:-2.31 [[ 0.85552743 0.46536497 -0.22695434 -4.1885816 ] [-0.47134031 0.88142144 0.03057043 4.95666409] [ 0.21426883 0.08081889 0.97342549 -2.31157988] [ 0. 0. 0. 1. ]] SLAMing on 216.25800114499998 meters Centerline goodness [0,1] 0.6951230325870095 Centerline is valid? [False, False] Translation: X:-4.19, Y:4.96, Z:-2.31 [[ 0.85455305 0.46788774 -0.22543324 -4.19106948] [-0.47329401 0.88028912 0.0329217 4.95703535] [ 0.21385009 0.07856286 0.97370222 -2.31072123] [ 0. 0. 0. 1. ]] SLAMing on 216.28800114499995 meters Centerline goodness [0,1] 0.6787630237197961 Centerline is valid? [False, False] Translation: X:-4.19, Y:4.96, Z:-2.31 [[ 0.85376043 0.46984517 -0.22436277 -4.19358539] [-0.47482954 0.879393 0.03471112 4.95707003] [ 0.2136119 0.07689909 0.97388731 -2.30954223] [ 0. 0. 0. 1. ]] SLAMing on 216.31800114499995 meters Centerline goodness [0,1] 0.6741791936947907 Centerline is valid? [False, False] Translation: X:-4.22, Y:4.97, Z:-2.31 [[ 0.85392549 0.46883351 -0.22584596 -4.21652498] [-0.47499827 0.87948379 0.02974747 4.97336129] [ 0.21257448 0.08187432 0.97370873 -2.31154226] [ 0. 0. 0. 1. ]] SLAMing on 216.34800114499996 meters Centerline goodness [0,1] 0.6713897301001348 Centerline is valid? [False, False] Translation: X:-4.24, Y:4.99, Z:-2.32 [[ 0.854005 0.46810943 -0.2270441 -4.23925138] [-0.47513041 0.87952502 0.02620731 4.989343 ] [ 0.21195886 0.08549438 0.97353179 -2.3150826 ] [ 0. 0. 0. 1. ]] SLAMing on 216.37800114499996 meters Centerline goodness [0,1] 0.7032638981026933 Centerline is valid? [False, False] Translation: X:-4.24, Y:4.99, Z:-2.31 [[ 0.85399614 0.46810992 -0.22707642 -4.23944449] [-0.4751281 0.87952549 0.02623366 4.98906939] [ 0.21199974 0.08548695 0.97352355 -2.31492471] [ 0. 0. 0. 1. ]] SLAMing on 216.40800114499996 meters Centerline goodness [0,1] 0.6741483849630692 Centerline is valid? [False, False] Translation: X:-4.24, Y:4.99, Z:-2.31 [[ 0.85402624 0.46801127 -0.22716654 -4.23950911] [-0.47503637 0.87957527 0.02622573 4.98891096] [ 0.21208401 0.08551491 0.97350273 -2.31476035] [ 0. 0. 0. 1. ]] SLAMing on 216.43800114499996 meters Centerline goodness [0,1] 0.6566061862033996 Centerline is valid? [False, False] Translation: X:-4.27, Y:5.01, Z:-2.32 [[ 0.85514761 0.46584579 -0.2273989 -4.26750245] [-0.47299463 0.88069745 0.02545736 5.00959453] [ 0.21212883 0.08578866 0.97346888 -2.32018509] [ 0. 0. 0. 1. ]] SLAMing on 216.46800114499996 meters Centerline goodness [0,1] 0.6863751514483973 Centerline is valid? [False, False] Translation: X:-4.27, Y:5.01, Z:-2.32 [[ 0.85514045 0.46584681 -0.22742376 -4.26749379] [-0.47296185 0.88071026 0.02562289 5.00907827] [ 0.21223078 0.0856516 0.97345873 -2.32025292] [ 0. 0. 0. 1. ]] SLAMing on 216.49800114499996 meters Centerline goodness [0,1] 0.6861424704561959 Centerline is valid? [False, False] Translation: X:-4.27, Y:5.01, Z:-2.32 [[ 0.8550471 0.46605381 -0.22735063 -4.26736873] [-0.47307905 0.88063529 0.02603274 5.00803345] [ 0.21234565 0.08529561 0.97346494 -2.32066268] [ 0. 0. 0. 1. ]] SLAMing on 216.52800114499996 meters Centerline goodness [0,1] 0.6772665467783674 Centerline is valid? [False, False] Translation: X:-4.29, Y:5.02, Z:-2.33 [[ 0.85581973 0.46407416 -0.22849018 -4.29236143] [-0.47150463 0.8815265 0.02438049 5.02436583] [ 0.2127345 0.08686887 0.97324089 -2.32710296] [ 0. 0. 0. 1. ]] SLAMing on 216.55800114499996 meters Centerline goodness [0,1] 0.6792191822932678 Centerline is valid? [False, False] Translation: X:-4.32, Y:5.04, Z:-2.33 [[ 0.8566559 0.46282064 -0.22789849 -4.31980408] [-0.4702564 0.8822052 0.02393547 5.04276083] [ 0.21213106 0.08666626 0.97339066 -2.33421911] [ 0. 0. 0. 1. ]] SLAMing on 216.58800114499996 meters Centerline goodness [0,1] 0.7055522675960633 Centerline is valid? [False, False] Translation: X:-4.32, Y:5.04, Z:-2.33 [[ 0.85675557 0.46259535 -0.22798122 -4.32009969] [-0.47006149 0.88231273 0.02380008 5.04244118] [ 0.21216054 0.08677434 0.9733746 -2.3341183 ] [ 0. 0. 0. 1. ]] SLAMing on 216.61800114499997 meters Centerline goodness [0,1] 0.656093489148581 Centerline is valid? [False, False] Translation: X:-4.35, Y:5.06, Z:-2.34 [[ 0.85755173 0.46170829 -0.22678291 -4.3484445 ] [-0.46904709 0.88285346 0.0237611 5.06276884] [ 0.21118677 0.0859955 0.97365544 -2.34089579] [ 0. 0. 0. 1. ]] SLAMing on 216.64800114499997 meters Centerline goodness [0,1] 0.694456665200176 Centerline is valid? [False, False] Translation: X:-4.35, Y:5.06, Z:-2.34 [[ 0.85645908 0.46455145 -0.22509952 -4.35094876] [-0.47125982 0.88160039 0.02636164 5.06276331] [ 0.21069416 0.0835027 0.97397909 -2.34020009] [ 0. 0. 0. 1. ]] SLAMing on 216.67800114499997 meters Centerline goodness [0,1] 0.6930206957287539 Centerline is valid? [False, False] Translation: X:-4.35, Y:5.06, Z:-2.34 [[ 0.85549566 0.46705474 -0.22357782 -4.35373688] [-0.47318622 0.88049292 0.02875792 5.06275004] [ 0.21029021 0.08119167 0.97426174 -2.33928694] [ 0. 0. 0. 1. ]] SLAMing on 216.70800114499997 meters Centerline goodness [0,1] 0.6505153053376403 Centerline is valid? [False, False] Translation: X:-4.36, Y:5.06, Z:-2.34 [[ 0.85440064 0.46988545 -0.22182699 -4.35632863] [-0.47537369 0.87922206 0.03143921 5.06232285] [ 0.20980801 0.07858903 0.97457907 -2.33885856] [ 0. 0. 0. 1. ]] SLAMing on 216.73800114499997 meters Centerline goodness [0,1] 0.6904437010300202 Centerline is valid? [False, False] Translation: X:-4.36, Y:5.06, Z:-2.34 [[ 0.85427418 0.47005402 -0.22195687 -4.3558042 ] [-0.47552576 0.87913447 0.0315886 5.06221714] [ 0.20997829 0.07856089 0.97454467 -2.3387931 ] [ 0. 0. 0. 1. ]] SLAMing on 216.76800114499997 meters Centerline goodness [0,1] 0.6858352443111659 Centerline is valid? [False, False] Translation: X:-4.36, Y:5.06, Z:-2.34 [[ 0.85293088 0.47338691 -0.22003125 -4.35782449] [-0.47815426 0.87759474 0.03458295 5.0617947 ] [ 0.20946938 0.07571202 0.97487962 -2.33865064] [ 0. 0. 0. 1. ]] SLAMing on 216.79800114499997 meters Centerline goodness [0,1] 0.6843845035039006 Centerline is valid? [False, False] Translation: X:-4.36, Y:5.06, Z:-2.34 [[ 0.85279351 0.47359142 -0.22012359 -4.35718426] [-0.47833822 0.87748826 0.0347404 5.06164375] [ 0.20960862 0.07566713 0.97485317 -2.33877001] [ 0. 0. 0. 1. ]] SLAMing on 216.82800114499997 meters Centerline goodness [0,1] 0.6966512880510364 Centerline is valid? [False, False] Translation: X:-4.36, Y:5.06, Z:-2.34 [[ 0.85182972 0.47600556 -0.21864317 -4.35974173] [-0.48024641 0.87635803 0.03687801 5.061593 ] [ 0.20916384 0.07358881 0.97510778 -2.33804598] [ 0. 0. 0. 1. ]] SLAMing on 216.85800114499997 meters Centerline goodness [0,1] 0.6839089360384079 Centerline is valid? [False, False] Translation: X:-4.36, Y:5.06, Z:-2.34 [[ 0.85062583 0.47899162 -0.21680114 -4.36162354] [-0.4826756 0.87492053 0.03922152 5.06338249] [ 0.20847055 0.07128178 0.97542757 -2.33720873] [ 0. 0. 0. 1. ]] SLAMing on 216.88800114499998 meters Centerline goodness [0,1] 0.6895434985138192 Centerline is valid? [False, False] Translation: X:-4.36, Y:5.06, Z:-2.34 [[ 0.84944594 0.48186034 -0.21506325 -4.363793 ] [-0.48493749 0.87354711 0.04184594 5.06365244] [ 0.20803177 0.06874637 0.97570319 -2.33658511] [ 0. 0. 0. 1. ]] SLAMing on 216.91800114499998 meters Centerline goodness [0,1] 0.6964107123013668 Centerline is valid? [False, False] Translation: X:-4.38, Y:5.08, Z:-2.33 [[ 0.84786149 0.48119256 -0.22267604 -4.37746197] [-0.48584744 0.87325386 0.03714777 5.07702066] [ 0.21232794 0.07669042 0.97418449 -2.33487575] [ 0. 0. 0. 1. ]] SLAMing on 216.94800114499998 meters Centerline goodness [0,1] 0.6615209836941994 Centerline is valid? [False, False] Translation: X:-4.38, Y:5.08, Z:-2.34 [[ 0.84662354 0.48428046 -0.22068308 -4.37909471] [-0.48823707 0.87179153 0.04005115 5.07691559] [ 0.21178563 0.07383741 0.9745229 -2.33525358] [ 0. 0. 0. 1. ]] SLAMing on 216.97800114499998 meters Centerline goodness [0,1] 0.6851785952582181 Centerline is valid? [False, False] Translation: X:-4.38, Y:5.08, Z:-2.33 [[ 0.84668126 0.48405804 -0.22094944 -4.37883728] [-0.48806677 0.87189488 0.03987671 5.07716925] [ 0.21194733 0.07407521 0.9744697 -2.33494719] [ 0. 0. 0. 1. ]] SLAMing on 217.00800114499998 meters Centerline goodness [0,1] 0.6841870724805597 Centerline is valid? [False, False] Translation: X:-4.40, Y:5.09, Z:-2.34 [[ 0.84649256 0.48200232 -0.2261064 -4.39825249] [-0.48719309 0.87254742 0.03610936 5.09396549] [ 0.21469335 0.07959117 0.97343311 -2.33673375] [ 0. 0. 0. 1. ]] SLAMing on 217.03800114499995 meters Centerline goodness [0,1] 0.6858364701427713 Centerline is valid? [False, False] Translation: X:-4.40, Y:5.09, Z:-2.34 [[ 0.84656405 0.4818302 -0.22620557 -4.39825948] [-0.48704366 0.87263452 0.03602041 5.09399112] [ 0.21475051 0.07967841 0.97341336 -2.33666709] [ 0. 0. 0. 1. ]] SLAMing on 217.06800114499995 meters Centerline goodness [0,1] 0.685230727955643 Centerline is valid? [False, False] Translation: X:-4.40, Y:5.10, Z:-2.34 [[ 0.84674702 0.48138174 -0.22647539 -4.39766949] [-0.48669406 0.87284626 0.03561319 5.095337 ] [ 0.21482173 0.08006886 0.9733656 -2.33638059] [ 0. 0. 0. 1. ]] SLAMing on 217.09800114499996 meters Centerline goodness [0,1] 0.6655702490434315 Centerline is valid? [False, False] Translation: X:-4.40, Y:5.10, Z:-2.34 [[ 0.84681879 0.48116334 -0.22667109 -4.3972926 ] [-0.48653164 0.8729453 0.03540435 5.0960727 ] [ 0.21490673 0.08030159 0.97332767 -2.33607764] [ 0. 0. 0. 1. ]] SLAMing on 217.12800114499996 meters Centerline goodness [0,1] 0.6894037661582502 Centerline is valid? [False, False] Translation: X:-4.40, Y:5.10, Z:-2.34 [[ 0.84694741 0.48077531 -0.22701364 -4.39708199] [-0.4862411 0.87312183 0.03504097 5.09674796] [ 0.21505739 0.0807055 0.97326098 -2.33557278] [ 0. 0. 0. 1. ]] SLAMing on 217.15800114499996 meters Centerline goodness [0,1] 0.6390580229226361 Centerline is valid? [False, False] Translation: X:-4.40, Y:5.10, Z:-2.34 [[ 0.84694575 0.48077316 -0.2270244 -4.39680836] [-0.48622925 0.87312651 0.03508871 5.09660099] [ 0.21509073 0.08066767 0.97325675 -2.33580186] [ 0. 0. 0. 1. ]] SLAMing on 217.18800114499996 meters Centerline goodness [0,1] 0.6561987923410177 Centerline is valid? [False, False] Translation: X:-4.41, Y:5.10, Z:-2.34 [[ 0.84817068 0.48090501 -0.22211903 -4.40878081] [-0.48430122 0.873861 0.04265297 5.10267734] [ 0.21461319 0.07139552 0.97408617 -2.34285665] [ 0. 0. 0. 1. ]] SLAMing on 217.21800114499996 meters Centerline goodness [0,1] 0.6497704150535698 Centerline is valid? [False, False] Translation: X:-4.41, Y:5.10, Z:-2.34 [[ 0.84826514 0.48073768 -0.22212055 -4.40870201] [-0.48414554 0.87395094 0.04257761 5.10281474] [ 0.21459112 0.07142157 0.97408912 -2.34300387] [ 0. 0. 0. 1. ]] SLAMing on 217.24800114499996 meters Centerline goodness [0,1] 0.672474496704884 Centerline is valid? [False, False] Translation: X:-4.41, Y:5.10, Z:-2.34 [[ 0.8485156 0.48017528 -0.22238027 -4.40888831] [-0.48368494 0.87422774 0.04212751 5.10350724] [ 0.21463959 0.07181614 0.97404943 -2.34255891] [ 0. 0. 0. 1. ]] SLAMing on 217.27800114499996 meters Centerline goodness [0,1] 0.6539623832934915 Centerline is valid? [False, False] Translation: X:-4.41, Y:5.11, Z:-2.34 [[ 0.84917717 0.47886293 -0.22268461 -4.41036245] [-0.48260558 0.87487786 0.04099488 5.10530729] [ 0.21445276 0.07265692 0.97402823 -2.34141673] [ 0. 0. 0. 1. ]] SLAMing on 217.30800114499996 meters Centerline goodness [0,1] 0.627183763870997 Centerline is valid? [False, False] Translation: X:-4.43, Y:5.12, Z:-2.34 [[ 0.8497028 0.47602292 -0.22673185 -4.43376158] [-0.48074707 0.87605211 0.03761601 5.12490219] [ 0.216535 0.07703824 0.97323055 -2.34349104] [ 0. 0. 0. 1. ]] SLAMing on 217.33800114499996 meters Centerline goodness [0,1] 0.6439973808394861 Centerline is valid? [False, False] Translation: X:-4.43, Y:5.13, Z:-2.34 [[ 0.84987412 0.47564275 -0.22688754 -4.43409268] [-0.48043186 0.87623731 0.03732828 5.12505722] [ 0.21656226 0.07727967 0.97320534 -2.34323308] [ 0. 0. 0. 1. ]] SLAMing on 217.36800114499997 meters Centerline goodness [0,1] 0.6369051633061344 Centerline is valid? [False, False] Translation: X:-4.43, Y:5.13, Z:-2.34 [[ 0.84999786 0.4753398 -0.22705884 -4.43408198] [-0.4801948 0.87637893 0.03705309 5.12539407] [ 0.21660239 0.07753743 0.97317591 -2.34302586] [ 0. 0. 0. 1. ]] SLAMing on 217.39800114499997 meters Centerline goodness [0,1] 0.6362181654270904 Centerline is valid? [False, False] Translation: X:-4.44, Y:5.13, Z:-2.35 [[ 0.85079545 0.47627882 -0.22204862 -4.44399991] [-0.47959239 0.87646789 0.0423694 5.13140588] [ 0.21479813 0.07044514 0.9741146 -2.34811098] [ 0. 0. 0. 1. ]] SLAMing on 217.42800114499997 meters Centerline goodness [0,1] 0.6075492957746479 Centerline is valid? [False, False] Translation: X:-4.45, Y:5.13, Z:-2.35 [[ 0.84956192 0.47943657 -0.21996617 -4.44633221] [-0.48202718 0.87497951 0.04539445 5.1307723 ] [ 0.21422965 0.06746428 0.97445073 -2.34831419] [ 0. 0. 0. 1. ]] SLAMing on 217.45800114499997 meters Centerline goodness [0,1] 0.6326076199901038 Centerline is valid? [False, False] Translation: X:-4.45, Y:5.13, Z:-2.35 [[ 0.84873626 0.48147141 -0.21870536 -4.44846231] [-0.48362611 0.87399832 0.04725166 5.13136275] [ 0.21389845 0.06566743 0.97464621 -2.34760168] [ 0. 0. 0. 1. ]] SLAMing on 217.48800114499997 meters Centerline goodness [0,1] 0.66106846169432 Centerline is valid? [False, False] Translation: X:-4.45, Y:5.13, Z:-2.35 [[ 0.84876573 0.48130071 -0.21896658 -4.44828699] [-0.48351761 0.87407042 0.04702787 5.13162846] [ 0.21402676 0.06595855 0.97459839 -2.34722208] [ 0. 0. 0. 1. ]] SLAMing on 217.51800114499997 meters Centerline goodness [0,1] 0.6249971900640665 Centerline is valid? [False, False] Translation: X:-4.45, Y:5.13, Z:-2.35 [[ 0.84859661 0.48157216 -0.21902524 -4.44767304] [-0.48374004 0.87393231 0.04730647 5.13095636] [ 0.21419471 0.06580717 0.97457172 -2.34749029] [ 0. 0. 0. 1. ]] SLAMing on 217.54800114499997 meters Centerline goodness [0,1] 0.6257650765076508 Centerline is valid? [False, False] Translation: X:-4.46, Y:5.14, Z:-2.35 [[ 0.84683699 0.48096857 -0.22701618 -4.4612238 ] [-0.48467142 0.87364002 0.04297359 5.14471852] [ 0.21899937 0.07363663 0.9729424 -2.34575577] [ 0. 0. 0. 1. ]] SLAMing on 217.57800114499997 meters Centerline goodness [0,1] 0.6236336647024425 Centerline is valid? [False, False] Translation: X:-4.46, Y:5.14, Z:-2.35 [[ 0.84558941 0.48403207 -0.22514776 -4.46345902] [-0.48707272 0.87216431 0.04571203 5.14489224] [ 0.21849193 0.07100972 0.97325171 -2.34531159] [ 0. 0. 0. 1. ]] SLAMing on 217.60800114499997 meters Centerline goodness [0,1] 0.6426306200940151 Centerline is valid? [False, False] Translation: X:-4.48, Y:5.16, Z:-2.34 [[ 0.84489269 0.48237768 -0.23123175 -4.482613 ] [-0.48667724 0.87257025 0.0420287 5.162625 ] [ 0.22203966 0.07702548 0.97199047 -2.34485972] [ 0. 0. 0. 1. ]] SLAMing on 217.63800114499998 meters Centerline goodness [0,1] 0.6586088478890311 Centerline is valid? [False, False] Translation: X:-4.48, Y:5.16, Z:-2.34 [[ 0.84488741 0.48231338 -0.2313851 -4.48253933] [-0.48665361 0.87258979 0.04189649 5.162707 ] [ 0.22211152 0.07720658 0.97195968 -2.3445546 ] [ 0. 0. 0. 1. ]] SLAMing on 217.66800114499998 meters Centerline goodness [0,1] 0.6597115062059711 Centerline is valid? [False, False] Translation: X:-4.48, Y:5.16, Z:-2.34 [[ 0.84490516 0.48225572 -0.23144047 -4.48289382] [-0.48661386 0.87261516 0.04182974 5.16217858] [ 0.22213109 0.07727998 0.97194937 -2.34450025] [ 0. 0. 0. 1. ]] SLAMing on 217.69800114499998 meters Centerline goodness [0,1] 0.6650868525183877 Centerline is valid? [False, False] Translation: X:-4.48, Y:5.16, Z:-2.34 [[ 0.84479742 0.48237708 -0.2315808 -4.48232233] [-0.48670906 0.87255331 0.04201196 5.16170279] [ 0.2223322 0.07722088 0.97190809 -2.34458761] [ 0. 0. 0. 1. ]] SLAMing on 217.72800114499998 meters Centerline goodness [0,1] 0.6683311783851265 Centerline is valid? [False, False] Translation: X:-4.48, Y:5.16, Z:-2.34 [[ 0.84349644 0.48552646 -0.22973423 -4.48474848] [-0.48915963 0.87103933 0.04487031 5.16118424] [ 0.22189327 0.07452876 0.97221851 -2.34423759] [ 0. 0. 0. 1. ]] SLAMing on 217.75800114499998 meters Centerline goodness [0,1] 0.6811188497973261 Centerline is valid? [False, False] Translation: X:-4.48, Y:5.16, Z:-2.34 [[ 0.84342671 0.48552718 -0.22998858 -4.4844115 ] [-0.4891984 0.87102158 0.04479203 5.16139463] [ 0.22207276 0.07473125 0.97216199 -2.34375457] [ 0. 0. 0. 1. ]] SLAMing on 217.78800114499995 meters Centerline goodness [0,1] 0.6700772977078773 Centerline is valid? [False, False] Translation: X:-4.48, Y:5.16, Z:-2.34 [[ 0.84333932 0.48560917 -0.23013588 -4.48420328] [-0.4892985 0.87096619 0.04477575 5.16150559] [ 0.22218409 0.07484399 0.97212788 -2.34339555] [ 0. 0. 0. 1. ]] SLAMing on 217.81800114499995 meters Centerline goodness [0,1] 0.6693815447954892 Centerline is valid? [False, False] Translation: X:-4.51, Y:5.18, Z:-2.35 [[ 0.84275983 0.48459873 -0.23435004 -4.50512814] [-0.4890729 0.87119649 0.04271268 5.17926088] [ 0.22486344 0.07861772 0.97121351 -2.34568005] [ 0. 0. 0. 1. ]] SLAMing on 217.84800114499996 meters Centerline goodness [0,1] 0.6951252236135956 Centerline is valid? [False, False] Translation: X:-4.51, Y:5.18, Z:-2.35 [[ 0.84108314 0.48852183 -0.23221881 -4.50674147] [-0.49214144 0.86928719 0.04622324 5.17798966] [ 0.2244459 0.07540691 0.97156463 -2.34598098] [ 0. 0. 0. 1. ]] SLAMing on 217.87800114499996 meters Centerline goodness [0,1] 0.6840400339573746 Centerline is valid? [False, False] Translation: X:-4.51, Y:5.18, Z:-2.35 [[ 0.83965109 0.49189743 -0.23026718 -4.50897685] [-0.4947675 0.86762615 0.04929491 5.17684923] [ 0.22403387 0.0725382 0.9718781 -2.34591864] [ 0. 0. 0. 1. ]] SLAMing on 217.90800114499996 meters Centerline goodness [0,1] 0.6958162171816396 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.19, Z:-2.34 [[ 0.83769949 0.49161637 -0.23785059 -4.52279412] [-0.49608778 0.86710401 0.04502847 5.18965303] [ 0.22837794 0.08027444 0.97025746 -2.34427936] [ 0. 0. 0. 1. ]] SLAMing on 217.93800114499996 meters Centerline goodness [0,1] 0.6918080918169889 Centerline is valid? [False, False] Translation: X:-4.52, Y:5.19, Z:-2.34 [[ 0.83754774 0.49181029 -0.23798409 -4.52226774] [-0.49625923 0.86699689 0.04520131 5.18936682] [ 0.22856194 0.08024355 0.97021668 -2.3442088 ] [ 0. 0. 0. 1. ]] SLAMing on 217.96800114499996 meters Centerline goodness [0,1] 0.6925531677489902 Centerline is valid? [False, False] Translation: X:-4.54, Y:5.21, Z:-2.35 [[ 0.8372697 0.49053455 -0.24156843 -4.54406188] [-0.49599366 0.86730631 0.04207192 5.20738525] [ 0.23015155 0.08459086 0.96947132 -2.34629309] [ 0. 0. 0. 1. ]] SLAMing on 217.99800114499996 meters Centerline goodness [0,1] 0.6945931477516061 Centerline is valid? [False, False] Translation: X:-4.54, Y:5.21, Z:-2.35 [[ 0.83719812 0.4906249 -0.241633 -4.54402059] [-0.49605801 0.86726233 0.04221965 5.20704958] [ 0.23027321 0.08451777 0.96944881 -2.3461714 ] [ 0. 0. 0. 1. ]] SLAMing on 218.02800114499996 meters Centerline goodness [0,1] 0.6933452234979378 Centerline is valid? [False, False] Translation: X:-4.54, Y:5.21, Z:-2.35 [[ 0.83732749 0.49039034 -0.2416609 -4.54489676] [-0.49582855 0.86739579 0.04217332 5.20654355] [ 0.23029704 0.08450949 0.96944387 -2.34591869] [ 0. 0. 0. 1. ]] SLAMing on 218.05800114499996 meters Centerline goodness [0,1] 0.697332024627465 Centerline is valid? [False, False] Translation: X:-4.55, Y:5.21, Z:-2.35 [[ 0.83738008 0.49033524 -0.24159048 -4.54528585] [-0.49575487 0.86743581 0.04221645 5.20607682] [ 0.23026444 0.08441844 0.96945955 -2.34604163] [ 0. 0. 0. 1. ]] SLAMing on 218.08800114499996 meters Centerline goodness [0,1] 0.697332024627465 Centerline is valid? [False, False] Translation: X:-4.55, Y:5.21, Z:-2.35 [[ 0.83738008 0.49033524 -0.24159048 -4.54528585] [-0.49575487 0.86743581 0.04221645 5.20607682] [ 0.23026444 0.08441844 0.96945955 -2.34604163] [ 0. 0. 0. 1. ]] SLAMing on 218.11800114499997 meters Centerline goodness [0,1] 0.6972334127178437 Centerline is valid? [False, False] Translation: X:-4.55, Y:5.21, Z:-2.35 [[ 0.83743424 0.49018004 -0.24171766 -4.54575805] [-0.4956228 0.8675148 0.04214396 5.20594537] [ 0.23035177 0.08450799 0.969431 -2.3456009 ] [ 0. 0. 0. 1. ]] SLAMing on 218.14800114499997 meters Centerline goodness [0,1] 0.6851604575599768 Centerline is valid? [False, False] Translation: X:-4.57, Y:5.22, Z:-2.35 [[ 0.8378202 0.48930568 -0.24215131 -4.56937973] [-0.49565993 0.86767038 0.03833199 5.22358418] [ 0.22886358 0.08790939 0.969481 -2.34982024] [ 0. 0. 0. 1. ]] SLAMing on 218.17800114499997 meters Centerline goodness [0,1] 0.6820065965412729 Centerline is valid? [False, False] Translation: X:-4.60, Y:5.24, Z:-2.35 [[ 0.83863448 0.48700244 -0.24396893 -4.59517586] [-0.49397655 0.86872573 0.03609388 5.24377336] [ 0.22951989 0.09024536 0.96911114 -2.35406587] [ 0. 0. 0. 1. ]] SLAMing on 218.20800114499997 meters Centerline goodness [0,1] 0.6766195681151692 Centerline is valid? [False, False] Translation: X:-4.60, Y:5.24, Z:-2.35 [[ 0.83862503 0.48702771 -0.24395096 -4.59568261] [-0.49395799 0.86872872 0.03627542 5.24336895] [ 0.22959434 0.09008005 0.96910888 -2.35376609] [ 0. 0. 0. 1. ]] SLAMing on 218.23800114499997 meters Centerline goodness [0,1] 0.6726269904812738 Centerline is valid? [False, False] Translation: X:-4.62, Y:5.26, Z:-2.36 [[ 0.83916607 0.48604691 -0.24404653 -4.62085711] [-0.4935113 0.8690782 0.03390682 5.26286489] [ 0.22857583 0.09198627 0.96917058 -2.35898452] [ 0. 0. 0. 1. ]] SLAMing on 218.26800114499997 meters Centerline goodness [0,1] 0.6688797601865216 Centerline is valid? [False, False] Translation: X:-4.62, Y:5.26, Z:-2.36 [[ 0.83796306 0.4891107 -0.24205091 -4.62383681] [-0.49580453 0.8676532 0.0368211 5.26199025] [ 0.22802584 0.08915522 0.96956463 -2.35875794] [ 0. 0. 0. 1. ]] SLAMing on 218.29800114499997 meters Centerline goodness [0,1] 0.6715250622111625 Centerline is valid? [False, False] Translation: X:-4.65, Y:5.28, Z:-2.36 [[ 0.83827865 0.48755786 -0.24408242 -4.64860485] [-0.49471984 0.86832997 0.03543078 5.28113116] [ 0.22921863 0.09105155 0.96910703 -2.36338236] [ 0. 0. 0. 1. ]] SLAMing on 218.32800114499997 meters Centerline goodness [0,1] 0.657268059490085 Centerline is valid? [False, False] Translation: X:-4.65, Y:5.28, Z:-2.36 [[ 0.83828543 0.48761585 -0.24394328 -4.64960636] [-0.4947193 0.86832214 0.03562982 5.28010412] [ 0.22919501 0.09081549 0.96913477 -2.36335066] [ 0. 0. 0. 1. ]] SLAMing on 218.35800114499997 meters Centerline goodness [0,1] 0.6804913808423672 Centerline is valid? [False, False] Translation: X:-4.68, Y:5.30, Z:-2.37 [[ 0.83915923 0.48615001 -0.24386464 -4.67848029] [-0.49312087 0.86921827 0.03593611 5.3019747 ] [ 0.22944195 0.09009862 0.96914325 -2.36972609] [ 0. 0. 0. 1. ]] SLAMing on 218.38800114499998 meters Centerline goodness [0,1] 0.702029848094519 Centerline is valid? [False, False] Translation: X:-4.68, Y:5.30, Z:-2.37 [[ 0.83903606 0.48640867 -0.24377262 -4.6786061 ] [-0.49330861 0.86909923 0.03623738 5.30123334] [ 0.22948877 0.08985066 0.96915518 -2.36983988] [ 0. 0. 0. 1. ]] SLAMing on 218.41800114499998 meters Centerline goodness [0,1] 0.6805496781665517 Centerline is valid? [False, False] Translation: X:-4.70, Y:5.32, Z:-2.37 [[ 0.83947089 0.48456155 -0.24594457 -4.70396887] [-0.49177838 0.86999609 0.0355081 5.32125954] [ 0.23117668 0.0911422 0.96863329 -2.37484449] [ 0. 0. 0. 1. ]] SLAMing on 218.44800114499998 meters Centerline goodness [0,1] 0.6938109302480513 Centerline is valid? [False, False] Translation: X:-4.70, Y:5.32, Z:-2.38 [[ 0.83932855 0.4848058 -0.24594901 -4.7036488 ] [-0.49194632 0.86988642 0.03586674 5.32040952] [ 0.2313361 0.09088973 0.96861895 -2.37510073] [ 0. 0. 0. 1. ]] SLAMing on 218.47800114499998 meters Centerline goodness [0,1] 0.6845776227814923 Centerline is valid? [False, False] Translation: X:-4.73, Y:5.34, Z:-2.38 [[ 0.83964963 0.48293302 -0.24852406 -4.72779757] [-0.49056565 0.87071767 0.03458439 5.33900331] [ 0.23309623 0.0928786 0.96800812 -2.38016812] [ 0. 0. 0. 1. ]] SLAMing on 218.50800114499998 meters Centerline goodness [0,1] 0.7006511916363958 Centerline is valid? [False, False] Translation: X:-4.73, Y:5.34, Z:-2.38 [[ 0.83963753 0.48303581 -0.2483651 -4.72864278] [-0.49055358 0.8707074 0.03501157 5.33744361] [ 0.23316517 0.09243936 0.96803356 -2.38043883] [ 0. 0. 0. 1. ]] SLAMing on 218.53800114499995 meters Centerline goodness [0,1] 0.6700174921949383 Centerline is valid? [False, False] Translation: X:-4.76, Y:5.36, Z:-2.39 [[ 0.84044225 0.48139033 -0.24883765 -4.7556765 ] [-0.48919249 0.8715217 0.03377336 5.35762764] [ 0.23312558 0.09334495 0.96795619 -2.38595169] [ 0. 0. 0. 1. ]] SLAMing on 218.56800114499995 meters Centerline goodness [0,1] 0.6961991730603401 Centerline is valid? [False, False] Translation: X:-4.78, Y:5.38, Z:-2.39 [[ 0.84113988 0.47965635 -0.24982693 -4.78067727] [-0.48803752 0.8722534 0.03151807 5.37637345] [ 0.23303023 0.09541381 0.96777741 -2.39143004] [ 0. 0. 0. 1. ]] SLAMing on 218.59800114499996 meters Centerline goodness [0,1] 0.6851643130234922 Centerline is valid? [False, False] Translation: X:-4.81, Y:5.39, Z:-2.40 [[ 0.84182813 0.47830424 -0.25010091 -4.80593051] [-0.48700431 0.87288067 0.03010226 5.39462887] [ 0.23270628 0.09645929 0.96775172 -2.3982201 ] [ 0. 0. 0. 1. ]] SLAMing on 218.62800114499996 meters Centerline goodness [0,1] 0.6869561376385882 Centerline is valid? [False, False] Translation: X:-4.81, Y:5.40, Z:-2.40 [[ 0.84251245 0.47955965 -0.24534734 -4.81427599] [-0.48676134 0.87285071 0.03456932 5.39553005] [ 0.23072965 0.09030052 0.96881869 -2.40384291] [ 0. 0. 0. 1. ]] SLAMing on 218.65800114499996 meters Centerline goodness [0,1] 0.6736241625577641 Centerline is valid? [False, False] Translation: X:-4.84, Y:5.42, Z:-2.41 [[ 0.84362225 0.47772891 -0.24510526 -4.84140738] [-0.48530165 0.87373761 0.03263272 5.4156083 ] [ 0.22974728 0.0914203 0.96894712 -2.40990695] [ 0. 0. 0. 1. ]] SLAMing on 218.68800114499996 meters Centerline goodness [0,1] 0.6762285134270394 Centerline is valid? [False, False] Translation: X:-4.85, Y:5.41, Z:-2.41 [[ 0.8425644 0.48089459 -0.24253994 -4.84504438] [-0.48755681 0.87235216 0.03591747 5.41412724] [ 0.22885276 0.08798922 0.96947631 -2.41071802] [ 0. 0. 0. 1. ]] SLAMing on 218.71800114499996 meters Centerline goodness [0,1] 0.6770645033287774 Centerline is valid? [False, False] Translation: X:-4.87, Y:5.43, Z:-2.42 [[ 0.84278009 0.47917635 -0.24517697 -4.86946266] [-0.486331 0.87308776 0.03463999 5.43125656] [ 0.23065968 0.09004327 0.96885929 -2.41526116] [ 0. 0. 0. 1. ]] SLAMing on 218.74800114499996 meters Centerline goodness [0,1] 0.6642029081150047 Centerline is valid? [False, False] Translation: X:-4.89, Y:5.45, Z:-2.42 [[ 0.84241272 0.47815448 -0.24841317 -4.891941 ] [-0.4860124 0.87333356 0.03286992 5.4480032 ] [ 0.23266445 0.09304185 0.96809631 -2.41866908] [ 0. 0. 0. 1. ]] SLAMing on 218.77800114499996 meters Centerline goodness [0,1] 0.6662493135639758 Centerline is valid? [False, False] Translation: X:-4.91, Y:5.46, Z:-2.42 [[ 0.84170787 0.47784696 -0.2513765 -4.9138501 ] [-0.48626888 0.87323306 0.03172698 5.46389561] [ 0.23467091 0.09553172 0.96736924 -2.42255444] [ 0. 0. 0. 1. ]] SLAMing on 218.80800114499996 meters Centerline goodness [0,1] 0.680388153417199 Centerline is valid? [False, False] Translation: X:-4.94, Y:5.48, Z:-2.43 [[ 0.8408543 0.47809793 -0.25374481 -4.9351936 ] [-0.48714125 0.87280005 0.0302236 5.47908237] [ 0.23591832 0.09819592 0.9667989 -2.42658009] [ 0. 0. 0. 1. ]] SLAMing on 218.83800114499996 meters Centerline goodness [0,1] 0.7082902580120098 Centerline is valid? [False, False] Translation: X:-4.96, Y:5.50, Z:-2.43 [[ 0.84049618 0.47912287 -0.25299692 -4.96195593] [-0.48805535 0.87227909 0.03051502 5.49865365] [ 0.23530437 0.09782874 0.96698572 -2.43211502] [ 0. 0. 0. 1. ]] SLAMing on 218.86800114499997 meters Centerline goodness [0,1] 0.7136362638086662 Centerline is valid? [False, False] Translation: X:-4.98, Y:5.52, Z:-2.44 [[ 0.83984568 0.47896218 -0.25544954 -4.98370565] [-0.48857138 0.87204889 0.02878795 5.51570952] [ 0.23655282 0.1006279 0.9663937 -2.43563248] [ 0. 0. 0. 1. ]] SLAMing on 218.89800114499997 meters Centerline goodness [0,1] 0.7188802597516564 Centerline is valid? [False, False] Translation: X:-5.01, Y:5.53, Z:-2.44 [[ 0.83994254 0.47872807 -0.25556986 -5.00819146] [-0.48869457 0.87202635 0.02734335 5.53341972] [ 0.23595369 0.10192876 0.96640384 -2.44157282] [ 0. 0. 0. 1. ]] SLAMing on 218.92800114499997 meters Centerline goodness [0,1] 0.6762357998157814 Centerline is valid? [False, False] Translation: X:-5.04, Y:5.55, Z:-2.45 [[ 0.84085582 0.47687717 -0.25602665 -5.03700903] [-0.48692518 0.87302859 0.02692506 5.55231581] [ 0.23635853 0.10202573 0.96629467 -2.44765557] [ 0. 0. 0. 1. ]] SLAMing on 218.95800114499997 meters Centerline goodness [0,1] 0.7227387072076998 Centerline is valid? [False, False] Translation: X:-5.04, Y:5.55, Z:-2.45 [[ 0.84085494 0.47701318 -0.25577606 -5.0377825 ] [-0.48696308 0.87299782 0.02723534 5.55092871] [ 0.23628356 0.10165253 0.96635234 -2.44811904] [ 0. 0. 0. 1. ]] SLAMing on 218.98800114499997 meters Centerline goodness [0,1] 0.7145104551314265 Centerline is valid? [False, False] Translation: X:-5.06, Y:5.57, Z:-2.45 [[ 0.84148264 0.47539452 -0.25672361 -5.06384263] [-0.48547814 0.87383611 0.02685951 5.56967751] [ 0.23710322 0.10203189 0.96611156 -2.45476953] [ 0. 0. 0. 1. ]] SLAMing on 219.01800114499997 meters Centerline goodness [0,1] 0.7214941022280472 Centerline is valid? [False, False] Translation: X:-5.09, Y:5.59, Z:-2.46 [[ 0.84206911 0.47380261 -0.25774155 -5.08894126] [-0.4841495 0.87459906 0.02599496 5.58849338] [ 0.237737 0.10289589 0.96586415 -2.46144306] [ 0. 0. 0. 1. ]] SLAMing on 219.04800114499997 meters Centerline goodness [0,1] 0.7233777311200053 Centerline is valid? [False, False] Translation: X:-5.12, Y:5.61, Z:-2.47 [[ 0.84274825 0.4728964 -0.2571855 -5.1163444 ] [-0.48326548 0.87510204 0.02551261 5.6082885 ] [ 0.23712838 0.10278817 0.96602522 -2.46814784] [ 0. 0. 0. 1. ]] SLAMing on 219.07800114499997 meters Centerline goodness [0,1] 0.7214363676053264 Centerline is valid? [False, False] Translation: X:-5.14, Y:5.63, Z:-2.48 [[ 0.84330268 0.4724452 -0.25619548 -5.14360397] [-0.48271445 0.87540926 0.0254045 5.62838064] [ 0.23627813 0.10224558 0.9662911 -2.4752792 ] [ 0. 0. 0. 1. ]] SLAMing on 219.10800114499997 meters Centerline goodness [0,1] 0.7219760309109564 Centerline is valid? [False, False] Translation: X:-5.17, Y:5.65, Z:-2.48 [[ 0.84385611 0.47194087 -0.25530115 -5.1714196 ] [-0.48199772 0.87579266 0.02579553 5.64890108] [ 0.23576484 0.10128686 0.96651741 -2.48249367] [ 0. 0. 0. 1. ]] SLAMing on 219.13800114499998 meters Centerline goodness [0,1] 0.7378422602814443 Centerline is valid? [False, False] Translation: X:-5.17, Y:5.65, Z:-2.48 [[ 0.8427427 0.47487393 -0.25353401 -5.1740816 ] [-0.4841904 0.87449803 0.02851056 5.64809702] [ 0.23525392 0.09873167 0.96690623 -2.48227051] [ 0. 0. 0. 1. ]] SLAMing on 219.16800114499998 meters Centerline goodness [0,1] 0.7327067341242149 Centerline is valid? [False, False] Translation: X:-5.20, Y:5.66, Z:-2.49 [[ 0.84221892 0.47413531 -0.25663788 -5.1957363 ] [-0.48404329 0.87461686 0.02733938 5.6632194 ] [ 0.23742238 0.1011981 0.96612088 -2.48704864] [ 0. 0. 0. 1. ]] SLAMing on 219.19800114499998 meters Centerline goodness [0,1] 0.7314820864641185 Centerline is valid? [False, False] Translation: X:-5.20, Y:5.66, Z:-2.49 [[ 0.84092856 0.47751211 -0.25460037 -5.19796183] [-0.48657566 0.87310871 0.03041871 5.66256808] [ 0.23681911 0.09830239 0.96656782 -2.48715874] [ 0. 0. 0. 1. ]] SLAMing on 219.22800114499998 meters Centerline goodness [0,1] 0.7269651393770056 Centerline is valid? [False, False] Translation: X:-5.23, Y:5.68, Z:-2.49 [[ 0.84145638 0.47654016 -0.25467753 -5.22521509] [-0.48562962 0.87364304 0.03019448 5.68468656] [ 0.23688613 0.09827161 0.96655453 -2.49307326] [ 0. 0. 0. 1. ]] SLAMing on 219.25800114499998 meters Centerline goodness [0,1] 0.7384575083498877 Centerline is valid? [False, False] Translation: X:-5.23, Y:5.69, Z:-2.49 [[ 0.84028323 0.47957621 -0.2528453 -5.22757978] [-0.48798538 0.87224029 0.03266726 5.68565796] [ 0.2362083 0.09593505 0.96695507 -2.49227746] [ 0. 0. 0. 1. ]] SLAMing on 219.28800114499995 meters Centerline goodness [0,1] 0.7330734869054918 Centerline is valid? [False, False] Translation: X:-5.25, Y:5.71, Z:-2.50 [[ 0.84082951 0.47925254 -0.25164009 -5.2545873 ] [-0.48782079 0.87237698 0.03145272 5.70733139] [ 0.23459882 0.0963089 0.96730967 -2.49833995] [ 0. 0. 0. 1. ]] SLAMing on 219.31800114499995 meters Centerline goodness [0,1] 0.7279431072210065 Centerline is valid? [False, False] Translation: X:-5.28, Y:5.73, Z:-2.50 [[ 0.84143223 0.47815908 -0.25170557 -5.2795474 ] [-0.48725054 0.87277556 0.02915014 5.72644818] [ 0.23362087 0.09811581 0.96736476 -2.50414586] [ 0. 0. 0. 1. ]] SLAMing on 219.34800114499996 meters Centerline goodness [0,1] 0.7224572575017446 Centerline is valid? [False, False] Translation: X:-5.28, Y:5.73, Z:-2.50 [[ 0.8415439 0.47800811 -0.25161899 -5.28013525] [-0.48711123 0.87285697 0.02904086 5.72633987] [ 0.23350916 0.09812727 0.96739057 -2.50412024] [ 0. 0. 0. 1. ]] SLAMing on 219.37800114499996 meters Centerline goodness [0,1] 0.7202539960586818 Centerline is valid? [False, False] Translation: X:-5.31, Y:5.75, Z:-2.51 [[ 0.84312173 0.47574787 -0.25061866 -5.30991494] [-0.48476223 0.87417737 0.02862699 5.74803709] [ 0.23270439 0.09735442 0.96766254 -2.5116913 ] [ 0. 0. 0. 1. ]] SLAMing on 219.40800114499996 meters Centerline goodness [0,1] 0.676856849419837 Centerline is valid? [False, False] Translation: X:-5.34, Y:5.77, Z:-2.52 [[ 0.84544307 0.47246498 -0.24900371 -5.3392134 ] [-0.48160942 0.87597361 0.02688117 5.77035606] [ 0.23082109 0.09719603 0.96812941 -2.52031247] [ 0. 0. 0. 1. ]] SLAMing on 219.43800114499996 meters Centerline goodness [0,1] 0.7002443600820352 Centerline is valid? [False, False] Translation: X:-5.34, Y:5.77, Z:-2.52 [[ 0.84530624 0.47479481 -0.24500459 -5.34418741] [-0.48286963 0.87517727 0.03002768 5.77192796] [ 0.22867944 0.09292269 0.9690568 -2.52358432] [ 0. 0. 0. 1. ]] SLAMing on 219.46800114499996 meters Centerline goodness [0,1] 0.67085043220117 Centerline is valid? [False, False] Translation: X:-5.37, Y:5.79, Z:-2.53 [[ 0.84628623 0.47384494 -0.24345554 -5.37217397] [-0.48174619 0.87579802 0.02997382 5.79304655] [ 0.22742082 0.09191735 0.9694488 -2.53125545] [ 0. 0. 0. 1. ]] SLAMing on 219.49800114499996 meters Centerline goodness [0,1] 0.6884234027184977 Centerline is valid? [False, False] Translation: X:-5.40, Y:5.82, Z:-2.54 [[ 0.84750718 0.47213275 -0.24253299 -5.40144098] [-0.47985592 0.87683096 0.03009601 5.81513666] [ 0.22686974 0.09087431 0.96967622 -2.53853106] [ 0. 0. 0. 1. ]] SLAMing on 219.52800114499996 meters Centerline goodness [0,1] 0.6829973074144611 Centerline is valid? [False, False] Translation: X:-5.43, Y:5.84, Z:-2.55 [[ 0.84929283 0.46902175 -0.24232269 -5.43029523] [-0.47706441 0.87841639 0.02818148 5.83671709] [ 0.22607795 0.09166921 0.96978633 -2.54537524] [ 0. 0. 0. 1. ]] SLAMing on 219.55800114499996 meters Centerline goodness [0,1] 0.6829763542280736 Centerline is valid? [False, False] Translation: X:-5.43, Y:5.84, Z:-2.55 [[ 0.84921122 0.46922282 -0.24221941 -5.43021899] [-0.47720145 0.87833354 0.02844248 5.83601649] [ 0.22609529 0.09143378 0.96980451 -2.54573853] [ 0. 0. 0. 1. ]] SLAMing on 219.58800114499996 meters Centerline goodness [0,1] 0.6802146063724954 Centerline is valid? [False, False] Translation: X:-5.46, Y:5.86, Z:-2.55 [[ 0.85023535 0.46761315 -0.24173909 -5.4587174 ] [-0.47558144 0.87922437 0.02804978 5.8577706 ] [ 0.22565935 0.09111771 0.96993578 -2.55244355] [ 0. 0. 0. 1. ]] SLAMing on 219.61800114499997 meters Centerline goodness [0,1] 0.6986310371262732 Centerline is valid? [False, False] Translation: X:-5.46, Y:5.86, Z:-2.55 [[ 0.84900495 0.47087948 -0.23971465 -5.46053907] [-0.47808856 0.8777657 0.0309631 5.85820507] [ 0.22499318 0.08831701 0.97034951 -2.55247295] [ 0. 0. 0. 1. ]] SLAMing on 219.64800114499997 meters Centerline goodness [0,1] 0.6954526582610405 Centerline is valid? [False, False] Translation: X:-5.46, Y:5.86, Z:-2.55 [[ 0.84804336 0.47336645 -0.23821559 -5.46284617] [-0.47996542 0.87665294 0.03335889 5.85769102] [ 0.22462337 0.08604546 0.97063923 -2.55216869] [ 0. 0. 0. 1. ]] SLAMing on 219.67800114499997 meters Centerline goodness [0,1] 0.7024278215223096 Centerline is valid? [False, False] Translation: X:-5.48, Y:5.88, Z:-2.56 [[ 0.8478284 0.47208567 -0.24149974 -5.48484206] [-0.47943367 0.87702086 0.03126922 5.87519773] [ 0.22656206 0.08927217 0.96989696 -2.55559008] [ 0. 0. 0. 1. ]] SLAMing on 219.70800114499997 meters Centerline goodness [0,1] 0.6686920790347963 Centerline is valid? [False, False] Translation: X:-5.51, Y:5.89, Z:-2.56 [[ 0.84825241 0.47113275 -0.24187142 -5.50947071] [-0.47896565 0.87734774 0.02920348 5.89379217] [ 0.22596406 0.09107618 0.96986874 -2.56130864] [ 0. 0. 0. 1. ]] SLAMing on 219.73800114499997 meters Centerline goodness [0,1] 0.6935695825485129 Centerline is valid? [False, False] Translation: X:-5.53, Y:5.91, Z:-2.57 [[ 0.84852153 0.47036462 -0.2424218 -5.53478015] [-0.47849018 0.87764429 0.02806512 5.91314132] [ 0.22596095 0.09218259 0.96976493 -2.56700337] [ 0. 0. 0. 1. ]] SLAMing on 219.76800114499997 meters Centerline goodness [0,1] 0.7032174637268225 Centerline is valid? [False, False] Translation: X:-5.56, Y:5.93, Z:-2.57 [[ 0.84879522 0.47061415 -0.24097509 -5.56019544] [-0.47881199 0.87749671 0.02717725 5.93083989] [ 0.22424485 0.09231384 0.97015071 -2.57447162] [ 0. 0. 0. 1. ]] SLAMing on 219.79800114499997 meters Centerline goodness [0,1] 0.7039411777578397 Centerline is valid? [False, False] Translation: X:-5.56, Y:5.93, Z:-2.57 [[ 0.84758742 0.47384645 -0.23888303 -5.56280851] [-0.48128136 0.87604998 0.0300781 5.93048912] [ 0.22352587 0.08947613 0.97058241 -2.57443452] [ 0. 0. 0. 1. ]] SLAMing on 219.82800114499997 meters Centerline goodness [0,1] 0.6989891015941934 Centerline is valid? [False, False] Translation: X:-5.59, Y:5.95, Z:-2.58 [[ 0.84792069 0.47389016 -0.23761023 -5.58881651] [-0.4815216 0.87596428 0.0286971 5.9511459 ] [ 0.22173735 0.09008159 0.97093659 -2.5806839 ] [ 0. 0. 0. 1. ]] SLAMing on 219.85800114499997 meters Centerline goodness [0,1] 0.6973872151537126 Centerline is valid? [False, False] Translation: X:-5.61, Y:5.97, Z:-2.59 [[ 0.84817853 0.47347619 -0.23751523 -5.61460383] [-0.48120749 0.87615432 0.02815969 5.97077675] [ 0.22143293 0.09040966 0.97097557 -2.5869171 ] [ 0. 0. 0. 1. ]] SLAMing on 219.88800114499998 meters Centerline goodness [0,1] 0.6932792456967438 Centerline is valid? [False, False] Translation: X:-5.64, Y:5.99, Z:-2.59 [[ 0.84853825 0.47346961 -0.23624007 -5.63984973] [-0.48134068 0.87611758 0.02700249 5.98956216] [ 0.21975894 0.09079931 0.97131946 -2.5943053 ] [ 0. 0. 0. 1. ]] SLAMing on 219.91800114499998 meters Centerline goodness [0,1] 0.7205749829659098 Centerline is valid? [False, False] Translation: X:-5.64, Y:5.99, Z:-2.59 [[ 0.84731952 0.47663039 -0.23425008 -5.64248067] [-0.48381212 0.8746688 0.02967029 5.99000667] [ 0.21903299 0.08819281 0.97172351 -2.59372686] [ 0. 0. 0. 1. ]] SLAMing on 219.94800114499998 meters Centerline goodness [0,1] 0.7041322314049587 Centerline is valid? [False, False] Translation: X:-5.67, Y:6.01, Z:-2.60 [[ 0.84808486 0.47584303 -0.23307828 -5.67050045] [-0.48294894 0.87515453 0.02940856 6.01044184] [ 0.21797337 0.08762395 0.9720132 -2.60063951] [ 0. 0. 0. 1. ]] SLAMing on 219.97800114499998 meters Centerline goodness [0,1] 0.7041322314049587 Centerline is valid? [False, False] Translation: X:-5.69, Y:6.03, Z:-2.61 [[ 0.84838195 0.47456504 -0.23459772 -5.694481 ] [-0.48208428 0.87567661 0.02802204 6.02873815] [ 0.21873002 0.08932248 0.97168857 -2.6058108 ] [ 0. 0. 0. 1. ]] SLAMing on 220.00800114499995 meters Centerline goodness [0,1] 0.6932282288876201 Centerline is valid? [False, False] Translation: X:-5.72, Y:6.05, Z:-2.61 [[ 0.84881969 0.47378908 -0.23458269 -5.71979071] [-0.48166706 0.87595931 0.0263083 6.04742127] [ 0.21794948 0.09065975 0.97174011 -2.61143499] [ 0. 0. 0. 1. ]] SLAMing on 220.03800114499995 meters Centerline goodness [0,1] 0.6874931299052476 Centerline is valid? [False, False] Translation: X:-5.75, Y:6.07, Z:-2.62 [[ 0.84962724 0.47317984 -0.23288278 -5.74875412] [-0.48080072 0.87642495 0.02664533 6.06854017] [ 0.21671231 0.08933161 0.97213972 -2.61884545] [ 0. 0. 0. 1. ]] SLAMing on 220.06800114499995 meters Centerline goodness [0,1] 0.7094932663272279 Centerline is valid? [False, False] Translation: X:-5.75, Y:6.07, Z:-2.62 [[ 0.84836191 0.47651 -0.23069524 -5.75057896] [-0.48339295 0.87490575 0.02951589 6.06940963] [ 0.21590121 0.0864763 0.97257828 -2.6189277 ] [ 0. 0. 0. 1. ]] SLAMing on 220.09800114499996 meters Centerline goodness [0,1] 0.6778649160682029 Centerline is valid? [False, False] Translation: X:-5.78, Y:6.09, Z:-2.62 [[ 0.84930973 0.47431772 -0.2317233 -5.77671366] [-0.48161249 0.87594385 0.02778107 6.09048712] [ 0.21615365 0.0880061 0.97238497 -2.62422658] [ 0. 0. 0. 1. ]] SLAMing on 220.12800114499996 meters Centerline goodness [0,1] 0.7019239235713657 Centerline is valid? [False, False] Translation: X:-5.78, Y:6.09, Z:-2.63 [[ 0.84838089 0.47734739 -0.22888719 -5.78031382] [-0.48377197 0.87464618 0.0309636 6.08978184] [ 0.2149757 0.08446029 0.97296038 -2.62552496] [ 0. 0. 0. 1. ]] SLAMing on 220.15800114499996 meters Centerline goodness [0,1] 0.6919414565332394 Centerline is valid? [False, False] Translation: X:-5.81, Y:6.11, Z:-2.63 [[ 0.84987247 0.47432363 -0.22963857 -5.80831186] [-0.48104397 0.87619973 0.02950815 6.11167312] [ 0.21520567 0.08538809 0.97282855 -2.63150401] [ 0. 0. 0. 1. ]] SLAMing on 220.18800114499996 meters Centerline goodness [0,1] 0.6988426333392008 Centerline is valid? [False, False] Translation: X:-5.81, Y:6.11, Z:-2.63 [[ 0.84918267 0.47735969 -0.22586836 -5.81243264] [-0.48304316 0.8749695 0.03313122 6.11127039] [ 0.21344344 0.08096971 0.97359427 -2.63460662] [ 0. 0. 0. 1. ]] SLAMing on 220.21800114499996 meters Centerline goodness [0,1] 0.6520154610712314 Centerline is valid? [False, False] Translation: X:-5.84, Y:6.13, Z:-2.64 [[ 0.85005006 0.4747575 -0.22807937 -5.83823169] [-0.48077671 0.87625482 0.03211284 6.13186501] [ 0.21510146 0.08235772 0.97311282 -2.63982865] [ 0. 0. 0. 1. ]] SLAMing on 220.24800114499996 meters Centerline goodness [0,1] 0.7059044338456103 Centerline is valid? [False, False] Translation: X:-5.84, Y:6.13, Z:-2.64 [[ 0.8489632 0.47754575 -0.22629966 -5.84073322] [-0.48286052 0.87499754 0.03500023 6.13062941] [ 0.21472585 0.07955726 0.97342871 -2.63990791] [ 0. 0. 0. 1. ]] SLAMing on 220.27800114499996 meters Centerline goodness [0,1] 0.6932136476919344 Centerline is valid? [False, False] Translation: X:-5.84, Y:6.13, Z:-2.64 [[ 0.84876679 0.47814854 -0.22576296 -5.84172478] [-0.48329684 0.874731 0.03563493 6.1303067 ] [ 0.21452065 0.07886478 0.9735303 -2.63992789] [ 0. 0. 0. 1. ]] SLAMing on 220.30800114499996 meters Centerline goodness [0,1] 0.7046536224219989 Centerline is valid? [False, False] Translation: X:-5.84, Y:6.13, Z:-2.64 [[ 0.84767646 0.4808589 -0.22409672 -5.8441815 ] [-0.485382 0.873466 0.03822905 6.13020894] [ 0.21412364 0.07636665 0.97381682 -2.63933404] [ 0. 0. 0. 1. ]] SLAMing on 220.33800114499996 meters Centerline goodness [0,1] 0.7079841687487562 Centerline is valid? [False, False] Translation: X:-5.87, Y:6.15, Z:-2.64 [[ 0.84801371 0.47862075 -0.22758499 -5.86814112] [-0.48373809 0.87445017 0.03652904 6.15073337] [ 0.21649529 0.0791144 0.97307281 -2.64242422] [ 0. 0. 0. 1. ]] SLAMing on 220.36800114499997 meters Centerline goodness [0,1] 0.6885914623390368 Centerline is valid? [False, False] Translation: X:-5.87, Y:6.15, Z:-2.64 [[ 0.84669428 0.4818899 -0.22559014 -5.87065505] [-0.48627444 0.87291082 0.03954569 6.14992108] [ 0.21597674 0.07621561 0.97341935 -2.6422796 ] [ 0. 0. 0. 1. ]] SLAMing on 220.39800114499997 meters Centerline goodness [0,1] 0.689929680244129 Centerline is valid? [False, False] Translation: X:-5.89, Y:6.17, Z:-2.65 [[ 0.84650922 0.48048497 -0.22925167 -5.89329002] [-0.48539204 0.87345487 0.03835565 6.16835242] [ 0.2186703 0.07880853 0.97261118 -2.64588087] [ 0. 0. 0. 1. ]] SLAMing on 220.42800114499997 meters Centerline goodness [0,1] 0.7017861080485116 Centerline is valid? [False, False] Translation: X:-5.90, Y:6.17, Z:-2.65 [[ 0.84547386 0.4830652 -0.22764437 -5.89600673] [-0.48739388 0.87223288 0.04070633 6.16817005] [ 0.21822272 0.07653634 0.97289313 -2.64520714] [ 0. 0. 0. 1. ]] SLAMing on 220.45800114499997 meters Centerline goodness [0,1] 0.7206106532929766 Centerline is valid? [False, False] Translation: X:-5.92, Y:6.19, Z:-2.65 [[ 0.84511767 0.48201746 -0.23116075 -5.91768508] [-0.48725398 0.87244055 0.03782919 6.18628673] [ 0.21990834 0.08066388 0.97217985 -2.64718435] [ 0. 0. 0. 1. ]] SLAMing on 220.48800114499997 meters Centerline goodness [0,1] 0.6941287878787878 Centerline is valid? [False, False] Translation: X:-5.94, Y:6.20, Z:-2.65 [[ 0.84481222 0.48145162 -0.23344518 -5.94011119] [-0.48735741 0.8724735 0.03567553 6.20438639] [ 0.22085078 0.08363211 0.97171529 -2.65053925] [ 0. 0. 0. 1. ]] SLAMing on 220.51800114499997 meters Centerline goodness [0,1] 0.718912717324155 Centerline is valid? [False, False] Translation: X:-5.97, Y:6.22, Z:-2.65 [[ 0.84470221 0.4815361 -0.23366891 -5.96571676] [-0.48776592 0.87229844 0.03434874 6.22405828] [ 0.22036919 0.08496127 0.97170932 -2.65465183] [ 0. 0. 0. 1. ]] SLAMing on 220.54800114499997 meters Centerline goodness [0,1] 0.690312873390273 Centerline is valid? [False, False] Translation: X:-5.99, Y:6.24, Z:-2.66 [[ 0.84520164 0.48022582 -0.23455778 -5.99230034] [-0.48678137 0.87289722 0.03308082 6.24495417] [ 0.2206311 0.08621839 0.97153914 -2.65924419] [ 0. 0. 0. 1. ]] SLAMing on 220.57800114499997 meters Centerline goodness [0,1] 0.7175334717864876 Centerline is valid? [False, False] Translation: X:-6.02, Y:6.26, Z:-2.66 [[ 0.84543162 0.47909673 -0.23603327 -6.01656579] [-0.4862264 0.873283 0.03099502 6.2637325 ] [ 0.22097345 0.08856143 0.97125054 -2.66356023] [ 0. 0. 0. 1. ]] SLAMing on 220.60800114499997 meters Centerline goodness [0,1] 0.718935237213812 Centerline is valid? [False, False] Translation: X:-6.04, Y:6.28, Z:-2.67 [[ 0.84464088 0.47904835 -0.23894446 -6.03804655] [-0.486698 0.8730574 0.0299303 6.27839941] [ 0.22295029 0.09101343 0.97057185 -2.6678053 ] [ 0. 0. 0. 1. ]] SLAMing on 220.63800114499998 meters Centerline goodness [0,1] 0.712488986784141 Centerline is valid? [False, False] Translation: X:-6.04, Y:6.28, Z:-2.67 [[ 0.84333636 0.48233285 -0.23693629 -6.04056896] [-0.48921679 0.87154093 0.03291395 6.27748042] [ 0.22237516 0.08815568 0.97096749 -2.66772146] [ 0. 0. 0. 1. ]] SLAMing on 220.66800114499998 meters Centerline goodness [0,1] 0.7109094513336711 Centerline is valid? [False, False] Translation: X:-6.07, Y:6.30, Z:-2.67 [[ 0.84369701 0.48155863 -0.23722696 -6.06761667] [-0.48849059 0.87195583 0.03271047 6.29818541] [ 0.22260344 0.08828541 0.97090339 -2.67312295] [ 0. 0. 0. 1. ]] SLAMing on 220.69800114499998 meters Centerline goodness [0,1] 0.7119320688134099 Centerline is valid? [False, False] Translation: X:-6.09, Y:6.32, Z:-2.68 [[ 0.84396342 0.48100999 -0.23739237 -6.09307834] [-0.48832436 0.8721104 0.03102849 6.31787611] [ 0.22195737 0.08973757 0.97091817 -2.67783833] [ 0. 0. 0. 1. ]] SLAMing on 220.72800114499998 meters Centerline goodness [0,1] 0.7107828004410144 Centerline is valid? [False, False] Translation: X:-6.12, Y:6.34, Z:-2.68 [[ 0.84416227 0.48011214 -0.2385003 -6.11901277] [-0.48780898 0.87244528 0.02969234 6.33840228] [ 0.22233411 0.09127744 0.9706884 -2.68161557] [ 0. 0. 0. 1. ]] SLAMing on 220.75800114499995 meters Centerline goodness [0,1] 0.730928561984928 Centerline is valid? [False, False] Translation: X:-6.14, Y:6.36, Z:-2.69 [[ 0.84491014 0.47833579 -0.23941954 -6.14472639] [-0.48645098 0.8732591 0.02799989 6.35722974] [ 0.22246864 0.09280848 0.97051238 -2.68734093] [ 0. 0. 0. 1. ]] SLAMing on 220.78800114499995 meters Centerline goodness [0,1] 0.7362840424127766 Centerline is valid? [False, False] Translation: X:-6.17, Y:6.38, Z:-2.69 [[ 0.84626434 0.47537476 -0.2405317 -6.1718514 ] [-0.48391203 0.87472407 0.02620966 6.37685244] [ 0.22285828 0.09421588 0.97028736 -2.69360035] [ 0. 0. 0. 1. ]] SLAMing on 220.81800114499995 meters Centerline goodness [0,1] 0.7475085249147508 Centerline is valid? [False, False] Translation: X:-6.17, Y:6.38, Z:-2.69 [[ 0.84631764 0.4753658 -0.24036185 -6.17252679] [-0.48379898 0.8747752 0.02658742 6.37511667] [ 0.22290134 0.09378542 0.97031917 -2.69418844] [ 0. 0. 0. 1. ]] SLAMing on 220.84800114499996 meters Centerline goodness [0,1] 0.7314100315678709 Centerline is valid? [False, False] Translation: X:-6.19, Y:6.38, Z:-2.70 [[ 0.84804197 0.47379031 -0.23737639 -6.18531321] [-0.48003692 0.87656512 0.03461424 6.38014518] [ 0.22447576 0.08459511 0.97080086 -2.70098942] [ 0. 0. 0. 1. ]] SLAMing on 220.87800114499996 meters Centerline goodness [0,1] 0.719331302995114 Centerline is valid? [False, False] Translation: X:-6.21, Y:6.40, Z:-2.71 [[ 0.84930136 0.47067501 -0.23906532 -6.21133689] [-0.47734819 0.87809502 0.03298225 6.40021951] [ 0.22544599 0.08610553 0.97044317 -2.70704656] [ 0. 0. 0. 1. ]] SLAMing on 220.90800114499996 meters Centerline goodness [0,1] 0.6684311838306063 Centerline is valid? [False, False] Translation: X:-6.24, Y:6.42, Z:-2.71 [[ 0.85065892 0.46747782 -0.24050755 -6.23856991] [-0.47449597 0.87969009 0.03160555 6.42051894] [ 0.22634701 0.08723432 0.97013257 -2.71318517] [ 0. 0. 0. 1. ]] SLAMing on 220.93800114499996 meters Centerline goodness [0,1] 0.6931589096327461 Centerline is valid? [False, False] Translation: X:-6.27, Y:6.44, Z:-2.72 [[ 0.85246048 0.46412805 -0.24061646 -6.26939341] [-0.47111922 0.88151492 0.03127502 6.44192197] [ 0.22662261 0.08669832 0.97011628 -2.72046984] [ 0. 0. 0. 1. ]] SLAMing on 220.96800114499996 meters Centerline goodness [0,1] 0.7196997877508151 Centerline is valid? [False, False] Translation: X:-6.30, Y:6.46, Z:-2.73 [[ 0.85315166 0.46306633 -0.24021202 -6.29562228] [-0.47033418 0.88198604 0.02977228 6.46010484] [ 0.22565019 0.08757966 0.97026378 -2.72720799] [ 0. 0. 0. 1. ]] SLAMing on 220.99800114499996 meters Centerline goodness [0,1] 0.7205359286010431 Centerline is valid? [False, False] Translation: X:-6.30, Y:6.46, Z:-2.73 [[ 0.85315112 0.46304449 -0.24025603 -6.2961753 ] [-0.470311 0.88199771 0.02979246 6.45972363] [ 0.22570051 0.08757758 0.97025226 -2.72684898] [ 0. 0. 0. 1. ]] SLAMing on 221.02800114499996 meters Centerline goodness [0,1] 0.7314956498928868 Centerline is valid? [False, False] Translation: X:-6.30, Y:6.46, Z:-2.73 [[ 0.85201416 0.46616093 -0.23825588 -6.29967609] [-0.47272839 0.88061 0.03246384 6.45974527] [ 0.22494388 0.08497067 0.97065969 -2.7259107 ] [ 0. 0. 0. 1. ]] SLAMing on 221.05800114499996 meters Centerline goodness [0,1] 0.7442388763897687 Centerline is valid? [False, False] Translation: X:-6.30, Y:6.46, Z:-2.73 [[ 0.85073648 0.46946826 -0.23631968 -6.3020988 ] [-0.47531356 0.8791073 0.03531819 6.45968395] [ 0.22433113 0.08227947 0.97103328 -2.72535079] [ 0. 0. 0. 1. ]] SLAMing on 221.08800114499996 meters Centerline goodness [0,1] 0.7269686502557824 Centerline is valid? [False, False] Translation: X:-6.30, Y:6.46, Z:-2.72 [[ 0.84941968 0.47278919 -0.2344282 -6.30442412] [-0.47789734 0.87758093 0.03828622 6.45914772] [ 0.22383103 0.07951155 0.97137922 -2.7249987 ] [ 0. 0. 0. 1. ]] SLAMing on 221.11800114499997 meters Centerline goodness [0,1] 0.7479995639376431 Centerline is valid? [False, False] Translation: X:-6.30, Y:6.46, Z:-2.72 [[ 0.84929037 0.47294448 -0.23458344 -6.30456633] [-0.47804375 0.87749604 0.03840406 6.4584826 ] [ 0.22400903 0.07952495 0.97133709 -2.72465554] [ 0. 0. 0. 1. ]] SLAMing on 221.14800114499997 meters Centerline goodness [0,1] 0.7372103668504915 Centerline is valid? [False, False] Translation: X:-6.30, Y:6.46, Z:-2.72 [[ 0.84924465 0.4730085 -0.23461986 -6.30495306] [-0.47808636 0.87746777 0.03851943 6.45791363] [ 0.22409138 0.07945613 0.97132372 -2.7244132 ] [ 0. 0. 0. 1. ]] SLAMing on 221.17800114499997 meters Centerline goodness [0,1] 0.7098011859086153 Centerline is valid? [False, False] Translation: X:-6.33, Y:6.47, Z:-2.73 [[ 0.84914199 0.47155316 -0.23789807 -6.32785164] [-0.47737518 0.87794868 0.03631876 6.47459219] [ 0.22598852 0.08272685 0.97061087 -2.72769001] [ 0. 0. 0. 1. ]] SLAMing on 221.20800114499997 meters Centerline goodness [0,1] 0.7339690676861587 Centerline is valid? [False, False] Translation: X:-6.33, Y:6.47, Z:-2.73 [[ 0.84921635 0.47149782 -0.23774229 -6.32907058] [-0.47725075 0.87800679 0.03654857 6.47310919] [ 0.22597192 0.08242504 0.97064041 -2.72774194] [ 0. 0. 0. 1. ]] SLAMing on 221.23800114499997 meters Centerline goodness [0,1] 0.7443274700843523 Centerline is valid? [False, False] Translation: X:-6.33, Y:6.47, Z:-2.73 [[ 0.84928037 0.47134939 -0.23780791 -6.32961464] [-0.4771001 0.87808813 0.03656127 6.47258799] [ 0.22604944 0.08240741 0.97062386 -2.72750004] [ 0. 0. 0. 1. ]] SLAMing on 221.26800114499997 meters Centerline goodness [0,1] 0.6931060688307458 Centerline is valid? [False, False] Translation: X:-6.35, Y:6.49, Z:-2.73 [[ 0.84902186 0.47017636 -0.24103127 -6.35096332] [-0.47692708 0.87830984 0.03335253 6.48766522] [ 0.22738171 0.08663732 0.96994409 -2.73049698] [ 0. 0. 0. 1. ]] SLAMing on 221.29800114499997 meters Centerline goodness [0,1] 0.713153207940576 Centerline is valid? [False, False] Translation: X:-6.38, Y:6.50, Z:-2.74 [[ 0.84934912 0.46887975 -0.2424002 -6.37504233] [-0.4761026 0.87881839 0.03169476 6.50401331] [ 0.22788678 0.08848744 0.96965849 -2.7362558 ] [ 0. 0. 0. 1. ]] SLAMing on 221.32800114499997 meters Centerline goodness [0,1] 0.725011935245866 Centerline is valid? [False, False] Translation: X:-6.40, Y:6.52, Z:-2.74 [[ 0.84871813 0.4678658 -0.24653424 -6.39589041] [-0.4757365 0.8790594 0.03048519 6.51667266] [ 0.23098122 0.091412 0.96865449 -2.74069216] [ 0. 0. 0. 1. ]] SLAMing on 221.35800114499997 meters Centerline goodness [0,1] 0.7447539522038837 Centerline is valid? [False, False] Translation: X:-6.42, Y:6.53, Z:-2.74 [[ 0.84772474 0.4680172 -0.24964507 -6.41654401] [-0.47643652 0.87871362 0.02950615 6.53109569] [ 0.23317591 0.09392693 0.96788776 -2.74467997] [ 0. 0. 0. 1. ]] SLAMing on 221.38800114499998 meters Centerline goodness [0,1] 0.7262105673114372 Centerline is valid? [False, False] Translation: X:-6.42, Y:6.53, Z:-2.74 [[ 0.84641551 0.47139369 -0.24772722 -6.41902311] [-0.47902846 0.87719792 0.03248914 6.53027296] [ 0.23262098 0.09116908 0.96828492 -2.74442098] [ 0. 0. 0. 1. ]] SLAMing on 221.41800114499998 meters Centerline goodness [0,1] 0.7448298287448515 Centerline is valid? [False, False] Translation: X:-6.43, Y:6.54, Z:-2.75 [[ 0.84347657 0.47381499 -0.25307434 -6.43435106] [-0.48224681 0.87545891 0.03177593 6.54049668] [ 0.23661209 0.09524204 0.96692485 -2.74570886] [ 0. 0. 0. 1. ]] SLAMing on 221.44800114499998 meters Centerline goodness [0,1] 0.7563021567139916 Centerline is valid? [False, False] Translation: X:-6.45, Y:6.55, Z:-2.75 [[ 0.84111576 0.4741015 -0.26029222 -6.44794939] [-0.48408335 0.87455283 0.02864731 6.5507254 ] [ 0.24122103 0.10190743 0.96510481 -2.7452917 ] [ 0. 0. 0. 1. ]] SLAMing on 221.47800114499998 meters Centerline goodness [0,1] 0.7684367696702156 Centerline is valid? [False, False] Translation: X:-6.45, Y:6.55, Z:-2.75 [[ 0.83983431 0.47742195 -0.25835367 -6.4508092 ] [-0.48656978 0.8730673 0.03167554 6.54874743] [ 0.24068274 0.09910489 0.96553096 -2.74540699] [ 0. 0. 0. 1. ]] SLAMing on 221.50800114499995 meters Centerline goodness [0,1] 0.7539965050805773 Centerline is valid? [False, False] Translation: X:-6.47, Y:6.56, Z:-2.75 [[ 0.83902289 0.47737195 -0.26106823 -6.47281686] [-0.48707803 0.8728219 0.03060916 6.56253603] [ 0.24247802 0.10147881 0.96483494 -2.74977865] [ 0. 0. 0. 1. ]] SLAMing on 221.53800114499995 meters Centerline goodness [0,1] 0.7528728183860377 Centerline is valid? [False, False] Translation: X:-6.50, Y:6.58, Z:-2.76 [[ 0.83960293 0.47685604 -0.26014463 -6.50123348] [-0.48626998 0.8732482 0.03129019 6.58181995] [ 0.24209175 0.10022919 0.96506253 -2.75696005] [ 0. 0. 0. 1. ]] SLAMing on 221.56800114499995 meters Centerline goodness [0,1] 0.770889835980886 Centerline is valid? [False, False] Translation: X:-6.50, Y:6.58, Z:-2.76 [[ 0.83955702 0.47691182 -0.26019056 -6.50151797] [-0.48631984 0.87321856 0.03134249 6.58183493] [ 0.24215083 0.10022202 0.96504846 -2.75650046] [ 0. 0. 0. 1. ]] SLAMing on 221.59800114499996 meters Centerline goodness [0,1] 0.7562279113869494 Centerline is valid? [False, False] Translation: X:-6.53, Y:6.60, Z:-2.76 [[ 0.84032354 0.4764286 -0.25859648 -6.52963734] [-0.48579029 0.87353384 0.0307641 6.60114144] [ 0.24054968 0.09977186 0.96549543 -2.76317974] [ 0. 0. 0. 1. ]] SLAMing on 221.62800114499996 meters Centerline goodness [0,1] 0.769267251600664 Centerline is valid? [False, False] Translation: X:-6.55, Y:6.62, Z:-2.77 [[ 0.84106748 0.47533293 -0.25819392 -6.55499582] [-0.4855086 0.87381074 0.0271328 6.61591905] [ 0.23850973 0.10253486 0.96571202 -2.76817649] [ 0. 0. 0. 1. ]] SLAMing on 221.65800114499996 meters Centerline goodness [0,1] 0.7121364737146654 Centerline is valid? [False, False] Translation: X:-6.58, Y:6.63, Z:-2.77 [[ 0.84178968 0.47407975 -0.25814439 -6.58035332] [-0.48468577 0.8743262 0.02516756 6.63212848] [ 0.23763383 0.10393312 0.96577848 -2.77463993] [ 0. 0. 0. 1. ]] SLAMing on 221.68800114499996 meters Centerline goodness [0,1] 0.7424991969161581 Centerline is valid? [False, False] Translation: X:-6.61, Y:6.65, Z:-2.78 [[ 0.84312256 0.47233087 -0.25699784 -6.60837298] [-0.48293399 0.87531717 0.02438456 6.65061242] [ 0.23647221 0.10355382 0.96610429 -2.78272915] [ 0. 0. 0. 1. ]] SLAMing on 221.71800114499996 meters Centerline goodness [0,1] 0.7488904062820075 Centerline is valid? [False, False] Translation: X:-6.63, Y:6.67, Z:-2.79 [[ 0.84451261 0.47005664 -0.25660322 -6.63486785] [-0.48086495 0.87649267 0.02301097 6.66626559] [ 0.2357273 0.10395844 0.96624287 -2.79073347] [ 0. 0. 0. 1. ]] SLAMing on 221.74800114499996 meters Centerline goodness [0,1] 0.736476109215017 Centerline is valid? [False, False] Translation: X:-6.66, Y:6.68, Z:-2.80 [[ 0.8458525 0.46855415 -0.25493244 -6.66235293] [-0.47935419 0.87734457 0.022047 6.68320013] [ 0.2339938 0.10355443 0.96670749 -2.79927404] [ 0. 0. 0. 1. ]] SLAMing on 221.77800114499996 meters Centerline goodness [0,1] 0.7204980842911877 Centerline is valid? [False, False] Translation: X:-6.69, Y:6.70, Z:-2.81 [[ 0.84736918 0.46689693 -0.25292831 -6.69041319] [-0.47755481 0.87833974 0.02146418 6.70086825] [ 0.23217854 0.10259905 0.9672469 -2.80829754] [ 0. 0. 0. 1. ]] SLAMing on 221.80800114499996 meters Centerline goodness [0,1] 0.7213219344136788 Centerline is valid? [False, False] Translation: X:-6.72, Y:6.72, Z:-2.82 [[ 0.84880419 0.46550098 -0.25067966 -6.71839335] [-0.47608022 0.87916169 0.02055108 6.7183747 ] [ 0.2299545 0.10189979 0.96785193 -2.81686355] [ 0. 0. 0. 1. ]] SLAMing on 221.83800114499996 meters Centerline goodness [0,1] 0.7068587601881211 Centerline is valid? [False, False] Translation: X:-6.75, Y:6.74, Z:-2.83 [[ 0.85135064 0.46200493 -0.24850259 -6.74968568] [-0.47231802 0.88119767 0.02015843 6.7370041 ] [ 0.2282932 0.10021036 0.96842145 -2.82706024] [ 0. 0. 0. 1. ]] SLAMing on 221.86800114499997 meters Centerline goodness [0,1] 0.7194102253143551 Centerline is valid? [False, False] Translation: X:-6.77, Y:6.75, Z:-2.84 [[ 0.85187341 0.46168971 -0.24729398 -6.77471205] [-0.4718965 0.88142674 0.02001494 6.75176648] [ 0.22721222 0.09964697 0.96873376 -2.83608378] [ 0. 0. 0. 1. ]] SLAMing on 221.89800114499997 meters Centerline goodness [0,1] 0.7194102253143551 Centerline is valid? [False, False] Translation: X:-6.77, Y:6.75, Z:-2.84 [[ 0.85187341 0.46168971 -0.24729398 -6.77471205] [-0.4718965 0.88142674 0.02001494 6.75176648] [ 0.22721222 0.09964697 0.96873376 -2.83608378] [ 0. 0. 0. 1. ]] SLAMing on 221.92800114499997 meters Centerline goodness [0,1] 0.7079153205237205 Centerline is valid? [False, False] Translation: X:-6.80, Y:6.77, Z:-2.84 [[ 0.85240108 0.46111369 -0.24654931 -6.80005128] [-0.4712239 0.88178673 0.02000479 6.76769976] [ 0.2266284 0.09912782 0.96892376 -2.8447099 ] [ 0. 0. 0. 1. ]] SLAMing on 221.95800114499997 meters Centerline goodness [0,1] 0.7063333191362494 Centerline is valid? [False, False] Translation: X:-6.83, Y:6.79, Z:-2.85 [[ 0.85302217 0.460853 -0.244883 -6.82696563] [-0.47065538 0.88207811 0.02053583 6.78504515] [ 0.22546993 0.09773799 0.96933513 -2.8534159 ] [ 0. 0. 0. 1. ]] SLAMing on 221.98800114499997 meters Centerline goodness [0,1] 0.7069186145708923 Centerline is valid? [False, False] Translation: X:-6.85, Y:6.80, Z:-2.86 [[ 0.85309146 0.46134219 -0.24371777 -6.85376414] [-0.47080134 0.88197563 0.0215658 6.80276891] [ 0.22490234 0.09634505 0.9696064 -2.86085367] [ 0. 0. 0. 1. ]] SLAMing on 222.01800114499997 meters Centerline goodness [0,1] 0.7131480890024486 Centerline is valid? [False, False] Translation: X:-6.88, Y:6.82, Z:-2.87 [[ 0.8528276 0.4621392 -0.2431305 -6.87896988] [-0.47141659 0.88163102 0.02220687 6.82006989] [ 0.22461405 0.09567712 0.96973936 -2.86757087] [ 0. 0. 0. 1. ]] SLAMing on 222.04800114499997 meters Centerline goodness [0,1] 0.7121225028751543 Centerline is valid? [False, False] Translation: X:-6.91, Y:6.84, Z:-2.87 [[ 0.85277589 0.46295847 -0.24174933 -6.90580161] [-0.47194394 0.88132892 0.02298363 6.83806079] [ 0.22370114 0.09449224 0.9700665 -2.87434505] [ 0. 0. 0. 1. ]] SLAMing on 222.07800114499997 meters Centerline goodness [0,1] 0.7104175543246698 Centerline is valid? [False, False] Translation: X:-6.93, Y:6.85, Z:-2.88 [[ 0.8520775 0.46501081 -0.24026835 -6.93213594] [-0.47372336 0.88035143 0.02382299 6.85404605] [ 0.22259853 0.0935217 0.97041413 -2.88013522] [ 0. 0. 0. 1. ]] SLAMing on 222.10800114499997 meters Centerline goodness [0,1] 0.7131919780523596 Centerline is valid? [False, False] Translation: X:-6.96, Y:6.87, Z:-2.89 [[ 0.85209928 0.46568784 -0.23887581 -6.95918036] [-0.47420364 0.88008315 0.02417762 6.87143498] [ 0.2214898 0.09267405 0.97074909 -2.88661159] [ 0. 0. 0. 1. ]] SLAMing on 222.13800114499998 meters Centerline goodness [0,1] 0.7338773249248993 Centerline is valid? [False, False] Translation: X:-6.99, Y:6.89, Z:-2.89 [[ 0.8522233 0.46613141 -0.23756463 -6.98638938] [-0.47442168 0.87995204 0.02466729 6.88936042] [ 0.22054368 0.09168377 0.97105848 -2.89313854] [ 0. 0. 0. 1. ]] SLAMing on 222.16800114499998 meters Centerline goodness [0,1] 0.7601071291927051 Centerline is valid? [False, False] Translation: X:-6.99, Y:6.89, Z:-2.89 [[ 0.85107102 0.46909933 -0.23584725 -6.98921397] [-0.4767201 0.87863063 0.02731592 6.88909207] [ 0.2200365 0.08918534 0.97140615 -2.89225388] [ 0. 0. 0. 1. ]] SLAMing on 222.19800114499998 meters Centerline goodness [0,1] 0.7433568214619237 Centerline is valid? [False, False] Translation: X:-7.01, Y:6.90, Z:-2.90 [[ 0.85028611 0.47053869 -0.2358111 -7.01268576] [-0.47856636 0.87767503 0.02570587 6.90467449] [ 0.21906112 0.09099392 0.97145887 -2.89582037] [ 0. 0. 0. 1. ]] SLAMing on 222.22800114499998 meters Centerline goodness [0,1] 0.7352379740391957 Centerline is valid? [False, False] Translation: X:-7.04, Y:6.92, Z:-2.90 [[ 0.85045899 0.47077688 -0.23470968 -7.04052911] [-0.47856167 0.87765852 0.02634855 6.92266869] [ 0.21839924 0.0899147 0.97170835 -2.90186848] [ 0. 0. 0. 1. ]] SLAMing on 222.25800114499995 meters Centerline goodness [0,1] 0.766936749671234 Centerline is valid? [False, False] Translation: X:-7.06, Y:6.94, Z:-2.90 [[ 0.84961476 0.47066711 -0.23796478 -7.06136808] [-0.47917092 0.87737817 0.02455135 6.93693787] [ 0.22034062 0.09316661 0.97096344 -2.90480161] [ 0. 0. 0. 1. ]] SLAMing on 222.28800114499995 meters Centerline goodness [0,1] 0.7340675632743832 Centerline is valid? [False, False] Translation: X:-7.09, Y:6.95, Z:-2.91 [[ 0.84978032 0.47039742 -0.23790688 -7.08679656] [-0.47887721 0.87753735 0.02459311 6.95361737] [ 0.22034071 0.09302944 0.97097657 -2.91138364] [ 0. 0. 0. 1. ]] SLAMing on 222.31800114499995 meters Centerline goodness [0,1] 0.7642810242941562 Centerline is valid? [False, False] Translation: X:-7.11, Y:6.97, Z:-2.92 [[ 0.84914245 0.47113211 -0.23872919 -7.11095264] [-0.47965738 0.87710369 0.02485775 6.96806737] [ 0.22110154 0.09340045 0.97076798 -2.91627124] [ 0. 0. 0. 1. ]] SLAMing on 222.34800114499996 meters Centerline goodness [0,1] 0.7807186159988171 Centerline is valid? [False, False] Translation: X:-7.13, Y:6.98, Z:-2.92 [[ 0.84850399 0.4713217 -0.2406176 -7.13220083] [-0.48045301 0.87671716 0.02306367 6.98199044] [ 0.22182399 0.09603584 0.97034594 -2.92011575] [ 0. 0. 0. 1. ]] SLAMing on 222.37800114499996 meters Centerline goodness [0,1] 0.7782883642495784 Centerline is valid? [False, False] Translation: X:-7.16, Y:7.00, Z:-2.93 [[ 0.84855037 0.47124065 -0.24061279 -7.15697584] [-0.48050607 0.87670368 0.02246268 6.99541387] [ 0.22153145 0.09655519 0.97036123 -2.92604629] [ 0. 0. 0. 1. ]] SLAMing on 222.40800114499996 meters Centerline goodness [0,1] 0.7698300730664758 Centerline is valid? [False, False] Translation: X:-7.18, Y:7.01, Z:-2.93 [[ 0.84926963 0.47052474 -0.23947351 -7.1828241 ] [-0.4797931 0.87710999 0.02183221 7.01163774] [ 0.2203172 0.09635631 0.9706574 -2.93364635] [ 0. 0. 0. 1. ]] SLAMing on 222.43800114499996 meters Centerline goodness [0,1] 0.7812585643512174 Centerline is valid? [False, False] Translation: X:-7.18, Y:7.01, Z:-2.93 [[ 0.84933881 0.47044234 -0.23939002 -7.18381968] [-0.47966586 0.87717589 0.02198023 7.01057618] [ 0.22032759 0.09615856 0.97067466 -2.93350534] [ 0. 0. 0. 1. ]] SLAMing on 222.46800114499996 meters Centerline goodness [0,1] 0.7620921911176595 Centerline is valid? [False, False] Translation: X:-7.21, Y:7.03, Z:-2.94 [[ 0.85049416 0.46899127 -0.23813206 -7.21100986] [-0.47828255 0.87795721 0.02090333 7.02748958] [ 0.21887324 0.09611625 0.97100781 -2.94060172] [ 0. 0. 0. 1. ]] SLAMing on 222.49800114499996 meters Centerline goodness [0,1] 0.7451054374711776 Centerline is valid? [False, False] Translation: X:-7.24, Y:7.04, Z:-2.95 [[ 0.85191727 0.46703765 -0.23688141 -7.24021275] [-0.47610352 0.87913698 0.02106228 7.0447544 ] [ 0.21808809 0.09483675 0.97131024 -2.94820683] [ 0. 0. 0. 1. ]] SLAMing on 222.52800114499996 meters Centerline goodness [0,1] 0.7347610516228491 Centerline is valid? [False, False] Translation: X:-7.27, Y:7.06, Z:-2.96 [[ 0.85384391 0.46427397 -0.23537258 -7.27123228] [-0.4729423 0.88082432 0.02177357 7.05969216] [ 0.2174308 0.09272643 0.97166129 -2.95718884] [ 0. 0. 0. 1. ]] SLAMing on 222.55800114499996 meters Centerline goodness [0,1] 0.7409589470385459 Centerline is valid? [False, False] Translation: X:-7.30, Y:7.08, Z:-2.97 [[ 0.85536859 0.46283676 -0.23265148 -7.3024319 ] [-0.47086144 0.88190001 0.02327798 7.07834832] [ 0.21594925 0.08963536 0.97228156 -2.96608981] [ 0. 0. 0. 1. ]] SLAMing on 222.58800114499996 meters Centerline goodness [0,1] 0.735102227393617 Centerline is valid? [False, False] Translation: X:-7.33, Y:7.09, Z:-2.97 [[ 0.85630366 0.46172437 -0.23141879 -7.32914705] [-0.46978261 0.88249681 0.02244291 7.09481089] [ 0.21458879 0.08949858 0.97259532 -2.97310113] [ 0. 0. 0. 1. ]] SLAMing on 222.61800114499997 meters Centerline goodness [0,1] 0.7267733510219311 Centerline is valid? [False, False] Translation: X:-7.36, Y:7.11, Z:-2.98 [[ 0.85763428 0.46066446 -0.22858629 -7.36076462] [-0.46810561 0.88334916 0.02390406 7.11164784] [ 0.21293326 0.08650158 0.97323014 -2.98121336] [ 0. 0. 0. 1. ]] SLAMing on 222.64800114499997 meters Centerline goodness [0,1] 0.7235203785174733 Centerline is valid? [False, False] Translation: X:-7.39, Y:7.13, Z:-2.99 [[ 0.85886621 0.45974511 -0.22579476 -7.39157866] [-0.46672257 0.88405735 0.02475167 7.12984901] [ 0.21099497 0.08412514 0.9738604 -2.98867835] [ 0. 0. 0. 1. ]] SLAMing on 222.67800114499997 meters Centerline goodness [0,1] 0.7026429442274709 Centerline is valid? [False, False] Translation: X:-7.42, Y:7.15, Z:-3.00 [[ 0.85995992 0.45909218 -0.22294238 -7.42082074] [-0.46590722 0.88450125 0.0242487 7.14675118] [ 0.2083252 0.08301755 0.97452999 -2.99588018] [ 0. 0. 0. 1. ]] SLAMing on 222.70800114499997 meters Centerline goodness [0,1] 0.7267262321406514 Centerline is valid? [False, False] Translation: X:-7.45, Y:7.16, Z:-3.00 [[ 0.86207065 0.45673057 -0.21961644 -7.45281506] [-0.46362267 0.88575456 0.02220093 7.16330312] [ 0.2046661 0.08268039 0.97533366 -3.00219112] [ 0. 0. 0. 1. ]] SLAMing on 222.73800114499997 meters Centerline goodness [0,1] 0.7321788490806631 Centerline is valid? [False, False] Translation: X:-7.48, Y:7.18, Z:-3.01 [[ 0.86361952 0.45488025 -0.21735982 -7.48168038] [-0.46183389 0.88672429 0.02072416 7.17982932] [ 0.20216524 0.08248634 0.97587152 -3.0092601 ] [ 0. 0. 0. 1. ]] SLAMing on 222.76800114499997 meters Centerline goodness [0,1] 0.7228328984405499 Centerline is valid? [False, False] Translation: X:-7.51, Y:7.20, Z:-3.02 [[ 0.86539777 0.45262994 -0.2149717 -7.51010985] [-0.45973579 0.8878591 0.01868747 7.19617358] [ 0.19932309 0.08265809 0.97644147 -3.01653697] [ 0. 0. 0. 1. ]] SLAMing on 222.79800114499997 meters Centerline goodness [0,1] 0.7154421433267587 Centerline is valid? [False, False] Translation: X:-7.54, Y:7.21, Z:-3.02 [[ 0.86736884 0.45052063 -0.21142956 -7.54182916] [-0.45728808 0.88912421 0.01859424 7.21368898] [ 0.19636423 0.08055615 0.97721635 -3.02463533] [ 0. 0. 0. 1. ]] SLAMing on 222.82800114499997 meters Centerline goodness [0,1] 0.6932819608968316 Centerline is valid? [False, False] Translation: X:-7.57, Y:7.23, Z:-3.03 [[ 0.87047613 0.44625405 -0.20767433 -7.57356351] [-0.45328235 0.89123816 0.0151544 7.22876083] [ 0.19185001 0.08094356 0.97808063 -3.03241085] [ 0. 0. 0. 1. ]] SLAMing on 222.85800114499997 meters Centerline goodness [0,1] 0.6801379990142928 Centerline is valid? [False, False] Translation: X:-7.61, Y:7.25, Z:-3.04 [[ 0.87279804 0.44340199 -0.20400553 -7.60711264] [-0.449827 0.8929661 0.01634672 7.24725988] [ 0.18941819 0.07749981 0.97883325 -3.04135983] [ 0. 0. 0. 1. ]] SLAMing on 222.88800114499998 meters Centerline goodness [0,1] 0.6717599524170887 Centerline is valid? [False, False] Translation: X:-7.64, Y:7.26, Z:-3.05 [[ 0.87455643 0.44090908 -0.20186689 -7.6356252 ] [-0.44737359 0.89422227 0.0149468 7.26273234] [ 0.18710404 0.07723809 0.97929891 -3.04898073] [ 0. 0. 0. 1. ]] SLAMing on 222.91800114499998 meters Centerline goodness [0,1] 0.6888714895019883 Centerline is valid? [False, False] Translation: X:-7.67, Y:7.28, Z:-3.06 [[ 0.8766707 0.4380159 -0.19897374 -7.66746397] [-0.44411015 0.89584071 0.01534937 7.28036288] [ 0.18497204 0.07490991 0.97988461 -3.05720267] [ 0. 0. 0. 1. ]] SLAMing on 222.94800114499998 meters Centerline goodness [0,1] 0.6808703162916958 Centerline is valid? [False, False] Translation: X:-7.67, Y:7.28, Z:-3.06 [[ 0.87847445 0.43381542 -0.20021695 -7.66979781] [-0.44047559 0.8976791 0.01238902 7.27755188] [ 0.18510513 0.07730724 0.97967325 -3.05721123] [ 0. 0. 0. 1. ]] SLAMing on 222.97800114499998 meters Centerline goodness [0,1] 0.665306458925848 Centerline is valid? [False, False] Translation: X:-7.70, Y:7.29, Z:-3.07 [[ 0.88002647 0.43183752 -0.19766075 -7.6991962 ] [-0.43824204 0.89877095 0.01243755 7.29308486] [ 0.18302274 0.07567787 0.98019158 -3.06529813] [ 0. 0. 0. 1. ]] SLAMing on 223.00800114499995 meters Centerline goodness [0,1] 0.6723612084243498 Centerline is valid? [False, False] Translation: X:-7.70, Y:7.29, Z:-3.07 [[ 0.88018292 0.43171263 -0.19723647 -7.70104135] [-0.43799847 0.89888343 0.01288077 7.29050784] [ 0.18285338 0.07505184 0.98027132 -3.06576154] [ 0. 0. 0. 1. ]] SLAMing on 223.03800114499995 meters Centerline goodness [0,1] 0.6468238443323381 Centerline is valid? [False, False] Translation: X:-7.73, Y:7.30, Z:-3.07 [[ 0.88215481 0.42835627 -0.19573912 -7.72947148] [-0.4345392 0.90056716 0.01242852 7.30164463] [ 0.18160006 0.07409245 0.98057724 -3.07490294] [ 0. 0. 0. 1. ]] SLAMing on 223.06800114499995 meters Centerline goodness [0,1] 0.6430985451098381 Centerline is valid? [False, False] Translation: X:-7.76, Y:7.32, Z:-3.08 [[ 0.8833822 0.42647837 -0.19429899 -7.75663722] [-0.43247048 0.90155928 0.01265478 7.31567676] [ 0.18056905 0.07284957 0.98086072 -3.08338701] [ 0. 0. 0. 1. ]] SLAMing on 223.09800114499996 meters Centerline goodness [0,1] 0.63018177331798 Centerline is valid? [False, False] Translation: X:-7.76, Y:7.31, Z:-3.08 [[ 0.88340561 0.42661645 -0.19388894 -7.75775936] [-0.43246588 0.90155253 0.0132775 7.31306708] [ 0.18046547 0.07212093 0.98093363 -3.08416806] [ 0. 0. 0. 1. ]] SLAMing on 223.12800114499996 meters Centerline goodness [0,1] 0.6358293605129048 Centerline is valid? [False, False] Translation: X:-7.78, Y:7.32, Z:-3.09 [[ 0.88368943 0.4258686 -0.19423933 -7.78135513] [-0.43160394 0.90195527 0.01395488 7.32359803] [ 0.18113814 0.07150268 0.9808549 -3.09171917] [ 0. 0. 0. 1. ]] SLAMing on 223.15800114499996 meters Centerline goodness [0,1] 0.6367324245294674 Centerline is valid? [False, False] Translation: X:-7.81, Y:7.34, Z:-3.10 [[ 0.88396855 0.42614606 -0.19235158 -7.80824308] [-0.43146353 0.90199714 0.01550461 7.33876354] [ 0.1801078 0.0692871 0.98120359 -3.09892554] [ 0. 0. 0. 1. ]] SLAMing on 223.18800114499996 meters Centerline goodness [0,1] 0.645441061348935 Centerline is valid? [False, False] Translation: X:-7.81, Y:7.34, Z:-3.10 [[ 0.88291717 0.42906164 -0.19069186 -7.81092772] [-0.43381295 0.90081755 0.01827741 7.33785112] [ 0.17962071 0.06658715 0.98147978 -3.09836704] [ 0. 0. 0. 1. ]] SLAMing on 223.21800114499996 meters Centerline goodness [0,1] 0.6465346942135155 Centerline is valid? [False, False] Translation: X:-7.81, Y:7.34, Z:-3.10 [[ 0.88167084 0.43240123 -0.18890663 -7.81302886] [-0.43653573 0.8994333 0.02136101 7.33715675] [ 0.17914544 0.06363111 0.9817627 -3.09799909] [ 0. 0. 0. 1. ]] SLAMing on 223.24800114499996 meters Centerline goodness [0,1] 0.6181095060481794 Centerline is valid? [False, False] Translation: X:-7.84, Y:7.35, Z:-3.10 [[ 0.88066207 0.43381967 -0.19035443 -7.83525338] [-0.43785287 0.89876273 0.02259225 7.35203576] [ 0.18088443 0.0634511 0.98145544 -3.10223254] [ 0. 0. 0. 1. ]] SLAMing on 223.27800114499996 meters Centerline goodness [0,1] 0.6469628436293038 Centerline is valid? [False, False] Translation: X:-7.86, Y:7.37, Z:-3.11 [[ 0.88029747 0.43367341 -0.19236358 -7.85705247] [-0.43800041 0.89871248 0.02171436 7.36719662] [ 0.18229649 0.06514023 0.98108345 -3.1059856 ] [ 0. 0. 0. 1. ]] SLAMing on 223.30800114499996 meters Centerline goodness [0,1] 0.6611035562698315 Centerline is valid? [False, False] Translation: X:-7.86, Y:7.37, Z:-3.11 [[ 0.87929703 0.43639527 -0.19077708 -7.8596949 ] [-0.4402124 0.8975675 0.02419977 7.3670403 ] [ 0.18179597 0.06270365 0.98133505 -3.10516072] [ 0. 0. 0. 1. ]] SLAMing on 223.33800114499996 meters Centerline goodness [0,1] 0.6636378655212292 Centerline is valid? [False, False] Translation: X:-7.88, Y:7.38, Z:-3.11 [[ 0.87900487 0.43657733 -0.19170466 -7.88255974] [-0.44060383 0.89739609 0.02342081 7.3828356 ] [ 0.18226001 0.06387881 0.98117317 -3.10917472] [ 0. 0. 0. 1. ]] SLAMing on 223.36800114499997 meters Centerline goodness [0,1] 0.6537637509785341 Centerline is valid? [False, False] Translation: X:-7.88, Y:7.38, Z:-3.11 [[ 0.87774707 0.43983059 -0.19002401 -7.88372482] [-0.44326974 0.8960005 0.02636359 7.38295573] [ 0.18185712 0.06109133 0.98142541 -3.10908794] [ 0. 0. 0. 1. ]] SLAMing on 223.39800114499997 meters Centerline goodness [0,1] 0.6627494639617351 Centerline is valid? [False, False] Translation: X:-7.90, Y:7.40, Z:-3.11 [[ 0.87710399 0.43996068 -0.1926738 -7.90383307] [-0.44373475 0.8957953 0.02550006 7.39887715] [ 0.18381531 0.06312986 0.98093147 -3.11244226] [ 0. 0. 0. 1. ]] SLAMing on 223.42800114499997 meters Centerline goodness [0,1] 0.6720529965329372 Centerline is valid? [False, False] Translation: X:-7.93, Y:7.42, Z:-3.12 [[ 0.87640695 0.44062898 -0.1943115 -7.925486 ] [-0.44451381 0.89540715 0.02556383 7.41576122] [ 0.18525207 0.06396983 0.98060672 -3.11617572] [ 0. 0. 0. 1. ]] SLAMing on 223.45800114499997 meters Centerline goodness [0,1] 0.6741014319316634 Centerline is valid? [False, False] Translation: X:-7.94, Y:7.43, Z:-3.12 [[ 0.87387902 0.44304859 -0.20010851 -7.93847284] [-0.44758284 0.89390573 0.02453879 7.42859671] [ 0.18975002 0.0681212 0.9794664 -3.11716367] [ 0. 0. 0. 1. ]] SLAMing on 223.48800114499997 meters Centerline goodness [0,1] 0.6678487485052162 Centerline is valid? [False, False] Translation: X:-7.95, Y:7.44, Z:-3.12 [[ 0.87172304 0.44467751 -0.20581752 -7.95264999] [-0.44997733 0.8927445 0.02297085 7.44069908] [ 0.19395708 0.072589 0.97832075 -3.11809984] [ 0. 0. 0. 1. ]] SLAMing on 223.51800114499997 meters Centerline goodness [0,1] 0.671829243142916 Centerline is valid? [False, False] Translation: X:-7.97, Y:7.46, Z:-3.12 [[ 0.87078406 0.44601204 -0.20690187 -7.97449027] [-0.45136977 0.89203384 0.0232585 7.45766957] [ 0.19493704 0.07313611 0.9780852 -3.12219591] [ 0. 0. 0. 1. ]] SLAMing on 223.54800114499997 meters Centerline goodness [0,1] 0.6668796504318074 Centerline is valid? [False, False] Translation: X:-8.00, Y:7.48, Z:-3.13 [[ 0.86995926 0.44755621 -0.20703702 -7.99748161] [-0.45277572 0.89129618 0.02419233 7.47512574] [ 0.19535873 0.07269499 0.97803395 -3.12693728] [ 0. 0. 0. 1. ]] SLAMing on 223.57800114499997 meters Centerline goodness [0,1] 0.6932459718959905 Centerline is valid? [False, False] Translation: X:-8.02, Y:7.49, Z:-3.13 [[ 0.86869278 0.4493841 -0.20839093 -8.01822073] [-0.4544552 0.89039963 0.02567041 7.49442921] [ 0.19708708 0.07240464 0.97770867 -3.13148829] [ 0. 0. 0. 1. ]] SLAMing on 223.60800114499997 meters Centerline goodness [0,1] 0.69536000659617 Centerline is valid? [False, False] Translation: X:-8.04, Y:7.51, Z:-3.14 [[ 0.867542 0.45006826 -0.21168242 -8.0369638 ] [-0.45537555 0.88992445 0.02583746 7.51003838] [ 0.20000999 0.07397991 0.97699692 -3.13526935] [ 0. 0. 0. 1. ]] SLAMing on 223.63800114499998 meters Centerline goodness [0,1] 0.7261993382961125 Centerline is valid? [False, False] Translation: X:-8.05, Y:7.52, Z:-3.14 [[ 0.8658354 0.45103164 -0.21656296 -8.05255698] [-0.45698711 0.88913016 0.02470511 7.52333485] [ 0.20369544 0.07757592 0.97595602 -3.13771629] [ 0. 0. 0. 1. ]] SLAMing on 223.66800114499998 meters Centerline goodness [0,1] 0.705921297637274 Centerline is valid? [False, False] Translation: X:-8.07, Y:7.54, Z:-3.14 [[ 0.86460603 0.4515497 -0.2203617 -8.06960889] [-0.45790479 0.88866716 0.02436967 7.53811835] [ 0.20683232 0.07983452 0.97511376 -3.14210257] [ 0. 0. 0. 1. ]] SLAMing on 223.69800114499998 meters Centerline goodness [0,1] 0.7186570862239842 Centerline is valid? [False, False] Translation: X:-8.08, Y:7.56, Z:-3.14 [[ 0.86283543 0.45268409 -0.22492698 -8.08400235] [-0.45957101 0.88782032 0.02386543 7.55615009] [ 0.21049824 0.08277798 0.97408331 -3.14498517] [ 0. 0. 0. 1. ]] SLAMing on 223.72800114499998 meters Centerline goodness [0,1] 0.7151744378306879 Centerline is valid? [False, False] Translation: X:-8.11, Y:7.58, Z:-3.15 [[ 0.86353681 0.45264314 -0.22230242 -8.11234833] [-0.45900771 0.88807374 0.02523782 7.57935238] [ 0.20884466 0.08024474 0.97465106 -3.15221391] [ 0. 0. 0. 1. ]] SLAMing on 223.75800114499995 meters Centerline goodness [0,1] 0.7271618968901746 Centerline is valid? [False, False] Translation: X:-8.14, Y:7.60, Z:-3.16 [[ 0.86408437 0.45278451 -0.21987357 -8.1395984 ] [-0.45888141 0.8881299 0.02555653 7.60170549] [ 0.20684789 0.0788129 0.97519356 -3.15903253] [ 0. 0. 0. 1. ]] SLAMing on 223.78800114499995 meters Centerline goodness [0,1] 0.7271618968901746 Centerline is valid? [False, False] Translation: X:-8.17, Y:7.62, Z:-3.17 [[ 0.86468497 0.45264937 -0.21778074 -8.166416 ] [-0.45851525 0.88831147 0.02581673 7.6191231 ] [ 0.20514305 0.07753245 0.97565621 -3.16654493] [ 0. 0. 0. 1. ]] SLAMing on 223.81800114499995 meters Centerline goodness [0,1] 0.7364124819177515 Centerline is valid? [False, False] Translation: X:-8.19, Y:7.64, Z:-3.17 [[ 0.86472054 0.45357041 -0.21571341 -8.19067845] [-0.45951429 0.88782534 0.02475439 7.64406899] [ 0.20274369 0.07771777 0.97614289 -3.17138662] [ 0. 0. 0. 1. ]] SLAMing on 223.84800114499996 meters Centerline goodness [0,1] 0.7360109425516042 Centerline is valid? [False, False] Translation: X:-8.22, Y:7.66, Z:-3.18 [[ 0.86516896 0.45393262 -0.2131381 -8.21645941] [-0.45985374 0.88767316 0.02389352 7.66489516] [ 0.20004302 0.07734042 0.97672988 -3.17794585] [ 0. 0. 0. 1. ]] SLAMing on 223.87800114499996 meters Centerline goodness [0,1] 0.7174721962373973 Centerline is valid? [False, False] Translation: X:-8.25, Y:7.69, Z:-3.18 [[ 0.86611634 0.45318017 -0.21087962 -8.24528504] [-0.45887865 0.88817478 0.023999 7.68760917] [ 0.19817383 0.07598223 0.97721739 -3.18418987] [ 0. 0. 0. 1. ]] SLAMing on 223.90800114499996 meters Centerline goodness [0,1] 0.7299158857047442 Centerline is valid? [False, False] Translation: X:-8.27, Y:7.71, Z:-3.19 [[ 0.86717871 0.45271104 -0.20749411 -8.27162483] [-0.4586124 0.88837431 0.02158109 7.71095073] [ 0.19410244 0.07644471 0.97799819 -3.19026013] [ 0. 0. 0. 1. ]] SLAMing on 223.93800114499996 meters Centerline goodness [0,1] 0.7118863588886568 Centerline is valid? [False, False] Translation: X:-8.27, Y:7.71, Z:-3.19 [[ 0.86636207 0.45487772 -0.20616263 -8.27361513] [-0.46037443 0.88741749 0.02335775 7.71351112] [ 0.19357725 0.07467574 0.97823892 -3.18873058] [ 0. 0. 0. 1. ]] SLAMing on 223.96800114499996 meters Centerline goodness [0,1] 0.7131794302936436 Centerline is valid? [False, False] Translation: X:-8.30, Y:7.73, Z:-3.20 [[ 0.86727065 0.45414837 -0.20393843 -8.30062331] [-0.45960866 0.88783463 0.02257322 7.73499653] [ 0.1913152 0.07415478 0.97872344 -3.19526093] [ 0. 0. 0. 1. ]] SLAMing on 223.99800114499996 meters Centerline goodness [0,1] 0.7115994705548669 Centerline is valid? [False, False] Translation: X:-8.33, Y:7.76, Z:-3.20 [[ 0.86834448 0.45260661 -0.2027933 -8.32938616] [-0.4578379 0.88873529 0.02310951 7.75763794] [ 0.19068908 0.07277944 0.97894884 -3.20151455] [ 0. 0. 0. 1. ]] SLAMing on 224.02800114499996 meters Centerline goodness [0,1] 0.6999264474098981 Centerline is valid? [False, False] Translation: X:-8.35, Y:7.78, Z:-3.21 [[ 0.86933328 0.45078566 -0.20261275 -8.35492323] [-0.4561398 0.88963148 0.02218816 7.77839215] [ 0.19025279 0.07313083 0.97900754 -3.20804254] [ 0. 0. 0. 1. ]] SLAMing on 224.05800114499996 meters Centerline goodness [0,1] 0.7260046286555859 Centerline is valid? [False, False] Translation: X:-8.35, Y:7.78, Z:-3.21 [[ 0.86932111 0.45076797 -0.20270433 -8.35449966] [-0.45612883 0.88963712 0.02218744 7.77851156] [ 0.19033469 0.07317128 0.9789886 -3.20814939] [ 0. 0. 0. 1. ]] SLAMing on 224.08800114499996 meters Centerline goodness [0,1] 0.7047428751708907 Centerline is valid? [False, False] Translation: X:-8.38, Y:7.80, Z:-3.21 [[ 0.87013058 0.44997184 -0.20099281 -8.38233959] [-0.45525876 0.89009223 0.02180109 7.79743246] [ 0.18871202 0.07253394 0.97935009 -3.21460497] [ 0. 0. 0. 1. ]] SLAMing on 224.11800114499997 meters Centerline goodness [0,1] 0.7109386501777188 Centerline is valid? [False, False] Translation: X:-8.41, Y:7.81, Z:-3.22 [[ 0.87096422 0.44935564 -0.19874816 -8.40922036] [-0.4546637 0.89042189 0.02073115 7.81475973] [ 0.18628538 0.07230749 0.97983131 -3.22153081] [ 0. 0. 0. 1. ]] SLAMing on 224.14800114499997 meters Centerline goodness [0,1] 0.7070290297454898 Centerline is valid? [False, False] Translation: X:-8.44, Y:7.83, Z:-3.23 [[ 0.8718923 0.44832437 -0.19700019 -8.43839926] [-0.4533794 0.8910641 0.02125756 7.83405491] [ 0.18507008 0.07078153 0.98017297 -3.22805257] [ 0. 0. 0. 1. ]] SLAMing on 224.17800114499997 meters Centerline goodness [0,1] 0.7003788676068197 Centerline is valid? [False, False] Translation: X:-8.47, Y:7.85, Z:-3.23 [[ 0.87274601 0.44713171 -0.19592761 -8.46628859] [-0.45207837 0.89172443 0.02127663 7.85269146] [ 0.1842269 0.07000554 0.98038751 -3.23430521] [ 0. 0. 0. 1. ]] SLAMing on 224.20800114499997 meters Centerline goodness [0,1] 0.693330523653988 Centerline is valid? [False, False] Translation: X:-8.49, Y:7.87, Z:-3.24 [[ 0.87366438 0.44582855 -0.19480105 -8.49497128] [-0.45060509 0.89246207 0.02159871 7.87116126] [ 0.18348188 0.06890832 0.98060494 -3.24046335] [ 0. 0. 0. 1. ]] SLAMing on 224.23800114499997 meters Centerline goodness [0,1] 0.7215839750873206 Centerline is valid? [False, False] Translation: X:-8.50, Y:7.87, Z:-3.24 [[ 0.87372051 0.44578896 -0.19463983 -8.49607729] [-0.45047721 0.89251672 0.02200434 7.86901773] [ 0.18352859 0.06845517 0.98062793 -3.24075558] [ 0. 0. 0. 1. ]] SLAMing on 224.26800114499997 meters Centerline goodness [0,1] 0.7234807094225435 Centerline is valid? [False, False] Translation: X:-8.50, Y:7.87, Z:-3.24 [[ 0.87368225 0.44590966 -0.1945351 -8.49662348] [-0.45053599 0.89247948 0.0223092 7.86761345] [ 0.18356647 0.06815391 0.98064183 -3.24097973] [ 0. 0. 0. 1. ]] SLAMing on 224.29800114499997 meters Centerline goodness [0,1] 0.7210887215514703 Centerline is valid? [False, False] Translation: X:-8.50, Y:7.87, Z:-3.24 [[ 0.87259294 0.44876169 -0.19285877 -8.49934524] [-0.4528008 0.89125682 0.0251538 7.86588009] [ 0.18317476 0.06537757 0.98090406 -3.24065579] [ 0. 0. 0. 1. ]] SLAMing on 224.32800114499997 meters Centerline goodness [0,1] 0.7233711643547709 Centerline is valid? [False, False] Translation: X:-8.50, Y:7.86, Z:-3.24 [[ 0.8724658 0.44899783 -0.19288436 -8.49943498] [-0.45297977 0.89115614 0.0254962 7.86495361] [ 0.18333782 0.06512816 0.98089019 -3.24057516] [ 0. 0. 0. 1. ]] SLAMing on 224.35800114499997 meters Centerline goodness [0,1] 0.7104418092139784 Centerline is valid? [False, False] Translation: X:-8.53, Y:7.88, Z:-3.24 [[ 0.87196821 0.45030872 -0.19207681 -8.52502808] [-0.45450031 0.89041714 0.02422359 7.88012916] [ 0.18193658 0.06617677 0.98108089 -3.24343119] [ 0. 0. 0. 1. ]] SLAMing on 224.38800114499998 meters Centerline goodness [0,1] 0.7038480068706927 Centerline is valid? [False, False] Translation: X:-8.55, Y:7.90, Z:-3.25 [[ 0.87249116 0.45078217 -0.18855929 -8.55449402] [-0.45484211 0.89025705 0.02368637 7.89883221] [ 0.17854363 0.06509855 0.98177612 -3.24885187] [ 0. 0. 0. 1. ]] SLAMing on 224.41800114499998 meters Centerline goodness [0,1] 0.7423401840877569 Centerline is valid? [False, False] Translation: X:-8.56, Y:7.90, Z:-3.25 [[ 0.87137828 0.45365026 -0.18681898 -8.55782974] [-0.45719638 0.88897973 0.02620125 7.8989311 ] [ 0.17796449 0.06258176 0.98204489 -3.24729886] [ 0. 0. 0. 1. ]] SLAMing on 224.44800114499998 meters Centerline goodness [0,1] 0.7405896260958718 Centerline is valid? [False, False] Translation: X:-8.56, Y:7.90, Z:-3.25 [[ 0.87113462 0.4541865 -0.18665233 -8.55903252] [-0.45767608 0.88872361 0.02651339 7.89794136] [ 0.17792435 0.06232958 0.9820682 -3.24648842] [ 0. 0. 0. 1. ]] SLAMing on 224.47800114499998 meters Centerline goodness [0,1] 0.7474690428380187 Centerline is valid? [False, False] Translation: X:-8.58, Y:7.91, Z:-3.25 [[ 0.86951457 0.45502409 -0.19208721 -8.57581001] [-0.45950196 0.88787321 0.02321889 7.90881401] [ 0.18111425 0.06807528 0.98110315 -3.24594009] [ 0. 0. 0. 1. ]] SLAMing on 224.50800114499995 meters Centerline goodness [0,1] 0.7370754559143383 Centerline is valid? [False, False] Translation: X:-8.60, Y:7.93, Z:-3.25 [[ 0.86988107 0.45501822 -0.19043463 -8.60374519] [-0.45937389 0.88793866 0.02325008 7.92567044] [ 0.17967348 0.06725589 0.98142452 -3.25150098] [ 0. 0. 0. 1. ]] SLAMing on 224.53800114499995 meters Centerline goodness [0,1] 0.7519342662301098 Centerline is valid? [False, False] Translation: X:-8.63, Y:7.94, Z:-3.26 [[ 0.86912871 0.45564978 -0.19235008 -8.62657153] [-0.46011235 0.88755033 0.02347416 7.93887518] [ 0.18141637 0.06810058 0.98104557 -3.25520894] [ 0. 0. 0. 1. ]] SLAMing on 224.56800114499995 meters Centerline goodness [0,1] 0.7447480519480519 Centerline is valid? [False, False] Translation: X:-8.65, Y:7.95, Z:-3.26 [[ 0.86868458 0.45615051 -0.19316781 -8.65034856] [-0.46072797 0.88723745 0.02322607 7.95373306] [ 0.1819803 0.06882168 0.98089079 -3.25896065] [ 0. 0. 0. 1. ]] SLAMing on 224.59800114499996 meters Centerline goodness [0,1] 0.7551546391752577 Centerline is valid? [False, False] Translation: X:-8.68, Y:7.97, Z:-3.26 [[ 0.86924349 0.45579821 -0.19147781 -8.67834456] [-0.46029706 0.88746803 0.02295893 7.97115366] [ 0.18039508 0.06817977 0.98122838 -3.26439524] [ 0. 0. 0. 1. ]] SLAMing on 224.62800114499996 meters Centerline goodness [0,1] 0.7543343011198673 Centerline is valid? [False, False] Translation: X:-8.70, Y:7.99, Z:-3.27 [[ 0.86906843 0.45570275 -0.19249693 -8.70228883] [-0.46040512 0.88743032 0.02223869 7.98540255] [ 0.18096184 0.06929962 0.98104555 -3.26816404] [ 0. 0. 0. 1. ]] SLAMing on 224.65800114499996 meters Centerline goodness [0,1] 0.7374359612552631 Centerline is valid? [False, False] Translation: X:-8.73, Y:8.00, Z:-3.27 [[ 0.86962052 0.45522751 -0.19112314 -8.73060892] [-0.45969385 0.88778127 0.02293419 8.00083662] [ 0.18011582 0.06791409 0.9812981 -3.27411861] [ 0. 0. 0. 1. ]] SLAMing on 224.68800114499996 meters Centerline goodness [0,1] 0.729345732452416 Centerline is valid? [False, False] Translation: X:-8.76, Y:8.01, Z:-3.28 [[ 0.87041008 0.45353464 -0.19155321 -8.75810492] [-0.45789178 0.8886973 0.02349939 8.0133421 ] [ 0.18089061 0.06725654 0.98120087 -3.28042412] [ 0. 0. 0. 1. ]] SLAMing on 224.71800114499996 meters Centerline goodness [0,1] 0.7498709717376495 Centerline is valid? [False, False] Translation: X:-8.78, Y:8.03, Z:-3.29 [[ 0.87050065 0.45287269 -0.1927043 -8.78122133] [-0.45751802 0.88892057 0.02230419 8.02611363] [ 0.18139978 0.06874988 0.98100335 -3.28531899] [ 0. 0. 0. 1. ]] SLAMing on 224.74800114499996 meters Centerline goodness [0,1] 0.7475974951949904 Centerline is valid? [False, False] Translation: X:-8.81, Y:8.04, Z:-3.29 [[ 0.87153737 0.45111302 -0.19214489 -8.80895865] [-0.45553408 0.88991854 0.02310166 8.04206175] [ 0.18141476 0.06739459 0.98109462 -3.29233647] [ 0. 0. 0. 1. ]] SLAMing on 224.77800114499996 meters Centerline goodness [0,1] 0.7247496128033041 Centerline is valid? [False, False] Translation: X:-8.84, Y:8.06, Z:-3.30 [[ 0.87296253 0.44853978 -0.19169894 -8.83738495] [-0.45270931 0.89133508 0.02400107 8.05681164] [ 0.18163342 0.06583185 0.98116027 -3.30008198] [ 0. 0. 0. 1. ]] SLAMing on 224.80800114499996 meters Centerline goodness [0,1] 0.7490604220873085 Centerline is valid? [False, False] Translation: X:-8.86, Y:8.07, Z:-3.31 [[ 0.87366069 0.44760553 -0.19069947 -8.86323394] [-0.45182756 0.89180255 0.0232396 8.07170988] [ 0.18046845 0.06585976 0.98137334 -3.30625004] [ 0. 0. 0. 1. ]] SLAMing on 224.83800114499996 meters Centerline goodness [0,1] 0.7248405276521954 Centerline is valid? [False, False] Translation: X:-8.89, Y:8.09, Z:-3.31 [[ 0.87496117 0.44561982 -0.18938301 -8.89266254] [-0.44970975 0.89287212 0.02324891 8.08896836] [ 0.17945499 0.06482549 0.98162802 -3.31237161] [ 0. 0. 0. 1. ]] SLAMing on 224.86800114499997 meters Centerline goodness [0,1] 0.7048119526017517 Centerline is valid? [False, False] Translation: X:-8.92, Y:8.10, Z:-3.32 [[ 0.87647477 0.44338626 -0.18761825 -8.92271073] [-0.44738152 0.8940507 0.02287188 8.10414693] [ 0.1778813 0.06389031 0.9819757 -3.31886706] [ 0. 0. 0. 1. ]] SLAMing on 224.89800114499997 meters Centerline goodness [0,1] 0.7308448343644602 Centerline is valid? [False, False] Translation: X:-8.95, Y:8.12, Z:-3.32 [[ 0.87747851 0.44256582 -0.18484308 -8.95356009] [-0.4462225 0.89460931 0.02365707 8.12153462] [ 0.17583215 0.06172257 0.98248327 -3.32478083] [ 0. 0. 0. 1. ]] SLAMing on 224.92800114499997 meters Centerline goodness [0,1] 0.70327310273619 Centerline is valid? [False, False] Translation: X:-8.98, Y:8.14, Z:-3.33 [[ 0.87771925 0.44298682 -0.18267894 -8.97827879] [-0.44694913 0.89430837 0.02118998 8.13535238] [ 0.17275819 0.06304935 0.98294424 -3.32949592] [ 0. 0. 0. 1. ]] SLAMing on 224.95800114499997 meters Centerline goodness [0,1] 0.7286294395316719 Centerline is valid? [False, False] Translation: X:-9.00, Y:8.15, Z:-3.33 [[ 0.87787249 0.44375039 -0.18007075 -9.00439101] [-0.44780233 0.89391383 0.01977707 8.14996192] [ 0.16974381 0.06327436 0.98345483 -3.33388949] [ 0. 0. 0. 1. ]] SLAMing on 224.98800114499997 meters Centerline goodness [0,1] 0.7057354034189446 Centerline is valid? [False, False] Translation: X:-9.04, Y:8.17, Z:-3.34 [[ 0.87845308 0.44455044 -0.17520013 -9.03514193] [-0.44832223 0.89365572 0.01966323 8.16754836] [ 0.16530989 0.06127289 0.98433646 -3.33913341] [ 0. 0. 0. 1. ]] SLAMing on 225.01800114499997 meters Centerline goodness [0,1] 0.7342087903026304 Centerline is valid? [False, False] Translation: X:-9.06, Y:8.18, Z:-3.34 [[ 0.87830906 0.44537261 -0.17382874 -9.0604962 ] [-0.44921484 0.89322584 0.01880506 8.18194518] [ 0.16364358 0.06156979 0.98459633 -3.34314421] [ 0. 0. 0. 1. ]] SLAMing on 225.04800114499997 meters Centerline goodness [0,1] 0.7385410872834395 Centerline is valid? [False, False] Translation: X:-9.09, Y:8.20, Z:-3.35 [[ 0.87817996 0.4463412 -0.17198689 -9.08509579] [-0.45025034 0.89272518 0.01778739 8.19510405] [ 0.16147627 0.06181662 0.98493864 -3.34807819] [ 0. 0. 0. 1. ]] SLAMing on 225.07800114499997 meters Centerline goodness [0,1] 0.7322399868139113 Centerline is valid? [False, False] Translation: X:-9.11, Y:8.21, Z:-3.35 [[ 0.87864096 0.44620926 -0.16996282 -9.11268273] [-0.44999898 0.89285324 0.01772066 8.21038757] [ 0.15965898 0.060913 0.98529113 -3.35336897] [ 0. 0. 0. 1. ]] SLAMing on 225.10800114499997 meters Centerline goodness [0,1] 0.7194624232180402 Centerline is valid? [False, False] Translation: X:-9.14, Y:8.23, Z:-3.36 [[ 0.87932519 0.44587389 -0.16728326 -9.141741 ] [-0.44942629 0.89313341 0.01813096 8.22643835] [ 0.15749039 0.05923848 0.98574215 -3.35901192] [ 0. 0. 0. 1. ]] SLAMing on 225.13800114499998 meters Centerline goodness [0,1] 0.724092517902708 Centerline is valid? [False, False] Translation: X:-9.17, Y:8.24, Z:-3.36 [[ 0.8800186 0.4448226 -0.1664335 -9.16842866] [-0.44832956 0.89368731 0.0179889 8.23817608] [ 0.15674138 0.05878649 0.98588858 -3.36494608] [ 0. 0. 0. 1. ]] SLAMing on 225.16800114499998 meters Centerline goodness [0,1] 0.7203823760168477 Centerline is valid? [False, False] Translation: X:-9.20, Y:8.25, Z:-3.37 [[ 0.88111907 0.44358151 -0.16390435 -9.19856793] [-0.44673645 0.8944607 0.01914671 8.25456682] [ 0.15509912 0.05635152 0.98629041 -3.37124827] [ 0. 0. 0. 1. ]] SLAMing on 225.19800114499998 meters Centerline goodness [0,1] 0.7124165499052172 Centerline is valid? [False, False] Translation: X:-9.23, Y:8.27, Z:-3.38 [[ 0.88203048 0.44285228 -0.16094744 -9.22641765] [-0.44588237 0.89489433 0.01878968 8.27038239] [ 0.152352 0.05519056 0.9867841 -3.3776666 ] [ 0. 0. 0. 1. ]] SLAMing on 225.22800114499998 meters Centerline goodness [0,1] 0.71025281478121 Centerline is valid? [False, False] Translation: X:-9.26, Y:8.29, Z:-3.38 [[ 0.88350638 0.44093726 -0.15808479 -9.25732333] [-0.44368046 0.89597409 0.01944425 8.28666051] [ 0.15021357 0.05296002 0.98723408 -3.38394839] [ 0. 0. 0. 1. ]] SLAMing on 225.25800114499995 meters Centerline goodness [0,1] 0.6997255411791412 Centerline is valid? [False, False] Translation: X:-9.28, Y:8.30, Z:-3.39 [[ 0.88373812 0.44030424 -0.15855319 -9.28169247] [-0.44315501 0.89624685 0.01884738 8.30013021] [ 0.15040138 0.05360749 0.98717053 -3.38823469] [ 0. 0. 0. 1. ]] SLAMing on 225.28800114499995 meters Centerline goodness [0,1] 0.695280211605224 Centerline is valid? [False, False] Translation: X:-9.31, Y:8.32, Z:-3.39 [[ 0.88442892 0.43909651 -0.15804981 -9.30910866] [-0.44178759 0.89690547 0.01960362 8.31533381] [ 0.15036362 0.05248644 0.98723652 -3.3938353 ] [ 0. 0. 0. 1. ]] SLAMing on 225.31800114499995 meters Centerline goodness [0,1] 0.7219434636271655 Centerline is valid? [False, False] Translation: X:-9.31, Y:8.31, Z:-3.39 [[ 0.88432352 0.43933292 -0.15798257 -9.309194 ] [-0.44195218 0.896814 0.02007311 8.31368818] [ 0.15049975 0.05206962 0.98723785 -3.3942944 ] [ 0. 0. 0. 1. ]] SLAMing on 225.34800114499996 meters Centerline goodness [0,1] 0.6906529719919152 Centerline is valid? [False, False] Translation: X:-9.33, Y:8.33, Z:-3.40 [[ 0.88411176 0.43890281 -0.16034564 -9.33162321] [-0.44161295 0.89697664 0.02027101 8.32770353] [ 0.15272329 0.05288887 0.98685276 -3.3980216 ] [ 0. 0. 0. 1. ]] SLAMing on 225.37800114499996 meters Centerline goodness [0,1] 0.7227423988755917 Centerline is valid? [False, False] Translation: X:-9.36, Y:8.34, Z:-3.40 [[ 0.88397815 0.43957084 -0.15924858 -9.35658369] [-0.44213457 0.89670522 0.02089915 8.34342855] [ 0.15198569 0.05193491 0.98701728 -3.40315262] [ 0. 0. 0. 1. ]] SLAMing on 225.40800114499996 meters Centerline goodness [0,1] 0.7256869723555703 Centerline is valid? [False, False] Translation: X:-9.38, Y:8.36, Z:-3.41 [[ 0.88376717 0.44017097 -0.15876115 -9.38155642] [-0.44264726 0.89644149 0.02135537 8.3597187 ] [ 0.1517201 0.05140201 0.98708604 -3.40707386] [ 0. 0. 0. 1. ]] SLAMing on 225.43800114499996 meters Centerline goodness [0,1] 0.7307684373388345 Centerline is valid? [False, False] Translation: X:-9.38, Y:8.36, Z:-3.41 [[ 0.88260441 0.44309785 -0.15707882 -9.38416761] [-0.44512348 0.89514751 0.02400067 8.35978043] [ 0.15124336 0.04873637 0.98729439 -3.40591329] [ 0. 0. 0. 1. ]] SLAMing on 225.46800114499996 meters Centerline goodness [0,1] 0.7207883235754927 Centerline is valid? [False, False] Translation: X:-9.41, Y:8.37, Z:-3.41 [[ 0.88237306 0.44364297 -0.15683975 -9.40737589] [-0.44606928 0.89474393 0.0213424 8.37440427] [ 0.14979982 0.05112944 0.98739343 -3.40838987] [ 0. 0. 0. 1. ]] SLAMing on 225.49800114499996 meters Centerline goodness [0,1] 0.7183881999093569 Centerline is valid? [False, False] Translation: X:-9.43, Y:8.39, Z:-3.41 [[ 0.88224942 0.44460825 -0.15478847 -9.43292643] [-0.44716624 0.89423091 0.01983535 8.39018567] [ 0.14723559 0.05171646 0.98774849 -3.4116298 ] [ 0. 0. 0. 1. ]] SLAMing on 225.52800114499996 meters Centerline goodness [0,1] 0.7406796096474035 Centerline is valid? [False, False] Translation: X:-9.46, Y:8.41, Z:-3.41 [[ 0.88224076 0.44528895 -0.15286921 -9.45805364] [-0.44806933 0.89382371 0.01769348 8.40620891] [ 0.14451683 0.0528861 0.98808803 -3.41484311] [ 0. 0. 0. 1. ]] SLAMing on 225.55800114499996 meters Centerline goodness [0,1] 0.7477074665176261 Centerline is valid? [False, False] Translation: X:-9.49, Y:8.42, Z:-3.42 [[ 0.88263321 0.44557913 -0.14972589 -9.48725141] [-0.44820433 0.89375729 0.01762936 8.42489675] [ 0.14167389 0.05154753 0.98857036 -3.41870195] [ 0. 0. 0. 1. ]] SLAMing on 225.58800114499996 meters Centerline goodness [0,1] 0.715133286638375 Centerline is valid? [False, False] Translation: X:-9.49, Y:8.43, Z:-3.42 [[ 0.88186437 0.44749282 -0.14854432 -9.48984405] [-0.44982783 0.89290464 0.01939678 8.42536973] [ 0.14131583 0.04971404 0.98871551 -3.41721303] [ 0. 0. 0. 1. ]] SLAMing on 225.61800114499997 meters Centerline goodness [0,1] 0.740267238535137 Centerline is valid? [False, False] Translation: X:-9.52, Y:8.44, Z:-3.42 [[ 0.88202749 0.44765813 -0.14707042 -9.51581122] [-0.45004739 0.89281302 0.01850023 8.44202596] [ 0.13958817 0.04987095 0.988953 -3.42062109] [ 0. 0. 0. 1. ]] SLAMing on 225.64800114499997 meters Centerline goodness [0,1] 0.7273308185434832 Centerline is valid? [False, False] Translation: X:-9.54, Y:8.46, Z:-3.42 [[ 0.88238711 0.44720175 -0.14629961 -9.54144719] [-0.44967044 0.89302083 0.01761504 8.45872076] [ 0.13852607 0.05024333 0.98908348 -3.42404807] [ 0. 0. 0. 1. ]] SLAMing on 225.67800114499997 meters Centerline goodness [0,1] 0.7159858342941855 Centerline is valid? [False, False] Translation: X:-9.57, Y:8.47, Z:-3.43 [[ 0.88262145 0.44660895 -0.14669634 -9.56536511] [-0.44920416 0.89327103 0.01680756 8.47390493] [ 0.138546 0.0510619 0.98903877 -3.42811159] [ 0. 0. 0. 1. ]] SLAMing on 225.70800114499997 meters Centerline goodness [0,1] 0.7159858342941855 Centerline is valid? [False, False] Translation: X:-9.57, Y:8.47, Z:-3.43 [[ 0.88262145 0.44660895 -0.14669634 -9.56536511] [-0.44920416 0.89327103 0.01680756 8.47390493] [ 0.138546 0.0510619 0.98903877 -3.42811159] [ 0. 0. 0. 1. ]] SLAMing on 225.73800114499997 meters Centerline goodness [0,1] 0.7321494864496968 Centerline is valid? [False, False] Translation: X:-9.59, Y:8.49, Z:-3.43 [[ 0.88328917 0.44561315 -0.1457023 -9.59191508] [-0.4482087 0.89377944 0.01634829 8.49046577] [ 0.13751074 0.05086477 0.98919339 -3.4328684 ] [ 0. 0. 0. 1. ]] SLAMing on 225.76800114499997 meters Centerline goodness [0,1] 0.7153038105046343 Centerline is valid? [False, False] Translation: X:-9.62, Y:8.51, Z:-3.44 [[ 0.8846118 0.44365543 -0.14363784 -9.62079204] [-0.44624444 0.89477766 0.01545464 8.50931038] [ 0.13538046 0.05042623 0.98950964 -3.43794031] [ 0. 0. 0. 1. ]] SLAMing on 225.79800114499997 meters Centerline goodness [0,1] 0.705331219240986 Centerline is valid? [False, False] Translation: X:-9.63, Y:8.51, Z:-3.44 [[ 0.88457319 0.44508607 -0.13938676 -9.62692596] [-0.44709235 0.89430003 0.0183273 8.51133546] [ 0.13281082 0.04610691 0.9900684 -3.44051455] [ 0. 0. 0. 1. ]] SLAMing on 225.82800114499997 meters Centerline goodness [0,1] 0.7388110517301859 Centerline is valid? [False, False] Translation: X:-9.63, Y:8.51, Z:-3.44 [[ 0.88396184 0.44727194 -0.13623243 -9.63093397] [-0.4488098 0.89338174 0.02094835 8.51272723] [ 0.13107717 0.04262491 0.9904554 -3.44143556] [ 0. 0. 0. 1. ]] SLAMing on 225.85800114499997 meters Centerline goodness [0,1] 0.701152981457418 Centerline is valid? [False, False] Translation: X:-9.66, Y:8.53, Z:-3.44 [[ 0.88441214 0.44650983 -0.13580921 -9.65719169] [-0.44800775 0.89378181 0.0210507 8.53213521] [ 0.13078314 0.04222608 0.99051135 -3.44497895] [ 0. 0. 0. 1. ]] SLAMing on 225.88800114499998 meters Centerline goodness [0,1] 0.7348264554847491 Centerline is valid? [False, False] Translation: X:-9.66, Y:8.53, Z:-3.45 [[ 0.88331203 0.44944087 -0.13327705 -9.66010775] [-0.45045092 0.89247317 0.02419923 8.5313941 ] [ 0.12982231 0.0386593 0.99078334 -3.44551459] [ 0. 0. 0. 1. ]] SLAMing on 225.91800114499998 meters Centerline goodness [0,1] 0.7160718345078427 Centerline is valid? [False, False] Translation: X:-9.68, Y:8.55, Z:-3.45 [[ 0.88316472 0.44885062 -0.1362101 -9.68128154] [-0.45018521 0.89264914 0.02260053 8.54665752] [ 0.13173209 0.04135978 0.99042215 -3.44752303] [ 0. 0. 0. 1. ]] SLAMing on 225.94800114499998 meters Centerline goodness [0,1] 0.7368627531952675 Centerline is valid? [False, False] Translation: X:-9.68, Y:8.55, Z:-3.45 [[ 0.88306079 0.44903035 -0.13629156 -9.6807291 ] [-0.45035982 0.89255906 0.02267945 8.54663974] [ 0.13183203 0.04135291 0.99040913 -3.44767236] [ 0. 0. 0. 1. ]] SLAMing on 225.97800114499998 meters Centerline goodness [0,1] 0.71633970749015 Centerline is valid? [False, False] Translation: X:-9.70, Y:8.56, Z:-3.45 [[ 0.88240814 0.450225 -0.13657714 -9.70417179] [-0.4517555 0.89188615 0.02135576 8.56477552] [ 0.13142616 0.04285498 0.99039922 -3.44854772] [ 0. 0. 0. 1. ]] SLAMing on 226.00800114499995 meters Centerline goodness [0,1] 0.7191205890238621 Centerline is valid? [False, False] Translation: X:-9.73, Y:8.58, Z:-3.45 [[ 0.88209915 0.45077399 -0.13676222 -9.72797746] [-0.45245843 0.89155441 0.02030046 8.58259952] [ 0.13108188 0.0439722 0.99039587 -3.45053533] [ 0. 0. 0. 1. ]] SLAMing on 226.03800114499995 meters Centerline goodness [0,1] 0.7348303475604723 Centerline is valid? [False, False] Translation: X:-9.73, Y:8.58, Z:-3.45 [[ 0.88132711 0.45321713 -0.13362918 -9.73185674] [-0.45446369 0.89047344 0.02279929 8.58440164] [ 0.12932626 0.04063598 0.99076911 -3.45115099] [ 0. 0. 0. 1. ]] SLAMing on 226.06800114499995 meters Centerline goodness [0,1] 0.7167976830781961 Centerline is valid? [False, False] Translation: X:-9.75, Y:8.60, Z:-3.45 [[ 0.8809702 0.45317944 -0.13608788 -9.75300752] [-0.45472856 0.89037553 0.02129196 8.59959877] [ 0.1308184 0.04312546 0.99046794 -3.45298454] [ 0. 0. 0. 1. ]] SLAMing on 226.09800114499996 meters Centerline goodness [0,1] 0.7360896524730651 Centerline is valid? [False, False] Translation: X:-9.75, Y:8.60, Z:-3.45 [[ 0.88103082 0.45304721 -0.13613568 -9.75322064] [-0.45464409 0.89042712 0.02093549 8.60027095] [ 0.13070366 0.04344847 0.99046897 -3.45259127] [ 0. 0. 0. 1. ]] SLAMing on 226.12800114499996 meters Centerline goodness [0,1] 0.7506235956214311 Centerline is valid? [False, False] Translation: X:-9.75, Y:8.60, Z:-3.45 [[ 0.88100886 0.4530298 -0.13633559 -9.75282078] [-0.45465207 0.89042601 0.02080903 8.60083429] [ 0.13082386 0.04365232 0.99044414 -3.45224337] [ 0. 0. 0. 1. ]] SLAMing on 226.15800114499996 meters Centerline goodness [0,1] 0.7500981100898482 Centerline is valid? [False, False] Translation: X:-9.78, Y:8.62, Z:-3.46 [[ 0.88093258 0.45325627 -0.13607549 -9.77733558] [-0.45494211 0.89029059 0.02025692 8.61758596] [ 0.13032831 0.04406149 0.99049135 -3.45520043] [ 0. 0. 0. 1. ]] SLAMing on 226.18800114499996 meters Centerline goodness [0,1] 0.7395463917525773 Centerline is valid? [False, False] Translation: X:-9.78, Y:8.62, Z:-3.46 [[ 0.88123506 0.45411739 -0.13115701 -9.78405334] [-0.45511334 0.89010911 0.02403374 8.62159687] [ 0.12765819 0.03851193 0.99107024 -3.45964103] [ 0. 0. 0. 1. ]] SLAMing on 226.21800114499996 meters Centerline goodness [0,1] 0.7405458934208083 Centerline is valid? [False, False] Translation: X:-9.81, Y:8.64, Z:-3.46 [[ 0.88145717 0.45288979 -0.13388086 -9.80689921] [-0.45418803 0.89062275 0.02245771 8.63920598] [ 0.12940821 0.04101157 0.99074294 -3.46092722] [ 0. 0. 0. 1. ]] SLAMing on 226.24800114499996 meters Centerline goodness [0,1] 0.7364433894106719 Centerline is valid? [False, False] Translation: X:-9.83, Y:8.66, Z:-3.46 [[ 0.88159779 0.45183292 -0.13650037 -9.8296136 ] [-0.45340545 0.89105356 0.02114349 8.65646231] [ 0.13118247 0.04324996 0.99041436 -3.46242503] [ 0. 0. 0. 1. ]] SLAMing on 226.27800114499996 meters Centerline goodness [0,1] 0.7369007803790413 Centerline is valid? [False, False] Translation: X:-9.85, Y:8.67, Z:-3.47 [[ 0.88201368 0.45013413 -0.13939564 -9.85173417] [-0.45203629 0.89178593 0.01952062 8.67291464] [ 0.13309797 0.04579444 0.99004434 -3.46503582] [ 0. 0. 0. 1. ]] SLAMing on 226.30800114499996 meters Centerline goodness [0,1] 0.7328799685814094 Centerline is valid? [False, False] Translation: X:-9.88, Y:8.69, Z:-3.47 [[ 0.88309769 0.4480226 -0.13933489 -9.87854546] [-0.44995655 0.89284641 0.01908911 8.69188305] [ 0.13295701 0.0458371 0.99006131 -3.46959166] [ 0. 0. 0. 1. ]] SLAMing on 226.33800114499996 meters Centerline goodness [0,1] 0.7201543349977304 Centerline is valid? [False, False] Translation: X:-9.88, Y:8.69, Z:-3.47 [[ 0.88224437 0.45007767 -0.13811217 -9.88003401] [-0.45166479 0.8919304 0.02142632 8.69173222] [ 0.13282995 0.04347715 0.9901848 -3.469088 ] [ 0. 0. 0. 1. ]] SLAMing on 226.36800114499997 meters Centerline goodness [0,1] 0.7234279354479689 Centerline is valid? [False, False] Translation: X:-9.89, Y:8.70, Z:-3.47 [[ 0.88275116 0.45055993 -0.13321468 -9.88727255] [-0.45147319 0.89193419 0.02500717 8.69510061] [ 0.13008595 0.03806775 0.99077166 -3.47364032] [ 0. 0. 0. 1. ]] SLAMing on 226.39800114499997 meters Centerline goodness [0,1] 0.7188016870658287 Centerline is valid? [False, False] Translation: X:-9.91, Y:8.72, Z:-3.48 [[ 0.88402787 0.44757674 -0.13479539 -9.91397029] [-0.44868374 0.89337433 0.0237741 8.71795319] [ 0.13106347 0.03946353 0.99058821 -3.47578263] [ 0. 0. 0. 1. ]] SLAMing on 226.42800114499997 meters Centerline goodness [0,1] 0.6983632915567282 Centerline is valid? [False, False] Translation: X:-9.92, Y:8.72, Z:-3.47 [[ 0.88293009 0.45018817 -0.13328565 -9.9152902 ] [-0.45095607 0.89216437 0.02610308 8.71975917] [ 0.13066401 0.03705877 0.99073385 -3.47474347] [ 0. 0. 0. 1. ]] SLAMing on 226.45800114499997 meters Centerline goodness [0,1] 0.7320273554978782 Centerline is valid? [False, False] Translation: X:-9.92, Y:8.72, Z:-3.47 [[ 0.88180406 0.45279493 -0.13190278 -9.91654777] [-0.45324514 0.89093541 0.02833624 8.72173487] [ 0.13034737 0.03479728 0.99085756 -3.47335914] [ 0. 0. 0. 1. ]] SLAMing on 226.48800114499997 meters Centerline goodness [0,1] 0.7183949522650885 Centerline is valid? [False, False] Translation: X:-9.93, Y:8.74, Z:-3.47 [[ 0.88068992 0.45341334 -0.13711899 -9.93310432] [-0.45447579 0.89040015 0.02528502 8.73714168] [ 0.13355533 0.040049 0.99023182 -3.47212489] [ 0. 0. 0. 1. ]] SLAMing on 226.51800114499997 meters Centerline goodness [0,1] 0.708343644312464 Centerline is valid? [False, False] Translation: X:-9.96, Y:8.76, Z:-3.47 [[ 0.88057395 0.45317573 -0.13864084 -9.95662018] [-0.45454798 0.89041359 0.02344709 8.75897409] [ 0.13407334 0.04237202 0.99006513 -3.47241879] [ 0. 0. 0. 1. ]] SLAMing on 226.54800114499997 meters Centerline goodness [0,1] 0.7195581841036949 Centerline is valid? [False, False] Translation: X:-9.98, Y:8.78, Z:-3.47 [[ 0.88025199 0.45313607 -0.14079821 -9.97805181] [-0.45485423 0.89030372 0.02160815 8.77667977] [ 0.1351446 0.04502205 0.98980248 -3.47389568] [ 0. 0. 0. 1. ]] SLAMing on 226.57800114499997 meters Centerline goodness [0,1] 0.728421052631579 Centerline is valid? [False, False] Translation: X:-10.00, Y:8.80, Z:-3.48 [[ 0.88063943 0.45264169 -0.13996324 -10.00464152] [ -0.45435643 0.89056504 0.02131041 8.79717045] [ 0.13429235 0.04482641 0.98992735 -3.47753802] [ 0. 0. 0. 1. ]] SLAMing on 226.60800114499997 meters Centerline goodness [0,1] 0.7277426529645571 Centerline is valid? [False, False] Translation: X:-10.00, Y:8.80, Z:-3.48 [[ 0.87940901 0.45545188 -0.13857626 -10.00434052] [ -0.45684581 0.88923665 0.02345412 8.80053642] [ 0.13390931 0.04268221 0.990074 -3.4768911 ] [ 0. 0. 0. 1. ]] SLAMing on 226.63800114499998 meters Centerline goodness [0,1] 0.7506250387420708 Centerline is valid? [False, False] Translation: X:-10.01, Y:8.80, Z:-3.48 [[ 0.87811948 0.45844455 -0.13687507 -10.00531377] [ -0.45942828 0.88782817 0.02620684 8.80145555] [ 0.13353593 0.03987154 0.9902416 -3.47651374] [ 0. 0. 0. 1. ]] SLAMing on 226.66800114499998 meters Centerline goodness [0,1] 0.7181237202953403 Centerline is valid? [False, False] Translation: X:-10.03, Y:8.82, Z:-3.48 [[ 0.87765044 0.45843467 -0.13988339 -10.02621121] [ -0.45968793 0.88772429 0.02515147 8.8191474 ] [ 0.13570818 0.04222851 0.98984849 -3.47776596] [ 0. 0. 0. 1. ]] SLAMing on 226.69800114499998 meters Centerline goodness [0,1] 0.7413539747914812 Centerline is valid? [False, False] Translation: X:-10.03, Y:8.82, Z:-3.48 [[ 0.87643206 0.46120735 -0.13840026 -10.02630027] [ -0.46213738 0.88638837 0.02728905 8.82233657] [ 0.13526229 0.04004294 0.99000034 -3.47699792] [ 0. 0. 0. 1. ]] SLAMing on 226.72800114499998 meters Centerline goodness [0,1] 0.7222084315915767 Centerline is valid? [False, False] Translation: X:-10.05, Y:8.84, Z:-3.48 [[ 0.87627385 0.46062231 -0.14131962 -10.0475749 ] [ -0.46202449 0.88652282 0.02471146 8.83981635] [ 0.13666572 0.04363912 0.98965555 -3.47799192] [ 0. 0. 0. 1. ]] SLAMing on 226.75800114499995 meters Centerline goodness [0,1] 0.7468112509867464 Centerline is valid? [False, False] Translation: X:-10.06, Y:8.85, Z:-3.48 [[ 0.87694876 0.46098086 -0.13585846 -10.05619976] [ -0.46166334 0.88660209 0.02834942 8.8451243 ] [ 0.13352093 0.03785988 0.99032257 -3.48272097] [ 0. 0. 0. 1. ]] SLAMing on 226.78800114499995 meters Centerline goodness [0,1] 0.7333955610869114 Centerline is valid? [False, False] Translation: X:-10.06, Y:8.85, Z:-3.48 [[ 0.87584509 0.46349744 -0.13440799 -10.05767165] [ -0.46382675 0.88539129 0.03077359 8.84587163] [ 0.13326715 0.03538912 0.99044812 -3.48188335] [ 0. 0. 0. 1. ]] SLAMing on 226.81800114499995 meters Centerline goodness [0,1] 0.7275320672996834 Centerline is valid? [False, False] Translation: X:-10.07, Y:8.85, Z:-3.49 [[ 0.8768531 0.46310755 -0.12907379 -10.06950712] [ -0.46233758 0.88590225 0.0376984 8.85466363] [ 0.13180518 0.0266197 0.99091815 -3.48647061] [ 0. 0. 0. 1. ]] SLAMing on 226.84800114499996 meters Centerline goodness [0,1] 0.7198207586494373 Centerline is valid? [False, False] Translation: X:-10.08, Y:8.87, Z:-3.48 [[ 0.87624549 0.46209807 -0.13659874 -10.08356537] [ -0.46229827 0.88614008 0.032188 8.86947302] [ 0.13591963 0.03494477 0.99010339 -3.4839713 ] [ 0. 0. 0. 1. ]] SLAMing on 226.87800114499996 meters Centerline goodness [0,1] 0.7109551265981449 Centerline is valid? [False, False] Translation: X:-10.10, Y:8.89, Z:-3.48 [[ 0.87640858 0.46024555 -0.14171111 -10.10238841] [ -0.46114355 0.8868702 0.02842331 8.89002755] [ 0.13876106 0.04043873 0.98949991 -3.48364364] [ 0. 0. 0. 1. ]] SLAMing on 226.90800114499996 meters Centerline goodness [0,1] 0.7083716843778763 Centerline is valid? [False, False] Translation: X:-10.10, Y:8.89, Z:-3.48 [[ 0.8753107 0.46286424 -0.13995671 -10.10426196] [ -0.46338504 0.88562028 0.0308386 8.89085671] [ 0.13822259 0.03786049 0.98967727 -3.48309997] [ 0. 0. 0. 1. ]] SLAMing on 226.93800114499996 meters Centerline goodness [0,1] 0.7157380622982434 Centerline is valid? [False, False] Translation: X:-10.12, Y:8.90, Z:-3.48 [[ 0.8742564 0.46245944 -0.14767195 -10.1173892 ] [ -0.46396416 0.8854665 0.02619795 8.90415699] [ 0.14287406 0.04561077 0.98868937 -3.48136938] [ 0. 0. 0. 1. ]] SLAMing on 226.96800114499996 meters Centerline goodness [0,1] 0.7064885897570723 Centerline is valid? [False, False] Translation: X:-10.13, Y:8.91, Z:-3.48 [[ 0.8749346 0.46224978 -0.14427262 -10.12957739] [ -0.46238947 0.88600119 0.03461021 8.91175296] [ 0.14382427 0.03642847 0.98893253 -3.48465303] [ 0. 0. 0. 1. ]] SLAMing on 226.99800114499996 meters Centerline goodness [0,1] 0.7059877336817924 Centerline is valid? [False, False] Translation: X:-10.14, Y:8.93, Z:-3.48 [[ 0.87356688 0.46251357 -0.15153251 -10.14240013] [ -0.4635449 0.88554445 0.03061291 8.92594782] [ 0.14834766 0.0434997 0.98797811 -3.48298519] [ 0. 0. 0. 1. ]] SLAMing on 227.02800114499996 meters Centerline goodness [0,1] 0.7321700507614213 Centerline is valid? [False, False] Translation: X:-10.14, Y:8.93, Z:-3.48 [[ 0.87235284 0.46516768 -0.15039797 -10.14150982] [ -0.46590739 0.8842376 0.03246797 8.93043882] [ 0.14809059 0.041748 0.98809224 -3.48191627] [ 0. 0. 0. 1. ]] SLAMing on 227.05800114499996 meters Centerline goodness [0,1] 0.7263872679045094 Centerline is valid? [False, False] Translation: X:-10.16, Y:8.95, Z:-3.48 [[ 0.87102362 0.46543913 -0.15711227 -10.15602675] [ -0.46711344 0.88374139 0.0283936 8.94511537] [ 0.15206211 0.04865776 0.9871725 -3.47993727] [ 0. 0. 0. 1. ]] SLAMing on 227.08800114499996 meters Centerline goodness [0,1] 0.7226612286515421 Centerline is valid? [False, False] Translation: X:-10.16, Y:8.95, Z:-3.48 [[ 0.86986749 0.46815369 -0.15544348 -10.15782646] [ -0.46942839 0.882436 0.03071963 8.94656741] [ 0.15155043 0.04624758 0.98736702 -3.47894487] [ 0. 0. 0. 1. ]] SLAMing on 227.11800114499997 meters Centerline goodness [0,1] 0.7237740665886607 Centerline is valid? [False, False] Translation: X:-10.16, Y:8.95, Z:-3.48 [[ 0.86867789 0.47090771 -0.15376819 -10.15944046] [ -0.4717884 0.8810924 0.03304361 8.94835554] [ 0.15104448 0.0438418 0.98755428 -3.47789874] [ 0. 0. 0. 1. ]] SLAMing on 227.14800114499997 meters Centerline goodness [0,1] 0.7228969668509466 Centerline is valid? [False, False] Translation: X:-10.16, Y:8.95, Z:-3.48 [[ 0.86812584 0.47301749 -0.15037278 -10.1634555 ] [ -0.47343913 0.88011921 0.03529252 8.95151295] [ 0.14903995 0.04055401 0.98799922 -3.47915976] [ 0. 0. 0. 1. ]] SLAMing on 227.17800114499997 meters Centerline goodness [0,1] 0.7130423625515899 Centerline is valid? [False, False] Translation: X:-10.17, Y:8.96, Z:-3.48 [[ 0.86894166 0.47261361 -0.14689034 -10.1710122 ] [ -0.47240711 0.88053781 0.03853171 8.95960649] [ 0.14755311 0.03591023 0.98840201 -3.48134115] [ 0. 0. 0. 1. ]] SLAMing on 227.20800114499997 meters Centerline goodness [0,1] 0.7065345853836732 Centerline is valid? [False, False] Translation: X:-10.19, Y:8.98, Z:-3.48 [[ 0.86888601 0.4710465 -0.15215878 -10.19059347] [ -0.4715576 0.88113978 0.0350161 8.97800194] [ 0.15056736 0.04132662 0.98773558 -3.48091398] [ 0. 0. 0. 1. ]] SLAMing on 227.23800114499997 meters Centerline goodness [0,1] 0.7332514755934686 Centerline is valid? [False, False] Translation: X:-10.19, Y:8.98, Z:-3.48 [[ 0.86788365 0.47339454 -0.15058409 -10.19121185] [ -0.47358404 0.87997455 0.03691827 8.98170916] [ 0.14998707 0.03927345 0.98790762 -3.48003753] [ 0. 0. 0. 1. ]] SLAMing on 227.26800114499997 meters Centerline goodness [0,1] 0.7295672040693163 Centerline is valid? [False, False] Translation: X:-10.19, Y:8.98, Z:-3.48 [[ 0.86803742 0.47295977 -0.15106321 -10.19018679] [ -0.4732526 0.88017747 0.03632626 8.98365349] [ 0.15014329 0.03995851 0.98785642 -3.47945844] [ 0. 0. 0. 1. ]] SLAMing on 227.29800114499997 meters Centerline goodness [0,1] 0.7306979350778118 Centerline is valid? [False, False] Translation: X:-10.19, Y:8.99, Z:-3.48 [[ 0.86816563 0.47258772 -0.15149024 -10.18931637] [ -0.47297359 0.88034914 0.03579621 8.9852215 ] [ 0.15028115 0.04057385 0.98781038 -3.47897864] [ 0. 0. 0. 1. ]] SLAMing on 227.32800114499997 meters Centerline goodness [0,1] 0.70882575348385 Centerline is valid? [False, False] Translation: X:-10.20, Y:9.00, Z:-3.48 [[ 0.86702947 0.47195059 -0.15975772 -10.20214846] [ -0.47352722 0.88025089 0.03050161 8.99885688] [ 0.15502213 0.04920384 0.98668492 -3.4759603 ] [ 0. 0. 0. 1. ]] SLAMing on 227.35800114499997 meters Centerline goodness [0,1] 0.6988594475042282 Centerline is valid? [False, False] Translation: X:-10.22, Y:9.02, Z:-3.48 [[ 0.8667403 0.47078405 -0.16469255 -10.22141943] [ -0.47286437 0.8806628 0.0288501 9.01832528] [ 0.15862077 0.0528717 0.98592294 -3.47691644] [ 0. 0. 0. 1. ]] SLAMing on 227.38800114499998 meters Centerline goodness [0,1] 0.6763299721835883 Centerline is valid? [False, False] Translation: X:-10.23, Y:9.03, Z:-3.48 [[ 0.86731754 0.47169186 -0.15895619 -10.23278835] [ -0.47247016 0.88063999 0.0352868 9.02554785] [ 0.15662767 0.04449719 0.98665484 -3.48161155] [ 0. 0. 0. 1. ]] SLAMing on 227.41800114499998 meters Centerline goodness [0,1] 0.7000808584103674 Centerline is valid? [False, False] Translation: X:-10.25, Y:9.04, Z:-3.48 [[ 0.86705353 0.47070039 -0.16327682 -10.25359014] [ -0.47203066 0.88096298 0.03303455 9.04474342] [ 0.1593902 0.04842894 0.98602708 -3.48201753] [ 0. 0. 0. 1. ]] SLAMing on 227.44800114499998 meters Centerline goodness [0,1] 0.6973382535973972 Centerline is valid? [False, False] Translation: X:-10.26, Y:9.05, Z:-3.48 [[ 0.86579781 0.47364961 -0.16140074 -10.25529914] [ -0.4745083 0.87952741 0.03568494 9.0457151 ] [ 0.15885853 0.04569005 0.98624357 -3.48148634] [ 0. 0. 0. 1. ]] SLAMing on 227.47800114499995 meters Centerline goodness [0,1] 0.6944523346516049 Centerline is valid? [False, False] Translation: X:-10.27, Y:9.06, Z:-3.48 [[ 0.86432747 0.47365132 -0.16909301 -10.26790965] [ -0.47567467 0.87907592 0.03096983 9.06132239] [ 0.16331449 0.05366518 0.98511341 -3.47894749] [ 0. 0. 0. 1. ]] SLAMing on 227.50800114499995 meters Centerline goodness [0,1] 0.6923917318533409 Centerline is valid? [False, False] Translation: X:-10.28, Y:9.07, Z:-3.47 [[ 0.86202444 0.47387943 -0.17986702 -10.27567963] [ -0.47628061 0.87869567 0.03241438 9.07010966] [ 0.17340888 0.05772518 0.98315673 -3.47427389] [ 0. 0. 0. 1. ]] SLAMing on 227.53800114499995 meters Centerline goodness [0,1] 0.6878021040659653 Centerline is valid? [False, False] Translation: X:-10.28, Y:9.07, Z:-3.48 [[ 0.86093716 0.47698666 -0.17683588 -10.27847913] [ -0.47874055 0.87724092 0.03543787 9.0707104 ] [ 0.17203106 0.05414872 0.98360217 -3.47569119] [ 0. 0. 0. 1. ]] SLAMing on 227.56800114499995 meters Centerline goodness [0,1] 0.7104753946963367 Centerline is valid? [False, False] Translation: X:-10.29, Y:9.08, Z:-3.48 [[ 0.8611965 0.47834421 -0.17183543 -10.28672353] [ -0.47893763 0.87690271 0.04074782 9.07723376] [ 0.17017444 0.04720658 0.98428258 -3.47992956] [ 0. 0. 0. 1. ]] SLAMing on 227.59800114499996 meters Centerline goodness [0,1] 0.7104753946963367 Centerline is valid? [False, False] Translation: X:-10.29, Y:9.08, Z:-3.48 [[ 0.8611965 0.47834421 -0.17183543 -10.28672353] [ -0.47893763 0.87690271 0.04074782 9.07723376] [ 0.17017444 0.04720658 0.98428258 -3.47992956] [ 0. 0. 0. 1. ]] SLAMing on 227.62800114499996 meters Centerline goodness [0,1] 0.6964545574811483 Centerline is valid? [False, False] Translation: X:-10.30, Y:9.09, Z:-3.48 [[ 0.85978973 0.47799361 -0.17967671 -10.29996956] [ -0.47988089 0.87660671 0.03570716 9.09213312] [ 0.1745736 0.05552277 0.98307745 -3.47686794] [ 0. 0. 0. 1. ]] SLAMing on 227.65800114499996 meters Centerline goodness [0,1] 0.7132281660350753 Centerline is valid? [False, False] Translation: X:-10.30, Y:9.09, Z:-3.48 [[ 0.8584899 0.48099295 -0.17787879 -10.30118398] [ -0.48235875 0.87513136 0.0384076 9.09317613] [ 0.17414109 0.05282885 0.9833026 -3.47647194] [ 0. 0. 0. 1. ]] SLAMing on 227.68800114499996 meters Centerline goodness [0,1] 0.7001306668438421 Centerline is valid? [False, False] Translation: X:-10.32, Y:9.11, Z:-3.48 [[ 0.85824916 0.47938102 -0.18330905 -10.3209563 ] [ -0.4816236 0.87567603 0.0350742 9.11191282] [ 0.17733325 0.05818356 0.98242943 -3.47637062] [ 0. 0. 0. 1. ]] SLAMing on 227.71800114499996 meters Centerline goodness [0,1] 0.6912928176795581 Centerline is valid? [False, False] Translation: X:-10.32, Y:9.11, Z:-3.48 [[ 0.8584251 0.47892524 -0.18367626 -10.31980477] [ -0.48128414 0.87588537 0.03450215 9.11369344] [ 0.1774033 0.05878296 0.9823811 -3.47622323] [ 0. 0. 0. 1. ]] SLAMing on 227.74800114499996 meters Centerline goodness [0,1] 0.7028768852567936 Centerline is valid? [False, False] Translation: X:-10.32, Y:9.11, Z:-3.48 [[ 0.85847367 0.47875529 -0.18389218 -10.31910456] [ -0.48116529 0.87595965 0.03427329 9.11449005] [ 0.17749065 0.05905982 0.98234872 -3.4761354 ] [ 0. 0. 0. 1. ]] SLAMing on 227.77800114499996 meters Centerline goodness [0,1] 0.6749512670565302 Centerline is valid? [False, False] Translation: X:-10.33, Y:9.13, Z:-3.47 [[ 0.85731985 0.47773107 -0.19176989 -10.33294772] [ -0.48156344 0.87592421 0.02921374 9.12860675] [ 0.1819322 0.06730385 0.98100503 -3.47398935] [ 0. 0. 0. 1. ]] SLAMing on 227.80800114499996 meters Centerline goodness [0,1] 0.7077657131390604 Centerline is valid? [False, False] Translation: X:-10.34, Y:9.13, Z:-3.48 [[ 0.8579043 0.47867032 -0.18674831 -10.33934741] [ -0.48156392 0.87580484 0.03258947 9.13394916] [ 0.17915469 0.06197261 0.9818671 -3.47948745] [ 0. 0. 0. 1. ]] SLAMing on 227.83800114499996 meters Centerline goodness [0,1] 0.6914527064577081 Centerline is valid? [False, False] Translation: X:-10.34, Y:9.13, Z:-3.48 [[ 0.85690206 0.48108855 -0.18512877 -10.3414007 ] [ -0.48350765 0.87464382 0.03490772 9.13474832] [ 0.17871544 0.05959868 0.98209408 -3.47889672] [ 0. 0. 0. 1. ]] SLAMing on 227.86800114499997 meters Centerline goodness [0,1] 0.6982991150047928 Centerline is valid? [False, False] Translation: X:-10.35, Y:9.14, Z:-3.48 [[ 0.85783044 0.48024146 -0.18301658 -10.35483236] [ -0.48114492 0.87561369 0.04242915 9.14399627] [ 0.18062806 0.05166048 0.98219382 -3.48055418] [ 0. 0. 0. 1. ]] SLAMing on 227.89800114499997 meters Centerline goodness [0,1] 0.695136655948553 Centerline is valid? [False, False] Translation: X:-10.37, Y:9.16, Z:-3.48 [[ 0.85658105 0.4794106 -0.1908779 -10.36876472] [ -0.48169763 0.87554091 0.03735648 9.15821863] [ 0.1850305 0.05994658 0.98090271 -3.47813707] [ 0. 0. 0. 1. ]] SLAMing on 227.92800114499997 meters Centerline goodness [0,1] 0.6885916847449287 Centerline is valid? [False, False] Translation: X:-10.37, Y:9.16, Z:-3.48 [[ 0.85617863 0.4814808 -0.18744169 -10.3729387 ] [ -0.48318496 0.8746226 0.03959285 9.16195731] [ 0.18300394 0.05667045 0.98147747 -3.4796389 ] [ 0. 0. 0. 1. ]] SLAMing on 227.95800114499997 meters Centerline goodness [0,1] 0.6859651072341371 Centerline is valid? [False, False] Translation: X:-10.37, Y:9.16, Z:-3.48 [[ 0.85624772 0.48118454 -0.18788635 -10.37206049] [ -0.48298286 0.87475214 0.03919513 9.16321093] [ 0.18321408 0.05718514 0.98140841 -3.47905795] [ 0. 0. 0. 1. ]] SLAMing on 227.98800114499997 meters Centerline goodness [0,1] 0.679591882397691 Centerline is valid? [False, False] Translation: X:-10.39, Y:9.18, Z:-3.48 [[ 0.85611939 0.47917807 -0.19351477 -10.39340961] [ -0.4818762 0.87549753 0.03604718 9.18215523] [ 0.18669472 0.06238947 0.98043492 -3.47867541] [ 0. 0. 0. 1. ]] SLAMing on 228.01800114499997 meters Centerline goodness [0,1] 0.68015332197615 Centerline is valid? [False, False] Translation: X:-10.40, Y:9.18, Z:-3.48 [[ 0.85581038 0.48141136 -0.18929261 -10.39894723] [ -0.48333532 0.8745661 0.03900135 9.18449211] [ 0.18432459 0.05811405 0.98114586 -3.48163195] [ 0. 0. 0. 1. ]] SLAMing on 228.04800114499997 meters Centerline goodness [0,1] 0.6853153132927733 Centerline is valid? [False, False] Translation: X:-10.41, Y:9.20, Z:-3.48 [[ 0.85419273 0.48104728 -0.1973532 -10.41242052] [ -0.48437787 0.87418558 0.03431684 9.1975142 ] [ 0.18903134 0.06628033 0.97973163 -3.47883199] [ 0. 0. 0. 1. ]] SLAMing on 228.07800114499997 meters Centerline goodness [0,1] 0.6942822493711822 Centerline is valid? [False, False] Translation: X:-10.42, Y:9.20, Z:-3.48 [[ 0.85314871 0.48358865 -0.19565098 -10.41525939] [ -0.48639883 0.87296474 0.03672513 9.19788937] [ 0.18855626 0.06383241 0.97998569 -3.47783346] [ 0. 0. 0. 1. ]] SLAMing on 228.10800114499997 meters Centerline goodness [0,1] 0.686712344153656 Centerline is valid? [False, False] Translation: X:-10.42, Y:9.20, Z:-3.48 [[ 0.8523897 0.48546568 -0.19430616 -10.41808558] [ -0.48787741 0.87205984 0.03856515 9.1985923 ] [ 0.18816866 0.06192505 0.98018256 -3.47664307] [ 0. 0. 0. 1. ]] SLAMing on 228.13800114499998 meters Centerline goodness [0,1] 0.6867215726756581 Centerline is valid? [False, False] Translation: X:-10.42, Y:9.20, Z:-3.48 [[ 0.85238449 0.48546515 -0.19433034 -10.41802642] [ -0.4878654 0.87206355 0.03863297 9.19826489] [ 0.18822336 0.06187691 0.98017509 -3.47673874] [ 0. 0. 0. 1. ]] SLAMing on 228.16800114499998 meters Centerline goodness [0,1] 0.6827806093809641 Centerline is valid? [False, False] Translation: X:-10.43, Y:9.21, Z:-3.47 [[ 0.85120464 0.48313166 -0.20502306 -10.42598135] [ -0.48525844 0.87330097 0.04323958 9.20509615] [ 0.19993725 0.06268344 0.97780156 -3.47030182] [ 0. 0. 0. 1. ]] SLAMing on 228.19800114499998 meters Centerline goodness [0,1] 0.6823399409151388 Centerline is valid? [False, False] Translation: X:-10.44, Y:9.22, Z:-3.47 [[ 0.8499175 0.48204492 -0.2127744 -10.44067489] [ -0.48571602 0.87327887 0.03826168 9.21861747] [ 0.20425523 0.07082866 0.97635193 -3.46846238] [ 0. 0. 0. 1. ]] SLAMing on 228.22800114499995 meters Centerline goodness [0,1] 0.6849395152223772 Centerline is valid? [False, False] Translation: X:-10.44, Y:9.22, Z:-3.47 [[ 0.84985567 0.48211082 -0.21287204 -10.44035637] [ -0.48578469 0.87323935 0.03829185 9.21865275] [ 0.20434916 0.07086743 0.97632947 -3.46837371] [ 0. 0. 0. 1. ]] SLAMing on 228.25800114499995 meters Centerline goodness [0,1] 0.7130101465614431 Centerline is valid? [False, False] Translation: X:-10.44, Y:9.22, Z:-3.47 [[ 0.84836583 0.48572502 -0.21058638 -10.44238393] [ -0.48867547 0.87148137 0.0414307 9.21833697] [ 0.20364604 0.06776001 0.97669692 -3.46857903] [ 0. 0. 0. 1. ]] SLAMing on 228.28800114499995 meters Centerline goodness [0,1] 0.7048528420579645 Centerline is valid? [False, False] Translation: X:-10.44, Y:9.22, Z:-3.47 [[ 0.84825186 0.48575106 -0.21098504 -10.4415796 ] [ -0.48876197 0.87143998 0.04128085 9.2188948 ] [ 0.20391302 0.06810491 0.97661722 -3.4679654 ] [ 0. 0. 0. 1. ]] SLAMing on 228.31800114499995 meters Centerline goodness [0,1] 0.6872991979150285 Centerline is valid? [False, False] Translation: X:-10.44, Y:9.22, Z:-3.47 [[ 0.84681605 0.48917327 -0.20883505 -10.44389991] [ -0.49150132 0.86975034 0.04428094 9.2188798 ] [ 0.20329541 0.0651449 0.97694786 -3.46766571] [ 0. 0. 0. 1. ]] SLAMing on 228.34800114499996 meters Centerline goodness [0,1] 0.7116452268111035 Centerline is valid? [False, False] Translation: X:-10.45, Y:9.23, Z:-3.46 [[ 0.84444809 0.48939597 -0.21771313 -10.45194838] [ -0.49101977 0.86968715 0.05043648 9.22681377] [ 0.21402572 0.06431047 0.97470875 -3.46082906] [ 0. 0. 0. 1. ]] SLAMing on 228.37800114499996 meters Centerline goodness [0,1] 0.7177865612648222 Centerline is valid? [False, False] Translation: X:-10.45, Y:9.23, Z:-3.46 [[ 0.84296391 0.4928865 -0.21558 -10.45406918] [ -0.49380652 0.86792605 0.05347419 9.22631103] [ 0.2134642 0.061378 0.97502091 -3.46078848] [ 0. 0. 0. 1. ]] SLAMing on 228.40800114499996 meters Centerline goodness [0,1] 0.7066185590258203 Centerline is valid? [False, False] Translation: X:-10.45, Y:9.23, Z:-3.46 [[ 0.84285734 0.49295006 -0.2158512 -10.45321904] [ -0.49389838 0.86787626 0.05343393 9.2265215 ] [ 0.21367239 0.06157138 0.97496312 -3.46064075] [ 0. 0. 0. 1. ]] SLAMing on 228.43800114499996 meters Centerline goodness [0,1] 0.7248320629679054 Centerline is valid? [False, False] Translation: X:-10.47, Y:9.24, Z:-3.46 [[ 0.84126205 0.49210977 -0.223844 -10.46640354] [ -0.49470838 0.86771129 0.04838113 9.23991597] [ 0.21804079 0.0700363 0.97342341 -3.45908791] [ 0. 0. 0. 1. ]] SLAMing on 228.46800114499996 meters Centerline goodness [0,1] 0.706578858341415 Centerline is valid? [False, False] Translation: X:-10.47, Y:9.24, Z:-3.46 [[ 0.84130308 0.49201716 -0.22389336 -10.4662551 ] [ -0.49463887 0.86775648 0.04828134 9.24002444] [ 0.21804016 0.07012712 0.97341701 -3.4591041 ] [ 0. 0. 0. 1. ]] SLAMing on 228.49800114499996 meters Centerline goodness [0,1] 0.7017647192080285 Centerline is valid? [False, False] Translation: X:-10.48, Y:9.26, Z:-3.46 [[ 0.84053325 0.4899707 -0.23115488 -10.48239856] [ -0.49424547 0.86824822 0.04320234 9.25566613] [ 0.22186769 0.07793425 0.97195729 -3.45823235] [ 0. 0. 0. 1. ]] SLAMing on 228.52800114499996 meters Centerline goodness [0,1] 0.6992190152801359 Centerline is valid? [False, False] Translation: X:-10.48, Y:9.26, Z:-3.46 [[ 0.84060964 0.48980392 -0.23123053 -10.48240032] [ -0.49410641 0.86833323 0.04308431 9.25602896] [ 0.22188802 0.07803539 0.97194454 -3.45805453] [ 0. 0. 0. 1. ]] SLAMing on 228.55800114499996 meters Centerline goodness [0,1] 0.7041420118343196 Centerline is valid? [False, False] Translation: X:-10.48, Y:9.26, Z:-3.46 [[ 0.84091561 0.48926824 -0.23125208 -10.48294354] [ -0.49365079 0.86861308 0.042664 9.25664708] [ 0.22174272 0.07828094 0.97195795 -3.45795681] [ 0. 0. 0. 1. ]] SLAMing on 228.58800114499996 meters Centerline goodness [0,1] 0.6907065045427836 Centerline is valid? [False, False] Translation: X:-10.48, Y:9.26, Z:-3.46 [[ 0.84118031 0.48875036 -0.23138447 -10.48349402] [ -0.49322432 0.86887618 0.0422369 9.25725965] [ 0.22168776 0.0785956 0.9719451 -3.4575193 ] [ 0. 0. 0. 1. ]] SLAMing on 228.61800114499997 meters Centerline goodness [0,1] 0.6754445654146253 Centerline is valid? [False, False] Translation: X:-10.50, Y:9.27, Z:-3.46 [[ 0.8426406 0.48837333 -0.22682221 -10.49839273] [ -0.49081709 0.86985445 0.04951588 9.26568541] [ 0.22148454 0.06960412 0.97267665 -3.46295855] [ 0. 0. 0. 1. ]] SLAMing on 228.64800114499997 meters Centerline goodness [0,1] 0.691290718277225 Centerline is valid? [False, False] Translation: X:-10.50, Y:9.27, Z:-3.46 [[ 0.84325418 0.48729572 -0.22685958 -10.50084289] [ -0.48992602 0.87041074 0.04855544 9.26655149] [ 0.22112187 0.07019983 0.97271635 -3.46189774] [ 0. 0. 0. 1. ]] SLAMing on 228.67800114499997 meters Centerline goodness [0,1] 0.6673991844132307 Centerline is valid? [False, False] Translation: X:-10.50, Y:9.27, Z:-3.46 [[ 0.84343058 0.48695608 -0.22693308 -10.50150712] [ -0.48965132 0.87058253 0.04824576 9.26694022] [ 0.22105754 0.07042613 0.97271462 -3.46144616] [ 0. 0. 0. 1. ]] SLAMing on 228.70800114499997 meters Centerline goodness [0,1] 0.6497735507246376 Centerline is valid? [False, False] Translation: X:-10.50, Y:9.27, Z:-3.46 [[ 0.84236103 0.48966072 -0.22507838 -10.50454871] [ -0.49175228 0.86925854 0.05068817 9.26714122] [ 0.2204713 0.06798507 0.97302129 -3.46075914] [ 0. 0. 0. 1. ]] SLAMing on 228.73800114499997 meters Centerline goodness [0,1] 0.6903199436862781 Centerline is valid? [False, False] Translation: X:-10.50, Y:9.27, Z:-3.46 [[ 0.84241185 0.48947899 -0.22528337 -10.50475961] [ -0.49165466 0.86933302 0.05035673 9.26808044] [ 0.22049483 0.06834051 0.97299106 -3.45990705] [ 0. 0. 0. 1. ]] SLAMing on 228.76800114499997 meters Centerline goodness [0,1] 0.6668327708441868 Centerline is valid? [False, False] Translation: X:-10.52, Y:9.28, Z:-3.46 [[ 0.84031969 0.48892925 -0.23411752 -10.51613119] [ -0.49290527 0.8688972 0.04540991 9.2790619 ] [ 0.22562629 0.07723892 0.97114722 -3.45751563] [ 0. 0. 0. 1. ]] SLAMing on 228.79800114499997 meters Centerline goodness [0,1] 0.6585493050359386 Centerline is valid? [False, False] Translation: X:-10.54, Y:9.30, Z:-3.46 [[ 0.83990793 0.48689623 -0.23976392 -10.53667063] [ -0.49207977 0.86953597 0.04200832 9.29793612] [ 0.22893704 0.08269985 0.96992194 -3.45806516] [ 0. 0. 0. 1. ]] SLAMing on 228.82800114499997 meters Centerline goodness [0,1] 0.6897850804529877 Centerline is valid? [False, False] Translation: X:-10.54, Y:9.30, Z:-3.46 [[ 0.8399084 0.48678332 -0.23999143 -10.53666302] [ -0.49200683 0.86958212 0.04190734 9.29815314] [ 0.22909205 0.08287909 0.96987004 -3.45753004] [ 0. 0. 0. 1. ]] SLAMing on 228.85800114499997 meters Centerline goodness [0,1] 0.6736605725173525 Centerline is valid? [False, False] Translation: X:-10.54, Y:9.30, Z:-3.46 [[ 0.83869612 0.48986031 -0.23796152 -10.53947946] [ -0.49430231 0.86812807 0.04493188 9.2965972 ] [ 0.22859143 0.07994074 0.97023473 -3.45779256] [ 0. 0. 0. 1. ]] SLAMing on 228.88800114499998 meters Centerline goodness [0,1] 0.6838423980924264 Centerline is valid? [False, False] Translation: X:-10.55, Y:9.31, Z:-3.46 [[ 0.83735576 0.4882608 -0.24583883 -10.55386227] [ -0.49451611 0.86824553 0.04004387 9.30891454] [ 0.23300031 0.0880403 0.96848323 -3.45694001] [ 0. 0. 0. 1. ]] SLAMing on 228.91800114499998 meters Centerline goodness [0,1] 0.6802744192365168 Centerline is valid? [False, False] Translation: X:-10.56, Y:9.31, Z:-3.46 [[ 0.83899738 0.48762007 -0.24147475 -10.56458015] [ -0.49216172 0.86931672 0.04544528 9.31306691] [ 0.23207807 0.08071616 0.96934239 -3.46388531] [ 0. 0. 0. 1. ]] SLAMing on 228.94800114499998 meters Centerline goodness [0,1] 0.6750663430787724 Centerline is valid? [False, False] Translation: X:-10.58, Y:9.33, Z:-3.46 [[ 0.83772857 0.48604525 -0.24893947 -10.5794495 ] [ -0.49239754 0.86942701 0.04051341 9.32645659] [ 0.23612605 0.08863794 0.96767133 -3.46312564] [ 0. 0. 0. 1. ]] SLAMing on 228.97800114499995 meters Centerline goodness [0,1] 0.6720438634252441 Centerline is valid? [False, False] Translation: X:-10.58, Y:9.33, Z:-3.46 [[ 0.83649903 0.48917894 -0.24692779 -10.58218208] [ -0.49472234 0.86795942 0.04354596 9.32500077] [ 0.23562507 0.08573454 0.96805497 -3.46334176] [ 0. 0. 0. 1. ]] SLAMing on 229.00800114499995 meters Centerline goodness [0,1] 0.6572101342631376 Centerline is valid? [False, False] Translation: X:-10.60, Y:9.34, Z:-3.46 [[ 0.83609857 0.48709262 -0.2523489 -10.60244216] [ -0.49389467 0.8685927 0.04018432 9.34240191] [ 0.2387619 0.09103573 0.96680156 -3.46499567] [ 0. 0. 0. 1. ]] SLAMing on 229.03800114499995 meters Centerline goodness [0,1] 0.6856877281280465 Centerline is valid? [False, False] Translation: X:-10.62, Y:9.36, Z:-3.47 [[ 0.83550604 0.48561584 -0.25711263 -10.62312507] [ -0.49354885 0.86891679 0.03732494 9.35959022] [ 0.24153507 0.09571243 0.96566037 -3.46715112] [ 0. 0. 0. 1. ]] SLAMing on 229.06800114499995 meters Centerline goodness [0,1] 0.6777976096337633 Centerline is valid? [False, False] Translation: X:-10.63, Y:9.36, Z:-3.47 [[ 0.83423549 0.4888584 -0.25508551 -10.62575517] [ -0.49596397 0.86740597 0.04033138 9.35796058] [ 0.24097903 0.09286736 0.966077 -3.4675449 ] [ 0. 0. 0. 1. ]] SLAMing on 229.09800114499996 meters Centerline goodness [0,1] 0.6758595745642788 Centerline is valid? [False, False] Translation: X:-10.65, Y:9.37, Z:-3.47 [[ 0.83357479 0.48747698 -0.25984468 -10.64627964] [ -0.49564753 0.86770038 0.03780977 9.37473747] [ 0.24389872 0.0972741 0.96490992 -3.46988443] [ 0. 0. 0. 1. ]] SLAMing on 229.12800114499996 meters Centerline goodness [0,1] 0.6740642073418521 Centerline is valid? [False, False] Translation: X:-10.65, Y:9.37, Z:-3.47 [[ 0.83219426 0.49113444 -0.25737068 -10.64909338] [ -0.49841068 0.86597413 0.04093402 9.37441875] [ 0.24298046 0.09421123 0.96544536 -3.47010983] [ 0. 0. 0. 1. ]] SLAMing on 229.15800114499996 meters Centerline goodness [0,1] 0.6906911651844161 Centerline is valid? [False, False] Translation: X:-10.67, Y:9.39, Z:-3.47 [[ 0.83194776 0.48972252 -0.26083477 -10.6711364 ] [ -0.49802497 0.86632678 0.03806616 9.39308659] [ 0.24461001 0.09823318 0.96463267 -3.47278719] [ 0. 0. 0. 1. ]] SLAMing on 229.18800114499996 meters Centerline goodness [0,1] 0.703655175529752 Centerline is valid? [False, False] Translation: X:-10.67, Y:9.39, Z:-3.47 [[ 0.8318883 0.48989855 -0.26069382 -10.67147873] [ -0.49813631 0.86625286 0.03829108 9.39231588] [ 0.2445855 0.09800716 0.96466187 -3.47297672] [ 0. 0. 0. 1. ]] SLAMing on 229.21800114499996 meters Centerline goodness [0,1] 0.6978619866177034 Centerline is valid? [False, False] Translation: X:-10.67, Y:9.39, Z:-3.47 [[ 0.83188071 0.48999329 -0.26053993 -10.67241417] [ -0.49815419 0.86623129 0.03854553 9.39087043] [ 0.24457489 0.09772377 0.96469331 -3.47318029] [ 0. 0. 0. 1. ]] SLAMing on 229.24800114499996 meters Centerline goodness [0,1] 0.690979144732421 Centerline is valid? [False, False] Translation: X:-10.70, Y:9.41, Z:-3.48 [[ 0.83398767 0.48624764 -0.26082141 -10.70117365] [ -0.49524155 0.86805958 0.03476161 9.40991672] [ 0.24331127 0.10017885 0.96476102 -3.4794352 ] [ 0. 0. 0. 1. ]] SLAMing on 229.27800114499996 meters Centerline goodness [0,1] 0.6581922166123051 Centerline is valid? [False, False] Translation: X:-10.73, Y:9.43, Z:-3.49 [[ 0.83552964 0.48349647 -0.26100073 -10.72818243] [ -0.49318911 0.86934735 0.03161775 9.43062046] [ 0.24218736 0.10230515 0.96482068 -3.48546445] [ 0. 0. 0. 1. ]] SLAMing on 229.30800114499996 meters Centerline goodness [0,1] 0.669060095885829 Centerline is valid? [False, False] Translation: X:-10.76, Y:9.45, Z:-3.49 [[ 0.83771671 0.47991447 -0.26060087 -10.75826699] [ -0.48985799 0.87129057 0.02986456 9.45312231] [ 0.24139152 0.10263938 0.96498461 -3.4927934 ] [ 0. 0. 0. 1. ]] SLAMing on 229.33800114499996 meters Centerline goodness [0,1] 0.700965134245471 Centerline is valid? [False, False] Translation: X:-10.76, Y:9.45, Z:-3.49 [[ 0.83779975 0.47985499 -0.26044338 -10.75928665] [ -0.48973484 0.87135376 0.03004002 9.45202703] [ 0.24135317 0.10238068 0.96502168 -3.492842 ] [ 0. 0. 0. 1. ]] SLAMing on 229.36800114499997 meters Centerline goodness [0,1] 0.691415313225058 Centerline is valid? [False, False] Translation: X:-10.76, Y:9.45, Z:-3.49 [[ 0.83785155 0.47989079 -0.26021069 -10.76022677] [ -0.48967589 0.87137712 0.03032216 9.45055608] [ 0.24129297 0.10201343 0.96507562 -3.49325293] [ 0. 0. 0. 1. ]] SLAMing on 229.39800114499997 meters Centerline goodness [0,1] 0.6746902654867257 Centerline is valid? [False, False] Translation: X:-10.76, Y:9.45, Z:-3.49 [[ 0.83799364 0.47998387 -0.2595807 -10.76236066] [ -0.4895068 0.87144434 0.03111035 9.44711924] [ 0.2411426 0.10099624 0.96522018 -3.49456489] [ 0. 0. 0. 1. ]] SLAMing on 229.42800114499997 meters Centerline goodness [0,1] 0.6764862113230933 Centerline is valid? [False, False] Translation: X:-10.76, Y:9.45, Z:-3.50 [[ 0.83797401 0.48021977 -0.2592075 -10.76330123] [ -0.48959557 0.87137776 0.03157493 9.44532945] [ 0.24103056 0.10044787 0.96530539 -3.49523146] [ 0. 0. 0. 1. ]] SLAMing on 229.45800114499997 meters Centerline goodness [0,1] 0.6786195918908762 Centerline is valid? [False, False] Translation: X:-10.76, Y:9.44, Z:-3.50 [[ 0.83798804 0.48027594 -0.25905804 -10.76422704] [ -0.4895952 0.87137176 0.03174566 9.44438579] [ 0.24098254 0.10023109 0.96533991 -3.49521955] [ 0. 0. 0. 1. ]] SLAMing on 229.48800114499997 meters Centerline goodness [0,1] 0.6777386567461636 Centerline is valid? [False, False] Translation: X:-10.77, Y:9.44, Z:-3.49 [[ 0.83678187 0.48346361 -0.25701953 -10.76756457] [ -0.49198712 0.86991562 0.03457578 9.44353068] [ 0.24030144 0.09751791 0.96578749 -3.49483921] [ 0. 0. 0. 1. ]] SLAMing on 229.51800114499997 meters Centerline goodness [0,1] 0.6777386567461636 Centerline is valid? [False, False] Translation: X:-10.77, Y:9.44, Z:-3.49 [[ 0.83678187 0.48346361 -0.25701953 -10.76756457] [ -0.49198712 0.86991562 0.03457578 9.44353068] [ 0.24030144 0.09751791 0.96578749 -3.49483921] [ 0. 0. 0. 1. ]] SLAMing on 229.54800114499997 meters Centerline goodness [0,1] 0.6822299497220314 Centerline is valid? [False, False] Translation: X:-10.79, Y:9.46, Z:-3.50 [[ 0.8368207 0.48293809 -0.25787967 -10.79202445] [ -0.49178282 0.87007064 0.03356685 9.46320455] [ 0.24058424 0.09873136 0.96559378 -3.50038025] [ 0. 0. 0. 1. ]] SLAMing on 229.57800114499997 meters Centerline goodness [0,1] 0.6859049428817641 Centerline is valid? [False, False] Translation: X:-10.81, Y:9.48, Z:-3.51 [[ 0.83578546 0.48446521 -0.25837207 -10.81439147] [ -0.49363038 0.86905547 0.0327359 9.47958332] [ 0.24039907 0.10018012 0.96549067 -3.50555191] [ 0. 0. 0. 1. ]] SLAMing on 229.60800114499997 meters Centerline goodness [0,1] 0.6767025247951227 Centerline is valid? [False, False] Translation: X:-10.84, Y:9.50, Z:-3.51 [[ 0.83577191 0.48326819 -0.26064759 -10.83903697] [ -0.4928069 0.86954863 0.03203955 9.49828193] [ 0.24212946 0.10167117 0.96490222 -3.51059925] [ 0. 0. 0. 1. ]] SLAMing on 229.63800114499998 meters Centerline goodness [0,1] 0.6785493827160494 Centerline is valid? [False, False] Translation: X:-10.86, Y:9.52, Z:-3.52 [[ 0.83627271 0.48193399 -0.26151019 -10.8644496 ] [ -0.49191421 0.8701112 0.03044523 9.51704967] [ 0.24221553 0.10318006 0.96472043 -3.51666947] [ 0. 0. 0. 1. ]] SLAMing on 229.66800114499998 meters Centerline goodness [0,1] 0.6910235598648709 Centerline is valid? [False, False] Translation: X:-10.89, Y:9.53, Z:-3.52 [[ 0.83621537 0.48220853 -0.26118727 -10.89046552] [ -0.49248192 0.86983353 0.02917521 9.53387205] [ 0.24125798 0.10423325 0.96484715 -3.52201081] [ 0. 0. 0. 1. ]] SLAMing on 229.69800114499998 meters Centerline goodness [0,1] 0.7052527689439632 Centerline is valid? [False, False] Translation: X:-10.89, Y:9.53, Z:-3.52 [[ 0.83507698 0.48521774 -0.25924928 -10.89369028] [ -0.49472917 0.8684634 0.0318493 9.53315411] [ 0.24060236 0.10166156 0.96528516 -3.52161633] [ 0. 0. 0. 1. ]] SLAMing on 229.72800114499995 meters Centerline goodness [0,1] 0.7051481717080874 Centerline is valid? [False, False] Translation: X:-10.92, Y:9.55, Z:-3.53 [[ 0.83542604 0.48440804 -0.25963856 -10.91906554] [ -0.49421048 0.86879921 0.03072355 9.55236467] [ 0.24045651 0.10264884 0.96521701 -3.52758944] [ 0. 0. 0. 1. ]] SLAMing on 229.75800114499995 meters Centerline goodness [0,1] 0.6949628297625052 Centerline is valid? [False, False] Translation: X:-10.94, Y:9.57, Z:-3.53 [[ 0.83531874 0.48446898 -0.25986997 -10.94393785] [ -0.49448617 0.86866851 0.02997415 9.56976473] [ 0.24026241 0.10346414 0.9651783 -3.53365886] [ 0. 0. 0. 1. ]] SLAMing on 229.78800114499995 meters Centerline goodness [0,1] 0.6729822565471373 Centerline is valid? [False, False] Translation: X:-10.97, Y:9.59, Z:-3.54 [[ 0.83551299 0.48312296 -0.26174463 -10.96825556] [ -0.49357545 0.86922408 0.02885792 9.58801591] [ 0.24145666 0.10507956 0.96470564 -3.53917969] [ 0. 0. 0. 1. ]] SLAMing on 229.81800114499995 meters Centerline goodness [0,1] 0.6937718531468531 Centerline is valid? [False, False] Translation: X:-10.99, Y:9.61, Z:-3.55 [[ 0.83580624 0.4818103 -0.26322379 -10.99254957] [ -0.49258286 0.86981364 0.02804206 9.6059534 ] [ 0.24246659 0.1062218 0.96432716 -3.54577649] [ 0. 0. 0. 1. ]] SLAMing on 229.84800114499996 meters Centerline goodness [0,1] 0.7090174672489082 Centerline is valid? [False, False] Translation: X:-11.01, Y:9.62, Z:-3.55 [[ 0.83486387 0.48207437 -0.26571906 -11.01393496] [ -0.4932369 0.86945442 0.02768346 9.61990176] [ 0.2443761 0.10795052 0.96365295 -3.55158302] [ 0. 0. 0. 1. ]] SLAMing on 229.87800114499996 meters Centerline goodness [0,1] 0.7191502382305373 Centerline is valid? [False, False] Translation: X:-11.04, Y:9.64, Z:-3.56 [[ 0.83526607 0.48158464 -0.26534283 -11.03918194] [ -0.4928091 0.86971267 0.02718574 9.63863137] [ 0.24386426 0.10805604 0.96377078 -3.5593377 ] [ 0. 0. 0. 1. ]] SLAMing on 229.90800114499996 meters Centerline goodness [0,1] 0.7087618174275672 Centerline is valid? [False, False] Translation: X:-11.07, Y:9.66, Z:-3.57 [[ 0.83571997 0.48054983 -0.26578937 -11.06505218] [ -0.4919242 0.87023063 0.02663125 9.6585681 ] [ 0.2440957 0.10849196 0.96366321 -3.56577237] [ 0. 0. 0. 1. ]] SLAMing on 229.93800114499996 meters Centerline goodness [0,1] 0.7096009568337501 Centerline is valid? [False, False] Translation: X:-11.07, Y:9.66, Z:-3.57 [[ 0.8344441 0.48389074 -0.26372864 -11.06776783] [ -0.49439477 0.86873082 0.02967442 9.65740238] [ 0.24346838 0.10562441 0.96414036 -3.56586214] [ 0. 0. 0. 1. ]] SLAMing on 229.96800114499996 meters Centerline goodness [0,1] 0.7142018779342723 Centerline is valid? [False, False] Translation: X:-11.09, Y:9.67, Z:-3.57 [[ 0.83466771 0.48248401 -0.26559177 -11.09151257] [ -0.49326316 0.86938984 0.02920219 9.67384712] [ 0.24499238 0.10663251 0.96364321 -3.57291972] [ 0. 0. 0. 1. ]] SLAMing on 229.99800114499996 meters Centerline goodness [0,1] 0.722668810289389 Centerline is valid? [False, False] Translation: X:-11.12, Y:9.69, Z:-3.58 [[ 0.83497268 0.48106891 -0.26719529 -11.11572617] [ -0.49221817 0.87001341 0.0282478 9.69117042] [ 0.24605262 0.10793224 0.96322829 -3.57946649] [ 0. 0. 0. 1. ]] SLAMing on 230.02800114499996 meters Centerline goodness [0,1] 0.7069346864428832 Centerline is valid? [False, False] Translation: X:-11.14, Y:9.71, Z:-3.59 [[ 0.83579737 0.47951681 -0.26740679 -11.14158918] [ -0.49092527 0.87078087 0.02707492 9.70994302] [ 0.2458356 0.10864761 0.96320328 -3.58684953] [ 0. 0. 0. 1. ]] SLAMing on 230.05800114499996 meters Centerline goodness [0,1] 0.7062882437182658 Centerline is valid? [False, False] Translation: X:-11.17, Y:9.73, Z:-3.59 [[ 0.83655942 0.47837548 -0.26706785 -11.16887712] [ -0.489737 0.87145464 0.02691616 9.72973704] [ 0.24561355 0.10827604 0.96330176 -3.59445655] [ 0. 0. 0. 1. ]] SLAMing on 230.08800114499996 meters Centerline goodness [0,1] 0.7133117658553532 Centerline is valid? [False, False] Translation: X:-11.20, Y:9.75, Z:-3.60 [[ 0.8371563 0.477648 -0.26649898 -11.1962154 ] [ -0.4888573 0.87194167 0.02713416 9.75023536] [ 0.24533214 0.10756444 0.96345318 -3.60183637] [ 0. 0. 0. 1. ]] SLAMing on 230.11800114499997 meters Centerline goodness [0,1] 0.7121425935172923 Centerline is valid? [False, False] Translation: X:-11.22, Y:9.77, Z:-3.61 [[ 0.83780023 0.47699125 -0.26565038 -11.22403326] [ -0.48798513 0.87241901 0.02748796 9.77100723] [ 0.24486996 0.10660401 0.96367748 -3.60952366] [ 0. 0. 0. 1. ]] SLAMing on 230.14800114499997 meters Centerline goodness [0,1] 0.6907059971803492 Centerline is valid? [False, False] Translation: X:-11.25, Y:9.79, Z:-3.62 [[ 0.83827447 0.47681807 -0.26446257 -11.25176267] [ -0.48760342 0.87262427 0.02774506 9.79126404] [ 0.2440058 0.10569488 0.96399676 -3.61698537] [ 0. 0. 0. 1. ]] SLAMing on 230.17800114499997 meters Centerline goodness [0,1] 0.746894712882877 Centerline is valid? [False, False] Translation: X:-11.25, Y:9.79, Z:-3.62 [[ 0.83717252 0.47985526 -0.26245209 -11.25492225] [ -0.48986868 0.87126623 0.03039446 9.79051454] [ 0.24325059 0.10312165 0.96446621 -3.61686275] [ 0. 0. 0. 1. ]] SLAMing on 230.20800114499997 meters Centerline goodness [0,1] 0.7310753084545829 Centerline is valid? [False, False] Translation: X:-11.28, Y:9.81, Z:-3.62 [[ 0.83816127 0.47804029 -0.2626084 -11.28268195] [ -0.48809212 0.87227575 0.03001827 9.81147291] [ 0.24341688 0.10301694 0.96443545 -3.62396865] [ 0. 0. 0. 1. ]] SLAMing on 230.23800114499997 meters Centerline goodness [0,1] 0.7204349992417842 Centerline is valid? [False, False] Translation: X:-11.31, Y:9.83, Z:-3.63 [[ 0.83857243 0.47678828 -0.26357012 -11.30725756] [ -0.48719446 0.87281719 0.02883926 9.83011161] [ 0.24379875 0.10422609 0.96420905 -3.63044227] [ 0. 0. 0. 1. ]] SLAMing on 230.26800114499997 meters Centerline goodness [0,1] 0.7394035216911048 Centerline is valid? [False, False] Translation: X:-11.33, Y:9.85, Z:-3.64 [[ 0.83898563 0.47618498 -0.26334576 -11.33229402] [ -0.48676321 0.87308636 0.02796048 9.84968165] [ 0.24323795 0.10472858 0.96429623 -3.63763936] [ 0. 0. 0. 1. ]] SLAMing on 230.29800114499997 meters Centerline goodness [0,1] 0.7247714372373153 Centerline is valid? [False, False] Translation: X:-11.36, Y:9.87, Z:-3.64 [[ 0.83966554 0.47455484 -0.26412021 -11.35813233] [ -0.48529382 0.87392144 0.02740854 9.87029363] [ 0.24382717 0.1051619 0.96410025 -3.64441726] [ 0. 0. 0. 1. ]] SLAMing on 230.32800114499997 meters Centerline goodness [0,1] 0.7441355814508603 Centerline is valid? [False, False] Translation: X:-11.36, Y:9.87, Z:-3.64 [[ 0.83962702 0.47453131 -0.26428487 -11.35775625] [ -0.48524973 0.87394116 0.02755988 9.87005366] [ 0.24404745 0.10510414 0.96405081 -3.64437247] [ 0. 0. 0. 1. ]] SLAMing on 230.35800114499997 meters Centerline goodness [0,1] 0.7177892843988993 Centerline is valid? [False, False] Translation: X:-11.38, Y:9.89, Z:-3.65 [[ 0.84119716 0.47158439 -0.26456663 -11.38447836] [ -0.48236598 0.87555476 0.02696132 9.88976101] [ 0.24435711 0.10493815 0.96399045 -3.6535962 ] [ 0. 0. 0. 1. ]] SLAMing on 230.38800114499998 meters Centerline goodness [0,1] 0.7099493731395172 Centerline is valid? [False, False] Translation: X:-11.41, Y:9.91, Z:-3.66 [[ 0.8428943 0.46865075 -0.26437791 -11.41445985] [ -0.47907902 0.87733151 0.0277977 9.91209749] [ 0.24497449 0.10322738 0.96401847 -3.66258814] [ 0. 0. 0. 1. ]] SLAMing on 230.41800114499998 meters Centerline goodness [0,1] 0.7298658446576651 Centerline is valid? [False, False] Translation: X:-11.41, Y:9.91, Z:-3.66 [[ 0.84313029 0.46827101 -0.26429829 -11.41477678] [ -0.47869312 0.8775444 0.02772598 9.91214936] [ 0.24491676 0.10314116 0.96404237 -3.66286394] [ 0. 0. 0. 1. ]] SLAMing on 230.44800114499998 meters Centerline goodness [0,1] 0.7015524915861471 Centerline is valid? [False, False] Translation: X:-11.44, Y:9.93, Z:-3.67 [[ 0.84408679 0.46678651 -0.26387088 -11.44230085] [ -0.47714619 0.87839211 0.02754677 9.9332359 ] [ 0.24464056 0.10265312 0.96416458 -3.67035008] [ 0. 0. 0. 1. ]] SLAMing on 230.47800114499995 meters Centerline goodness [0,1] 0.7322137603332682 Centerline is valid? [False, False] Translation: X:-11.44, Y:9.93, Z:-3.67 [[ 0.8431253 0.469433 -0.26224492 -11.44480765] [ -0.47910024 0.87724738 0.02999994 9.93331204] [ 0.24413662 0.1003479 0.96453492 -3.66992312] [ 0. 0. 0. 1. ]] SLAMing on 230.50800114499995 meters Centerline goodness [0,1] 0.6717386585630563 Centerline is valid? [False, False] Translation: X:-11.47, Y:9.95, Z:-3.68 [[ 0.84355663 0.46771842 -0.26391608 -11.46963721] [ -0.47758078 0.87808666 0.02967183 9.95375156] [ 0.24561925 0.10101138 0.96408915 -3.6767106 ] [ 0. 0. 0. 1. ]] SLAMing on 230.53800114499995 meters Centerline goodness [0,1] 0.7227979274611399 Centerline is valid? [False, False] Translation: X:-11.49, Y:9.97, Z:-3.68 [[ 0.84309669 0.46708748 -0.26649062 -11.49175473] [ -0.47743682 0.87819477 0.02877543 9.97121537] [ 0.24747131 0.10297197 0.96340787 -3.68163905] [ 0. 0. 0. 1. ]] SLAMing on 230.56800114499995 meters Centerline goodness [0,1] 0.730214025996647 Centerline is valid? [False, False] Translation: X:-11.49, Y:9.97, Z:-3.68 [[ 0.84187357 0.4703619 -0.26459135 -11.49391713] [ -0.47992773 0.87674067 0.03154652 9.97117002] [ 0.24681628 0.10042655 0.96384451 -3.68150189] [ 0. 0. 0. 1. ]] SLAMing on 230.59800114499996 meters Centerline goodness [0,1] 0.7090683662149522 Centerline is valid? [False, False] Translation: X:-11.52, Y:9.99, Z:-3.69 [[ 0.84163927 0.46937431 -0.26707883 -11.51661414] [ -0.47938968 0.87706511 0.03069749 9.99046916] [ 0.24865414 0.10219863 0.96318563 -3.68679977] [ 0. 0. 0. 1. ]] SLAMing on 230.62800114499996 meters Centerline goodness [0,1] 0.7353480253109317 Centerline is valid? [False, False] Translation: X:-11.53, Y:10.01, Z:-3.69 [[ 0.83846805 0.47177223 -0.27276783 -11.52993106] [ -0.4829475 0.87516504 0.02911818 10.00503869] [ 0.25245402 0.10731788 0.96163914 -3.68709862] [ 0. 0. 0. 1. ]] SLAMing on 230.65800114499996 meters Centerline goodness [0,1] 0.7365742864006639 Centerline is valid? [False, False] Translation: X:-11.55, Y:10.02, Z:-3.69 [[ 0.83699304 0.47238615 -0.27621363 -11.54957801] [ -0.48426312 0.87447088 0.02810532 10.02278847] [ 0.25481734 0.11023611 0.96068524 -3.69036385] [ 0. 0. 0. 1. ]] SLAMing on 230.68800114499996 meters Centerline goodness [0,1] 0.7403388790250104 Centerline is valid? [False, False] Translation: X:-11.57, Y:10.04, Z:-3.70 [[ 0.83647944 0.47312172 -0.27651037 -11.57436146] [ -0.48490216 0.87409647 0.02872709 10.04331695] [ 0.25528815 0.11005086 0.96058147 -3.69704764] [ 0. 0. 0. 1. ]] SLAMing on 230.71800114499996 meters Centerline goodness [0,1] 0.7495330388731404 Centerline is valid? [False, False] Translation: X:-11.59, Y:10.06, Z:-3.70 [[ 0.83303031 0.47601239 -0.28190903 -11.58755652] [ -0.48900713 0.87185682 0.02716086 10.05939207] [ 0.25871322 0.11522971 0.95905661 -3.6968292 ] [ 0. 0. 0. 1. ]] SLAMing on 230.74800114499996 meters Centerline goodness [0,1] 0.7505341292042025 Centerline is valid? [False, False] Translation: X:-11.61, Y:10.08, Z:-3.70 [[ 0.8326452 0.47634809 -0.28247915 -11.61174352] [ -0.48944733 0.87161173 0.02709795 10.08019272] [ 0.2591202 0.11569569 0.95889063 -3.70335983] [ 0. 0. 0. 1. ]] SLAMing on 230.77800114499996 meters Centerline goodness [0,1] 0.7544471419112779 Centerline is valid? [False, False] Translation: X:-11.64, Y:10.10, Z:-3.71 [[ 0.83299831 0.47601672 -0.28199628 -11.63837396] [ -0.48905065 0.87183564 0.02705698 10.10253413] [ 0.25873398 0.11537204 0.9590339 -3.71075812] [ 0. 0. 0. 1. ]] SLAMing on 230.80800114499996 meters Centerline goodness [0,1] 0.7658789752650177 Centerline is valid? [False, False] Translation: X:-11.66, Y:10.12, Z:-3.72 [[ 0.83317148 0.47605475 -0.2814199 -11.66268666] [ -0.4894044 0.87168054 0.02561964 10.12216545] [ 0.2575046 0.11638258 0.95924266 -3.71770464] [ 0. 0. 0. 1. ]] SLAMing on 230.83800114499996 meters Centerline goodness [0,1] 0.7630400070966025 Centerline is valid? [False, False] Translation: X:-11.66, Y:10.12, Z:-3.72 [[ 0.83206987 0.47909527 -0.27951288 -11.66395694] [ -0.49172568 0.87030204 0.0279324 10.12459758] [ 0.25664291 0.11420195 0.95973555 -3.71741782] [ 0. 0. 0. 1. ]] SLAMing on 230.86800114499997 meters Centerline goodness [0,1] 0.7288082924555523 Centerline is valid? [False, False] Translation: X:-11.69, Y:10.15, Z:-3.73 [[ 0.83328146 0.47713584 -0.27925506 -11.69238308] [ -0.48964557 0.87147418 0.02792784 10.1476506 ] [ 0.25668895 0.11346426 0.95981073 -3.72575699] [ 0. 0. 0. 1. ]] SLAMing on 230.89800114499997 meters Centerline goodness [0,1] 0.7605699654903707 Centerline is valid? [False, False] Translation: X:-11.72, Y:10.17, Z:-3.73 [[ 0.83391987 0.47523051 -0.2805951 -11.71682659] [ -0.4880827 0.87238139 0.02694415 10.16800813] [ 0.25759063 0.11448435 0.95944797 -3.73326135] [ 0. 0. 0. 1. ]] SLAMing on 230.92800114499997 meters Centerline goodness [0,1] 0.7556224228240276 Centerline is valid? [False, False] Translation: X:-11.74, Y:10.19, Z:-3.74 [[ 0.83520386 0.47296862 -0.28059793 -11.7430161 ] [ -0.48607375 0.87354232 0.02561471 10.18965563] [ 0.25722912 0.11499779 0.95948355 -3.74156872] [ 0. 0. 0. 1. ]] SLAMing on 230.95800114499997 meters Centerline goodness [0,1] 0.7428156099742815 Centerline is valid? [False, False] Translation: X:-11.75, Y:10.20, Z:-3.75 [[ 0.83711491 0.47279539 -0.27514206 -11.75194731] [ -0.48393622 0.87457263 0.0304704 10.19815218] [ 0.25503798 0.10764398 0.9609206 -3.74974445] [ 0. 0. 0. 1. ]] SLAMing on 230.98800114499997 meters Centerline goodness [0,1] 0.7425664926393152 Centerline is valid? [False, False] Translation: X:-11.75, Y:10.20, Z:-3.75 [[ 0.83716123 0.47257478 -0.27538001 -11.75113759] [ -0.48376722 0.87467053 0.03034378 10.19867143] [ 0.25520648 0.10781719 0.96085644 -3.74970321] [ 0. 0. 0. 1. ]] SLAMing on 231.01800114499997 meters Centerline goodness [0,1] 0.7524353753740242 Centerline is valid? [False, False] Translation: X:-11.75, Y:10.20, Z:-3.75 [[ 0.83750977 0.47174953 -0.27573496 -11.75047223] [ -0.48316008 0.87503354 0.02954057 10.20061111] [ 0.25521308 0.10848361 0.96077968 -3.74947319] [ 0. 0. 0. 1. ]] SLAMing on 231.04800114499997 meters Centerline goodness [0,1] 0.7472114779167042 Centerline is valid? [False, False] Translation: X:-11.75, Y:10.20, Z:-3.75 [[ 0.83751126 0.47156209 -0.27605089 -11.74963275] [ -0.48304853 0.87510107 0.0293638 10.20142701] [ 0.25541928 0.10875347 0.96069437 -3.7491395 ] [ 0. 0. 0. 1. ]] SLAMing on 231.07800114499997 meters Centerline goodness [0,1] 0.7367851831823713 Centerline is valid? [False, False] Translation: X:-11.75, Y:10.20, Z:-3.75 [[ 0.8364605 0.47450348 -0.27419022 -11.75187593] [ -0.48524829 0.87379671 0.03183393 10.20253074] [ 0.25469182 0.10642251 0.96114844 -3.74871768] [ 0. 0. 0. 1. ]] SLAMing on 231.10800114499997 meters Centerline goodness [0,1] 0.724722278784588 Centerline is valid? [False, False] Translation: X:-11.75, Y:10.21, Z:-3.75 [[ 0.83544116 0.47735039 -0.27235028 -11.75313662] [ -0.48746678 0.8724835 0.03389212 10.20566407] [ 0.25379954 0.10444684 0.96160109 -3.74822385] [ 0. 0. 0. 1. ]] SLAMing on 231.13800114499998 meters Centerline goodness [0,1] 0.715898784690731 Centerline is valid? [False, False] Translation: X:-11.78, Y:10.23, Z:-3.75 [[ 0.83579936 0.47529931 -0.27482721 -11.77655847] [ -0.48629008 0.87323596 0.03131973 10.22630844] [ 0.25487525 0.10746874 0.96098339 -3.75332189] [ 0. 0. 0. 1. ]] SLAMing on 231.16800114499998 meters Centerline goodness [0,1] 0.7174914346652146 Centerline is valid? [False, False] Translation: X:-11.78, Y:10.23, Z:-3.75 [[ 0.8347018 0.47840042 -0.27277454 -11.77897825] [ -0.48858236 0.87185495 0.03400318 10.22638669] [ 0.25408697 0.10489032 0.9614769 -3.75352546] [ 0. 0. 0. 1. ]] SLAMing on 231.19800114499998 meters Centerline goodness [0,1] 0.7042221463525663 Centerline is valid? [False, False] Translation: X:-11.78, Y:10.23, Z:-3.75 [[ 0.83375844 0.48126253 -0.27061641 -11.78084578] [ -0.4906698 0.87058073 0.03650109 10.22758365] [ 0.25316004 0.10235021 0.96199503 -3.75416525] [ 0. 0. 0. 1. ]] SLAMing on 231.22800114499995 meters Centerline goodness [0,1] 0.7224095507153923 Centerline is valid? [False, False] Translation: X:-11.78, Y:10.23, Z:-3.75 [[ 0.83389794 0.48085637 -0.27090842 -11.78025937] [ -0.49038845 0.87075671 0.03608227 10.22880114] [ 0.25324571 0.10276143 0.96192863 -3.75381182] [ 0. 0. 0. 1. ]] SLAMing on 231.25800114499995 meters Centerline goodness [0,1] 0.7215504087813988 Centerline is valid? [False, False] Translation: X:-11.78, Y:10.23, Z:-3.75 [[ 0.83402017 0.48041843 -0.27130883 -11.77959741] [ -0.49010373 0.87093696 0.03559697 10.23004852] [ 0.25339433 0.10328088 0.96183386 -3.75329248] [ 0. 0. 0. 1. ]] SLAMing on 231.28800114499995 meters Centerline goodness [0,1] 0.7126092327400833 Centerline is valid? [False, False] Translation: X:-11.78, Y:10.23, Z:-3.75 [[ 0.83317402 0.48281325 -0.26965241 -11.782214 ] [ -0.49189214 0.86984366 0.03760504 10.23196077] [ 0.25271165 0.10130836 0.96222317 -3.75238644] [ 0. 0. 0. 1. ]] SLAMing on 231.31800114499995 meters Centerline goodness [0,1] 0.7122009241044879 Centerline is valid? [False, False] Translation: X:-11.78, Y:10.23, Z:-3.75 [[ 0.83343212 0.48216764 -0.27000976 -11.78232464] [ -0.49144039 0.87012878 0.03690881 10.23361198] [ 0.25273949 0.10193272 0.96214992 -3.75143612] [ 0. 0. 0. 1. ]] SLAMing on 231.34800114499996 meters Centerline goodness [0,1] 0.7063679515696302 Centerline is valid? [False, False] Translation: X:-11.79, Y:10.23, Z:-3.75 [[ 0.83250282 0.48478573 -0.26818251 -11.78536629] [ -0.49337495 0.86893337 0.03919145 10.23414548] [ 0.25203218 0.09968754 0.96257061 -3.75095287] [ 0. 0. 0. 1. ]] SLAMing on 231.37800114499996 meters Centerline goodness [0,1] 0.7107491109326602 Centerline is valid? [False, False] Translation: X:-11.79, Y:10.24, Z:-3.75 [[ 0.83264264 0.48433743 -0.26855816 -11.78514252] [ -0.49308394 0.86912183 0.03867139 10.23536641] [ 0.25213976 0.10022227 0.9624869 -3.75013527] [ 0. 0. 0. 1. ]] SLAMing on 231.40800114499996 meters Centerline goodness [0,1] 0.7107491109326602 Centerline is valid? [False, False] Translation: X:-11.79, Y:10.24, Z:-3.75 [[ 0.83264264 0.48433743 -0.26855816 -11.78514252] [ -0.49308394 0.86912183 0.03867139 10.23536641] [ 0.25213976 0.10022227 0.9624869 -3.75013527] [ 0. 0. 0. 1. ]] SLAMing on 231.43800114499996 meters Centerline goodness [0,1] 0.7038365170218146 Centerline is valid? [False, False] Translation: X:-11.78, Y:10.24, Z:-3.75 [[ 0.83270816 0.48411998 -0.26874701 -11.78475675] [ -0.49294322 0.86921277 0.03842062 10.23621149] [ 0.25219852 0.10048385 0.96244423 -3.74981886] [ 0. 0. 0. 1. ]] SLAMing on 231.46800114499996 meters Centerline goodness [0,1] 0.6987584054345581 Centerline is valid? [False, False] Translation: X:-11.79, Y:10.24, Z:-3.75 [[ 0.83152683 0.48720063 -0.26683081 -11.78696749] [ -0.49523118 0.86778484 0.04117706 10.23582337] [ 0.25161322 0.09790311 0.96286332 -3.75004228] [ 0. 0. 0. 1. ]] SLAMing on 231.49800114499996 meters Centerline goodness [0,1] 0.6625731665327672 Centerline is valid? [False, False] Translation: X:-11.79, Y:10.23, Z:-3.75 [[ 0.8301922 0.49069625 -0.26457153 -11.7893584 ] [ -0.49780542 0.86615217 0.04438664 10.23449417] [ 0.25093957 0.09485571 0.96334403 -3.75077827] [ 0. 0. 0. 1. ]] SLAMing on 231.52800114499996 meters Centerline goodness [0,1] 0.7010095899546949 Centerline is valid? [False, False] Translation: X:-11.79, Y:10.23, Z:-3.75 [[ 0.82888489 0.49406857 -0.26238539 -11.79183462] [ -0.50032768 0.86453964 0.04736471 10.23376567] [ 0.25024398 0.09201879 0.96380003 -3.75109913] [ 0. 0. 0. 1. ]] SLAMing on 231.55800114499996 meters Centerline goodness [0,1] 0.6958492476186093 Centerline is valid? [False, False] Translation: X:-11.79, Y:10.23, Z:-3.75 [[ 0.82743649 0.49768267 -0.26011692 -11.79393787] [ -0.50305162 0.86277741 0.05053921 10.23288481] [ 0.24957549 0.08903425 0.96425358 -3.75163552] [ 0. 0. 0. 1. ]] SLAMing on 231.58800114499996 meters Centerline goodness [0,1] 0.6987201660325146 Centerline is valid? [False, False] Translation: X:-11.81, Y:10.25, Z:-3.75 [[ 0.82490541 0.49797578 -0.26749054 -11.80665396] [ -0.50509141 0.8617993 0.04674012 10.24611154] [ 0.25379861 0.09655099 0.96242619 -3.75102315] [ 0. 0. 0. 1. ]] SLAMing on 231.61800114499997 meters Centerline goodness [0,1] 0.6729397690148622 Centerline is valid? [False, False] Translation: X:-11.81, Y:10.25, Z:-3.75 [[ 0.82332051 0.50180702 -0.2652038 -11.80855906] [ -0.50803949 0.8598902 0.04984696 10.24577394] [ 0.2530597 0.09369398 0.96290302 -3.75128626] [ 0. 0. 0. 1. ]] SLAMing on 231.64800114499997 meters Centerline goodness [0,1] 0.7193140170112717 Centerline is valid? [False, False] Translation: X:-11.81, Y:10.25, Z:-3.75 [[ 0.82152122 0.50597943 -0.2628454 -11.80984876] [ -0.51127608 0.85776716 0.05321908 10.24529336] [ 0.25238791 0.09066597 0.9633691 -3.75168638] [ 0. 0. 0. 1. ]] SLAMing on 231.67800114499997 meters Centerline goodness [0,1] 0.732231977818854 Centerline is valid? [False, False] Translation: X:-11.82, Y:10.26, Z:-3.75 [[ 0.81887044 0.50622726 -0.27052756 -11.82266044] [ -0.51356644 0.85667637 0.04852948 10.25949213] [ 0.25632152 0.09919452 0.96148829 -3.74903075] [ 0. 0. 0. 1. ]] SLAMing on 231.70800114499997 meters Centerline goodness [0,1] 0.749393470274267 Centerline is valid? [False, False] Translation: X:-11.84, Y:10.27, Z:-3.75 [[ 0.81509859 0.50870833 -0.27718247 -11.83524876] [ -0.51779332 0.85430845 0.04524536 10.27447917] [ 0.25981602 0.10664381 0.95975139 -3.74633459] [ 0. 0. 0. 1. ]] SLAMing on 231.73800114499997 meters Centerline goodness [0,1] 0.7863830181683352 Centerline is valid? [False, False] Translation: X:-11.83, Y:10.28, Z:-3.75 [[ 0.81475314 0.50892222 -0.27780478 -11.83350706] [ -0.51810427 0.85412266 0.04519334 10.27515263] [ 0.26027925 0.10711043 0.9595739 -3.74542786] [ 0. 0. 0. 1. ]] SLAMing on 231.76800114499997 meters Centerline goodness [0,1] 0.7823081918545319 Centerline is valid? [False, False] Translation: X:-11.85, Y:10.29, Z:-3.74 [[ 0.81154566 0.51052598 -0.28417754 -11.84756209] [ -0.52134026 0.8522984 0.04232932 10.28897242] [ 0.26381428 0.11380101 0.95783681 -3.74434477] [ 0. 0. 0. 1. ]] SLAMing on 231.79800114499997 meters Centerline goodness [0,1] 0.782641982182628 Centerline is valid? [False, False] Translation: X:-11.85, Y:10.29, Z:-3.74 [[ 0.80997974 0.51437175 -0.28169934 -11.84993957] [ -0.52421174 0.85037349 0.04546408 10.28830844] [ 0.26293509 0.11084512 0.95842501 -3.74483925] [ 0. 0. 0. 1. ]] SLAMing on 231.82800114499997 meters Centerline goodness [0,1] 0.7495473327452529 Centerline is valid? [False, False] Translation: X:-11.87, Y:10.31, Z:-3.75 [[ 0.80963965 0.51273714 -0.2856296 -11.87329514] [ -0.5234023 0.85095252 0.04392998 10.30957269] [ 0.26558176 0.11393174 0.95733269 -3.74805912] [ 0. 0. 0. 1. ]] SLAMing on 231.85800114499997 meters Centerline goodness [0,1] 0.7888555547803437 Centerline is valid? [False, False] Translation: X:-11.90, Y:10.33, Z:-3.75 [[ 0.80924818 0.51123106 -0.28941353 -11.89642897] [ -0.52308138 0.8512898 0.04112846 10.33191582] [ 0.26740093 0.1181037 0.95632017 -3.7498634 ] [ 0. 0. 0. 1. ]] SLAMing on 231.88800114499998 meters Centerline goodness [0,1] 0.7902881040892193 Centerline is valid? [False, False] Translation: X:-11.92, Y:10.35, Z:-3.75 [[ 0.80897035 0.5091667 -0.29379626 -11.9175237 ] [ -0.52250747 0.85180928 0.03750857 10.35046401] [ 0.2693565 0.12316742 0.95513186 -3.75251852] [ 0. 0. 0. 1. ]] SLAMing on 231.91800114499998 meters Centerline goodness [0,1] 0.7973909403776394 Centerline is valid? [False, False] Translation: X:-11.92, Y:10.35, Z:-3.75 [[ 0.80900236 0.50916039 -0.29371905 -11.91786442] [ -0.5224863 0.85182164 0.03752289 10.35010714] [ 0.26930141 0.12310807 0.95515504 -3.75263051] [ 0. 0. 0. 1. ]] SLAMing on 231.94800114499998 meters Centerline goodness [0,1] 0.7902076807054182 Centerline is valid? [False, False] Translation: X:-11.94, Y:10.37, Z:-3.76 [[ 0.8093209 0.50653291 -0.29736188 -11.94019679] [ -0.52111347 0.85279503 0.03437135 10.36881425] [ 0.27099896 0.12714183 0.95414596 -3.75757682] [ 0. 0. 0. 1. ]] SLAMing on 231.97800114499995 meters Centerline goodness [0,1] 0.7942217390298628 Centerline is valid? [False, False] Translation: X:-11.94, Y:10.37, Z:-3.76 [[ 0.80958449 0.50617504 -0.29725374 -11.94090649] [ -0.520776 0.85300891 0.03417837 10.36887806] [ 0.27086033 0.12713233 0.95418659 -3.75774657] [ 0. 0. 0. 1. ]] SLAMing on 232.00800114499995 meters Centerline goodness [0,1] 0.7903457878858204 Centerline is valid? [False, False] Translation: X:-11.94, Y:10.37, Z:-3.76 [[ 0.80953246 0.50626413 -0.2972437 -11.94096325] [ -0.52080176 0.85298374 0.03441332 10.36835391] [ 0.27096627 0.12694635 0.95418127 -3.75780742] [ 0. 0. 0. 1. ]] SLAMing on 232.03800114499995 meters Centerline goodness [0,1] 0.782094398701148 Centerline is valid? [False, False] Translation: X:-11.94, Y:10.37, Z:-3.76 [[ 0.80870925 0.50981032 -0.29339869 -11.94477667] [ -0.52292084 0.85152237 0.03825505 10.36701419] [ 0.26933837 0.12248708 0.95522446 -3.76152687] [ 0. 0. 0. 1. ]] SLAMing on 232.06800114499995 meters Centerline goodness [0,1] 0.787832417518722 Centerline is valid? [False, False] Translation: X:-11.95, Y:10.37, Z:-3.76 [[ 0.80878081 0.50971529 -0.29336654 -11.94527981] [ -0.52279953 0.85159416 0.038315 10.36631193] [ 0.26935897 0.12238346 0.95523193 -3.76163927] [ 0. 0. 0. 1. ]] SLAMing on 232.09800114499996 meters Centerline goodness [0,1] 0.7787860549099496 Centerline is valid? [False, False] Translation: X:-11.95, Y:10.37, Z:-3.76 [[ 0.80876482 0.50983834 -0.29319674 -11.94554331] [ -0.5228099 0.85157236 0.03865656 10.36519559] [ 0.26938684 0.12202209 0.9552703 -3.76215461] [ 0. 0. 0. 1. ]] SLAMing on 232.12800114499996 meters Centerline goodness [0,1] 0.7841840965631622 Centerline is valid? [False, False] Translation: X:-11.95, Y:10.36, Z:-3.76 [[ 0.80882965 0.50975989 -0.29315431 -11.94606219] [ -0.52268771 0.8516419 0.03877672 10.36426772] [ 0.26942931 0.12186439 0.95527845 -3.76232255] [ 0. 0. 0. 1. ]] SLAMing on 232.15800114499996 meters Centerline goodness [0,1] 0.7768701832110388 Centerline is valid? [False, False] Translation: X:-11.95, Y:10.36, Z:-3.76 [[ 0.80777751 0.51344668 -0.28959972 -11.949832 ] [ -0.52511891 0.84997878 0.04226364 10.36345962] [ 0.26785374 0.11793467 0.9562143 -3.76486407] [ 0. 0. 0. 1. ]] SLAMing on 232.18800114499996 meters Centerline goodness [0,1] 0.7885594489368074 Centerline is valid? [False, False] Translation: X:-11.95, Y:10.36, Z:-3.76 [[ 0.80760062 0.51361959 -0.2897864 -11.9496152 ] [ -0.52528353 0.84986966 0.04241194 10.36303696] [ 0.26806427 0.11796811 0.95615118 -3.76444932] [ 0. 0. 0. 1. ]] SLAMing on 232.21800114499996 meters Centerline goodness [0,1] 0.7917586968525676 Centerline is valid? [False, False] Translation: X:-11.95, Y:10.36, Z:-3.76 [[ 0.80626244 0.51689026 -0.28768966 -11.95226496] [ -0.52768091 0.8482403 0.04518013 10.36264769] [ 0.26738313 0.1153813 0.95665742 -3.76435232] [ 0. 0. 0. 1. ]] SLAMing on 232.24800114499996 meters Centerline goodness [0,1] 0.7959960329358581 Centerline is valid? [False, False] Translation: X:-11.97, Y:10.38, Z:-3.77 [[ 0.8051293 0.51617376 -0.2921155 -11.97262777] [ -0.52819195 0.84804984 0.04271685 10.38057461] [ 0.26977782 0.11990047 0.9554286 -3.76669672] [ 0. 0. 0. 1. ]] SLAMing on 232.27800114499996 meters Centerline goodness [0,1] 0.7920883164673413 Centerline is valid? [False, False] Translation: X:-11.99, Y:10.39, Z:-3.77 [[ 0.80263512 0.51590813 -0.29935878 -11.98595502] [ -0.53012213 0.84704984 0.03843301 10.39272889] [ 0.2733997 0.12784903 0.95336626 -3.76602011] [ 0. 0. 0. 1. ]] SLAMing on 232.30800114499996 meters Centerline goodness [0,1] 0.803034139828265 Centerline is valid? [False, False] Translation: X:-12.01, Y:10.41, Z:-3.77 [[ 0.80160914 0.51509999 -0.30347121 -12.00687473] [ -0.53024891 0.84703073 0.03708143 10.41099124] [ 0.27615009 0.13119047 0.95211879 -3.76972464] [ 0. 0. 0. 1. ]] SLAMing on 232.33800114499996 meters Centerline goodness [0,1] 0.8104098624591748 Centerline is valid? [False, False] Translation: X:-12.03, Y:10.43, Z:-3.77 [[ 0.80019005 0.51517829 -0.30706225 -12.02700763] [ -0.53125588 0.8464577 0.03572877 10.42856628] [ 0.27832189 0.13453882 0.95101852 -3.7735125 ] [ 0. 0. 0. 1. ]] SLAMing on 232.36800114499997 meters Centerline goodness [0,1] 0.8246443312043165 Centerline is valid? [False, False] Translation: X:-12.05, Y:10.45, Z:-3.78 [[ 0.79835975 0.51645682 -0.30966768 -12.04924369] [ -0.53304954 0.84533609 0.03556808 10.4485578 ] [ 0.28014264 0.13667209 0.95017937 -3.77708604] [ 0. 0. 0. 1. ]] SLAMing on 232.39800114499997 meters Centerline goodness [0,1] 0.851342622497001 Centerline is valid? [False, False] Translation: X:-12.05, Y:10.45, Z:-3.78 [[ 0.79678713 0.52026306 -0.30733795 -12.05185046] [ -0.53584707 0.84343399 0.03856178 10.44784593] [ 0.27928154 0.13396061 0.95081879 -3.77715572] [ 0. 0. 0. 1. ]] SLAMing on 232.42800114499997 meters Centerline goodness [0,1] 0.836022063744836 Centerline is valid? [False, False] Translation: X:-12.08, Y:10.47, Z:-3.78 [[ 0.79581741 0.520467 -0.30949758 -12.07592761] [ -0.53610464 0.84322615 0.03951555 10.46649947] [ 0.281543 0.13447593 0.95007882 -3.78386799] [ 0. 0. 0. 1. ]] SLAMing on 232.45800114499997 meters Centerline goodness [0,1] 0.8711009597637505 Centerline is valid? [False, False] Translation: X:-12.09, Y:10.48, Z:-3.78 [[ 0.79300243 0.52052032 -0.31655292 -12.08910409] [ -0.53829086 0.84198849 0.03603238 10.47810543] [ 0.2852895 0.14182378 0.94789024 -3.7834855 ] [ 0. 0. 0. 1. ]] SLAMing on 232.48800114499997 meters Centerline goodness [0,1] 0.8714612030179276 Centerline is valid? [False, False] Translation: X:-12.11, Y:10.49, Z:-3.79 [[ 0.79158199 0.52047276 -0.32016566 -12.10896259] [ -0.53916694 0.84147592 0.03488962 10.49482283] [ 0.28757079 0.14500475 0.94671889 -3.78797225] [ 0. 0. 0. 1. ]] SLAMing on 232.51800114499997 meters Centerline goodness [0,1] 0.8844330349915586 Centerline is valid? [False, False] Translation: X:-12.13, Y:10.51, Z:-3.79 [[ 0.78897864 0.52177303 -0.32444663 -12.12531806] [ -0.54157033 0.83997301 0.0338664 10.50803247] [ 0.29019698 0.1489908 0.94529755 -3.79171099] [ 0. 0. 0. 1. ]] SLAMing on 232.54800114499997 meters Centerline goodness [0,1] 0.8881594155994267 Centerline is valid? [False, False] Translation: X:-12.14, Y:10.52, Z:-3.79 [[ 0.78594534 0.52304992 -0.32971002 -12.14042219] [ -0.54434788 0.83824159 0.03219349 10.51972785] [ 0.29321546 0.15417462 0.94353319 -3.79408339] [ 0. 0. 0. 1. ]] SLAMing on 232.57800114499997 meters Centerline goodness [0,1] 0.8990969768354927 Centerline is valid? [False, False] Translation: X:-12.15, Y:10.53, Z:-3.80 [[ 0.7820905 0.5257415 -0.33455989 -12.15448478] [ -0.54817317 0.83575647 0.03189515 10.5298287 ] [ 0.29637919 0.15845186 0.94183458 -3.7973291 ] [ 0. 0. 0. 1. ]] SLAMing on 232.60800114499997 meters Centerline goodness [0,1] 0.9085023041474655 Centerline is valid? [False, False] Translation: X:-12.15, Y:10.53, Z:-3.80 [[ 0.78190728 0.52554271 -0.33529967 -12.15213038] [ -0.54799826 0.83585954 0.03219823 10.52924046] [ 0.29718497 0.1585676 0.94156115 -3.79644858] [ 0. 0. 0. 1. ]] SLAMing on 232.63800114499998 meters Centerline goodness [0,1] 0.9070581462291307 Centerline is valid? [False, False] Translation: X:-12.17, Y:10.54, Z:-3.80 [[ 0.77894472 0.52566007 -0.34194534 -12.16570852] [ -0.55030143 0.83445527 0.0292018 10.54073697] [ 0.30068831 0.16542642 0.93926601 -3.7966923 ] [ 0. 0. 0. 1. ]] SLAMing on 232.66800114499998 meters Centerline goodness [0,1] 0.9100608351000092 Centerline is valid? [False, False] Translation: X:-12.16, Y:10.54, Z:-3.80 [[ 0.77874075 0.52574554 -0.34227836 -12.16479331] [ -0.5504364 0.83436411 0.02926263 10.54072544] [ 0.30096947 0.16561447 0.93914281 -3.79618762] [ 0. 0. 0. 1. ]] SLAMing on 232.69800114499998 meters Centerline goodness [0,1] 0.9103086377131809 Centerline is valid? [False, False] Translation: X:-12.19, Y:10.56, Z:-3.80 [[ 0.778022 0.52532698 -0.34454803 -12.18883963] [ -0.55010185 0.83454977 0.03024301 10.55965362] [ 0.30342995 0.16600678 0.93828142 -3.80377271] [ 0. 0. 0. 1. ]] SLAMing on 232.72800114499995 meters Centerline goodness [0,1] 0.9126021406375877 Centerline is valid? [False, False] Translation: X:-12.21, Y:10.58, Z:-3.81 [[ 0.77781363 0.52416288 -0.34678411 -12.21080373] [ -0.54955551 0.83494002 0.02939236 10.57726348] [ 0.30495032 0.16771534 0.93748433 -3.81160205] [ 0. 0. 0. 1. ]] SLAMing on 232.75800114499995 meters Centerline goodness [0,1] 0.9162164026395052 Centerline is valid? [False, False] Translation: X:-12.22, Y:10.59, Z:-3.81 [[ 0.77548765 0.52310163 -0.35353018 -12.22442842] [ -0.55085709 0.83419502 0.02598334 10.58735616] [ 0.30850505 0.17459485 0.93506218 -3.81338048] [ 0. 0. 0. 1. ]] SLAMing on 232.78800114499995 meters Centerline goodness [0,1] 0.9108429312164457 Centerline is valid? [False, False] Translation: X:-12.25, Y:10.61, Z:-3.82 [[ 0.7767418 0.52198021 -0.35243274 -12.25266363] [ -0.54915269 0.83529126 0.02682969 10.60911093] [ 0.30838856 0.17269964 0.93545247 -3.82499518] [ 0. 0. 0. 1. ]] SLAMing on 232.81800114499995 meters Centerline goodness [0,1] 0.914296835645922 Centerline is valid? [False, False] Translation: X:-12.28, Y:10.63, Z:-3.83 [[ 0.7773752 0.5206643 -0.35298227 -12.27673936] [ -0.5483347 0.83587463 0.02535052 10.62815376] [ 0.30824804 0.17384556 0.93528652 -3.83348454] [ 0. 0. 0. 1. ]] SLAMing on 232.84800114499996 meters Centerline goodness [0,1] 0.9101077240430896 Centerline is valid? [False, False] Translation: X:-12.30, Y:10.65, Z:-3.84 [[ 0.77839394 0.51960892 -0.3522917 -12.30216291] [ -0.54738764 0.83652453 0.02436158 10.6477433 ] [ 0.30735914 0.17387721 0.93557313 -3.84312256] [ 0. 0. 0. 1. ]] SLAMing on 232.87800114499996 meters Centerline goodness [0,1] 0.9056362765447868 Centerline is valid? [False, False] Translation: X:-12.33, Y:10.67, Z:-3.85 [[ 0.78147192 0.51580359 -0.35106737 -12.3326883 ] [ -0.54363539 0.8390173 0.02259493 10.66947857] [ 0.30620614 0.17319534 0.93607755 -3.85479676] [ 0. 0. 0. 1. ]] SLAMing on 232.90800114499996 meters Centerline goodness [0,1] 0.9040718208125413 Centerline is valid? [False, False] Translation: X:-12.36, Y:10.69, Z:-3.87 [[ 0.78311197 0.51403102 -0.35001107 -12.36006531] [ -0.5415483 0.84036795 0.02251997 10.68880527] [ 0.30571405 0.17191224 0.93647483 -3.86665857] [ 0. 0. 0. 1. ]] SLAMing on 232.93800114499996 meters Centerline goodness [0,1] 0.8972164690352095 Centerline is valid? [False, False] Translation: X:-12.39, Y:10.71, Z:-3.88 [[ 0.78563473 0.51192428 -0.34743576 -12.3910655 ] [ -0.53852971 0.84228409 0.02330801 10.71098302] [ 0.30457154 0.1687929 0.93741407 -3.88043618] [ 0. 0. 0. 1. ]] SLAMing on 232.96800114499996 meters Centerline goodness [0,1] 0.893029393029393 Centerline is valid? [False, False] Translation: X:-12.42, Y:10.73, Z:-3.89 [[ 0.78835845 0.50922984 -0.34521867 -12.42074629] [ -0.53541324 0.84428504 0.02270325 10.73302438] [ 0.30302413 0.16693635 0.93824764 -3.89339906] [ 0. 0. 0. 1. ]] SLAMing on 232.99800114499996 meters Centerline goodness [0,1] 0.8750283665410974 Centerline is valid? [False, False] Translation: X:-12.45, Y:10.76, Z:-3.91 [[ 0.7915157 0.50643864 -0.34208595 -12.45468781] [ -0.53135858 0.84680162 0.02418809 10.75634314] [ 0.30192873 0.16262505 0.9393573 -3.90782676] [ 0. 0. 0. 1. ]] SLAMing on 233.02800114499996 meters Centerline goodness [0,1] 0.8782922347496653 Centerline is valid? [False, False] Translation: X:-12.46, Y:10.76, Z:-3.91 [[ 0.79161231 0.50643604 -0.34186619 -12.45530801] [ -0.53121803 0.84688112 0.02449023 10.75511536] [ 0.30192275 0.16221872 0.93942947 -3.90836636] [ 0. 0. 0. 1. ]] SLAMing on 233.05800114499996 meters Centerline goodness [0,1] 0.8596455443749433 Centerline is valid? [False, False] Translation: X:-12.48, Y:10.78, Z:-3.92 [[ 0.79310423 0.50440545 -0.34141005 -12.48446684] [ -0.52854661 0.84851271 0.02578096 10.77684665] [ 0.30269482 0.16000414 0.93956081 -3.92004714] [ 0. 0. 0. 1. ]] SLAMing on 233.08800114499996 meters Centerline goodness [0,1] 0.865745756590827 Centerline is valid? [False, False] Translation: X:-12.51, Y:10.80, Z:-3.93 [[ 0.79390758 0.50291956 -0.34173479 -12.50926767] [ -0.5270039 0.8494706 0.02581822 10.79527331] [ 0.30327815 0.15959829 0.93944172 -3.93075973] [ 0. 0. 0. 1. ]] SLAMing on 233.11800114499997 meters Centerline goodness [0,1] 0.8656942903086993 Centerline is valid? [False, False] Translation: X:-12.54, Y:10.82, Z:-3.94 [[ 0.79518076 0.50107148 -0.34148928 -12.53652088] [ -0.52478885 0.85082245 0.02641626 10.81559839] [ 0.30378318 0.15820407 0.93951437 -3.94219682] [ 0. 0. 0. 1. ]] SLAMing on 233.14800114499997 meters Centerline goodness [0,1] 0.8617667652971337 Centerline is valid? [False, False] Translation: X:-12.54, Y:10.81, Z:-3.95 [[ 0.79544023 0.50314951 -0.33780973 -12.54111814] [ -0.52508555 0.8505075 0.030367 10.8145121 ] [ 0.30258885 0.15322388 0.94072442 -3.94766123] [ 0. 0. 0. 1. ]] SLAMing on 233.17800114499997 meters Centerline goodness [0,1] 0.8586723285072166 Centerline is valid? [False, False] Translation: X:-12.57, Y:10.83, Z:-3.96 [[ 0.79616936 0.50145118 -0.33861638 -12.56591669] [ -0.52354501 0.85147151 0.02994805 10.833739 ] [ 0.30333969 0.15343719 0.9404478 -3.95731359] [ 0. 0. 0. 1. ]] SLAMing on 233.20800114499997 meters Centerline goodness [0,1] 0.8514581076200795 Centerline is valid? [False, False] Translation: X:-12.59, Y:10.85, Z:-3.97 [[ 0.79695892 0.50067645 -0.33790468 -12.59061145] [ -0.52271129 0.85199645 0.02957974 10.85251555] [ 0.30270346 0.15305276 0.9407154 -3.968093 ] [ 0. 0. 0. 1. ]] SLAMing on 233.23800114499997 meters Centerline goodness [0,1] 0.8496327008878273 Centerline is valid? [False, False] Translation: X:-12.59, Y:10.85, Z:-3.97 [[ 0.79578022 0.50373111 -0.33613808 -12.59302157] [ -0.52471352 0.8506559 0.03256163 10.85097836] [ 0.30234015 0.15046429 0.94124966 -3.96841778] [ 0. 0. 0. 1. ]] SLAMing on 233.26800114499997 meters Centerline goodness [0,1] 0.8489805114340431 Centerline is valid? [False, False] Translation: X:-12.62, Y:10.87, Z:-3.98 [[ 0.79563622 0.50296405 -0.33762429 -12.61582701] [ -0.52430579 0.85092585 0.03207242 10.86845286] [ 0.30342451 0.15150039 0.94073439 -3.97663447] [ 0. 0. 0. 1. ]] SLAMing on 233.29800114499997 meters Centerline goodness [0,1] 0.8549917724229651 Centerline is valid? [False, False] Translation: X:-12.62, Y:10.87, Z:-3.98 [[ 0.79435494 0.5064554 -0.33541489 -12.61836894] [ -0.52669726 0.84932923 0.03506941 10.86706199] [ 0.30263877 0.14880454 0.94141754 -3.9773064 ] [ 0. 0. 0. 1. ]] SLAMing on 233.32800114499997 meters Centerline goodness [0,1] 0.8549917724229651 Centerline is valid? [False, False] Translation: X:-12.62, Y:10.87, Z:-3.98 [[ 0.79435634 0.50643537 -0.33544183 -12.61833494] [ -0.52667752 0.8493411 0.03507835 10.86705549] [ 0.30266945 0.14880496 0.94140761 -3.97728494] [ 0. 0. 0. 1. ]] SLAMing on 233.35800114499997 meters Centerline goodness [0,1] 0.8403228715728716 Centerline is valid? [False, False] Translation: X:-12.64, Y:10.89, Z:-3.99 [[ 0.79491093 0.50470927 -0.33672714 -12.64428986] [ -0.52506231 0.85034228 0.03503685 10.88862759] [ 0.30401675 0.14895156 0.94095018 -3.98578741] [ 0. 0. 0. 1. ]] SLAMing on 233.38800114499998 meters Centerline goodness [0,1] 0.8536448135394864 Centerline is valid? [False, False] Translation: X:-12.67, Y:10.91, Z:-3.99 [[ 0.79492172 0.50385472 -0.33797912 -12.66791466] [ -0.52490968 0.85050466 0.03334136 10.9082867 ] [ 0.30425202 0.15090474 0.94056285 -3.99228088] [ 0. 0. 0. 1. ]] SLAMing on 233.41800114499998 meters Centerline goodness [0,1] 0.8339530795754175 Centerline is valid? [False, False] Translation: X:-12.70, Y:10.93, Z:-4.00 [[ 0.79667876 0.50171019 -0.33703091 -12.69615447] [ -0.52272486 0.85188168 0.03250126 10.93097829] [ 0.30341667 0.15028137 0.94093243 -4.00275109] [ 0. 0. 0. 1. ]] SLAMing on 233.44800114499998 meters Centerline goodness [0,1] 0.8459426616859445 Centerline is valid? [False, False] Translation: X:-12.72, Y:10.95, Z:-4.01 [[ 0.79745852 0.49982364 -0.33798852 -12.71980274] [ -0.52167567 0.85261593 0.03000957 10.94934486] [ 0.30317389 0.152389 0.94067167 -4.01078632] [ 0. 0. 0. 1. ]] SLAMing on 233.47800114499995 meters Centerline goodness [0,1] 0.8403259205906185 Centerline is valid? [False, False] Translation: X:-12.74, Y:10.97, Z:-4.02 [[ 0.79789839 0.49897161 -0.33820924 -12.7429573 ] [ -0.52129508 0.85290105 0.02848209 10.96557768] [ 0.30267077 0.153581 0.94063983 -4.01964602] [ 0. 0. 0. 1. ]] SLAMing on 233.50800114499995 meters Centerline goodness [0,1] 0.8100256145238844 Centerline is valid? [False, False] Translation: X:-12.77, Y:10.99, Z:-4.03 [[ 0.80112694 0.49487764 -0.3365884 -12.77293369] [ -0.51709167 0.85550175 0.02707348 10.98847408] [ 0.30135002 0.15235776 0.9412626 -4.03238798] [ 0. 0. 0. 1. ]] SLAMing on 233.53800114499995 meters Centerline goodness [0,1] 0.795125563859153 Centerline is valid? [False, False] Translation: X:-12.80, Y:11.01, Z:-4.05 [[ 0.80336898 0.49281057 -0.3342694 -12.8011749 ] [ -0.51468207 0.85697264 0.0264624 11.0099998 ] [ 0.29950068 0.1507834 0.942106 -4.0450034 ] [ 0. 0. 0. 1. ]] SLAMing on 233.56800114499995 meters Centerline goodness [0,1] 0.7932770088081971 Centerline is valid? [False, False] Translation: X:-12.83, Y:11.03, Z:-4.06 [[ 0.80571387 0.48995364 -0.33282217 -12.83054393] [ -0.51176138 0.85875533 0.02528996 11.03226491] [ 0.29820371 0.14994906 0.94265042 -4.05604168] [ 0. 0. 0. 1. ]] SLAMing on 233.59800114499996 meters Centerline goodness [0,1] 0.7570881054306654 Centerline is valid? [False, False] Translation: X:-12.86, Y:11.06, Z:-4.07 [[ 0.80808564 0.48702555 -0.33136644 -12.86156157] [ -0.50832605 0.86078668 0.02551291 11.05534072] [ 0.29766126 0.14782558 0.94315713 -4.06804014] [ 0. 0. 0. 1. ]] SLAMing on 233.62800114499996 meters Centerline goodness [0,1] 0.7737406360741039 Centerline is valid? [False, False] Translation: X:-12.89, Y:11.07, Z:-4.08 [[ 0.81055888 0.48400582 -0.32974637 -12.88913804] [ -0.505439 0.86253921 0.02361186 11.07423998] [ 0.29584745 0.14752788 0.94377424 -4.07999995] [ 0. 0. 0. 1. ]] SLAMing on 233.65800114499996 meters Centerline goodness [0,1] 0.7429858372176408 Centerline is valid? [False, False] Translation: X:-12.92, Y:11.10, Z:-4.09 [[ 0.81256135 0.48263828 -0.32680933 -12.91998873] [ -0.50328516 0.86377856 0.02430324 11.09689424] [ 0.29402057 0.14473041 0.94477776 -4.09266271] [ 0. 0. 0. 1. ]] SLAMing on 233.68800114499996 meters Centerline goodness [0,1] 0.7587849777439775 Centerline is valid? [False, False] Translation: X:-12.92, Y:11.10, Z:-4.10 [[ 0.81170662 0.48628233 -0.32351484 -12.92339727] [ -0.50551864 0.86236508 0.02788148 11.09560641] [ 0.29254617 0.14091121 0.94581223 -4.09546357] [ 0. 0. 0. 1. ]] SLAMing on 233.71800114499996 meters Centerline goodness [0,1] 0.7337229088303779 Centerline is valid? [False, False] Translation: X:-12.95, Y:11.12, Z:-4.11 [[ 0.81328255 0.48429879 -0.3225309 -12.95301348] [ -0.50291975 0.86384741 0.02897211 11.11847475] [ 0.29264864 0.13864465 0.94611545 -4.10698043] [ 0. 0. 0. 1. ]] SLAMing on 233.74800114499996 meters Centerline goodness [0,1] 0.7509483087558638 Centerline is valid? [False, False] Translation: X:-12.96, Y:11.12, Z:-4.11 [[ 0.81198711 0.48791686 -0.32033432 -12.95520838] [ -0.50548295 0.86224228 0.03201937 11.11800169] [ 0.29182858 0.13592422 0.94676327 -4.10746829] [ 0. 0. 0. 1. ]] SLAMing on 233.77800114499996 meters Centerline goodness [0,1] 0.7500168270848758 Centerline is valid? [False, False] Translation: X:-12.98, Y:11.14, Z:-4.12 [[ 0.81255386 0.48695613 -0.32035909 -12.9809813 ] [ -0.50467934 0.86273823 0.03132899 11.13938039] [ 0.29164188 0.13622213 0.94677798 -4.11584625] [ 0. 0. 0. 1. ]] SLAMing on 233.80800114499996 meters Centerline goodness [0,1] 0.7541560462860624 Centerline is valid? [False, False] Translation: X:-13.01, Y:11.16, Z:-4.12 [[ 0.81290337 0.48591471 -0.32105297 -13.00652856] [ -0.50382069 0.86325642 0.03087173 11.16034726] [ 0.29215206 0.1366574 0.94655794 -4.12392945] [ 0. 0. 0. 1. ]] SLAMing on 233.83800114499996 meters Centerline goodness [0,1] 0.7256587385522377 Centerline is valid? [False, False] Translation: X:-13.03, Y:11.18, Z:-4.13 [[ 0.81298535 0.48481793 -0.32250021 -13.03004258] [ -0.50324402 0.86363413 0.02969082 11.17851156] [ 0.29291683 0.1381581 0.94610363 -4.13180332] [ 0. 0. 0. 1. ]] SLAMing on 233.86800114499997 meters Centerline goodness [0,1] 0.7537320143884892 Centerline is valid? [False, False] Translation: X:-13.05, Y:11.20, Z:-4.14 [[ 0.81353749 0.48429263 -0.32189658 -13.05409435] [ -0.50321207 0.86371944 0.02768303 11.19653664] [ 0.29143502 0.13946107 0.94637003 -4.14073017] [ 0. 0. 0. 1. ]] SLAMing on 233.89800114499997 meters Centerline goodness [0,1] 0.7476521582084161 Centerline is valid? [False, False] Translation: X:-13.08, Y:11.22, Z:-4.15 [[ 0.81461459 0.48426583 -0.31920163 -13.0841429 ] [ -0.50271063 0.86400569 0.0278602 11.21958153] [ 0.28928377 0.13777073 0.94727722 -4.15065876] [ 0. 0. 0. 1. ]] SLAMing on 233.92800114499997 meters Centerline goodness [0,1] 0.7484212900315742 Centerline is valid? [False, False] Translation: X:-13.11, Y:11.24, Z:-4.16 [[ 0.81488361 0.48419397 -0.31862346 -13.10998533] [ -0.50273284 0.86401239 0.02724484 11.24067547] [ 0.2884864 0.1379811 0.94748974 -4.1588513 ] [ 0. 0. 0. 1. ]] SLAMing on 233.95800114499997 meters Centerline goodness [0,1] 0.7547071603150176 Centerline is valid? [False, False] Translation: X:-13.14, Y:11.26, Z:-4.17 [[ 0.81490562 0.48408899 -0.31872666 -13.13599231] [ -0.50269898 0.86403844 0.02704285 11.26202318] [ 0.28848323 0.13818619 0.94746082 -4.16650835] [ 0. 0. 0. 1. ]] SLAMing on 233.98800114499997 meters Centerline goodness [0,1] 0.7769638969521044 Centerline is valid? [False, False] Translation: X:-13.14, Y:11.26, Z:-4.17 [[ 0.81289659 0.4887407 -0.31675173 -13.13576244] [ -0.50630214 0.86181952 0.03041812 11.26241153] [ 0.2878494 0.13564529 0.94802061 -4.1665006 ] [ 0. 0. 0. 1. ]] SLAMing on 234.01800114499997 meters Centerline goodness [0,1] 0.7775253844581241 Centerline is valid? [False, False] Translation: X:-13.15, Y:11.27, Z:-4.17 [[ 0.81011051 0.48988618 -0.32207528 -13.1513345 ] [ -0.50912098 0.86024353 0.02787288 11.27478653] [ 0.29071772 0.14139517 0.94630366 -4.16776399] [ 0. 0. 0. 1. ]] SLAMing on 234.04800114499997 meters Centerline goodness [0,1] 0.7832396897249835 Centerline is valid? [False, False] Translation: X:-13.17, Y:11.29, Z:-4.17 [[ 0.80697943 0.49155228 -0.32735387 -13.16542118] [ -0.51247169 0.85832453 0.02552975 11.28567091] [ 0.29352506 0.14715761 0.94455687 -4.16953003] [ 0. 0. 0. 1. ]] SLAMing on 234.07800114499997 meters Centerline goodness [0,1] 0.811691412200723 Centerline is valid? [False, False] Translation: X:-13.18, Y:11.30, Z:-4.17 [[ 0.8039589 0.49246074 -0.33336543 -13.17940194] [ -0.51541819 0.85664431 0.0224638 11.29717212] [ 0.29663814 0.15376263 0.94253004 -4.17013972] [ 0. 0. 0. 1. ]] SLAMing on 234.10800114499997 meters Centerline goodness [0,1] 0.8097008118215817 Centerline is valid? [False, False] Translation: X:-13.21, Y:11.32, Z:-4.18 [[ 0.80299606 0.49370493 -0.33384544 -13.2051855 ] [ -0.51622982 0.85610363 0.02435877 11.31813639] [ 0.29783234 0.15278098 0.94231304 -4.17798979] [ 0. 0. 0. 1. ]] SLAMing on 234.13800114499998 meters Centerline goodness [0,1] 0.8361503416856492 Centerline is valid? [False, False] Translation: X:-13.23, Y:11.34, Z:-4.19 [[ 0.80229535 0.49361133 -0.33566355 -13.22757922] [ -0.51639407 0.85599994 0.0245207 11.33649616] [ 0.29943168 0.15366182 0.94166274 -4.18579888] [ 0. 0. 0. 1. ]] SLAMing on 234.16800114499998 meters Centerline goodness [0,1] 0.8141524283139814 Centerline is valid? [False, False] Translation: X:-13.25, Y:11.35, Z:-4.19 [[ 0.80047325 0.49387343 -0.33960506 -13.24561715] [ -0.51779509 0.85519037 0.02318777 11.35083227] [ 0.30187881 0.15728464 0.94028226 -4.19041929] [ 0. 0. 0. 1. ]] SLAMing on 234.19800114499998 meters Centerline goodness [0,1] 0.8493852459016393 Centerline is valid? [False, False] Translation: X:-13.26, Y:11.36, Z:-4.19 [[ 0.7979541 0.49382109 -0.34555751 -13.26000024] [ -0.51981514 0.85404163 0.02012731 11.36236427] [ 0.30505979 0.16356536 0.9381817 -4.19227238] [ 0. 0. 0. 1. ]] SLAMing on 234.22800114499995 meters Centerline goodness [0,1] 0.8588235294117648 Centerline is valid? [False, False] Translation: X:-13.28, Y:11.38, Z:-4.20 [[ 0.79652781 0.49438191 -0.34803733 -13.28061708] [ -0.52076609 0.85345375 0.0204789 11.37626382] [ 0.30715816 0.16493403 0.93725697 -4.2000684 ] [ 0. 0. 0. 1. ]] SLAMing on 234.25800114499995 meters Centerline goodness [0,1] 0.8626483561456959 Centerline is valid? [False, False] Translation: X:-13.30, Y:11.39, Z:-4.20 [[ 0.7945612 0.49434021 -0.35256242 -13.29764162] [ -0.52245569 0.85247966 0.01784636 11.38868115] [ 0.30937447 0.17001821 0.93561811 -4.20383218] [ 0. 0. 0. 1. ]] SLAMing on 234.28800114499995 meters Centerline goodness [0,1] 0.8621834975089292 Centerline is valid? [False, False] Translation: X:-13.33, Y:11.41, Z:-4.22 [[ 0.79531703 0.49460746 -0.35047723 -13.32605449] [ -0.52194362 0.85276737 0.0190439 11.40972118] [ 0.3082948 0.16778342 0.93637762 -4.2155439 ] [ 0. 0. 0. 1. ]] SLAMing on 234.31800114499995 meters Centerline goodness [0,1] 0.8691369819389473 Centerline is valid? [False, False] Translation: X:-13.35, Y:11.43, Z:-4.23 [[ 0.7955028 0.49539046 -0.34894639 -13.35301924] [ -0.52218305 0.85259938 0.01997878 11.43023705] [ 0.30740877 0.16632072 0.9369297 -4.22583712] [ 0. 0. 0. 1. ]] SLAMing on 234.34800114499996 meters Centerline goodness [0,1] 0.8765266131972294 Centerline is valid? [False, False] Translation: X:-13.38, Y:11.45, Z:-4.24 [[ 0.7952983 0.4968401 -0.34734784 -13.38130133] [ -0.52286235 0.85214026 0.02172437 11.45309271] [ 0.30678261 0.16433776 0.93748468 -4.23503023] [ 0. 0. 0. 1. ]] SLAMing on 234.37800114499996 meters Centerline goodness [0,1] 0.8805728858326882 Centerline is valid? [False, False] Translation: X:-13.41, Y:11.47, Z:-4.24 [[ 0.79516415 0.49700997 -0.34741194 -13.40776591] [ -0.52273278 0.85219399 0.02271234 11.47340895] [ 0.30735063 0.16354357 0.93743751 -4.24419169] [ 0. 0. 0. 1. ]] SLAMing on 234.40800114499996 meters Centerline goodness [0,1] 0.8790873485745514 Centerline is valid? [False, False] Translation: X:-13.43, Y:11.49, Z:-4.25 [[ 0.79353947 0.49755559 -0.35033349 -13.42787441] [ -0.52391161 0.85147328 0.02258063 11.48866874] [ 0.30953472 0.16562516 0.9363528 -4.25056116] [ 0. 0. 0. 1. ]] SLAMing on 234.43800114499996 meters Centerline goodness [0,1] 0.8821653148637565 Centerline is valid? [False, False] Translation: X:-13.47, Y:11.52, Z:-4.27 [[ 0.79240582 0.49824338 -0.3519184 -13.4653073 ] [ -0.52654615 0.84996107 0.01775763 11.51622688] [ 0.30796456 0.17123003 0.93586223 -4.26519933] [ 0. 0. 0. 1. ]] SLAMing on 234.46800114499996 meters Centerline goodness [0,1] 0.8881031424803311 Centerline is valid? [False, False] Translation: X:-13.49, Y:11.53, Z:-4.27 [[ 0.79212624 0.49793755 -0.35297905 -13.49095621] [ -0.52596449 0.85029079 0.01915537 11.53428921] [ 0.30967301 0.17048097 0.93543512 -4.27499386] [ 0. 0. 0. 1. ]] SLAMing on 234.49800114499996 meters Centerline goodness [0,1] 0.8885546972907695 Centerline is valid? [False, False] Translation: X:-13.52, Y:11.56, Z:-4.29 [[ 0.793301 0.49706985 -0.35156093 -13.52041524] [ -0.52432505 0.85127227 0.02046358 11.55591768] [ 0.3094459 0.16809842 0.93594132 -4.28674058] [ 0. 0. 0. 1. ]] SLAMing on 234.52800114499996 meters Centerline goodness [0,1] 0.8912791094721028 Centerline is valid? [False, False] Translation: X:-13.54, Y:11.57, Z:-4.29 [[ 0.79187656 0.49702627 -0.35481882 -13.53931705] [ -0.52560583 0.8505297 0.01837745 11.56947313] [ 0.31091802 0.17194217 0.93475445 -4.29167517] [ 0. 0. 0. 1. ]] SLAMing on 234.55800114499996 meters Centerline goodness [0,1] 0.88811300154672 Centerline is valid? [False, False] Translation: X:-13.57, Y:11.59, Z:-4.30 [[ 0.79268744 0.49597006 -0.354486 -13.56563305] [ -0.52461009 0.85115729 0.01776291 11.58884637] [ 0.31053322 0.1718865 0.93489259 -4.30119294] [ 0. 0. 0. 1. ]] SLAMing on 234.58800114499996 meters Centerline goodness [0,1] 0.8894317071508101 Centerline is valid? [False, False] Translation: X:-13.57, Y:11.59, Z:-4.30 [[ 0.7928422 0.49592645 -0.3542008 -13.56729907] [ -0.52446096 0.85124628 0.01790162 11.58777851] [ 0.31039 0.17157133 0.93499803 -4.30118029] [ 0. 0. 0. 1. ]] SLAMing on 234.61800114499997 meters Centerline goodness [0,1] 0.8859406210277828 Centerline is valid? [False, False] Translation: X:-13.60, Y:11.61, Z:-4.31 [[ 0.79394621 0.49478993 -0.3533162 -13.59577829] [ -0.52284317 0.85222644 0.01857743 11.60757051] [ 0.31029734 0.16997948 0.93531948 -4.31205427] [ 0. 0. 0. 1. ]] SLAMing on 234.64800114499997 meters Centerline goodness [0,1] 0.8874028064289439 Centerline is valid? [False, False] Translation: X:-13.62, Y:11.63, Z:-4.32 [[ 0.79496134 0.49381516 -0.35239616 -13.62199473] [ -0.52173857 0.85291098 0.01821353 11.62514863] [ 0.30955667 0.16937961 0.93567367 -4.32309474] [ 0. 0. 0. 1. ]] SLAMing on 234.67800114499997 meters Centerline goodness [0,1] 0.8862723746001497 Centerline is valid? [False, False] Translation: X:-13.65, Y:11.65, Z:-4.33 [[ 0.79668994 0.49192073 -0.35113976 -13.65391473] [ -0.5191471 0.85446984 0.01917231 11.64550092] [ 0.30946959 0.1670188 0.93612675 -4.33472978] [ 0. 0. 0. 1. ]] SLAMing on 234.70800114499997 meters Centerline goodness [0,1] 0.8783683057393897 Centerline is valid? [False, False] Translation: X:-13.68, Y:11.66, Z:-4.35 [[ 0.79755004 0.49176326 -0.34940353 -13.68135344] [ -0.51850232 0.85485126 0.01961311 11.66427463] [ 0.30833305 0.1655241 0.93676705 -4.34597387] [ 0. 0. 0. 1. ]] SLAMing on 234.73800114499997 meters Centerline goodness [0,1] 0.8876252369347414 Centerline is valid? [False, False] Translation: X:-13.70, Y:11.67, Z:-4.35 [[ 0.79502801 0.49156295 -0.35538196 -13.69593515] [ -0.52055797 0.85367167 0.01625067 11.67484405] [ 0.31136774 0.17207718 0.93457989 -4.34731946] [ 0. 0. 0. 1. ]] SLAMing on 234.76800114499997 meters Centerline goodness [0,1] 0.886505080679838 Centerline is valid? [False, False] Translation: X:-13.71, Y:11.69, Z:-4.35 [[ 0.79347914 0.49161839 -0.35875091 -13.71418364] [ -0.52197183 0.85284424 0.01421643 11.68787275] [ 0.31294771 0.17597743 0.93332506 -4.35253432] [ 0. 0. 0. 1. ]] SLAMing on 234.79800114499997 meters Centerline goodness [0,1] 0.891046191357746 Centerline is valid? [False, False] Translation: X:-13.72, Y:11.68, Z:-4.35 [[ 0.79193065 0.49556998 -0.35672991 -13.71580243] [ -0.52459311 0.85116575 0.01785897 11.68475914] [ 0.31248665 0.17299498 0.93403684 -4.35357806] [ 0. 0. 0. 1. ]] SLAMing on 234.82800114499997 meters Centerline goodness [0,1] 0.8903400745678455 Centerline is valid? [False, False] Translation: X:-13.74, Y:11.70, Z:-4.36 [[ 0.79180201 0.49565824 -0.35689283 -13.74163647] [ -0.52418778 0.85138061 0.01944808 11.7030765 ] [ 0.31349124 0.17167983 0.93394287 -4.36372208] [ 0. 0. 0. 1. ]] SLAMing on 234.85800114499997 meters Centerline goodness [0,1] 0.8925455897932962 Centerline is valid? [False, False] Translation: X:-13.76, Y:11.71, Z:-4.37 [[ 0.78951881 0.49555862 -0.36205208 -13.75746283] [ -0.5261271 0.85024661 0.01646115 11.71458542] [ 0.31599102 0.17748902 0.93201251 -4.36640943] [ 0. 0. 0. 1. ]] SLAMing on 234.88800114499998 meters Centerline goodness [0,1] 0.8957361983917832 Centerline is valid? [False, False] Translation: X:-13.77, Y:11.72, Z:-4.37 [[ 7.86783924e-01 4.96130158e-01 -3.67186496e-01 -1.37727856e+01] [-5.28758201e-01 8.48662024e-01 1.36943265e-02 1.17248023e+01] [ 3.18411403e-01 1.83378395e-01 9.30046527e-01 -4.36858449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91800114499998 meters Centerline goodness [0,1] 0.9000248413540797 Centerline is valid? [False, False] Translation: X:-13.80, Y:11.74, Z:-4.38 [[ 0.78592949 0.49770613 -0.36688342 -13.7984793 ] [ -0.52947237 0.84816896 0.0163838 11.74188699] [ 0.31933345 0.18137812 0.93012264 -4.37903373] [ 0. 0. 0. 1. ]] SLAMing on 234.94800114499995 meters Centerline goodness [0,1] 0.9026298044504383 Centerline is valid? [False, False] Translation: X:-13.81, Y:11.75, Z:-4.38 [[ 0.7831517 0.49826796 -0.37202479 -13.81356036] [ -0.53197873 0.84664083 0.01406884 11.75334992] [ 0.32198144 0.18689124 0.92811617 -4.3814663 ] [ 0. 0. 0. 1. ]] SLAMing on 234.97800114499995 meters Centerline goodness [0,1] 0.9042792792792793 Centerline is valid? [False, False] Translation: X:-13.84, Y:11.77, Z:-4.39 [[ 0.78191115 0.50021799 -0.37201735 -13.83729305] [ -0.53308574 0.84589148 0.01694666 11.76965111] [ 0.32316333 0.18506636 0.92807107 -4.3922318 ] [ 0. 0. 0. 1. ]] SLAMing on 235.00800114499995 meters Centerline goodness [0,1] 0.9080338028169014 Centerline is valid? [False, False] Translation: X:-13.86, Y:11.79, Z:-4.40 [[ 0.78174283 0.5003932 -0.37213546 -13.86237324] [ -0.53269956 0.84609846 0.01867022 11.78688362] [ 0.32420569 0.18364109 0.92799064 -4.40321847] [ 0. 0. 0. 1. ]] SLAMing on 235.03800114499995 meters Centerline goodness [0,1] 0.9091011489074116 Centerline is valid? [False, False] Translation: X:-13.90, Y:11.81, Z:-4.42 [[ 0.78110737 0.50018039 -0.3737524 -13.90068116] [ -0.5343014 0.84517096 0.01442446 11.81410705] [ 0.32309951 0.18842938 0.92741635 -4.41919023] [ 0. 0. 0. 1. ]] SLAMing on 235.06800114499995 meters Centerline goodness [0,1] 0.9125849805918912 Centerline is valid? [False, False] Translation: X:-13.93, Y:11.83, Z:-4.43 [[ 0.78185785 0.50015738 -0.37221082 -13.92760643] [ -0.53360786 0.84559221 0.01537755 11.83237687] [ 0.32242977 0.18659156 0.92802082 -4.43120823] [ 0. 0. 0. 1. ]] SLAMing on 235.09800114499996 meters Centerline goodness [0,1] 0.914950821141308 Centerline is valid? [False, False] Translation: X:-13.97, Y:11.86, Z:-4.45 [[ 7.81705931e-01 4.99864304e-01 -3.72922934e-01 -1.39684982e+01] [-5.34867946e-01 8.44860385e-01 1.12787445e-02 1.18599435e+01] [ 3.20705655e-01 1.90647862e-01 9.27793768e-01 -4.44766704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.12800114499996 meters Centerline goodness [0,1] 0.9160028640472568 Centerline is valid? [False, False] Translation: X:-14.01, Y:11.89, Z:-4.46 [[ 7.81601042e-01 4.99868116e-01 -3.73137612e-01 -1.40094026e+01] [-5.36137976e-01 8.44094829e-01 7.74537733e-03 1.18884732e+01] [ 3.18835196e-01 1.93999449e-01 9.27743678e-01 -4.46475445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.15800114499996 meters Centerline goodness [0,1] 0.9155497781164552 Centerline is valid? [False, False] Translation: X:-14.05, Y:11.92, Z:-4.48 [[ 7.81617060e-01 5.00266253e-01 -3.72570057e-01 -1.40520975e+01] [-5.37301783e-01 8.43373866e-01 5.22651819e-03 1.19181747e+01] [ 3.16830500e-01 1.96097420e-01 9.27989351e-01 -4.48253419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.18800114499996 meters Centerline goodness [0,1] 0.9149311762602789 Centerline is valid? [False, False] Translation: X:-14.08, Y:11.94, Z:-4.50 [[ 7.83308888e-01 5.00623213e-01 -3.68515378e-01 -1.40838951e+01] [-5.35668796e-01 8.44385597e-01 8.47970412e-03 1.19397165e+01] [ 3.15414214e-01 1.90759961e-01 9.29582977e-01 -4.49737563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.21800114499996 meters Centerline goodness [0,1] 0.9149311762602789 Centerline is valid? [False, False] Translation: X:-14.12, Y:11.97, Z:-4.51 [[ 7.82968945e-01 5.00826117e-01 -3.68961829e-01 -1.41234445e+01] [-5.37093714e-01 8.43506488e-01 5.21024220e-03 1.19688133e+01] [ 3.13831122e-01 1.94087622e-01 9.29429945e-01 -4.51413224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.24800114499996 meters Centerline goodness [0,1] 0.9169306974876166 Centerline is valid? [False, False] Translation: X:-14.17, Y:12.00, Z:-4.53 [[ 7.83475045e-01 5.00806630e-01 -3.67912453e-01 -1.41693587e+01] [-5.37338901e-01 8.43358219e-01 3.71764600e-03 1.19981604e+01] [ 3.12143813e-01 1.94780990e-01 9.29853002e-01 -4.53280909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.27800114499996 meters Centerline goodness [0,1] 0.9158088561540509 Centerline is valid? [False, False] Translation: X:-14.21, Y:12.03, Z:-4.55 [[ 7.83854170e-01 5.00041060e-01 -3.68146137e-01 -1.42114984e+01] [-5.37467845e-01 8.43283612e-01 1.03225379e-03 1.20255123e+01] [ 3.10967774e-01 1.97057575e-01 9.29767367e-01 -4.55112641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.30800114499996 meters Centerline goodness [0,1] 0.9153922761978532 Centerline is valid? [False, False] Translation: X:-14.25, Y:12.05, Z:-4.57 [[ 7.84439902e-01 4.99114263e-01 -3.68156207e-01 -1.42545213e+01] [-5.37291250e-01 8.43395579e-01 -1.41769367e-03 1.20533370e+01] [ 3.09793726e-01 1.98919204e-01 9.29762872e-01 -4.56988743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.33800114499996 meters Centerline goodness [0,1] 0.9095264256675091 Centerline is valid? [False, False] Translation: X:-14.29, Y:12.07, Z:-4.59 [[ 7.87856503e-01 4.97269030e-01 -3.63325807e-01 -1.42931015e+01] [-5.32603948e-01 8.46357585e-01 3.44575151e-03 1.20747936e+01] [ 3.09217018e-01 1.90794002e-01 9.31655776e-01 -4.58762323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.36800114499997 meters Centerline goodness [0,1] 0.9030834101989722 Centerline is valid? [False, False] Translation: X:-14.34, Y:12.11, Z:-4.61 [[ 7.88862730e-01 4.97108990e-01 -3.61356120e-01 -1.43389644e+01] [-5.32401737e-01 8.46488880e-01 2.22867293e-03 1.21055130e+01] [ 3.06991830e-01 1.90628509e-01 9.32425218e-01 -4.60706159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.39800114499997 meters Centerline goodness [0,1] 0.9184343600183884 Centerline is valid? [False, False] Translation: X:-14.34, Y:12.10, Z:-4.61 [[ 7.89088414e-01 4.96949976e-01 -3.61081980e-01 -1.43398248e+01] [-5.32065165e-01 8.46699567e-01 2.55031356e-03 1.21039275e+01] [ 3.06995334e-01 1.90106720e-01 9.32530589e-01 -4.60752837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.42800114499997 meters Centerline goodness [0,1] 0.8935317938054066 Centerline is valid? [False, False] Translation: X:-14.38, Y:12.13, Z:-4.63 [[ 7.89532042e-01 4.96979850e-01 -3.60069693e-01 -1.43834759e+01] [-5.32389396e-01 8.46499003e-01 9.84422104e-04 1.21329761e+01] [ 3.05287874e-01 1.90920054e-01 9.32924888e-01 -4.62646996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.45800114499997 meters Centerline goodness [0,1] 0.9142128549944422 Centerline is valid? [False, False] Translation: X:-14.41, Y:12.15, Z:-4.64 [[ 7.90403382e-01 4.97253028e-01 -3.57773559e-01 -1.44076580e+01] [-5.31898950e-01 8.46805812e-01 1.85040337e-03 1.21470300e+01] [ 3.03884848e-01 1.88836815e-01 9.33806541e-01 -4.63930487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.48800114499997 meters Centerline goodness [0,1] 0.9131560060027404 Centerline is valid? [False, False] Translation: X:-14.44, Y:12.16, Z:-4.65 [[ 7.92308837e-01 4.95626702e-01 -3.55810174e-01 -1.44354756e+01] [-5.29525654e-01 8.48290258e-01 2.49416017e-03 1.21616204e+01] [ 3.03066477e-01 1.86434470e-01 9.34554920e-01 -4.65224463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.51800114499997 meters Centerline goodness [0,1] 0.8727817719759334 Centerline is valid? [False, False] Translation: X:-14.47, Y:12.18, Z:-4.67 [[ 7.94665143e-01 4.95706730e-01 -3.50402838e-01 -1.44724275e+01] [-5.26623104e-01 8.50058846e-01 8.25012553e-03 1.21845864e+01] [ 3.01952675e-01 1.77974143e-01 9.36562751e-01 -4.66881245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.54800114499997 meters Centerline goodness [0,1] 0.9007394274842169 Centerline is valid? [False, False] Translation: X:-14.50, Y:12.21, Z:-4.68 [[ 7.97156573e-01 4.95123329e-01 -3.45534785e-01 -1.45036951e+01] [-5.24394959e-01 8.51413860e-01 1.02159797e-02 1.22052969e+01] [ 2.99251275e-01 1.73052964e-01 9.38350332e-01 -4.68379400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.57800114499997 meters Centerline goodness [0,1] 0.8891510965814371 Centerline is valid? [False, False] Translation: X:-14.55, Y:12.24, Z:-4.70 [[ 7.97651953e-01 4.94834783e-01 -3.44804146e-01 -1.45474410e+01] [-5.24697572e-01 8.51252600e-01 7.84025331e-03 1.22354341e+01] [ 2.97395056e-01 1.74664105e-01 9.38641908e-01 -4.70066085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.60800114499997 meters Centerline goodness [0,1] 0.88452401520387 Centerline is valid? [False, False] Translation: X:-14.58, Y:12.26, Z:-4.72 [[ 8.00068011e-01 4.93582004e-01 -3.40980912e-01 -1.45834941e+01] [-5.21172259e-01 8.53361321e-01 1.24069664e-02 1.22580678e+01] [ 2.97103777e-01 1.67783375e-01 9.39988343e-01 -4.71543585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.63800114499998 meters Centerline goodness [0,1] 0.8313947215088802 Centerline is valid? [False, False] Translation: X:-14.62, Y:12.29, Z:-4.73 [[ 8.00145722e-01 4.93233443e-01 -3.41302790e-01 -1.46247685e+01] [-5.21729847e-01 8.53056102e-01 9.65680148e-03 1.22875968e+01] [ 2.95913485e-01 1.70341004e-01 9.39903799e-01 -4.73146228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.66800114499998 meters Centerline goodness [0,1] 0.8923303196781589 Centerline is valid? [False, False] Translation: X:-14.66, Y:12.31, Z:-4.75 [[ 8.02197099e-01 4.92284450e-01 -3.37839953e-01 -1.46564744e+01] [-5.19107707e-01 8.54614639e-01 1.26888526e-02 1.23094762e+01] [ 2.94969494e-01 1.65196362e-01 9.41118037e-01 -4.74541706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69800114499995 meters Centerline goodness [0,1] 0.8641235474794338 Centerline is valid? [False, False] Translation: X:-14.69, Y:12.33, Z:-4.76 [[ 0.80495204 0.49023888 -0.33424251 -14.6903855 ] [ -0.51547389 0.85676995 0.01522899 12.33103117] [ 0.29383479 0.16003468 0.94236406 -4.75980157] [ 0. 0. 0. 1. ]] SLAMing on 235.72800114499995 meters Centerline goodness [0,1] 0.8840252222007016 Centerline is valid? [False, False] Translation: X:-14.72, Y:12.35, Z:-4.77 [[ 0.80713074 0.4891428 -0.33057419 -14.72195818] [ -0.51301144 0.85820743 0.01729924 12.35232756] [ 0.29216303 0.1556256 0.94362145 -4.7732153 ] [ 0. 0. 0. 1. ]] SLAMing on 235.75800114499995 meters Centerline goodness [0,1] 0.8762135922330097 Centerline is valid? [False, False] Translation: X:-14.75, Y:12.37, Z:-4.78 [[ 0.80792408 0.48833577 -0.32982852 -14.74601184] [ -0.51242475 0.8585831 0.01599785 12.3690862 ] [ 0.29099751 0.15608725 0.9439053 -4.78228891] [ 0. 0. 0. 1. ]] SLAMing on 235.78800114499995 meters Centerline goodness [0,1] 0.8733084160329939 Centerline is valid? [False, False] Translation: X:-14.77, Y:12.39, Z:-4.79 [[ 0.80930355 0.48730752 -0.3279621 -14.77313793] [ -0.51097462 0.859445 0.01610073 12.38814063] [ 0.28971139 0.15454994 0.94455367 -4.7928127 ] [ 0. 0. 0. 1. ]] SLAMing on 235.81800114499995 meters Centerline goodness [0,1] 0.8755258864943762 Centerline is valid? [False, False] Translation: X:-14.80, Y:12.41, Z:-4.80 [[ 0.81117693 0.48546975 -0.32605385 -14.80277472] [ -0.50825081 0.86103022 0.01755168 12.40786472] [ 0.28926303 0.15147962 0.94518825 -4.80498924] [ 0. 0. 0. 1. ]] SLAMing on 235.84800114499996 meters Centerline goodness [0,1] 0.8713818111802837 Centerline is valid? [False, False] Translation: X:-14.83, Y:12.43, Z:-4.82 [[ 0.81203961 0.48476929 -0.32494677 -14.82838092] [ -0.50727741 0.86160123 0.01769047 12.42585345] [ 0.28855034 0.1504728 0.94556684 -4.81510499] [ 0. 0. 0. 1. ]] SLAMing on 235.87800114499996 meters Centerline goodness [0,1] 0.8500491852358752 Centerline is valid? [False, False] Translation: X:-14.86, Y:12.45, Z:-4.83 [[ 0.81365423 0.48440981 -0.32142485 -14.85849729] [ -0.50567654 0.8624965 0.0197742 12.44677794] [ 0.28680662 0.14644764 0.9467286 -4.82799109] [ 0. 0. 0. 1. ]] SLAMing on 235.90800114499996 meters Centerline goodness [0,1] 0.8619951171456718 Centerline is valid? [False, False] Translation: X:-14.89, Y:12.47, Z:-4.84 [[ 0.81541196 0.48325215 -0.31870156 -14.88822801] [ -0.50367482 0.863641 0.02087815 12.46817961] [ 0.28533315 0.14349766 0.94762515 -4.83986842] [ 0. 0. 0. 1. ]] SLAMing on 235.93800114499996 meters Centerline goodness [0,1] 0.8469955886761746 Centerline is valid? [False, False] Translation: X:-14.92, Y:12.49, Z:-4.85 [[ 0.81755665 0.48108205 -0.3164825 -14.91919826] [ -0.50053545 0.86542338 0.02250858 12.48991855] [ 0.28471983 0.14000868 0.94833126 -4.85200751] [ 0. 0. 0. 1. ]] SLAMing on 235.96800114499996 meters Centerline goodness [0,1] 0.8440146658376038 Centerline is valid? [False, False] Translation: X:-14.95, Y:12.51, Z:-4.86 [[ 0.81916487 0.47960541 -0.31455934 -14.94850637] [ -0.49832581 0.86666655 0.0236743 12.51033075] [ 0.28397238 0.13735988 0.94894254 -4.86341998] [ 0. 0. 0. 1. ]] SLAMing on 235.99800114499996 meters Centerline goodness [0,1] 0.8494243262365729 Centerline is valid? [False, False] Translation: X:-14.98, Y:12.53, Z:-4.87 [[ 0.8204917 0.47802955 -0.31349819 -14.97595428] [ -0.4965551 0.86768757 0.02348006 12.52978302] [ 0.28324264 0.13640393 0.94929846 -4.87319549] [ 0. 0. 0. 1. ]] SLAMing on 236.02800114499996 meters Centerline goodness [0,1] 0.8456144113231825 Centerline is valid? [False, False] Translation: X:-15.01, Y:12.55, Z:-4.88 [[ 0.82232643 0.47643494 -0.31110929 -15.00551012] [ -0.49437499 0.8689192 0.0239332 12.55033206] [ 0.28173145 0.13412375 0.95007274 -4.88422461] [ 0. 0. 0. 1. ]] SLAMing on 236.05800114499996 meters Centerline goodness [0,1] 0.8267158070667895 Centerline is valid? [False, False] Translation: X:-15.04, Y:12.57, Z:-4.90 [[ 0.82532467 0.47256104 -0.30907161 -15.03623758] [ -0.4899905 0.87139994 0.02390518 12.57254404] [ 0.28062164 0.13171262 0.95073828 -4.896954 ] [ 0. 0. 0. 1. ]] SLAMing on 236.08800114499996 meters Centerline goodness [0,1] 0.8187680771290841 Centerline is valid? [False, False] Translation: X:-15.06, Y:12.59, Z:-4.91 [[ 0.82665122 0.47094665 -0.30798865 -15.06355994] [ -0.488074 0.87246971 0.02409091 12.59224542] [ 0.28005631 0.13040647 0.95108497 -4.90696883] [ 0. 0. 0. 1. ]] SLAMing on 236.11800114499997 meters Centerline goodness [0,1] 0.8293023455623335 Centerline is valid? [False, False] Translation: X:-15.09, Y:12.61, Z:-4.92 [[ 0.82790747 0.46946345 -0.30687667 -15.09044058] [ -0.48615772 0.87352078 0.02474112 12.61172918] [ 0.27967819 0.1287071 0.95142766 -4.91768767] [ 0. 0. 0. 1. ]] SLAMing on 236.14800114499997 meters Centerline goodness [0,1] 0.8363035878959446 Centerline is valid? [False, False] Translation: X:-15.09, Y:12.61, Z:-4.92 [[ 0.82806437 0.46912552 -0.30697011 -15.09006173] [ -0.48588324 0.87368007 0.02450732 12.61225725] [ 0.27969068 0.12885799 0.95140356 -4.9176844 ] [ 0. 0. 0. 1. ]] SLAMing on 236.17800114499997 meters Centerline goodness [0,1] 0.8232311295416944 Centerline is valid? [False, False] Translation: X:-15.12, Y:12.63, Z:-4.93 [[ 0.82976242 0.46712599 -0.30543025 -15.11614323] [ -0.48417388 0.87468525 0.02239113 12.6324071 ] [ 0.27761482 0.12930203 0.95195115 -4.92684289] [ 0. 0. 0. 1. ]] SLAMing on 236.20800114499997 meters Centerline goodness [0,1] 0.7638643512733228 Centerline is valid? [False, False] Translation: X:-15.15, Y:12.65, Z:-4.94 [[ 0.83180442 0.46593883 -0.30166607 -15.14793566] [ -0.48214636 0.87578249 0.0232363 12.65476159] [ 0.27502055 0.12611914 0.95313045 -4.93826872] [ 0. 0. 0. 1. ]] SLAMing on 236.23800114499997 meters Centerline goodness [0,1] 0.8214992684396247 Centerline is valid? [False, False] Translation: X:-15.15, Y:12.66, Z:-4.94 [[ 0.83186708 0.46574891 -0.30178654 -15.14770919] [ -0.48200465 0.87586429 0.02309258 12.65507744] [ 0.27507939 0.12625256 0.95309581 -4.93801552] [ 0. 0. 0. 1. ]] SLAMing on 236.26800114499997 meters Centerline goodness [0,1] 0.809145472602444 Centerline is valid? [False, False] Translation: X:-15.17, Y:12.67, Z:-4.95 [[ 0.83310106 0.46462784 -0.30010597 -15.1736176 ] [ -0.48080378 0.87654325 0.02235296 12.67470536] [ 0.27344167 0.12566981 0.95364393 -4.94775104] [ 0. 0. 0. 1. ]] SLAMing on 236.29800114499997 meters Centerline goodness [0,1] 0.8067637023279921 Centerline is valid? [False, False] Translation: X:-15.18, Y:12.67, Z:-4.95 [[ 0.83217943 0.46730698 -0.29849889 -15.17597461] [ -0.48269608 0.87543625 0.02481658 12.67479361] [ 0.27291371 0.12343239 0.95408729 -4.9474403 ] [ 0. 0. 0. 1. ]] SLAMing on 236.32800114499997 meters Centerline goodness [0,1] 0.7969723183391003 Centerline is valid? [False, False] Translation: X:-15.18, Y:12.67, Z:-4.95 [[ 0.83117664 0.47018312 -0.29677134 -15.17801794] [ -0.48473924 0.87422818 0.02744 12.6748224 ] [ 0.27234769 0.12104923 0.95455425 -4.9474453 ] [ 0. 0. 0. 1. ]] SLAMing on 236.35800114499997 meters Centerline goodness [0,1] 0.7939078173642338 Centerline is valid? [False, False] Translation: X:-15.18, Y:12.67, Z:-4.95 [[ 0.83013823 0.47311807 -0.29500816 -15.17994082] [ -0.48681835 0.87298242 0.03015929 12.67467757] [ 0.27180584 0.11857901 0.95501864 -4.94754785] [ 0. 0. 0. 1. ]] SLAMing on 236.38800114499998 meters Centerline goodness [0,1] 0.7820332605263727 Centerline is valid? [False, False] Translation: X:-15.20, Y:12.70, Z:-4.95 [[ 0.83127443 0.47043489 -0.29609769 -15.20468497] [ -0.48471509 0.87421934 0.02813943 12.6958353 ] [ 0.2720921 0.12013143 0.95474307 -4.95474853] [ 0. 0. 0. 1. ]] SLAMing on 236.41800114499998 meters Centerline goodness [0,1] 0.7779170809735853 Centerline is valid? [False, False] Translation: X:-15.23, Y:12.71, Z:-4.96 [[ 0.83171717 0.46925951 -0.29671883 -15.22881743] [ -0.48401228 0.87465809 0.02655814 12.71419208] [ 0.27199018 0.1215267 0.95459552 -4.96195496] [ 0. 0. 0. 1. ]] SLAMing on 236.44800114499995 meters Centerline goodness [0,1] 0.7932679795263295 Centerline is valid? [False, False] Translation: X:-15.23, Y:12.71, Z:-4.96 [[ 0.83180599 0.46899223 -0.29689236 -15.2283678 ] [ -0.48385072 0.87475767 0.02622036 12.71461242] [ 0.27200602 0.12184133 0.9545509 -4.96189057] [ 0. 0. 0. 1. ]] SLAMing on 236.47800114499995 meters Centerline goodness [0,1] 0.7784254664441892 Centerline is valid? [False, False] Translation: X:-15.23, Y:12.72, Z:-4.96 [[ 0.83073906 0.47198683 -0.29512885 -15.22945009] [ -0.48606296 0.8734528 0.02868826 12.71607249] [ 0.2713216 0.11961874 0.95502667 -4.96197812] [ 0. 0. 0. 1. ]] SLAMing on 236.50800114499995 meters Centerline goodness [0,1] 0.7605465525481166 Centerline is valid? [False, False] Translation: X:-15.26, Y:12.74, Z:-4.97 [[ 0.83177257 0.47083691 -0.29405272 -15.25682698] [ -0.48468144 0.87421649 0.02879982 12.73846622] [ 0.27062575 0.11856699 0.95535521 -4.97103895] [ 0. 0. 0. 1. ]] SLAMing on 236.53800114499995 meters Centerline goodness [0,1] 0.7747525831625758 Centerline is valid? [False, False] Translation: X:-15.26, Y:12.74, Z:-4.97 [[ 0.83197703 0.47025367 -0.2944074 -15.25616871] [ -0.48429947 0.87444938 0.02814806 12.74030537] [ 0.2706811 0.11916281 0.95526539 -4.97042224] [ 0. 0. 0. 1. ]] SLAMing on 236.56800114499995 meters Centerline goodness [0,1] 0.7468163318891952 Centerline is valid? [False, False] Translation: X:-15.29, Y:12.76, Z:-4.98 [[ 0.83394332 0.46786842 -0.29263917 -15.28524543] [ -0.48167905 0.87590864 0.02773711 12.76436611] [ 0.26930249 0.11782697 0.95582057 -4.98052072] [ 0. 0. 0. 1. ]] SLAMing on 236.59800114499996 meters Centerline goodness [0,1] 0.7600262409796632 Centerline is valid? [False, False] Translation: X:-15.31, Y:12.78, Z:-4.99 [[ 0.83465032 0.46680657 -0.29231913 -15.309218 ] [ -0.48105325 0.87631022 0.02584887 12.78234065] [ 0.26822866 0.1190463 0.95597142 -4.98875988] [ 0. 0. 0. 1. ]] SLAMing on 236.62800114499996 meters Centerline goodness [0,1] 0.747634138345536 Centerline is valid? [False, False] Translation: X:-15.33, Y:12.80, Z:-5.00 [[ 0.8358691 0.46543805 -0.29101593 -15.33494121] [ -0.47985628 0.87700821 0.02438341 12.80171328] [ 0.26657233 0.11926448 0.95640743 -4.99812033] [ 0. 0. 0. 1. ]] SLAMing on 236.65800114499996 meters Centerline goodness [0,1] 0.7290850602884216 Centerline is valid? [False, False] Translation: X:-15.36, Y:12.82, Z:-5.01 [[ 0.8376222 0.46387505 -0.2884597 -15.36381673] [ -0.47812269 0.87797795 0.02352454 12.82293569] [ 0.2641737 0.11821445 0.95720301 -5.00818165] [ 0. 0. 0. 1. ]] SLAMing on 236.68800114499996 meters Centerline goodness [0,1] 0.7314770187968278 Centerline is valid? [False, False] Translation: X:-15.39, Y:12.84, Z:-5.02 [[ 0.83913016 0.46259219 -0.28612767 -15.39188032] [ -0.47672306 0.87876213 0.02263253 12.84328944] [ 0.2619078 0.11741202 0.95792417 -5.01797817] [ 0. 0. 0. 1. ]] SLAMing on 236.71800114499996 meters Centerline goodness [0,1] 0.7368894742618812 Centerline is valid? [False, False] Translation: X:-15.39, Y:12.85, Z:-5.02 [[ 0.83955223 0.46173426 -0.28627527 -15.3918197 ] [ -0.47608627 0.8791297 0.02174485 12.8457179 ] [ 0.26171343 0.11803579 0.95790064 -5.01743488] [ 0. 0. 0. 1. ]] SLAMing on 236.74800114499996 meters Centerline goodness [0,1] 0.7124306717140594 Centerline is valid? [False, False] Translation: X:-15.42, Y:12.86, Z:-5.03 [[ 0.84037505 0.46171664 -0.2838794 -15.41819282] [ -0.47581771 0.87928028 0.02153382 12.86496372] [ 0.25955208 0.11697836 0.95861816 -5.02738443] [ 0. 0. 0. 1. ]] SLAMing on 236.77800114499996 meters Centerline goodness [0,1] 0.7315169951064674 Centerline is valid? [False, False] Translation: X:-15.42, Y:12.87, Z:-5.03 [[ 0.83948478 0.46450207 -0.281963 -15.42028741] [ -0.47782872 0.87812568 0.02397925 12.86598966] [ 0.25873736 0.1145998 0.95912557 -5.02750555] [ 0. 0. 0. 1. ]] SLAMing on 236.80800114499996 meters Centerline goodness [0,1] 0.7164922331166685 Centerline is valid? [False, False] Translation: X:-15.42, Y:12.87, Z:-5.03 [[ 0.83849245 0.46744068 -0.28005291 -15.42274441] [ -0.47997576 0.87688012 0.02654281 12.8663856 ] [ 0.25798002 0.11216266 0.95961755 -5.02743879] [ 0. 0. 0. 1. ]] SLAMing on 236.83800114499996 meters Centerline goodness [0,1] 0.7104137261820749 Centerline is valid? [False, False] Translation: X:-15.42, Y:12.87, Z:-5.03 [[ 0.83743445 0.47032156 -0.27839031 -15.42484305] [ -0.48209389 0.87563532 0.02912507 12.86660692] [ 0.25746654 0.10981993 0.96002634 -5.02713859] [ 0. 0. 0. 1. ]] SLAMing on 236.86800114499997 meters Centerline goodness [0,1] 0.7160065423039519 Centerline is valid? [False, False] Translation: X:-15.43, Y:12.87, Z:-5.03 [[ 0.8364011 0.47327108 -0.27649175 -15.42715671] [ -0.48423177 0.87436098 0.03181935 12.86623009] [ 0.25681278 0.10727235 0.96048938 -5.02741199] [ 0. 0. 0. 1. ]] SLAMing on 236.89800114499997 meters Centerline goodness [0,1] 0.708619812968408 Centerline is valid? [False, False] Translation: X:-15.45, Y:12.89, Z:-5.04 [[ 0.83789547 0.47093356 -0.2759579 -15.45333626] [ -0.48217677 0.87555565 0.0301307 12.88673986] [ 0.25580606 0.10781411 0.96069734 -5.03662558] [ 0. 0. 0. 1. ]] SLAMing on 236.92800114499997 meters Centerline goodness [0,1] 0.7027499005261064 Centerline is valid? [False, False] Translation: X:-15.46, Y:12.89, Z:-5.04 [[ 0.83693849 0.47363757 -0.27422877 -15.4556772 ] [ -0.48412172 0.8743899 0.03268733 12.8867575 ] [ 0.25526481 0.10540282 0.9611088 -5.03655096] [ 0. 0. 0. 1. ]] SLAMing on 236.95800114499997 meters Centerline goodness [0,1] 0.7002789956157831 Centerline is valid? [False, False] Translation: X:-15.48, Y:12.91, Z:-5.04 [[ 0.83766921 0.47283644 -0.27337886 -15.47953722] [ -0.4839104 0.87460483 0.02995181 12.90579948] [ 0.25326078 0.10720117 0.96144001 -5.04395458] [ 0. 0. 0. 1. ]] SLAMing on 236.98800114499997 meters Centerline goodness [0,1] 0.6930829032758201 Centerline is valid? [False, False] Translation: X:-15.51, Y:12.93, Z:-5.05 [[ 0.83918365 0.47063604 -0.27252986 -15.50728889] [ -0.48188716 0.87576855 0.02853418 12.92803462] [ 0.25210229 0.10738323 0.96172412 -5.05219696] [ 0. 0. 0. 1. ]] SLAMing on 237.01800114499997 meters Centerline goodness [0,1] 0.707393289304552 Centerline is valid? [False, False] Translation: X:-15.51, Y:12.93, Z:-5.05 [[ 0.83947762 0.47012419 -0.27250794 -15.50798061] [ -0.48147903 0.87600885 0.02804349 12.92858898] [ 0.25190329 0.10766498 0.96174476 -5.05205304] [ 0. 0. 0. 1. ]] SLAMing on 237.04800114499997 meters Centerline goodness [0,1] 0.6771643050681828 Centerline is valid? [False, False] Translation: X:-15.54, Y:12.95, Z:-5.06 [[ 0.84101696 0.46861149 -0.27035856 -15.53842765] [ -0.4796636 0.87700565 0.02799875 12.95169781] [ 0.25022651 0.10613374 0.96235249 -5.06128842] [ 0. 0. 0. 1. ]] SLAMing on 237.07800114499997 meters Centerline goodness [0,1] 0.6760953965612868 Centerline is valid? [False, False] Translation: X:-15.54, Y:12.95, Z:-5.06 [[ 0.83998968 0.47143664 -0.26863514 -15.54105003] [ -0.48173922 0.87578036 0.03059533 12.95123373] [ 0.24968914 0.10371232 0.96275599 -5.06110078] [ 0. 0. 0. 1. ]] SLAMing on 237.10800114499997 meters Centerline goodness [0,1] 0.6945067140162025 Centerline is valid? [False, False] Translation: X:-15.54, Y:12.95, Z:-5.06 [[ 0.83902005 0.47427202 -0.26666723 -15.54374091] [ -0.48385195 0.87452715 0.03300846 12.95207116] [ 0.24886272 0.1013327 0.96322325 -5.06084069] [ 0. 0. 0. 1. ]] SLAMing on 237.13800114499998 meters Centerline goodness [0,1] 0.6945067140162025 Centerline is valid? [False, False] Translation: X:-15.54, Y:12.95, Z:-5.06 [[ 0.83902005 0.47427202 -0.26666723 -15.54374091] [ -0.48385195 0.87452715 0.03300846 12.95207116] [ 0.24886272 0.1013327 0.96322325 -5.06084069] [ 0. 0. 0. 1. ]] SLAMing on 237.16800114499998 meters Centerline goodness [0,1] 0.6959616791963276 Centerline is valid? [False, False] Translation: X:-15.55, Y:12.95, Z:-5.06 [[ 0.83777048 0.4775949 -0.26465776 -15.54587932] [ -0.48637614 0.87301558 0.03580554 12.95248405] [ 0.24815089 0.09872639 0.96367745 -5.06061933] [ 0. 0. 0. 1. ]] SLAMing on 237.19800114499995 meters Centerline goodness [0,1] 0.6930932664342961 Centerline is valid? [False, False] Translation: X:-15.57, Y:12.97, Z:-5.07 [[ 0.83785214 0.47649818 -0.26637056 -15.56925217] [ -0.48582741 0.87338471 0.03421806 12.97232917] [ 0.24894881 0.10074045 0.96326313 -5.06604314] [ 0. 0. 0. 1. ]] SLAMing on 237.22800114499995 meters Centerline goodness [0,1] 0.6997646431901949 Centerline is valid? [False, False] Translation: X:-15.57, Y:12.97, Z:-5.07 [[ 0.83672976 0.4794366 -0.26462023 -15.57154963] [ -0.48798768 0.87206661 0.03698444 12.97156911] [ 0.24849816 0.09818543 0.96364323 -5.06604147] [ 0. 0. 0. 1. ]] SLAMing on 237.25800114499995 meters Centerline goodness [0,1] 0.6600431197350581 Centerline is valid? [False, False] Translation: X:-15.60, Y:12.99, Z:-5.07 [[ 0.83745031 0.47658742 -0.26747225 -15.59691403] [ -0.48575608 0.87338073 0.03531465 12.99190193] [ 0.25043563 0.10035201 0.96291821 -5.07161063] [ 0. 0. 0. 1. ]] SLAMing on 237.28800114499995 meters Centerline goodness [0,1] 0.6555395364311856 Centerline is valid? [False, False] Translation: X:-15.62, Y:13.01, Z:-5.08 [[ 0.83804462 0.47473578 -0.26889989 -15.6214718 ] [ -0.48447469 0.87416666 0.03342056 13.01123406] [ 0.25092926 0.10226727 0.96258813 -5.07792012] [ 0. 0. 0. 1. ]] SLAMing on 237.31800114499995 meters Centerline goodness [0,1] 0.6993925098466811 Centerline is valid? [False, False] Translation: X:-15.65, Y:13.03, Z:-5.08 [[ 0.83838776 0.47362629 -0.26978529 -15.64556871] [ -0.48379672 0.8745966 0.03196132 13.03005038] [ 0.25109102 0.10372526 0.96238993 -5.08491323] [ 0. 0. 0. 1. ]] SLAMing on 237.34800114499996 meters Centerline goodness [0,1] 0.6527299775739948 Centerline is valid? [False, False] Translation: X:-15.65, Y:13.03, Z:-5.09 [[ 0.8370205 0.47733743 -0.26748021 -15.64779267] [ -0.48655505 0.87293836 0.03525344 13.02907931] [ 0.25032152 0.100636 0.96291824 -5.0855322 ] [ 0. 0. 0. 1. ]] SLAMing on 237.37800114499996 meters Centerline goodness [0,1] 0.7000244297865725 Centerline is valid? [False, False] Translation: X:-15.67, Y:13.05, Z:-5.09 [[ 0.83537162 0.47913774 -0.26940913 -15.66679406] [ -0.4892619 0.87151651 0.03289027 13.04545992] [ 0.25055347 0.10433603 0.962464 -5.0888744 ] [ 0. 0. 0. 1. ]] SLAMing on 237.40800114499996 meters Centerline goodness [0,1] 0.7003538601918412 Centerline is valid? [False, False] Translation: X:-15.69, Y:13.06, Z:-5.09 [[ 0.83406975 0.47964626 -0.27251992 -15.68649699] [ -0.49062501 0.87081656 0.03107453 13.06196771] [ 0.25221964 0.10778677 0.9616482 -5.09243948] [ 0. 0. 0. 1. ]] SLAMing on 237.43800114499996 meters Centerline goodness [0,1] 0.7233909648633575 Centerline is valid? [False, False] Translation: X:-15.69, Y:13.06, Z:-5.09 [[ 0.83252132 0.48351203 -0.27041517 -15.68806219] [ -0.49357859 0.86902539 0.0342789 13.06131887] [ 0.25157191 0.10493323 0.96213335 -5.09272866] [ 0. 0. 0. 1. ]] SLAMing on 237.46800114499996 meters Centerline goodness [0,1] 0.7053854041282155 Centerline is valid? [False, False] Translation: X:-15.70, Y:13.07, Z:-5.09 [[ 0.82926025 0.48554745 -0.27671485 -15.70182243] [ -0.4970153 0.86714736 0.03211304 13.07437472] [ 0.25554495 0.11090145 0.96041535 -5.09194516] [ 0. 0. 0. 1. ]] SLAMing on 237.49800114499996 meters Centerline goodness [0,1] 0.7105527638190955 Centerline is valid? [False, False] Translation: X:-15.73, Y:13.09, Z:-5.10 [[ 0.82898223 0.48554765 -0.27754629 -15.72662583] [ -0.49718514 0.86705953 0.03185443 13.09474004] [ 0.256116 0.11158513 0.96018402 -5.09783103] [ 0. 0. 0. 1. ]] SLAMing on 237.52800114499996 meters Centerline goodness [0,1] 0.7077353006930471 Centerline is valid? [False, False] Translation: X:-15.75, Y:13.11, Z:-5.10 [[ 0.82915688 0.48495444 -0.27806125 -15.75211724] [ -0.49668846 0.86735253 0.03162543 13.11499362] [ 0.25651402 0.11188737 0.96004259 -5.10483601] [ 0. 0. 0. 1. ]] SLAMing on 237.55800114499996 meters Centerline goodness [0,1] 0.7256862876703134 Centerline is valid? [False, False] Translation: X:-15.77, Y:13.13, Z:-5.11 [[ 0.82836771 0.48476203 -0.280736 -15.77241676] [ -0.49733971 0.86704809 0.02967856 13.13030896] [ 0.25779865 0.1150364 0.95932606 -5.10989506] [ 0. 0. 0. 1. ]] SLAMing on 237.58800114499996 meters Centerline goodness [0,1] 0.7264582026700117 Centerline is valid? [False, False] Translation: X:-15.80, Y:13.15, Z:-5.12 [[ 0.82954266 0.48246411 -0.28122474 -15.79958885] [ -0.49535472 0.86822826 0.02834422 13.15136232] [ 0.25784233 0.11579326 0.95922325 -5.1174427 ] [ 0. 0. 0. 1. ]] SLAMing on 237.61800114499997 meters Centerline goodness [0,1] 0.7257172176861643 Centerline is valid? [False, False] Translation: X:-15.80, Y:13.15, Z:-5.12 [[ 0.82849338 0.48532917 -0.27938203 -15.80241329] [ -0.49744104 0.86694786 0.03088413 13.15156666] [ 0.25719862 0.11338879 0.9596832 -5.11697955] [ 0. 0. 0. 1. ]] SLAMing on 237.64800114499997 meters Centerline goodness [0,1] 0.7251628208858352 Centerline is valid? [False, False] Translation: X:-15.83, Y:13.17, Z:-5.12 [[ 0.8293979 0.48402844 -0.27895446 -15.8297398 ] [ -0.49630066 0.86763696 0.02986238 13.17401051] [ 0.25648544 0.11367749 0.95983991 -5.12415017] [ 0. 0. 0. 1. ]] SLAMing on 237.67800114499997 meters Centerline goodness [0,1] 0.7228464419475655 Centerline is valid? [False, False] Translation: X:-15.86, Y:13.20, Z:-5.13 [[ 0.82983376 0.48296284 -0.2795046 -15.85695273] [ -0.49512857 0.86829014 0.03033034 13.19639834] [ 0.25733951 0.11322157 0.95966518 -5.13157845] [ 0. 0. 0. 1. ]] SLAMing on 237.70800114499997 meters Centerline goodness [0,1] 0.720158261802575 Centerline is valid? [False, False] Translation: X:-15.88, Y:13.21, Z:-5.14 [[ 0.82928551 0.48206043 -0.28267169 -15.87812238] [ -0.49513747 0.86835482 0.02826305 13.21352866] [ 0.25908382 0.11652321 0.95880025 -5.13602779] [ 0. 0. 0. 1. ]] SLAMing on 237.73800114499997 meters Centerline goodness [0,1] 0.7214906887840647 Centerline is valid? [False, False] Translation: X:-15.90, Y:13.23, Z:-5.14 [[ 0.82991607 0.48094848 -0.28271518 -15.90373983] [ -0.49425615 0.86888956 0.02723585 13.2335695 ] [ 0.25874731 0.11713025 0.95881715 -5.14380566] [ 0. 0. 0. 1. ]] SLAMing on 237.76800114499997 meters Centerline goodness [0,1] 0.7180565497494631 Centerline is valid? [False, False] Translation: X:-15.93, Y:13.25, Z:-5.15 [[ 0.83074182 0.47946919 -0.28280264 -15.93073917] [ -0.49282492 0.86971438 0.02684196 13.25498907] [ 0.25882741 0.11707345 0.95880247 -5.15168452] [ 0. 0. 0. 1. ]] SLAMing on 237.79800114499997 meters Centerline goodness [0,1] 0.7118191207508195 Centerline is valid? [False, False] Translation: X:-15.96, Y:13.28, Z:-5.16 [[ 0.83221999 0.4776173 -0.28158764 -15.96141238] [ -0.49050076 0.87100037 0.02770116 13.27983234] [ 0.2584935 0.11506549 0.95913557 -5.16096004] [ 0. 0. 0. 1. ]] SLAMing on 237.82800114499997 meters Centerline goodness [0,1] 0.7030017921146954 Centerline is valid? [False, False] Translation: X:-15.97, Y:13.28, Z:-5.17 [[ 0.83215802 0.48029775 -0.27717701 -15.96626103] [ -0.4918307 0.87013246 0.03117792 13.28146878] [ 0.2561554 0.11037921 0.96031289 -5.16548897] [ 0. 0. 0. 1. ]] SLAMing on 237.85800114499997 meters Centerline goodness [0,1] 0.7047683159430046 Centerline is valid? [False, False] Translation: X:-15.99, Y:13.30, Z:-5.17 [[ 0.83340469 0.47809651 -0.27723698 -15.9937628 ] [ -0.48984737 0.87129149 0.03001159 13.3036789 ] [ 0.25590266 0.11079201 0.96033273 -5.17293232] [ 0. 0. 0. 1. ]] SLAMing on 237.88800114499998 meters Centerline goodness [0,1] 0.6932322734000089 Centerline is valid? [False, False] Translation: X:-16.02, Y:13.32, Z:-5.18 [[ 0.83495607 0.4757304 -0.27663864 -16.0215035 ] [ -0.48768684 0.87255121 0.02856453 13.32487318] [ 0.2549704 0.1110629 0.96054939 -5.18179006] [ 0. 0. 0. 1. ]] SLAMing on 237.91800114499998 meters Centerline goodness [0,1] 0.6816300968485092 Centerline is valid? [False, False] Translation: X:-16.05, Y:13.35, Z:-5.19 [[ 0.83735158 0.47120662 -0.27714014 -16.05040034] [ -0.48360544 0.87488906 0.02636117 13.3461902 ] [ 0.25488844 0.11195291 0.96046782 -5.19112959] [ 0. 0. 0. 1. ]] SLAMing on 237.94800114499995 meters Centerline goodness [0,1] 0.673302762554524 Centerline is valid? [False, False] Translation: X:-16.08, Y:13.37, Z:-5.20 [[ 0.83870565 0.46960264 -0.27576475 -16.07861988] [ -0.48195878 0.87581921 0.02562132 13.36737101] [ 0.25355191 0.1114185 0.96088363 -5.20051869] [ 0. 0. 0. 1. ]] SLAMing on 237.97800114499995 meters Centerline goodness [0,1] 0.6689167974882261 Centerline is valid? [False, False] Translation: X:-16.11, Y:13.39, Z:-5.21 [[ 0.8401901 0.46829307 -0.27346335 -16.10986224] [ -0.48010084 0.87681476 0.02643975 13.39112605] [ 0.25215826 0.10907557 0.96151897 -5.21055105] [ 0. 0. 0. 1. ]] SLAMing on 238.00800114499995 meters Centerline goodness [0,1] 0.6632959641255605 Centerline is valid? [False, False] Translation: X:-16.11, Y:13.39, Z:-5.21 [[ 0.83899317 0.47190859 -0.27091095 -16.111895 ] [ -0.48272581 0.87526818 0.0296884 13.39112943] [ 0.25112994 0.10586734 0.96214648 -5.21162241] [ 0. 0. 0. 1. ]] SLAMing on 238.03800114499995 meters Centerline goodness [0,1] 0.6583994783351697 Centerline is valid? [False, False] Translation: X:-16.14, Y:13.41, Z:-5.22 [[ 0.83995405 0.47025585 -0.27080736 -16.13978082] [ -0.48107203 0.87618885 0.0293734 13.41414831] [ 0.2510914 0.10560554 0.96218531 -5.2192837 ] [ 0. 0. 0. 1. ]] SLAMing on 238.06800114499995 meters Centerline goodness [0,1] 0.708777316236229 Centerline is valid? [False, False] Translation: X:-16.14, Y:13.42, Z:-5.22 [[ 0.83930408 0.47328619 -0.26752354 -16.1431754 ] [ -0.4831306 0.87495639 0.03218891 13.41584054] [ 0.249306 0.10223252 0.96301352 -5.2212242 ] [ 0. 0. 0. 1. ]] SLAMing on 238.09800114499996 meters Centerline goodness [0,1] 0.6735682422385436 Centerline is valid? [False, False] Translation: X:-16.15, Y:13.42, Z:-5.22 [[ 0.83829153 0.47604759 -0.26579315 -16.14608992] [ -0.48520359 0.87371748 0.03457216 13.41578158] [ 0.24868612 0.09998224 0.96340997 -5.22074953] [ 0. 0. 0. 1. ]] SLAMing on 238.12800114499996 meters Centerline goodness [0,1] 0.7251785875757302 Centerline is valid? [False, False] Translation: X:-16.15, Y:13.42, Z:-5.22 [[ 0.83829046 0.47600289 -0.26587659 -16.14625559] [ -0.48518116 0.87373226 0.03451355 13.41572917] [ 0.2487335 0.10006593 0.96338905 -5.22049693] [ 0. 0. 0. 1. ]] SLAMing on 238.15800114499996 meters Centerline goodness [0,1] 0.6589494032232687 Centerline is valid? [False, False] Translation: X:-16.15, Y:13.42, Z:-5.22 [[ 0.83852641 0.47556713 -0.26591233 -16.1471676 ] [ -0.48485826 0.87393084 0.03401996 13.41654146] [ 0.24856776 0.10040315 0.96339674 -5.21985977] [ 0. 0. 0. 1. ]] SLAMing on 238.18800114499996 meters Centerline goodness [0,1] 0.6546116996154105 Centerline is valid? [False, False] Translation: X:-16.15, Y:13.42, Z:-5.22 [[ 0.83758998 0.47871135 -0.26320803 -16.15048955] [ -0.48709988 0.87256563 0.03691792 13.41694278] [ 0.24733931 0.09728652 0.96403247 -5.22074619] [ 0. 0. 0. 1. ]] SLAMing on 238.21800114499996 meters Centerline goodness [0,1] 0.6930334143925065 Centerline is valid? [False, False] Translation: X:-16.15, Y:13.42, Z:-5.22 [[ 0.83648836 0.48171721 -0.26121972 -16.15327234] [ -0.48935279 0.87118905 0.03954085 13.41718503] [ 0.24661927 0.09475314 0.96446917 -5.22042047] [ 0. 0. 0. 1. ]] SLAMing on 238.24800114499996 meters Centerline goodness [0,1] 0.6435983037083822 Centerline is valid? [False, False] Translation: X:-16.18, Y:13.44, Z:-5.22 [[ 0.83715708 0.478886 -0.26426544 -16.17898269] [ -0.48719896 0.87247807 0.03767225 13.43995853] [ 0.24860651 0.09721226 0.96371395 -5.22469884] [ 0. 0. 0. 1. ]] SLAMing on 238.27800114499996 meters Centerline goodness [0,1] 0.6441259451529173 Centerline is valid? [False, False] Translation: X:-16.20, Y:13.46, Z:-5.23 [[ 0.83756605 0.47657099 -0.26713893 -16.20368205] [ -0.48549664 0.87349256 0.03610747 13.4609448 ] [ 0.25055164 0.09945267 0.96298133 -5.22997863] [ 0. 0. 0. 1. ]] SLAMing on 238.30800114499996 meters Centerline goodness [0,1] 0.6918139849116091 Centerline is valid? [False, False] Translation: X:-16.21, Y:13.46, Z:-5.23 [[ 0.83622 0.48011556 -0.2650003 -16.20594814] [ -0.48813635 0.87188207 0.03930099 13.45949541] [ 0.24991803 0.09649201 0.96344708 -5.23060714] [ 0. 0. 0. 1. ]] SLAMing on 238.33800114499996 meters Centerline goodness [0,1] 0.7003720825346713 Centerline is valid? [False, False] Translation: X:-16.22, Y:13.47, Z:-5.23 [[ 0.83428429 0.47935531 -0.27237512 -16.21975371] [ -0.48916398 0.87147295 0.03540471 13.47191287] [ 0.25433898 0.1036985 0.96153955 -5.23076617] [ 0. 0. 0. 1. ]] SLAMing on 238.36800114499997 meters Centerline goodness [0,1] 0.6290264531221883 Centerline is valid? [False, False] Translation: X:-16.22, Y:13.47, Z:-5.23 [[ 0.83276716 0.48335809 -0.26993299 -16.22123498] [ -0.49212513 0.86965049 0.03899839 13.47096087] [ 0.25359755 0.10036423 0.96208903 -5.2319143 ] [ 0. 0. 0. 1. ]] SLAMing on 238.39800114499997 meters Centerline goodness [0,1] 0.7110363968680191 Centerline is valid? [False, False] Translation: X:-16.22, Y:13.47, Z:-5.23 [[ 0.83142487 0.48685093 -0.26778511 -16.22332889] [ -0.49474931 0.8680198 0.04200891 13.47081824] [ 0.25289485 0.09755924 0.96256241 -5.23208998] [ 0. 0. 0. 1. ]] SLAMing on 238.42800114499997 meters Centerline goodness [0,1] 0.687461925498071 Centerline is valid? [False, False] Translation: X:-16.24, Y:13.49, Z:-5.23 [[ 0.83056433 0.48562868 -0.27263102 -16.2435952 ] [ -0.49456791 0.86822493 0.03985045 13.48939208] [ 0.25605757 0.10173619 0.96129302 -5.23450747] [ 0. 0. 0. 1. ]] SLAMing on 238.45800114499997 meters Centerline goodness [0,1] 0.7076006296379582 Centerline is valid? [False, False] Translation: X:-16.25, Y:13.49, Z:-5.23 [[ 0.82924904 0.48896819 -0.2706587 -16.24575159] [ -0.49708531 0.86665042 0.04269942 13.48921358] [ 0.25544513 0.09913201 0.96172794 -5.23445119] [ 0. 0. 0. 1. ]] SLAMing on 238.48800114499997 meters Centerline goodness [0,1] 0.7111136312088909 Centerline is valid? [False, False] Translation: X:-16.27, Y:13.51, Z:-5.24 [[ 0.82844459 0.4878639 -0.27507886 -16.26584342] [ -0.49689466 0.86684609 0.04090908 13.50763822] [ 0.2584091 0.10279431 0.96055092 -5.23827015] [ 0. 0. 0. 1. ]] SLAMing on 238.51800114499997 meters Centerline goodness [0,1] 0.6809835397468698 Centerline is valid? [False, False] Translation: X:-16.27, Y:13.51, Z:-5.24 [[ 0.82729021 0.49083721 -0.27325764 -16.26854827] [ -0.49910527 0.86544834 0.04350963 13.50740577] [ 0.25784652 0.10038924 0.96095638 -5.23796334] [ 0. 0. 0. 1. ]] SLAMing on 238.54800114499997 meters Centerline goodness [0,1] 0.7179428934874952 Centerline is valid? [False, False] Translation: X:-16.27, Y:13.51, Z:-5.24 [[ 0.82608795 0.49399324 -0.27119991 -16.27121689] [ -0.50148148 0.8639375 0.04613377 13.50758155] [ 0.25708954 0.09789118 0.96141681 -5.23776107] [ 0. 0. 0. 1. ]] SLAMing on 238.57800114499997 meters Centerline goodness [0,1] 0.7043693060780492 Centerline is valid? [False, False] Translation: X:-16.27, Y:13.51, Z:-5.24 [[ 0.82523411 0.49636107 -0.26947048 -16.27414385] [ -0.50332046 0.86277469 0.04783663 13.51024783] [ 0.25623656 0.09615359 0.96181979 -5.23637727] [ 0. 0. 0. 1. ]] SLAMing on 238.60800114499997 meters Centerline goodness [0,1] 0.6715371392382159 Centerline is valid? [False, False] Translation: X:-16.30, Y:13.53, Z:-5.24 [[ 0.82519503 0.49459306 -0.27282021 -16.29591276] [ -0.50291509 0.86322658 0.0437755 13.53024721] [ 0.25715671 0.10108208 0.96106859 -5.23884925] [ 0. 0. 0. 1. ]] SLAMing on 238.63800114499998 meters Centerline goodness [0,1] 0.7053202596577239 Centerline is valid? [False, False] Translation: X:-16.32, Y:13.55, Z:-5.24 [[ 0.82532756 0.49215571 -0.27679808 -16.31893782] [ -0.50167962 0.86410276 0.04054611 13.551436 ] [ 0.25913698 0.10540013 0.96007231 -5.24143806] [ 0. 0. 0. 1. ]] SLAMing on 238.66800114499998 meters Centerline goodness [0,1] 0.679865283087566 Centerline is valid? [False, False] Translation: X:-16.34, Y:13.57, Z:-5.25 [[ 0.82613028 0.48982108 -0.27853918 -16.34488874] [ -0.4999312 0.86519923 0.03871815 13.57351245] [ 0.25995685 0.10726419 0.95964412 -5.24724031] [ 0. 0. 0. 1. ]] SLAMing on 238.69800114499995 meters Centerline goodness [0,1] 0.6659622812997046 Centerline is valid? [False, False] Translation: X:-16.37, Y:13.60, Z:-5.25 [[ 0.82759475 0.48667358 -0.27970656 -16.37167079] [ -0.49777418 0.86659932 0.03502133 13.5958643 ] [ 0.25943747 0.11024724 0.95944658 -5.25288051] [ 0. 0. 0. 1. ]] SLAMing on 238.72800114499995 meters Centerline goodness [0,1] 0.7092822007651667 Centerline is valid? [False, False] Translation: X:-16.37, Y:13.60, Z:-5.25 [[ 0.8276368 0.48660138 -0.27970774 -16.37175818] [ -0.49770202 0.86664125 0.03500912 13.59569367] [ 0.25944176 0.11023627 0.95944668 -5.25290762] [ 0. 0. 0. 1. ]] SLAMing on 238.75800114499995 meters Centerline goodness [0,1] 0.6999433812705242 Centerline is valid? [False, False] Translation: X:-16.37, Y:13.60, Z:-5.25 [[ 0.82777078 0.48635713 -0.27973609 -16.37244555] [ -0.49747865 0.86677381 0.03490195 13.59549658] [ 0.25944273 0.11027192 0.95944232 -5.2526686 ] [ 0. 0. 0. 1. ]] SLAMing on 238.78800114499995 meters Centerline goodness [0,1] 0.6893688461363946 Centerline is valid? [False, False] Translation: X:-16.38, Y:13.60, Z:-5.26 [[ 0.82878655 0.48630402 -0.27680546 -16.37870896] [ -0.49658563 0.86721064 0.03672084 13.59718597] [ 0.25790613 0.10702388 0.9602241 -5.25592437] [ 0. 0. 0. 1. ]] SLAMing on 238.81800114499995 meters Centerline goodness [0,1] 0.6939849794658861 Centerline is valid? [False, False] Translation: X:-16.38, Y:13.60, Z:-5.26 [[ 0.82893313 0.48605779 -0.276799 -16.37919785] [ -0.49636157 0.8673443 0.03659298 13.59713192] [ 0.25786634 0.10705925 0.96023084 -5.25582612] [ 0. 0. 0. 1. ]] SLAMing on 238.84800114499996 meters Centerline goodness [0,1] 0.6813196773316414 Centerline is valid? [False, False] Translation: X:-16.38, Y:13.60, Z:-5.26 [[ 0.82884526 0.48636021 -0.27653078 -16.3792827 ] [ -0.49651758 0.86723457 0.03707415 13.59579647] [ 0.25784844 0.10657367 0.96028966 -5.25654264] [ 0. 0. 0. 1. ]] SLAMing on 238.87800114499996 meters Centerline goodness [0,1] 0.6882412971992289 Centerline is valid? [False, False] Translation: X:-16.38, Y:13.59, Z:-5.26 [[ 0.82893847 0.48624952 -0.27644604 -16.3800941 ] [ -0.49637762 0.86731241 0.03712744 13.59488454] [ 0.25781828 0.10644527 0.960312 -5.25665444] [ 0. 0. 0. 1. ]] SLAMing on 238.90800114499996 meters Centerline goodness [0,1] 0.7004741056643151 Centerline is valid? [False, False] Translation: X:-16.38, Y:13.59, Z:-5.26 [[ 0.82822056 0.48850358 -0.27461782 -16.38255013] [ -0.49786656 0.86634963 0.03958802 13.59128913] [ 0.25725394 0.10393542 0.96073817 -5.25863567] [ 0. 0. 0. 1. ]] SLAMing on 238.93800114499996 meters Centerline goodness [0,1] 0.6866270163107147 Centerline is valid? [False, False] Translation: X:-16.38, Y:13.59, Z:-5.26 [[ 0.82818817 0.48848555 -0.27474757 -16.3825069 ] [ -0.49784692 0.86635827 0.0396457 13.59073886] [ 0.25739618 0.10394813 0.9606987 -5.25856392] [ 0. 0. 0. 1. ]] SLAMing on 238.96800114499996 meters Centerline goodness [0,1] 0.6950827829548538 Centerline is valid? [False, False] Translation: X:-16.39, Y:13.59, Z:-5.26 [[ 0.82806586 0.49145342 -0.26977857 -16.3881143 ] [ -0.49927558 0.86533156 0.04387706 13.59120999] [ 0.25501144 0.09836076 0.9619222 -5.26428028] [ 0. 0. 0. 1. ]] SLAMing on 238.99800114499996 meters Centerline goodness [0,1] 0.6980571377113398 Centerline is valid? [False, False] Translation: X:-16.39, Y:13.59, Z:-5.26 [[ 0.82674657 0.49475539 -0.26778203 -16.39089435] [ -0.50173681 0.86375243 0.04681788 13.59043705] [ 0.25446078 0.09564959 0.96234135 -5.2640161 ] [ 0. 0. 0. 1. ]] SLAMing on 239.02800114499996 meters Centerline goodness [0,1] 0.6980571377113398 Centerline is valid? [False, False] Translation: X:-16.39, Y:13.59, Z:-5.26 [[ 0.82674657 0.49475539 -0.26778203 -16.39089435] [ -0.50173681 0.86375243 0.04681788 13.59043705] [ 0.25446078 0.09564959 0.96234135 -5.2640161 ] [ 0. 0. 0. 1. ]] SLAMing on 239.05800114499996 meters Centerline goodness [0,1] 0.6911648668755777 Centerline is valid? [False, False] Translation: X:-16.39, Y:13.59, Z:-5.26 [[ 0.82574182 0.49727343 -0.26621342 -16.39381451] [ -0.50364063 0.86252486 0.04895907 13.59028532] [ 0.25396174 0.09364834 0.96266995 -5.26331613] [ 0. 0. 0. 1. ]] SLAMing on 239.08800114499996 meters Centerline goodness [0,1] 0.6934102587217164 Centerline is valid? [False, False] Translation: X:-16.41, Y:13.60, Z:-5.26 [[ 0.82396239 0.49618683 -0.27365052 -16.40797979] [ -0.50461824 0.86222142 0.04398478 13.60359009] [ 0.257772 0.10184724 0.96082295 -5.262393 ] [ 0. 0. 0. 1. ]] SLAMing on 239.11800114499997 meters Centerline goodness [0,1] 0.6864620369953643 Centerline is valid? [False, False] Translation: X:-16.43, Y:13.62, Z:-5.27 [[ 0.82382353 0.49397171 -0.2780409 -16.43008294] [ -0.503339 0.86306918 0.04196953 13.62157939] [ 0.26070029 0.10537334 0.95965192 -5.26652063] [ 0. 0. 0. 1. ]] SLAMing on 239.14800114499997 meters Centerline goodness [0,1] 0.6912995420811622 Centerline is valid? [False, False] Translation: X:-16.45, Y:13.64, Z:-5.27 [[ 0.82338194 0.49281518 -0.28138119 -16.45080166] [ -0.50335967 0.86320159 0.03888527 13.63820926] [ 0.26205194 0.10961852 0.95880788 -5.27066787] [ 0. 0. 0. 1. ]] SLAMing on 239.17800114499997 meters Centerline goodness [0,1] 0.7002679395672438 Centerline is valid? [False, False] Translation: X:-16.45, Y:13.64, Z:-5.27 [[ 0.82341422 0.4927615 -0.28138075 -16.45127006] [ -0.50330623 0.86323322 0.0388747 13.63794053] [ 0.26205317 0.1096107 0.95880844 -5.27047403] [ 0. 0. 0. 1. ]] SLAMing on 239.20800114499997 meters Centerline goodness [0,1] 0.6882962230660346 Centerline is valid? [False, False] Translation: X:-16.45, Y:13.64, Z:-5.27 [[ 0.82353614 0.49257167 -0.28135632 -16.45223391] [ -0.50313469 0.86333822 0.03876347 13.63775423] [ 0.26199945 0.10963701 0.95882012 -5.27012648] [ 0. 0. 0. 1. ]] SLAMing on 239.23800114499997 meters Centerline goodness [0,1] 0.692766224453209 Centerline is valid? [False, False] Translation: X:-16.45, Y:13.64, Z:-5.27 [[ 0.8236962 0.49240275 -0.2811834 -16.45391701] [ -0.50296785 0.86344051 0.03865014 13.63736925] [ 0.26181657 0.10959024 0.95887541 -5.26967116] [ 0. 0. 0. 1. ]] SLAMing on 239.26800114499997 meters Centerline goodness [0,1] 0.6855268460883973 Centerline is valid? [False, False] Translation: X:-16.46, Y:13.64, Z:-5.27 [[ 0.82262527 0.49531095 -0.27920374 -16.45718759] [ -0.50508281 0.86208632 0.0412133 13.63666217] [ 0.26111112 0.10711791 0.95934704 -5.26956644] [ 0. 0. 0. 1. ]] SLAMing on 239.29800114499997 meters Centerline goodness [0,1] 0.6800179010964422 Centerline is valid? [False, False] Translation: X:-16.48, Y:13.66, Z:-5.27 [[ 0.82285532 0.49360918 -0.28152993 -16.48094011] [ -0.50414362 0.86273299 0.03912787 13.65619596] [ 0.26219904 0.10973494 0.95875435 -5.27454427] [ 0. 0. 0. 1. ]] SLAMing on 239.32800114499997 meters Centerline goodness [0,1] 0.6768520994918428 Centerline is valid? [False, False] Translation: X:-16.48, Y:13.65, Z:-5.28 [[ 0.82288591 0.49378275 -0.28113586 -16.48233312] [ -0.50414479 0.86271 0.03961671 13.6542932 ] [ 0.26210077 0.10913315 0.95884991 -5.27508913] [ 0. 0. 0. 1. ]] SLAMing on 239.35800114499997 meters Centerline goodness [0,1] 0.6578483245149912 Centerline is valid? [False, False] Translation: X:-16.51, Y:13.67, Z:-5.28 [[ 0.82357798 0.49136322 -0.28333989 -16.50782258] [ -0.50197939 0.8639897 0.03922353 13.67423929] [ 0.26407575 0.10992715 0.95821711 -5.28265465] [ 0. 0. 0. 1. ]] SLAMing on 239.38800114499998 meters Centerline goodness [0,1] 0.6755147108027927 Centerline is valid? [False, False] Translation: X:-16.53, Y:13.69, Z:-5.29 [[ 0.82419712 0.488947 -0.28570953 -16.53243682] [ -0.50011406 0.86513238 0.03784025 13.69348918] [ 0.26567844 0.11169953 0.95756889 -5.28931932] [ 0. 0. 0. 1. ]] SLAMing on 239.41800114499998 meters Centerline goodness [0,1] 0.6884567461730153 Centerline is valid? [False, False] Translation: X:-16.53, Y:13.69, Z:-5.29 [[ 0.82430905 0.4889537 -0.28537497 -16.5340047 ] [ -0.49998717 0.86519099 0.03817568 13.69182447] [ 0.26557 0.11121526 0.95765534 -5.28969453] [ 0. 0. 0. 1. ]] SLAMing on 239.44800114499995 meters Centerline goodness [0,1] 0.6870288248337029 Centerline is valid? [False, False] Translation: X:-16.53, Y:13.69, Z:-5.29 [[ 0.824167 0.48923791 -0.28529814 -16.53413619] [ -0.50016577 0.8650701 0.03857356 13.69069593] [ 0.26567453 0.11090531 0.95766229 -5.28985659] [ 0. 0. 0. 1. ]] SLAMing on 239.47800114499995 meters Centerline goodness [0,1] 0.649790906664294 Centerline is valid? [False, False] Translation: X:-16.56, Y:13.71, Z:-5.30 [[ 0.82432177 0.48810988 -0.28677929 -16.55986077] [ -0.49913959 0.86565903 0.03865375 13.7102817 ] [ 0.26712035 0.11127977 0.95721655 -5.29659896] [ 0. 0. 0. 1. ]] SLAMing on 239.50800114499995 meters Centerline goodness [0,1] 0.6754372353866956 Centerline is valid? [False, False] Translation: X:-16.59, Y:13.73, Z:-5.30 [[ 0.82458926 0.48643163 -0.28885432 -16.58553487] [ -0.49776765 0.86647023 0.03816687 13.72864824] [ 0.26884924 0.11231035 0.95661198 -5.30330304] [ 0. 0. 0. 1. ]] SLAMing on 239.53800114499995 meters Centerline goodness [0,1] 0.6458065943792874 Centerline is valid? [False, False] Translation: X:-16.61, Y:13.75, Z:-5.31 [[ 0.82518784 0.48459433 -0.29022984 -16.61146156] [ -0.49625126 0.8673773 0.03730015 13.74805284] [ 0.26981422 0.11324729 0.95622975 -5.31044949] [ 0. 0. 0. 1. ]] SLAMing on 239.56800114499995 meters Centerline goodness [0,1] 0.694522456380885 Centerline is valid? [False, False] Translation: X:-16.63, Y:13.76, Z:-5.32 [[ 0.82505218 0.48458857 -0.29062487 -16.63447069] [ -0.49674288 0.86716277 0.03571054 13.76342864] [ 0.26932399 0.11490278 0.95617046 -5.31788597] [ 0. 0. 0. 1. ]] SLAMing on 239.59800114499996 meters Centerline goodness [0,1] 0.6829683321915538 Centerline is valid? [False, False] Translation: X:-16.66, Y:13.78, Z:-5.33 [[ 0.82585144 0.48300738 -0.2909867 -16.66165638] [ -0.49535542 0.86798909 0.03489903 13.78344944] [ 0.26942977 0.11532043 0.95609037 -5.32545412] [ 0. 0. 0. 1. ]] SLAMing on 239.62800114499996 meters Centerline goodness [0,1] 0.686384396443307 Centerline is valid? [False, False] Translation: X:-16.69, Y:13.80, Z:-5.33 [[ 0.82569056 0.48406603 -0.28968115 -16.68766209] [ -0.49659111 0.86732355 0.03386922 13.80069018] [ 0.26764222 0.1158876 0.95652376 -5.33258697] [ 0. 0. 0. 1. ]] SLAMing on 239.65800114499996 meters Centerline goodness [0,1] 0.6968059293245688 Centerline is valid? [False, False] Translation: X:-16.71, Y:13.82, Z:-5.34 [[ 0.82457083 0.48575858 -0.29003715 -16.7090823 ] [ -0.49867298 0.86616388 0.03294523 13.81590426] [ 0.26722313 0.11746801 0.95644815 -5.33898344] [ 0. 0. 0. 1. ]] SLAMing on 239.68800114499996 meters Centerline goodness [0,1] 0.6982098315784826 Centerline is valid? [False, False] Translation: X:-16.74, Y:13.84, Z:-5.35 [[ 0.82458065 0.48647304 -0.28880918 -16.73657832] [ -0.49903044 0.86592548 0.03378896 13.83600159] [ 0.26652464 0.11626285 0.95679024 -5.34728931] [ 0. 0. 0. 1. ]] SLAMing on 239.71800114499996 meters Centerline goodness [0,1] 0.6946490802417398 Centerline is valid? [False, False] Translation: X:-16.76, Y:13.85, Z:-5.35 [[ 0.82403305 0.48739032 -0.28882556 -16.76047714] [ -0.5001893 0.86528347 0.0330936 13.85363131] [ 0.26604549 0.11719723 0.9568096 -5.35395062] [ 0. 0. 0. 1. ]] SLAMing on 239.74800114499996 meters Centerline goodness [0,1] 0.7058564314987 Centerline is valid? [False, False] Translation: X:-16.79, Y:13.87, Z:-5.36 [[ 0.82351382 0.48834608 -0.28869205 -16.78773639] [ -0.50075728 0.86489604 0.03459758 13.87332976] [ 0.2665842 0.11607306 0.95679669 -5.36139236] [ 0. 0. 0. 1. ]] SLAMing on 239.77800114499996 meters Centerline goodness [0,1] 0.7070835992342055 Centerline is valid? [False, False] Translation: X:-16.81, Y:13.89, Z:-5.37 [[ 0.82341621 0.48835176 -0.28896074 -16.81267714] [ -0.50089076 0.86483206 0.03426309 13.89202463] [ 0.26663495 0.11652499 0.95672762 -5.36872463] [ 0. 0. 0. 1. ]] SLAMing on 239.80800114499996 meters Centerline goodness [0,1] 0.7189262746647351 Centerline is valid? [False, False] Translation: X:-16.83, Y:13.91, Z:-5.37 [[ 0.82250437 0.48847098 -0.29134631 -16.83421797] [ -0.50155907 0.86447753 0.03342297 13.9074986 ] [ 0.26818849 0.11863685 0.95603359 -5.3742683 ] [ 0. 0. 0. 1. ]] SLAMing on 239.83800114499996 meters Centerline goodness [0,1] 0.7197134030105831 Centerline is valid? [False, False] Translation: X:-16.86, Y:13.93, Z:-5.38 [[ 0.82261799 0.48765166 -0.29239615 -16.86071811] [ -0.50057963 0.86500958 0.0343286 13.92572481] [ 0.26966587 0.11812823 0.95568093 -5.38238339] [ 0. 0. 0. 1. ]] SLAMing on 239.86800114499997 meters Centerline goodness [0,1] 0.7224505946231123 Centerline is valid? [False, False] Translation: X:-16.89, Y:13.95, Z:-5.39 [[ 0.82321865 0.48679086 -0.29213989 -16.8890347 ] [ -0.49934117 0.8656823 0.0353915 13.94675485] [ 0.27012859 0.11674253 0.95572053 -5.39104818] [ 0. 0. 0. 1. ]] SLAMing on 239.89800114499997 meters Centerline goodness [0,1] 0.7157007005907803 Centerline is valid? [False, False] Translation: X:-16.92, Y:13.97, Z:-5.40 [[ 0.8239741 0.48542286 -0.29228639 -16.91534698] [ -0.49818693 0.86638492 0.03445224 13.96679259] [ 0.26995643 0.11722551 0.95571005 -5.39879389] [ 0. 0. 0. 1. ]] SLAMing on 239.92800114499997 meters Centerline goodness [0,1] 0.713422774725876 Centerline is valid? [False, False] Translation: X:-16.94, Y:13.99, Z:-5.41 [[ 0.82493544 0.48331196 -0.29307179 -16.94299945] [ -0.49635894 0.86747362 0.03342629 13.98646759] [ 0.27038737 0.11789427 0.95550594 -5.40612343] [ 0. 0. 0. 1. ]] SLAMing on 239.95800114499997 meters Centerline goodness [0,1] 0.6960606126962576 Centerline is valid? [False, False] Translation: X:-16.97, Y:14.01, Z:-5.42 [[ 0.8258217 0.48216294 -0.2924678 -16.97104058] [ -0.49504895 0.86821863 0.03351028 14.00696389] [ 0.27008341 0.11711237 0.95568805 -5.4150015 ] [ 0. 0. 0. 1. ]] SLAMing on 239.98800114499997 meters Centerline goodness [0,1] 0.7082787243337703 Centerline is valid? [False, False] Translation: X:-17.00, Y:14.03, Z:-5.42 [[ 0.82640317 0.48071808 -0.29320287 -16.99684273] [ -0.49396045 0.86888333 0.03232385 14.02621665] [ 0.27029775 0.11811809 0.95550366 -5.42210493] [ 0. 0. 0. 1. ]] SLAMing on 240.01800114499997 meters Centerline goodness [0,1] 0.7076875930303826 Centerline is valid? [False, False] Translation: X:-17.03, Y:14.05, Z:-5.43 [[ 0.82727592 0.47950906 -0.29272103 -17.02563977] [ -0.49240737 0.86973522 0.03310031 14.04660397] [ 0.27046169 0.1167549 0.9556248 -5.43100019] [ 0. 0. 0. 1. ]] SLAMing on 240.04800114499997 meters Centerline goodness [0,1] 0.6979695984995529 Centerline is valid? [False, False] Translation: X:-17.05, Y:14.07, Z:-5.44 [[ 0.82815776 0.47715558 -0.29407018 -17.0527523 ] [ -0.49029017 0.87095486 0.03245269 14.06558542] [ 0.27160683 0.11730377 0.95523272 -5.43867678] [ 0. 0. 0. 1. ]] SLAMing on 240.07800114499997 meters Centerline goodness [0,1] 0.7239999125128497 Centerline is valid? [False, False] Translation: X:-17.08, Y:14.09, Z:-5.45 [[ 0.82914538 0.47533366 -0.29423775 -17.0810639 ] [ -0.48832757 0.87204784 0.03269175 14.08656468] [ 0.27212889 0.11657819 0.95517297 -5.44711893] [ 0. 0. 0. 1. ]] SLAMing on 240.10800114499997 meters Centerline goodness [0,1] 0.6972122851409126 Centerline is valid? [False, False] Translation: X:-17.11, Y:14.11, Z:-5.45 [[ 0.82976053 0.47366572 -0.29519188 -17.10714957] [ -0.48684653 0.87289515 0.03216373 14.10608834] [ 0.27290642 0.11702495 0.95489646 -5.45472401] [ 0. 0. 0. 1. ]] SLAMing on 240.13800114499998 meters Centerline goodness [0,1] 0.7218863889313227 Centerline is valid? [False, False] Translation: X:-17.13, Y:14.12, Z:-5.46 [[ 0.83033416 0.47190176 -0.29640161 -17.13240951] [ -0.48540062 0.87373216 0.03127862 14.12481492] [ 0.27373605 0.11790182 0.95455106 -5.46247671] [ 0. 0. 0. 1. ]] SLAMing on 240.16800114499998 meters Centerline goodness [0,1] 0.7094260159777701 Centerline is valid? [False, False] Translation: X:-17.16, Y:14.14, Z:-5.47 [[ 0.83136609 0.47023437 -0.29615885 -17.15904418] [ -0.48398737 0.87456136 0.02997756 14.14327693] [ 0.27310557 0.11841482 0.95466815 -5.47103541] [ 0. 0. 0. 1. ]] SLAMing on 240.19800114499995 meters Centerline goodness [0,1] 0.7454462362081348 Centerline is valid? [False, False] Translation: X:-17.16, Y:14.14, Z:-5.47 [[ 0.83136889 0.47019771 -0.29620918 -17.15920955] [ -0.48395913 0.87457744 0.02996444 14.14298955] [ 0.27314708 0.11844163 0.95465295 -5.47080549] [ 0. 0. 0. 1. ]] SLAMing on 240.22800114499995 meters Centerline goodness [0,1] 0.743100156222878 Centerline is valid? [False, False] Translation: X:-17.16, Y:14.14, Z:-5.47 [[ 0.83131532 0.47026886 -0.29624658 -17.1593214 ] [ -0.48400139 0.87454955 0.03009538 14.14252793] [ 0.27323524 0.11836501 0.95463722 -5.47062978] [ 0. 0. 0. 1. ]] SLAMing on 240.25800114499995 meters Centerline goodness [0,1] 0.7146020100284356 Centerline is valid? [False, False] Translation: X:-17.19, Y:14.16, Z:-5.48 [[ 0.83230215 0.46956394 -0.29458927 -17.18771295] [ -0.48314645 0.87503435 0.02973888 14.16240394] [ 0.27174004 0.11757803 0.95516112 -5.47969372] [ 0. 0. 0. 1. ]] SLAMing on 240.28800114499995 meters Centerline goodness [0,1] 0.7169188684570461 Centerline is valid? [False, False] Translation: X:-17.21, Y:14.18, Z:-5.49 [[ 0.8325357 0.46906867 -0.29471832 -17.21260174] [ -0.48284275 0.87522561 0.02903481 14.18034031] [ 0.27156434 0.11813009 0.95514297 -5.48757429] [ 0. 0. 0. 1. ]] SLAMing on 240.31800114499995 meters Centerline goodness [0,1] 0.7207144564437974 Centerline is valid? [False, False] Translation: X:-17.24, Y:14.20, Z:-5.50 [[ 0.83337014 0.46759154 -0.29470725 -17.23940569] [ -0.48134505 0.87605675 0.02883585 14.19946354] [ 0.27166368 0.11782494 0.95515241 -5.49646704] [ 0. 0. 0. 1. ]] SLAMing on 240.34800114499996 meters Centerline goodness [0,1] 0.7181003740106114 Centerline is valid? [False, False] Translation: X:-17.27, Y:14.22, Z:-5.51 [[ 0.83414585 0.46725 -0.29304972 -17.26530974] [ -0.48109574 0.87623063 0.02769071 14.21797916] [ 0.26971763 0.11788689 0.95569613 -5.50522359] [ 0. 0. 0. 1. ]] SLAMing on 240.37800114499996 meters Centerline goodness [0,1] 0.7182272431023246 Centerline is valid? [False, False] Translation: X:-17.27, Y:14.22, Z:-5.50 [[ 0.83314372 0.47006788 -0.29138932 -17.2680558 ] [ -0.48311903 0.87503171 0.0302575 14.21731036] [ 0.26919798 0.11556688 0.9561259 -5.50495576] [ 0. 0. 0. 1. ]] SLAMing on 240.40800114499996 meters Centerline goodness [0,1] 0.7107867661453462 Centerline is valid? [False, False] Translation: X:-17.29, Y:14.24, Z:-5.51 [[ 0.83358898 0.46875036 -0.29223709 -17.29331938] [ -0.4820589 0.8756423 0.02949201 14.23556264] [ 0.26971955 0.11629128 0.95589105 -5.51236914] [ 0. 0. 0. 1. ]] SLAMing on 240.43800114499996 meters Centerline goodness [0,1] 0.709457256504445 Centerline is valid? [False, False] Translation: X:-17.32, Y:14.25, Z:-5.52 [[ 0.8342933 0.46731145 -0.29253153 -17.31860524] [ -0.48091162 0.8763111 0.02833497 14.25365098] [ 0.26958988 0.11704213 0.95583599 -5.52056766] [ 0. 0. 0. 1. ]] SLAMing on 240.46800114499996 meters Centerline goodness [0,1] 0.7083559945178062 Centerline is valid? [False, False] Translation: X:-17.34, Y:14.27, Z:-5.53 [[ 0.83506526 0.46541638 -0.29334895 -17.34466646] [ -0.4791726 0.8772798 0.02781669 14.27248355] [ 0.27029546 0.11733603 0.95560066 -5.52877488] [ 0. 0. 0. 1. ]] SLAMing on 240.49800114499996 meters Centerline goodness [0,1] 0.7259659363157207 Centerline is valid? [False, False] Translation: X:-17.34, Y:14.27, Z:-5.53 [[ 0.83511118 0.46532619 -0.29336132 -17.3448953 ] [ -0.47907024 0.87733467 0.02784923 14.2716507 ] [ 0.27033503 0.11728347 0.95559592 -5.52899138] [ 0. 0. 0. 1. ]] SLAMing on 240.52800114499996 meters Centerline goodness [0,1] 0.7162638031475523 Centerline is valid? [False, False] Translation: X:-17.37, Y:14.29, Z:-5.54 [[ 0.83437222 0.46577785 -0.29474393 -17.36618563] [ -0.47984523 0.8769245 0.02742205 14.28616093] [ 0.27124076 0.11855127 0.95518273 -5.53596787] [ 0. 0. 0. 1. ]] SLAMing on 240.55800114499996 meters Centerline goodness [0,1] 0.7156939378148341 Centerline is valid? [False, False] Translation: X:-17.38, Y:14.30, Z:-5.54 [[ 0.83187671 0.46669104 -0.30030085 -17.3810064 ] [ -0.48203392 0.87577498 0.02571935 14.29763572] [ 0.27499896 0.12335987 0.95349773 -5.53828957] [ 0. 0. 0. 1. ]] SLAMing on 240.58800114499996 meters Centerline goodness [0,1] 0.7233626588465298 Centerline is valid? [False, False] Translation: X:-17.41, Y:14.31, Z:-5.55 [[ 0.83183414 0.46729887 -0.29947243 -17.40519869] [ -0.48252565 0.87550052 0.02584241 14.31495834] [ 0.2742644 0.12300653 0.95375491 -5.54732914] [ 0. 0. 0. 1. ]] SLAMing on 240.61800114499997 meters Centerline goodness [0,1] 0.7178908538570034 Centerline is valid? [False, False] Translation: X:-17.43, Y:14.33, Z:-5.56 [[ 0.8315709 0.46836452 -0.29853728 -17.42785805] [ -0.48368225 0.87487861 0.02527664 14.3310598 ] [ 0.27302256 0.12337786 0.9540632 -5.55585495] [ 0. 0. 0. 1. ]] SLAMing on 240.64800114499997 meters Centerline goodness [0,1] 0.6957257539596442 Centerline is valid? [False, False] Translation: X:-17.46, Y:14.35, Z:-5.56 [[ 0.83178488 0.46906356 -0.29683885 -17.45625939] [ -0.48394045 0.87471033 0.02614345 14.35290577] [ 0.27191095 0.1219066 0.95456965 -5.56388517] [ 0. 0. 0. 1. ]] SLAMing on 240.67800114499997 meters Centerline goodness [0,1] 0.7199643958143371 Centerline is valid? [False, False] Translation: X:-17.48, Y:14.37, Z:-5.57 [[ 0.83214903 0.46979125 -0.29465941 -17.48313206] [ -0.48443713 0.87443779 0.02606173 14.37275271] [ 0.2699049 0.12105672 0.95524689 -5.57251549] [ 0. 0. 0. 1. ]] SLAMing on 240.70800114499997 meters Centerline goodness [0,1] 0.7213416881680796 Centerline is valid? [False, False] Translation: X:-17.51, Y:14.39, Z:-5.58 [[ 0.83241615 0.47116352 -0.29169898 -17.5108873 ] [ -0.4854445 0.87387447 0.02621171 14.39378589] [ 0.26725829 0.11978462 0.95615096 -5.5810045 ] [ 0. 0. 0. 1. ]] SLAMing on 240.73800114499997 meters Centerline goodness [0,1] 0.7469076862983377 Centerline is valid? [False, False] Translation: X:-17.54, Y:14.41, Z:-5.59 [[ 0.83259547 0.47204494 -0.28975568 -17.53522262] [ -0.48653686 0.87331114 0.02468881 14.4116846 ] [ 0.26470109 0.12042102 0.95678216 -5.58919444] [ 0. 0. 0. 1. ]] SLAMing on 240.76800114499997 meters Centerline goodness [0,1] 0.7462198344959057 Centerline is valid? [False, False] Translation: X:-17.56, Y:14.43, Z:-5.60 [[ 0.83203589 0.47308736 -0.28966294 -17.55742728] [ -0.48796081 0.87255056 0.02344705 14.42835975] [ 0.26383807 0.12183538 0.95684148 -5.59580007] [ 0. 0. 0. 1. ]] SLAMing on 240.79800114499997 meters Centerline goodness [0,1] 0.7510683065443265 Centerline is valid? [False, False] Translation: X:-17.57, Y:14.44, Z:-5.60 [[ 0.82951012 0.47426692 -0.29493024 -17.57216483] [ -0.49059802 0.87113293 0.02099991 14.44052179] [ 0.26688301 0.12727256 0.955288 -5.59719672] [ 0. 0. 0. 1. ]] SLAMing on 240.82800114499997 meters Centerline goodness [0,1] 0.7151358512694654 Centerline is valid? [False, False] Translation: X:-17.60, Y:14.46, Z:-5.61 [[ 0.82968001 0.4747991 -0.29359308 -17.60012787] [ -0.49047309 0.87115842 0.02278499 14.46248042] [ 0.26658438 0.12509526 0.95565891 -5.60642387] [ 0. 0. 0. 1. ]] SLAMing on 240.85800114499997 meters Centerline goodness [0,1] 0.7449312565262791 Centerline is valid? [False, False] Translation: X:-17.63, Y:14.48, Z:-5.62 [[ 0.8300553 0.47528996 -0.29173216 -17.62599063] [ -0.49077176 0.87099379 0.02264713 14.48206389] [ 0.26486085 0.12437554 0.95623191 -5.61528921] [ 0. 0. 0. 1. ]] SLAMing on 240.88800114499998 meters Centerline goodness [0,1] 0.7413586565896368 Centerline is valid? [False, False] Translation: X:-17.65, Y:14.50, Z:-5.62 [[ 0.83060973 0.47585547 -0.28922145 -17.65146987] [ -0.49117317 0.87078145 0.02210382 14.50105502] [ 0.26236689 0.12369817 0.95700699 -5.62491059] [ 0. 0. 0. 1. ]] SLAMing on 240.91800114499998 meters Centerline goodness [0,1] 0.7180628272251308 Centerline is valid? [False, False] Translation: X:-17.68, Y:14.52, Z:-5.64 [[ 0.83189654 0.47539928 -0.28625805 -17.68297969] [ -0.48971251 0.8715466 0.02425254 14.5239166 ] [ 0.26101687 0.12000855 0.95784557 -5.63588538] [ 0. 0. 0. 1. ]] SLAMing on 240.94800114499995 meters Centerline goodness [0,1] 0.7180628272251308 Centerline is valid? [False, False] Translation: X:-17.71, Y:14.54, Z:-5.65 [[ 0.83244091 0.47539319 -0.28468131 -17.70977586] [ -0.48930711 0.87175418 0.02496387 14.54263838] [ 0.26003978 0.11851565 0.95829711 -5.64532635] [ 0. 0. 0. 1. ]] SLAMing on 240.97800114499995 meters Centerline goodness [0,1] 0.73276975975121 Centerline is valid? [False, False] Translation: X:-17.74, Y:14.57, Z:-5.66 [[ 0.83391533 0.47362111 -0.28331656 -17.74100552] [ -0.48680151 0.87310396 0.0267165 14.56590259] [ 0.26001831 0.11563963 0.95865424 -5.65546204] [ 0. 0. 0. 1. ]] SLAMing on 241.00800114499995 meters Centerline goodness [0,1] 0.7546617116624768 Centerline is valid? [False, False] Translation: X:-17.74, Y:14.57, Z:-5.66 [[ 0.83389235 0.47364698 -0.28334096 -17.74045549] [ -0.48680076 0.87310088 0.02683047 14.56563948] [ 0.26009341 0.11555687 0.95864385 -5.65581396] [ 0. 0. 0. 1. ]] SLAMing on 241.03800114499995 meters Centerline goodness [0,1] 0.7245920287001794 Centerline is valid? [False, False] Translation: X:-17.77, Y:14.59, Z:-5.67 [[ 0.8353321 0.47236774 -0.28122766 -17.76980746] [ -0.48510505 0.87403363 0.02717181 14.58713244] [ 0.25863752 0.11372748 0.95925632 -5.66574282] [ 0. 0. 0. 1. ]] SLAMing on 241.06800114499995 meters Centerline goodness [0,1] 0.728070367851894 Centerline is valid? [False, False] Translation: X:-17.80, Y:14.61, Z:-5.68 [[ 0.83711022 0.47007718 -0.27977476 -17.79938006] [ -0.48254031 0.87545338 0.02713337 14.61112357] [ 0.25768454 0.11228898 0.95968217 -5.67511272] [ 0. 0. 0. 1. ]] SLAMing on 241.09800114499996 meters Centerline goodness [0,1] 0.73647906506744 Centerline is valid? [False, False] Translation: X:-17.82, Y:14.63, Z:-5.68 [[ 0.83770643 0.46999102 -0.27813017 -17.8232935 ] [ -0.48262884 0.87544749 0.02571161 14.62873646] [ 0.25557258 0.11269486 0.96019921 -5.6840489 ] [ 0. 0. 0. 1. ]] SLAMing on 241.12800114499996 meters Centerline goodness [0,1] 0.7375187109271815 Centerline is valid? [False, False] Translation: X:-17.82, Y:14.63, Z:-5.68 [[ 0.83768493 0.46991735 -0.27831932 -17.82265539] [ -0.4825854 0.87547258 0.02567282 14.62903242] [ 0.25572503 0.11280711 0.96014544 -5.68392804] [ 0. 0. 0. 1. ]] SLAMing on 241.15800114499996 meters Centerline goodness [0,1] 0.7007983110114139 Centerline is valid? [False, False] Translation: X:-17.85, Y:14.65, Z:-5.69 [[ 0.83888528 0.46822405 -0.2775567 -17.84996507] [ -0.48092492 0.8764078 0.02491159 14.65004502] [ 0.25491707 0.11258597 0.96038622 -5.69253622] [ 0. 0. 0. 1. ]] SLAMing on 241.18800114499996 meters Centerline goodness [0,1] 0.7087423515428974 Centerline is valid? [False, False] Translation: X:-17.88, Y:14.67, Z:-5.70 [[ 0.84052844 0.46559298 -0.27701106 -17.87805434] [ -0.47832513 0.87785208 0.02409973 14.67222967] [ 0.2543954 0.11224484 0.96056446 -5.70182224] [ 0. 0. 0. 1. ]] SLAMing on 241.21800114499996 meters Centerline goodness [0,1] 0.7122043686217461 Centerline is valid? [False, False] Translation: X:-17.91, Y:14.69, Z:-5.71 [[ 0.84133521 0.46488026 -0.27575608 -17.90511617] [ -0.47735596 0.87837189 0.02437436 14.6922596 ] [ 0.25354755 0.1111268 0.96091856 -5.71121038] [ 0. 0. 0. 1. ]] SLAMing on 241.24800114499996 meters Centerline goodness [0,1] 0.7197599770566304 Centerline is valid? [False, False] Translation: X:-17.91, Y:14.69, Z:-5.71 [[ 0.84030946 0.46768589 -0.27413485 -17.9071828 ] [ -0.479439 0.87716439 0.02684911 14.6923759 ] [ 0.25301828 0.10886938 0.96131639 -5.71093341] [ 0. 0. 0. 1. ]] SLAMing on 241.27800114499996 meters Centerline goodness [0,1] 0.6868613138686132 Centerline is valid? [False, False] Translation: X:-17.93, Y:14.71, Z:-5.72 [[ 0.84084412 0.46847321 -0.27113467 -17.93326661] [ -0.48035045 0.87671608 0.02514673 14.71317255] [ 0.2494887 0.10909518 0.96221288 -5.71851502] [ 0. 0. 0. 1. ]] SLAMing on 241.30800114499996 meters Centerline goodness [0,1] 0.6934376107763205 Centerline is valid? [False, False] Translation: X:-17.96, Y:14.74, Z:-5.73 [[ 0.84179961 0.46795589 -0.26905521 -17.96171676] [ -0.47980811 0.87703941 0.02420872 14.7351512 ] [ 0.24730063 0.10871598 0.96282046 -5.72615357] [ 0. 0. 0. 1. ]] SLAMing on 241.33800114499996 meters Centerline goodness [0,1] 0.704931088644559 Centerline is valid? [False, False] Translation: X:-17.96, Y:14.74, Z:-5.73 [[ 0.84069989 0.47094165 -0.26727824 -17.96425313] [ -0.48207977 0.87572121 0.02667323 14.73561121] [ 0.24662276 0.10642525 0.96325017 -5.72559383] [ 0. 0. 0. 1. ]] SLAMing on 241.36800114499997 meters Centerline goodness [0,1] 0.7065371966936272 Centerline is valid? [False, False] Translation: X:-17.99, Y:14.76, Z:-5.73 [[ 0.84146863 0.47030336 -0.26597987 -17.99274387] [ -0.48132043 0.87614523 0.02646067 14.75901452] [ 0.24548154 0.10575572 0.96361535 -5.73300815] [ 0. 0. 0. 1. ]] SLAMing on 241.39800114499997 meters Centerline goodness [0,1] 0.710881934566145 Centerline is valid? [False, False] Translation: X:-17.99, Y:14.76, Z:-5.73 [[ 0.84137236 0.47035761 -0.26618842 -17.99206107] [ -0.48138908 0.87610613 0.02650647 14.75914538] [ 0.24567683 0.10583838 0.9635565 -5.73280803] [ 0. 0. 0. 1. ]] SLAMing on 241.42800114499997 meters Centerline goodness [0,1] 0.7034090404017956 Centerline is valid? [False, False] Translation: X:-17.99, Y:14.76, Z:-5.73 [[ 0.8413948 0.47029411 -0.26622969 -17.99168414] [ -0.48133982 0.87613464 0.02645887 14.75938273] [ 0.24569651 0.10588459 0.96354641 -5.73291283] [ 0. 0. 0. 1. ]] SLAMing on 241.45800114499997 meters Centerline goodness [0,1] 0.6990194116469882 Centerline is valid? [False, False] Translation: X:-17.99, Y:14.76, Z:-5.73 [[ 0.84150871 0.46999923 -0.26639035 -17.99118654] [ -0.48112714 0.87626039 0.02616095 14.76039359] [ 0.24572294 0.10615296 0.96351014 -5.73268414] [ 0. 0. 0. 1. ]] SLAMing on 241.48800114499997 meters Centerline goodness [0,1] 0.695620308266335 Centerline is valid? [False, False] Translation: X:-17.99, Y:14.76, Z:-5.73 [[ 0.84047553 0.47268515 -0.2648955 -17.99322804] [ -0.48310076 0.87509342 0.02872566 14.75968938] [ 0.2453865 0.10382801 0.96384916 -5.732559 ] [ 0. 0. 0. 1. ]] SLAMing on 241.51800114499997 meters Centerline goodness [0,1] 0.6915034996013112 Centerline is valid? [False, False] Translation: X:-17.99, Y:14.76, Z:-5.73 [[ 0.84043723 0.47265594 -0.26506908 -17.99259131] [ -0.48307255 0.87510676 0.02879346 14.75944579] [ 0.24557315 0.1038485 0.96379942 -5.7326322 ] [ 0. 0. 0. 1. ]] SLAMing on 241.54800114499997 meters Centerline goodness [0,1] 0.6943794172073217 Centerline is valid? [False, False] Translation: X:-18.02, Y:14.78, Z:-5.74 [[ 0.84157272 0.47040903 -0.26546318 -18.02155218] [ -0.48069685 0.87640363 0.02910694 14.78292523] [ 0.24634506 0.10311171 0.96368153 -5.74004538] [ 0. 0. 0. 1. ]] SLAMing on 241.57800114499997 meters Centerline goodness [0,1] 0.6872387727879057 Centerline is valid? [False, False] Translation: X:-18.02, Y:14.78, Z:-5.74 [[ 0.84046753 0.47326347 -0.26388637 -18.02369229] [ -0.48283837 0.87513625 0.03168048 14.78274179] [ 0.24592974 0.10078805 0.96403337 -5.73963319] [ 0. 0. 0. 1. ]] SLAMing on 241.60800114499997 meters Centerline goodness [0,1] 0.6821348289599608 Centerline is valid? [False, False] Translation: X:-18.03, Y:14.78, Z:-5.74 [[ 0.83916497 0.47660511 -0.26201092 -18.02562347] [ -0.48534638 0.87363303 0.03470195 14.781876 ] [ 0.24544052 0.09804539 0.9644408 -5.73979032] [ 0. 0. 0. 1. ]] SLAMing on 241.63800114499998 meters Centerline goodness [0,1] 0.7045459612511984 Centerline is valid? [False, False] Translation: X:-18.03, Y:14.78, Z:-5.74 [[ 0.83813266 0.47927683 -0.26043689 -18.02801289] [ -0.48736707 0.872411 0.0370459 14.78190039] [ 0.24496324 0.09587899 0.96477989 -5.7393024 ] [ 0. 0. 0. 1. ]] SLAMing on 241.66800114499998 meters Centerline goodness [0,1] 0.681095682457472 Centerline is valid? [False, False] Translation: X:-18.05, Y:14.80, Z:-5.74 [[ 0.8379056 0.47782 -0.2638224 -18.04975813] [ -0.48696208 0.87275771 0.03408671 14.7999409 ] [ 0.24654034 0.09991006 0.9639688 -5.74252704] [ 0. 0. 0. 1. ]] SLAMing on 241.69800114499995 meters Centerline goodness [0,1] 0.6988750502209723 Centerline is valid? [False, False] Translation: X:-18.05, Y:14.80, Z:-5.74 [[ 0.83785873 0.47781646 -0.26397762 -18.04937184] [ -0.48697911 0.87274881 0.03407126 14.8000616 ] [ 0.24666596 0.10000468 0.96392685 -5.7423163 ] [ 0. 0. 0. 1. ]] SLAMing on 241.72800114499995 meters Centerline goodness [0,1] 0.6762636528109713 Centerline is valid? [False, False] Translation: X:-18.05, Y:14.80, Z:-5.74 [[ 0.83769603 0.47803049 -0.26410644 -18.04877195] [ -0.48715514 0.87264126 0.03430892 14.79956464] [ 0.24687088 0.09992036 0.96388313 -5.74229772] [ 0. 0. 0. 1. ]] SLAMing on 241.75800114499995 meters Centerline goodness [0,1] 0.7055726587248472 Centerline is valid? [False, False] Translation: X:-18.05, Y:14.80, Z:-5.74 [[ 0.83695607 0.47993727 -0.26299193 -18.05139843] [ -0.48857004 0.8717786 0.0360748 14.79989506] [ 0.24658437 0.09829695 0.96412336 -5.74126723] [ 0. 0. 0. 1. ]] SLAMing on 241.78800114499995 meters Centerline goodness [0,1] 0.6944041427646704 Centerline is valid? [False, False] Translation: X:-18.05, Y:14.80, Z:-5.74 [[ 0.83690061 0.47994668 -0.2631512 -18.05126764] [ -0.48859057 0.87176609 0.03609898 14.79975706] [ 0.24673188 0.09836194 0.96407899 -5.7409579 ] [ 0. 0. 0. 1. ]] SLAMing on 241.81800114499995 meters Centerline goodness [0,1] 0.6950947603121516 Centerline is valid? [False, False] Translation: X:-18.05, Y:14.80, Z:-5.74 [[ 0.8367843 0.48004199 -0.26334715 -18.05105509] [ -0.48867712 0.87171214 0.0362301 14.79919111] [ 0.24695488 0.09837495 0.96402057 -5.74070223] [ 0. 0. 0. 1. ]] SLAMing on 241.84800114499996 meters Centerline goodness [0,1] 0.6942417230331079 Centerline is valid? [False, False] Translation: X:-18.05, Y:14.80, Z:-5.74 [[ 0.83682376 0.47993886 -0.26340972 -18.05155436] [ -0.48860484 0.87175727 0.03611881 14.79894936] [ 0.24696416 0.09847818 0.96400765 -5.74032469] [ 0. 0. 0. 1. ]] SLAMing on 241.87800114499996 meters Centerline goodness [0,1] 0.7065362383281458 Centerline is valid? [False, False] Translation: X:-18.05, Y:14.80, Z:-5.74 [[ 0.83675338 0.47994894 -0.26361487 -18.05189973] [ -0.48863159 0.87174137 0.03614064 14.79841836] [ 0.24714965 0.09856975 0.96395075 -5.73963904] [ 0. 0. 0. 1. ]] SLAMing on 241.90800114499996 meters Centerline goodness [0,1] 0.7101578128472994 Centerline is valid? [False, False] Translation: X:-18.05, Y:14.80, Z:-5.74 [[ 0.83675814 0.47979257 -0.26388425 -18.05197955] [ -0.48852085 0.87180722 0.03604924 14.79829698] [ 0.24735235 0.09874847 0.96388047 -5.73904475] [ 0. 0. 0. 1. ]] SLAMing on 241.93800114499996 meters Centerline goodness [0,1] 0.697510557901756 Centerline is valid? [False, False] Translation: X:-18.05, Y:14.80, Z:-5.74 [[ 0.83667555 0.47986857 -0.26400791 -18.05195314] [ -0.48857268 0.87177163 0.03620722 14.79775777] [ 0.24752931 0.09869336 0.96384068 -5.73879244] [ 0. 0. 0. 1. ]] SLAMing on 241.96800114499996 meters Centerline goodness [0,1] 0.702820968458463 Centerline is valid? [False, False] Translation: X:-18.05, Y:14.80, Z:-5.74 [[ 0.83563275 0.4824775 -0.26255164 -18.05483037] [ -0.49044546 0.87060311 0.03890327 14.79641056] [ 0.24734823 0.09625841 0.96413338 -5.73831162] [ 0. 0. 0. 1. ]] SLAMing on 241.99800114499996 meters Centerline goodness [0,1] 0.7014945319286366 Centerline is valid? [False, False] Translation: X:-18.07, Y:14.81, Z:-5.74 [[ 0.83458815 0.48204232 -0.26664174 -18.07379732] [ -0.4912714 0.87027737 0.03563298 14.81099355] [ 0.24922888 0.1012546 0.96313679 -5.74067176] [ 0. 0. 0. 1. ]] SLAMing on 242.02800114499996 meters Centerline goodness [0,1] 0.7036468415548583 Centerline is valid? [False, False] Translation: X:-18.08, Y:14.81, Z:-5.74 [[ 0.83320189 0.48547579 -0.26474113 -18.07603865] [ -0.49383649 0.86869029 0.03876469 14.80949469] [ 0.24879737 0.09844002 0.96354005 -5.74078476] [ 0. 0. 0. 1. ]] SLAMing on 242.05800114499996 meters Centerline goodness [0,1] 0.7108551825532958 Centerline is valid? [False, False] Translation: X:-18.08, Y:14.81, Z:-5.74 [[ 0.83299463 0.48574991 -0.2648905 -18.0754733 ] [ -0.49407211 0.86854485 0.03902051 14.80879657] [ 0.24902349 0.09837113 0.96348867 -5.7407434 ] [ 0. 0. 0. 1. ]] SLAMing on 242.08800114499996 meters Centerline goodness [0,1] 0.7287587529548192 Centerline is valid? [False, False] Translation: X:-18.08, Y:14.81, Z:-5.74 [[ 0.83121858 0.48993433 -0.26275469 -18.07661078] [ -0.49724724 0.86655483 0.04275404 14.80667685] [ 0.24863802 0.09511609 0.96391497 -5.74153841] [ 0. 0. 0. 1. ]] SLAMing on 242.11800114499997 meters Centerline goodness [0,1] 0.7250139524500503 Centerline is valid? [False, False] Translation: X:-18.08, Y:14.81, Z:-5.74 [[ 0.83101009 0.49010021 -0.26310457 -18.0753226 ] [ -0.49743625 0.86644253 0.04283132 14.80668919] [ 0.24895663 0.0952845 0.96381609 -5.74133783] [ 0. 0. 0. 1. ]] SLAMing on 242.14800114499997 meters Centerline goodness [0,1] 0.7116021111011719 Centerline is valid? [False, False] Translation: X:-18.09, Y:14.82, Z:-5.74 [[ 0.82843824 0.49041647 -0.27052127 -18.08786775] [ -0.49954275 0.86540766 0.03907217 14.81888528] [ 0.25327282 0.10276806 0.96192079 -5.74031649] [ 0. 0. 0. 1. ]] SLAMing on 242.17800114499997 meters Centerline goodness [0,1] 0.7169646848457756 Centerline is valid? [False, False] Translation: X:-18.09, Y:14.82, Z:-5.74 [[ 0.82682935 0.49424375 -0.26847036 -18.08948294] [ -0.50245729 0.86356504 0.04233312 14.81811008] [ 0.2527645 0.09989262 0.9623573 -5.74035662] [ 0. 0. 0. 1. ]] SLAMing on 242.20800114499997 meters Centerline goodness [0,1] 0.7227398978586148 Centerline is valid? [False, False] Translation: X:-18.10, Y:14.83, Z:-5.74 [[ 0.82420598 0.49473702 -0.27553544 -18.10404496] [ -0.50464496 0.86244464 0.03902182 14.83106789] [ 0.2569396 0.10688555 0.96049858 -5.73885374] [ 0. 0. 0. 1. ]] SLAMing on 242.23800114499997 meters Centerline goodness [0,1] 0.7195773131113703 Centerline is valid? [False, False] Translation: X:-18.12, Y:14.85, Z:-5.74 [[ 0.82313983 0.49456694 -0.27900602 -18.1238327 ] [ -0.50557552 0.86201297 0.03642848 14.84688874] [ 0.25852313 0.11107289 0.95959815 -5.74179032] [ 0. 0. 0. 1. ]] SLAMing on 242.26800114499997 meters Centerline goodness [0,1] 0.7185661021517452 Centerline is valid? [False, False] Translation: X:-18.13, Y:14.85, Z:-5.74 [[ 0.82180751 0.49779836 -0.27718085 -18.126129 ] [ -0.50803211 0.86045198 0.03906109 14.84742246] [ 0.25794535 0.10871607 0.96002344 -5.74100184] [ 0. 0. 0. 1. ]] SLAMing on 242.29800114499997 meters Centerline goodness [0,1] 0.7365177888723968 Centerline is valid? [False, False] Translation: X:-18.14, Y:14.86, Z:-5.74 [[ 0.81948424 0.49747771 -0.28453735 -18.13883469] [ -0.50984389 0.85957569 0.03447954 14.85971971] [ 0.26173419 0.11681419 0.95804471 -5.73987351] [ 0. 0. 0. 1. ]] SLAMing on 242.32800114499997 meters Centerline goodness [0,1] 0.721599099099099 Centerline is valid? [False, False] Translation: X:-18.16, Y:14.88, Z:-5.74 [[ 0.8185811 0.49700396 -0.28794451 -18.15963486] [ -0.51027463 0.85938923 0.03271006 14.87716685] [ 0.26371345 0.12015494 0.9570883 -5.74323832] [ 0. 0. 0. 1. ]] SLAMing on 242.35800114499997 meters Centerline goodness [0,1] 0.7511631058313384 Centerline is valid? [False, False] Translation: X:-18.16, Y:14.88, Z:-5.74 [[ 0.81728053 0.50032366 -0.28588243 -18.16200428] [ -0.5127385 0.85781288 0.03544425 14.87691912] [ 0.26296722 0.11761504 0.95760897 -5.74322118] [ 0. 0. 0. 1. ]] SLAMing on 242.38800114499998 meters Centerline goodness [0,1] 0.7116858454095358 Centerline is valid? [False, False] Translation: X:-18.19, Y:14.90, Z:-5.75 [[ 0.81734999 0.49974176 -0.28670048 -18.18557837] [ -0.51278082 0.85786757 0.03345249 14.89776153] [ 0.26266865 0.11967211 0.95743604 -5.74862375] [ 0. 0. 0. 1. ]] SLAMing on 242.41800114499995 meters Centerline goodness [0,1] 0.7501925080400417 Centerline is valid? [False, False] Translation: X:-18.19, Y:14.90, Z:-5.75 [[ 0.81607539 0.50287324 -0.28484988 -18.18775799] [ -0.51507281 0.85638145 0.0362053 14.89738134] [ 0.26214683 0.11717218 0.95788816 -5.74843966] [ 0. 0. 0. 1. ]] SLAMing on 242.44800114499995 meters Centerline goodness [0,1] 0.7415108044307246 Centerline is valid? [False, False] Translation: X:-18.21, Y:14.92, Z:-5.75 [[ 0.8160494 0.50121703 -0.28782785 -18.20962226] [ -0.5145082 0.85683694 0.03334339 14.91630095] [ 0.26333381 0.12087993 0.95710153 -5.75243764] [ 0. 0. 0. 1. ]] SLAMing on 242.47800114499995 meters Centerline goodness [0,1] 0.7259937725857406 Centerline is valid? [False, False] Translation: X:-18.23, Y:14.94, Z:-5.76 [[ 0.81647223 0.49901058 -0.29045058 -18.23366415] [ -0.51305086 0.85777998 0.03150107 14.93675166] [ 0.26486207 0.12329617 0.95637134 -5.75741694] [ 0. 0. 0. 1. ]] SLAMing on 242.50800114499995 meters Centerline goodness [0,1] 0.7324577349572805 Centerline is valid? [False, False] Translation: X:-18.26, Y:14.96, Z:-5.76 [[ 0.81663826 0.49788275 -0.2919156 -18.2563395 ] [ -0.51251449 0.85815844 0.02988309 14.95536064] [ 0.26538811 0.1252073 0.95597713 -5.76389856] [ 0. 0. 0. 1. ]] SLAMing on 242.53800114499995 meters Centerline goodness [0,1] 0.7265552143750711 Centerline is valid? [False, False] Translation: X:-18.28, Y:14.98, Z:-5.77 [[ 0.81764265 0.49518008 -0.29369572 -18.2822787 ] [ -0.51018315 0.85957884 0.02893748 14.97771993] [ 0.26678389 0.12617809 0.95546085 -5.77053832] [ 0. 0. 0. 1. ]] SLAMing on 242.56800114499995 meters Centerline goodness [0,1] 0.7230695683846293 Centerline is valid? [False, False] Translation: X:-18.31, Y:15.00, Z:-5.78 [[ 0.81852062 0.49355431 -0.29398662 -18.309896 ] [ -0.50840197 0.86061994 0.02933871 14.99981511] [ 0.267491 0.12544904 0.95535915 -5.77842754] [ 0. 0. 0. 1. ]] SLAMing on 242.59800114499996 meters Centerline goodness [0,1] 0.7259732290980161 Centerline is valid? [False, False] Translation: X:-18.33, Y:15.02, Z:-5.78 [[ 0.81788879 0.49271677 -0.29713316 -18.33042647] [ -0.50840759 0.86066932 0.02774963 15.01662575] [ 0.2694061 0.12836864 0.95443273 -5.78334596] [ 0. 0. 0. 1. ]] SLAMing on 242.62800114499996 meters Centerline goodness [0,1] 0.7296208638660051 Centerline is valid? [False, False] Translation: X:-18.35, Y:15.04, Z:-5.79 [[ 0.8179551 0.49132168 -0.29925316 -18.35335894] [ -0.50735793 0.86130175 0.02733542 15.03597034] [ 0.27117775 0.12946931 0.95378212 -5.79053183] [ 0. 0. 0. 1. ]] SLAMing on 242.65800114499996 meters Centerline goodness [0,1] 0.7175790531895448 Centerline is valid? [False, False] Translation: X:-18.38, Y:15.06, Z:-5.80 [[ 0.81784061 0.48999514 -0.30173084 -18.3786689 ] [ -0.50585745 0.86213177 0.02893177 15.05776352] [ 0.27430816 0.12897122 0.95295407 -5.79797116] [ 0. 0. 0. 1. ]] SLAMing on 242.68800114499996 meters Centerline goodness [0,1] 0.7195833810232346 Centerline is valid? [False, False] Translation: X:-18.40, Y:15.08, Z:-5.80 [[ 0.81758419 0.4890413 -0.30396496 -18.40219487] [ -0.50518974 0.86252529 0.02886957 15.07737079] [ 0.27629587 0.12995668 0.95224569 -5.80452034] [ 0. 0. 0. 1. ]] SLAMing on 242.71800114499996 meters Centerline goodness [0,1] 0.7223010713304643 Centerline is valid? [False, False] Translation: X:-18.42, Y:15.10, Z:-5.81 [[ 0.81738793 0.48921499 -0.30421321 -18.42479369] [ -0.50582189 0.86220125 0.02744481 15.09525238] [ 0.27571942 0.13144465 0.95220854 -5.81185657] [ 0. 0. 0. 1. ]] SLAMing on 242.74800114499996 meters Centerline goodness [0,1] 0.7206277717778442 Centerline is valid? [False, False] Translation: X:-18.45, Y:15.12, Z:-5.82 [[ 0.81773864 0.48941092 -0.30295291 -18.45399841] [ -0.50568044 0.86226582 0.02801713 15.12070525] [ 0.27493783 0.13028667 0.9525936 -5.8187601 ] [ 0. 0. 0. 1. ]] SLAMing on 242.77800114499996 meters Centerline goodness [0,1] 0.7241952616265644 Centerline is valid? [False, False] Translation: X:-18.48, Y:15.14, Z:-5.83 [[ 0.81842108 0.48957321 -0.30084051 -18.48210434] [ -0.50574492 0.86225002 0.02733079 15.14408407] [ 0.27278016 0.12978047 0.95328276 -5.82676173] [ 0. 0. 0. 1. ]] SLAMing on 242.80800114499996 meters Centerline goodness [0,1] 0.7225930117087365 Centerline is valid? [False, False] Translation: X:-18.51, Y:15.17, Z:-5.83 [[ 0.81854897 0.48992988 -0.29991048 -18.50815322] [ -0.5062641 0.86197553 0.02635989 15.16526188] [ 0.27143 0.13025705 0.95360309 -5.83361642] [ 0. 0. 0. 1. ]] SLAMing on 242.83800114499996 meters Centerline goodness [0,1] 0.7225930117087365 Centerline is valid? [False, False] Translation: X:-18.53, Y:15.18, Z:-5.84 [[ 0.81848418 0.48962622 -0.30058246 -18.53145448] [ -0.5062039 0.86202815 0.02578894 15.18261018] [ 0.27173749 0.13104818 0.95340711 -5.84130358] [ 0. 0. 0. 1. ]] SLAMing on 242.86800114499997 meters Centerline goodness [0,1] 0.7471596825323368 Centerline is valid? [False, False] Translation: X:-18.55, Y:15.20, Z:-5.84 [[ 0.81623493 0.49024776 -0.30564304 -18.54725213] [ -0.50854941 0.86073858 0.02250785 15.19636286] [ 0.27411318 0.1370629 0.9518801 -5.84227249] [ 0. 0. 0. 1. ]] SLAMing on 242.89800114499997 meters Centerline goodness [0,1] 0.7600250336099392 Centerline is valid? [False, False] Translation: X:-18.55, Y:15.20, Z:-5.84 [[ 0.8148884 0.49382772 -0.3034651 -18.54892488] [ -0.51123419 0.85907308 0.02516037 15.19754877] [ 0.27312359 0.13463884 0.95251031 -5.84230999] [ 0. 0. 0. 1. ]] SLAMing on 242.92800114499997 meters Centerline goodness [0,1] 0.7264201190283213 Centerline is valid? [False, False] Translation: X:-18.57, Y:15.22, Z:-5.85 [[ 0.8151299 0.49320183 -0.30383416 -18.57400693] [ -0.51090377 0.8592971 0.02420387 15.21847123] [ 0.27302121 0.13550072 0.95241744 -5.8492405 ] [ 0. 0. 0. 1. ]] SLAMing on 242.95800114499997 meters Centerline goodness [0,1] 0.7587887225896276 Centerline is valid? [False, False] Translation: X:-18.58, Y:15.22, Z:-5.85 [[ 0.81371373 0.49692495 -0.30155523 -18.57538342] [ -0.51358831 0.85760056 0.0273557 15.21836886] [ 0.27220767 0.13261553 0.95305619 -5.84996749] [ 0. 0. 0. 1. ]] SLAMing on 242.98800114499997 meters Centerline goodness [0,1] 0.7400227785138183 Centerline is valid? [False, False] Translation: X:-18.60, Y:15.24, Z:-5.86 [[ 0.8147613 0.49555639 -0.30097824 -18.60231567] [ -0.51229497 0.85839945 0.02653753 15.24274108] [ 0.2715104 0.13256789 0.9532617 -5.85823763] [ 0. 0. 0. 1. ]] SLAMing on 243.01800114499997 meters Centerline goodness [0,1] 0.7376582795046989 Centerline is valid? [False, False] Translation: X:-18.63, Y:15.27, Z:-5.87 [[ 0.81575222 0.49390457 -0.3010093 -18.62963205] [ -0.51068774 0.85937042 0.02608664 15.26533061] [ 0.2715628 0.13244153 0.95326433 -5.86655733] [ 0. 0. 0. 1. ]] SLAMing on 243.04800114499997 meters Centerline goodness [0,1] 0.7520815355551927 Centerline is valid? [False, False] Translation: X:-18.63, Y:15.27, Z:-5.87 [[ 0.81476055 0.49661517 -0.29923004 -18.63195765] [ -0.51254908 0.85817904 0.02867346 15.26507542] [ 0.27103263 0.13000808 0.95375008 -5.86673734] [ 0. 0. 0. 1. ]] SLAMing on 243.07800114499997 meters Centerline goodness [0,1] 0.7595628415300546 Centerline is valid? [False, False] Translation: X:-18.63, Y:15.27, Z:-5.87 [[ 0.81481435 0.49645092 -0.29935607 -18.63170885] [ -0.51242593 0.85825631 0.02856174 15.26512946] [ 0.27110374 0.1301253 0.95371388 -5.86662139] [ 0. 0. 0. 1. ]] SLAMing on 243.10800114499997 meters Centerline goodness [0,1] 0.7319873964289882 Centerline is valid? [False, False] Translation: X:-18.63, Y:15.26, Z:-5.87 [[ 0.81391036 0.49891375 -0.29771629 -18.63356553] [ -0.51405582 0.85719149 0.03113455 15.26490789] [ 0.27073333 0.12770206 0.95414655 -5.86712594] [ 0. 0. 0. 1. ]] SLAMing on 243.13800114499998 meters Centerline goodness [0,1] 0.7311619430360523 Centerline is valid? [False, False] Translation: X:-18.66, Y:15.29, Z:-5.87 [[ 0.81419742 0.49763598 -0.29906688 -18.65660424] [ -0.51336405 0.85766351 0.02950691 15.28535838] [ 0.27118245 0.12950574 0.95377584 -5.87402406] [ 0. 0. 0. 1. ]] SLAMing on 243.16800114499995 meters Centerline goodness [0,1] 0.7260064828298962 Centerline is valid? [False, False] Translation: X:-18.68, Y:15.31, Z:-5.88 [[ 0.81418727 0.4966999 -0.30064646 -18.67945617] [ -0.51287659 0.85798734 0.02855393 15.30639497] [ 0.27213359 0.13094628 0.95330812 -5.88080132] [ 0. 0. 0. 1. ]] SLAMing on 243.19800114499995 meters Centerline goodness [0,1] 0.7229305378476649 Centerline is valid? [False, False] Translation: X:-18.68, Y:15.31, Z:-5.88 [[ 0.81336449 0.50006234 -0.29728079 -18.68062818] [ -0.51510985 0.85654637 0.03146695 15.30977527] [ 0.27037022 0.12753816 0.95427143 -5.88354921] [ 0. 0. 0. 1. ]] SLAMing on 243.22800114499995 meters Centerline goodness [0,1] 0.7378709707956643 Centerline is valid? [False, False] Translation: X:-18.68, Y:15.31, Z:-5.88 [[ 0.81188783 0.50374822 -0.29508622 -18.68168521] [ -0.5178661 0.85477121 0.03436385 15.31023392] [ 0.26954194 0.12491556 0.95485247 -5.88404304] [ 0. 0. 0. 1. ]] SLAMing on 243.25800114499995 meters Centerline goodness [0,1] 0.7248652115051184 Centerline is valid? [False, False] Translation: X:-18.68, Y:15.31, Z:-5.88 [[ 0.81037039 0.50741567 -0.29296615 -18.68265304] [ -0.52064265 0.85296451 0.03718574 15.3110435 ] [ 0.26875836 0.12239646 0.95539942 -5.88426394] [ 0. 0. 0. 1. ]] SLAMing on 243.28800114499995 meters Centerline goodness [0,1] 0.7333925101360267 Centerline is valid? [False, False] Translation: X:-18.70, Y:15.33, Z:-5.89 [[ 0.80913829 0.50713448 -0.29683301 -18.70155698] [ -0.52159149 0.85249109 0.03465915 15.3338059 ] [ 0.27062435 0.12678153 0.95430022 -5.88648121] [ 0. 0. 0. 1. ]] SLAMing on 243.31800114499995 meters Centerline goodness [0,1] 0.7197861735173012 Centerline is valid? [False, False] Translation: X:-18.70, Y:15.33, Z:-5.89 [[ 0.8076688 0.51073855 -0.29464766 -18.70240092] [ -0.52428897 0.85071549 0.03747309 15.33485764] [ 0.26980028 0.12421467 0.95487095 -5.88688167] [ 0. 0. 0. 1. ]] SLAMing on 243.34800114499996 meters Centerline goodness [0,1] 0.7306166868198307 Centerline is valid? [False, False] Translation: X:-18.70, Y:15.34, Z:-5.89 [[ 0.8062165 0.51432421 -0.29237914 -18.70329628] [ -0.52696175 0.84893319 0.04029574 15.33592123] [ 0.26893543 0.12158554 0.95545313 -5.88740927] [ 0. 0. 0. 1. ]] SLAMing on 243.37800114499996 meters Centerline goodness [0,1] 0.7546015249380797 Centerline is valid? [False, False] Translation: X:-18.70, Y:15.34, Z:-5.89 [[ 0.80629475 0.51374708 -0.29317693 -18.70138709] [ -0.52671091 0.84913043 0.03940979 15.33882396] [ 0.26919212 0.12264358 0.9552456 -5.8861061 ] [ 0. 0. 0. 1. ]] SLAMing on 243.40800114499996 meters Centerline goodness [0,1] 0.7632559612246389 Centerline is valid? [False, False] Translation: X:-18.70, Y:15.34, Z:-5.88 [[ 0.80628512 0.51330379 -0.29397877 -18.69925523] [ -0.52659362 0.84924235 0.03855624 15.34142955] [ 0.26945029 0.12372002 0.95503398 -5.88472728] [ 0. 0. 0. 1. ]] SLAMing on 243.43800114499996 meters Centerline goodness [0,1] 0.7521170319825238 Centerline is valid? [False, False] Translation: X:-18.70, Y:15.35, Z:-5.88 [[ 0.80477216 0.51664417 -0.29226798 -18.69801178] [ -0.52927095 0.84747524 0.04071819 15.34506858] [ 0.2687267 0.12192009 0.95546923 -5.88441371] [ 0. 0. 0. 1. ]] SLAMing on 243.46800114499996 meters Centerline goodness [0,1] 0.755466903073286 Centerline is valid? [False, False] Translation: X:-18.70, Y:15.35, Z:-5.88 [[ 0.8045661 0.51652536 -0.29304427 -18.69509437] [ -0.52937243 0.84743256 0.04028501 15.34704087] [ 0.26914349 0.1227176 0.9552498 -5.88369462] [ 0. 0. 0. 1. ]] SLAMing on 243.49800114499996 meters Centerline goodness [0,1] 0.7643371829039581 Centerline is valid? [False, False] Translation: X:-18.69, Y:15.35, Z:-5.88 [[ 0.80426178 0.51654539 -0.29384322 -18.69185233] [ -0.52959923 0.84730716 0.0399403 15.34900809] [ 0.26960645 0.12349669 0.95501881 -5.88291882] [ 0. 0. 0. 1. ]] SLAMing on 243.52800114499996 meters Centerline goodness [0,1] 0.7798497216605507 Centerline is valid? [False, False] Translation: X:-18.69, Y:15.35, Z:-5.88 [[ 0.80254595 0.52001532 -0.29241077 -18.68928108] [ -0.53245231 0.84541248 0.0420983 15.35343378] [ 0.26909948 0.12190897 0.95536573 -5.88234727] [ 0. 0. 0. 1. ]] SLAMing on 243.55800114499996 meters Centerline goodness [0,1] 0.788877187703726 Centerline is valid? [False, False] Translation: X:-18.69, Y:15.36, Z:-5.88 [[ 0.80234288 0.5198342 -0.29328876 -18.68629747] [ -0.53255099 0.84538031 0.0414919 15.35586751] [ 0.26950945 0.12290049 0.95512309 -5.88120444] [ 0. 0. 0. 1. ]] SLAMing on 243.58800114499996 meters Centerline goodness [0,1] 0.7794602208416128 Centerline is valid? [False, False] Translation: X:-18.69, Y:15.36, Z:-5.88 [[ 0.80066585 0.52364844 -0.29107818 -18.68635812] [ -0.53546326 0.84339241 0.04436598 15.3569952 ] [ 0.26872531 0.12033935 0.95567 -5.88175111] [ 0. 0. 0. 1. ]] SLAMing on 243.61800114499997 meters Centerline goodness [0,1] 0.8116823851536356 Centerline is valid? [False, False] Translation: X:-18.68, Y:15.36, Z:-5.88 [[ 0.80032046 0.52359947 -0.29211427 -18.68164774] [ -0.53583 0.84321123 0.04337084 15.36087975] [ 0.26902298 0.12181302 0.95539951 -5.88040289] [ 0. 0. 0. 1. ]] SLAMing on 243.64800114499997 meters Centerline goodness [0,1] 0.813560611825584 Centerline is valid? [False, False] Translation: X:-18.68, Y:15.36, Z:-5.88 [[ 0.80030887 0.52321843 -0.29282793 -18.67953664] [ -0.53571848 0.84331717 0.04268319 15.36315883] [ 0.26927945 0.1227136 0.95521199 -5.87942909] [ 0. 0. 0. 1. ]] SLAMing on 243.67800114499997 meters Centerline goodness [0,1] 0.8076942740286299 Centerline is valid? [False, False] Translation: X:-18.68, Y:15.37, Z:-5.88 [[ 0.8004461 0.5225226 -0.293694 -18.67773201] [ -0.53539718 0.84357331 0.04164039 15.36637179] [ 0.26951047 0.12391206 0.9549921 -5.87774812] [ 0. 0. 0. 1. ]] SLAMing on 243.70800114499997 meters Centerline goodness [0,1] 0.8155898912512534 Centerline is valid? [False, False] Translation: X:-18.68, Y:15.37, Z:-5.88 [[ 0.79922295 0.52530283 -0.29206096 -18.67743431] [ -0.53765933 0.84205362 0.04322207 15.37168686] [ 0.26863566 0.12248523 0.95542255 -5.87643135] [ 0. 0. 0. 1. ]] SLAMing on 243.73800114499997 meters Centerline goodness [0,1] 0.8144202244292532 Centerline is valid? [False, False] Translation: X:-18.68, Y:15.37, Z:-5.88 [[ 0.79931823 0.52479043 -0.29272065 -18.67595579] [ -0.53744479 0.84223319 0.0423834 15.3740893 ] [ 0.26878145 0.12344337 0.95525822 -5.87527514] [ 0. 0. 0. 1. ]] SLAMing on 243.76800114499997 meters Centerline goodness [0,1] 0.8237301279565723 Centerline is valid? [False, False] Translation: X:-18.67, Y:15.38, Z:-5.87 [[ 0.79947678 0.52421392 -0.29332003 -18.67447829] [ -0.53712142 0.84247529 0.04166497 15.3759195 ] [ 0.26895623 0.1242383 0.95510596 -5.87428458] [ 0. 0. 0. 1. ]] SLAMing on 243.79800114499997 meters Centerline goodness [0,1] 0.8198223856251456 Centerline is valid? [False, False] Translation: X:-18.67, Y:15.38, Z:-5.87 [[ 0.79958957 0.52375301 -0.29383551 -18.67324456] [ -0.53686577 0.84266598 0.04109977 15.37736109] [ 0.26913131 0.12488728 0.95497199 -5.873486 ] [ 0. 0. 0. 1. ]] SLAMing on 243.82800114499997 meters Centerline goodness [0,1] 0.8081357520235276 Centerline is valid? [False, False] Translation: X:-18.67, Y:15.38, Z:-5.87 [[ 0.80000836 0.52262189 -0.2947083 -18.67143393] [ -0.53619792 0.84315962 0.03966925 15.38158433] [ 0.26921815 0.12628625 0.95476351 -5.87189763] [ 0. 0. 0. 1. ]] SLAMing on 243.85800114499997 meters Centerline goodness [0,1] 0.7918753913587977 Centerline is valid? [False, False] Translation: X:-18.67, Y:15.38, Z:-5.87 [[ 0.79890148 0.52560283 -0.29240059 -18.6732251 ] [ -0.5383223 0.84168423 0.04215153 15.38295443] [ 0.26826393 0.12373083 0.9553665 -5.87250139] [ 0. 0. 0. 1. ]] SLAMing on 243.88800114499998 meters Centerline goodness [0,1] 0.7783278327832783 Centerline is valid? [False, False] Translation: X:-18.68, Y:15.38, Z:-5.87 [[ 0.79778925 0.5285992 -0.29002619 -18.67523196] [ -0.54044388 0.8401918 0.04470077 15.38424574] [ 0.26730642 0.12108108 0.95597419 -5.87313243] [ 0. 0. 0. 1. ]] SLAMing on 243.91800114499995 meters Centerline goodness [0,1] 0.7689278588680037 Centerline is valid? [False, False] Translation: X:-18.68, Y:15.39, Z:-5.87 [[ 0.79690209 0.53115061 -0.28779522 -18.67648643] [ -0.54228538 0.83889701 0.0466731 15.38779105] [ 0.26622099 0.11887325 0.95655399 -5.87354442] [ 0. 0. 0. 1. ]] SLAMing on 243.94800114499995 meters Centerline goodness [0,1] 0.7705975256646486 Centerline is valid? [False, False] Translation: X:-18.69, Y:15.40, Z:-5.87 [[ 0.79533842 0.5291845 -0.29563585 -18.69014609] [ -0.54274273 0.83887531 0.04145528 15.40398873] [ 0.26993911 0.12748323 0.95440081 -5.87244342] [ 0. 0. 0. 1. ]] SLAMing on 243.97800114499995 meters Centerline goodness [0,1] 0.7815075005282062 Centerline is valid? [False, False] Translation: X:-18.69, Y:15.40, Z:-5.87 [[ 0.79383794 0.53283574 -0.29309965 -18.69131761] [ -0.54540871 0.83699337 0.04440077 15.40433381] [ 0.26898078 0.12461208 0.95505035 -5.87359129] [ 0. 0. 0. 1. ]] SLAMing on 244.00800114499995 meters Centerline goodness [0,1] 0.7618494055482167 Centerline is valid? [False, False] Translation: X:-18.70, Y:15.42, Z:-5.87 [[ 0.79187584 0.5314401 -0.30083894 -18.70444474] [ -0.5463343 0.83661936 0.03983573 15.42075924] [ 0.27285799 0.13281368 0.95284261 -5.8723636 ] [ 0. 0. 0. 1. ]] SLAMing on 244.03800114499995 meters Centerline goodness [0,1] 0.7966002811000026 Centerline is valid? [False, False] Translation: X:-18.70, Y:15.43, Z:-5.87 [[ 0.79172445 0.53055212 -0.30279835 -18.69859642] [ -0.5461964 0.83679201 0.03806076 15.42723845] [ 0.27357246 0.13525374 0.95229435 -5.86875447] [ 0. 0. 0. 1. ]] SLAMing on 244.06800114499995 meters Centerline goodness [0,1] 0.7880148611445219 Centerline is valid? [False, False] Translation: X:-18.70, Y:15.43, Z:-5.87 [[ 0.79022879 0.53415244 -0.30036584 -18.69938581] [ -0.54889186 0.83490345 0.04066896 15.428956 ] [ 0.2724999 0.13273058 0.95295666 -5.86931125] [ 0. 0. 0. 1. ]] SLAMing on 244.09800114499996 meters Centerline goodness [0,1] 0.7901783323515236 Centerline is valid? [False, False] Translation: X:-18.70, Y:15.43, Z:-5.87 [[ 0.78867504 0.53787447 -0.29779648 -18.70047565] [ -0.55167925 0.83292806 0.04336884 15.430206 ] [ 0.27137003 0.13008422 0.95364375 -5.87006778] [ 0. 0. 0. 1. ]] SLAMing on 244.12800114499996 meters Centerline goodness [0,1] 0.7869723533378288 Centerline is valid? [False, False] Translation: X:-18.72, Y:15.45, Z:-5.87 [[ 0.78704902 0.53733267 -0.30303043 -18.71770514] [ -0.55272547 0.83238321 0.04040732 15.45426407] [ 0.27394962 0.13569009 0.95212384 -5.87062886] [ 0. 0. 0. 1. ]] SLAMing on 244.15800114499996 meters Centerline goodness [0,1] 0.8195218261481041 Centerline is valid? [False, False] Translation: X:-18.72, Y:15.46, Z:-5.87 [[ 0.78543767 0.54102713 -0.30062821 -18.71814951] [ -0.55550358 0.83039695 0.04308925 15.45578181] [ 0.2729532 0.13315613 0.95276755 -5.87117881] [ 0. 0. 0. 1. ]] SLAMing on 244.18800114499996 meters Centerline goodness [0,1] 0.8269350938680142 Centerline is valid? [False, False] Translation: X:-18.72, Y:15.46, Z:-5.87 [[ 0.78383871 0.54472253 -0.29811784 -18.71872277] [ -0.5582779 0.82839083 0.04576485 15.45736685] [ 0.27188723 0.13056034 0.95343135 -5.87187961] [ 0. 0. 0. 1. ]] SLAMing on 244.21800114499996 meters Centerline goodness [0,1] 0.8346265893435705 Centerline is valid? [False, False] Translation: X:-18.73, Y:15.47, Z:-5.87 [[ 0.78148823 0.54356491 -0.30628963 -18.73122034] [ -0.55969337 0.82769252 0.0408464 15.47347585] [ 0.2757163 0.13950729 0.95106164 -5.86922937] [ 0. 0. 0. 1. ]] SLAMing on 244.24800114499996 meters Centerline goodness [0,1] 0.8356772760917839 Centerline is valid? [False, False] Translation: X:-18.75, Y:15.50, Z:-5.87 [[ 0.77987538 0.54300605 -0.31134999 -18.74945115] [ -0.56062245 0.82718171 0.0383781 15.49720891] [ 0.27838256 0.14461966 0.94952004 -5.869926 ] [ 0. 0. 0. 1. ]] SLAMing on 244.27800114499996 meters Centerline goodness [0,1] 0.8384879725085911 Centerline is valid? [False, False] Translation: X:-18.75, Y:15.50, Z:-5.87 [[ 0.77836606 0.5468008 -0.30847231 -18.75081832] [ -0.56335483 0.82518605 0.04122288 15.498289 ] [ 0.27708775 0.14169288 0.95033968 -5.87128433] [ 0. 0. 0. 1. ]] SLAMing on 244.30800114499996 meters Centerline goodness [0,1] 0.8423115134120764 Centerline is valid? [False, False] Translation: X:-18.75, Y:15.50, Z:-5.87 [[ 0.77835829 0.54625298 -0.30946091 -18.74829599] [ -0.56316864 0.82535341 0.04040828 15.50055644] [ 0.27748776 0.14282656 0.95005322 -5.86935041] [ 0. 0. 0. 1. ]] SLAMing on 244.33800114499996 meters Centerline goodness [0,1] 0.8425913086885383 Centerline is valid? [False, False] Translation: X:-18.75, Y:15.50, Z:-5.87 [[ 0.77701662 0.54946627 -0.30713514 -18.74874322] [ -0.56565982 0.82355373 0.04228729 15.50481463] [ 0.27617773 0.14087608 0.95072593 -5.86910962] [ 0. 0. 0. 1. ]] SLAMing on 244.36800114499997 meters Centerline goodness [0,1] 0.842589248506737 Centerline is valid? [False, False] Translation: X:-18.75, Y:15.51, Z:-5.87 [[ 0.77556504 0.55304708 -0.30436458 -18.75070092] [ -0.56823918 0.82163232 0.04499509 15.50579053] [ 0.27496018 0.13805526 0.95149233 -5.87002266] [ 0. 0. 0. 1. ]] SLAMing on 244.39800114499997 meters Centerline goodness [0,1] 0.8432474542318179 Centerline is valid? [False, False] Translation: X:-18.75, Y:15.51, Z:-5.87 [[ 0.77560374 0.55265406 -0.30497921 -18.74951933] [ -0.56810951 0.82175808 0.04433116 15.50755376] [ 0.27511893 0.13887818 0.95132667 -5.86879796] [ 0. 0. 0. 1. ]] SLAMing on 244.42800114499997 meters Centerline goodness [0,1] 0.8446696822471659 Centerline is valid? [False, False] Translation: X:-18.77, Y:15.53, Z:-5.87 [[ 0.77483794 0.54970504 -0.31217068 -18.76613423] [ -0.56742359 0.82245982 0.03987877 15.52744741] [ 0.27866941 0.14623342 0.94918868 -5.86944221] [ 0. 0. 0. 1. ]] SLAMing on 244.45800114499997 meters Centerline goodness [0,1] 0.8456605982882155 Centerline is valid? [False, False] Translation: X:-18.78, Y:15.54, Z:-5.87 [[ 0.77317332 0.54748858 -0.32009259 -18.78025933] [ -0.56777726 0.82242765 0.0352383 15.54213172] [ 0.28254557 0.15449598 0.94673069 -5.86912198] [ 0. 0. 0. 1. ]] SLAMing on 244.48800114499997 meters Centerline goodness [0,1] 0.8477647781531846 Centerline is valid? [False, False] Translation: X:-18.80, Y:15.56, Z:-5.87 [[ 0.77296386 0.54452815 -0.32560093 -18.8018255 ] [ -0.56620389 0.8235956 0.0332181 15.56366474] [ 0.28625168 0.15868012 0.94492359 -5.87304866] [ 0. 0. 0. 1. ]] SLAMing on 244.51800114499997 meters Centerline goodness [0,1] 0.8470551958063521 Centerline is valid? [False, False] Translation: X:-18.80, Y:15.56, Z:-5.88 [[ 0.77122897 0.54876035 -0.32259564 -18.80221723] [ -0.56914228 0.82142164 0.03665461 15.56439138] [ 0.28510164 0.15533372 0.94582688 -5.87501738] [ 0. 0. 0. 1. ]] SLAMing on 244.54800114499997 meters Centerline goodness [0,1] 0.8416764986797011 Centerline is valid? [False, False] Translation: X:-18.80, Y:15.56, Z:-5.88 [[ 0.76948004 0.55303321 -0.31946007 -18.80386408] [ -0.57211641 0.81919189 0.04009315 15.56358233] [ 0.28387195 0.15191747 0.94675118 -5.87703102] [ 0. 0. 0. 1. ]] SLAMing on 244.57800114499997 meters Centerline goodness [0,1] 0.8400706436420722 Centerline is valid? [False, False] Translation: X:-18.82, Y:15.58, Z:-5.88 [[ 0.76687346 0.5521474 -0.32716716 -18.81689386] [ -0.573707 0.81826073 0.03618903 15.57700799] [ 0.28768972 0.15994568 0.94427327 -5.87631425] [ 0. 0. 0. 1. ]] SLAMing on 244.60800114499997 meters Centerline goodness [0,1] 0.835139536189567 Centerline is valid? [False, False] Translation: X:-18.82, Y:15.58, Z:-5.88 [[ 0.76492598 0.55684927 -0.32373931 -18.81784663] [ -0.57690744 0.8158221 0.04015099 15.57514366] [ 0.28647173 0.15605508 0.94529401 -5.8794749 ] [ 0. 0. 0. 1. ]] SLAMing on 244.63800114499998 meters Centerline goodness [0,1] 0.8263294276701216 Centerline is valid? [False, False] Translation: X:-18.83, Y:15.59, Z:-5.88 [[ 0.76220932 0.55722007 -0.32945825 -18.83393546] [ -0.57886742 0.81451755 0.03838844 15.59261068] [ 0.28974033 0.16145262 0.94338942 -5.8804981 ] [ 0. 0. 0. 1. ]] SLAMing on 244.66800114499995 meters Centerline goodness [0,1] 0.8255892635615203 Centerline is valid? [False, False] Translation: X:-18.85, Y:15.61, Z:-5.88 [[ 0.76087277 0.55546454 -0.33545756 -18.85312657] [ -0.57894705 0.81458429 0.03567558 15.61231289] [ 0.29307497 0.16706759 0.94137956 -5.8816991 ] [ 0. 0. 0. 1. ]] SLAMing on 244.69800114499995 meters Centerline goodness [0,1] 0.8246286535697173 Centerline is valid? [False, False] Translation: X:-18.87, Y:15.63, Z:-5.88 [[ 0.75968382 0.55374588 -0.34094868 -18.87329559] [ -0.57885575 0.81474259 0.03347428 15.63212338] [ 0.29632165 0.17193023 0.93948575 -5.88413579] [ 0. 0. 0. 1. ]] SLAMing on 244.72800114499995 meters Centerline goodness [0,1] 0.823637235272553 Centerline is valid? [False, False] Translation: X:-18.87, Y:15.63, Z:-5.88 [[ 0.7605477 0.5498618 -0.34528134 -18.86655492] [ -0.57654018 0.81650501 0.03034802 15.63217222] [ 0.29861116 0.17598745 0.93800842 -5.87986576] [ 0. 0. 0. 1. ]] SLAMing on 244.75800114499995 meters Centerline goodness [0,1] 0.823637235272553 Centerline is valid? [False, False] Translation: X:-18.87, Y:15.63, Z:-5.88 [[ 0.76078396 0.54927767 -0.34569035 -18.86543128] [ -0.57594773 0.81691744 0.03049756 15.63205445] [ 0.2991521 0.17589752 0.93785291 -5.87923218] [ 0. 0. 0. 1. ]] SLAMing on 244.78800114499995 meters Centerline goodness [0,1] 0.8237832045569906 Centerline is valid? [False, False] Translation: X:-18.86, Y:15.63, Z:-5.88 [[ 0.761096 0.54845804 -0.34630429 -18.86417409] [ -0.57530754 0.81738192 0.03013366 15.63250193] [ 0.29958991 0.17629686 0.93763815 -5.8782383 ] [ 0. 0. 0. 1. ]] SLAMing on 244.81800114499995 meters Centerline goodness [0,1] 0.8254472825475414 Centerline is valid? [False, False] Translation: X:-18.89, Y:15.66, Z:-5.89 [[ 0.7614178 0.54589552 -0.34962982 -18.89045041] [ -0.57322061 0.81884593 0.03015745 15.65595776] [ 0.30275577 0.17745261 0.93640243 -5.88524461] [ 0. 0. 0. 1. ]] SLAMing on 244.84800114499996 meters Centerline goodness [0,1] 0.8250415762324886 Centerline is valid? [False, False] Translation: X:-18.92, Y:15.68, Z:-5.89 [[ 0.76188376 0.54336781 -0.35254014 -18.91677448] [ -0.57125987 0.82023333 0.02965556 15.67944849] [ 0.30527905 0.17879795 0.93532668 -5.89246675] [ 0. 0. 0. 1. ]] SLAMing on 244.87800114499996 meters Centerline goodness [0,1] 0.8267561168113654 Centerline is valid? [False, False] Translation: X:-18.94, Y:15.70, Z:-5.90 [[ 0.76252858 0.54005371 -0.35621925 -18.94444138] [ -0.56848764 0.82216125 0.02954125 15.7027757 ] [ 0.30882353 0.17998019 0.93393531 -5.90002779] [ 0. 0. 0. 1. ]] SLAMing on 244.90800114499996 meters Centerline goodness [0,1] 0.8288181843756154 Centerline is valid? [False, False] Translation: X:-18.97, Y:15.72, Z:-5.91 [[ 0.7631587 0.53685214 -0.35969234 -18.97075837] [ -0.56601242 0.82389419 0.0287803 15.72487888] [ 0.31179919 0.1816264 0.932627 -5.90792539] [ 0. 0. 0. 1. ]] SLAMing on 244.93800114499996 meters Centerline goodness [0,1] 0.8363106088224572 Centerline is valid? [False, False] Translation: X:-18.97, Y:15.72, Z:-5.91 [[ 0.76353519 0.53638897 -0.35958433 -18.97097902] [ -0.56557076 0.82420586 0.02853783 15.72425624] [ 0.31167889 0.18158075 0.9326761 -5.90811391] [ 0. 0. 0. 1. ]] SLAMing on 244.96800114499996 meters Centerline goodness [0,1] 0.8331090552284833 Centerline is valid? [False, False] Translation: X:-18.97, Y:15.72, Z:-5.91 [[ 0.76388973 0.53590271 -0.35955635 -18.9711175 ] [ -0.56512504 0.82452031 0.02828333 15.72395969] [ 0.31161862 0.18158895 0.93269464 -5.90810577] [ 0. 0. 0. 1. ]] SLAMing on 244.99800114499996 meters Centerline goodness [0,1] 0.8235343290236291 Centerline is valid? [False, False] Translation: X:-18.98, Y:15.74, Z:-5.91 [[ 0.76432072 0.52884817 -0.36896267 -18.98323834] [ -0.56263295 0.82648576 0.01911702 15.73883788] [ 0.3150524 0.19297902 0.92924759 -5.90589468] [ 0. 0. 0. 1. ]] SLAMing on 245.02800114499996 meters Centerline goodness [0,1] 0.8166810741474024 Centerline is valid? [False, False] Translation: X:-19.00, Y:15.75, Z:-5.90 [[ 7.63917004e-01 5.23159124e-01 -3.77803313e-01 -1.89951699e+01] [-5.61227976e-01 8.27585619e-01 1.11893500e-02 1.57529015e+01] [ 3.18518399e-01 2.03486054e-01 9.25818263e-01 -5.90416800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.05800114499996 meters Centerline goodness [0,1] 0.8069853961907935 Centerline is valid? [False, False] Translation: X:-19.01, Y:15.77, Z:-5.91 [[ 7.63855197e-01 5.18422280e-01 -3.84400282e-01 -1.90120624e+01] [-5.59684269e-01 8.28688050e-01 5.44383133e-03 1.57702657e+01] [ 3.21370123e-01 2.10984492e-01 9.23150469e-01 -5.90540298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.08800114499996 meters Centerline goodness [0,1] 0.7956785654619368 Centerline is valid? [False, False] Translation: X:-19.03, Y:15.79, Z:-5.91 [[ 7.64735195e-01 5.13997610e-01 -3.88569863e-01 -1.90309549e+01] [-5.57872642e-01 8.29926564e-01 -1.14711144e-04 1.57900143e+01] [ 3.22425490e-01 2.16860220e-01 9.21419258e-01 -5.90918436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.11800114499997 meters Centerline goodness [0,1] 0.794140559790774 Centerline is valid? [False, False] Translation: X:-19.05, Y:15.81, Z:-5.91 [[ 7.64348526e-01 5.09996495e-01 -3.94556594e-01 -1.90469939e+01] [-5.56930953e-01 8.30541480e-01 -5.36325902e-03 1.58067115e+01] [ 3.24960374e-01 2.23840179e-01 9.18855989e-01 -5.91160730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.14800114499997 meters Centerline goodness [0,1] 0.7842793544796883 Centerline is valid? [False, False] Translation: X:-19.08, Y:15.84, Z:-5.92 [[ 7.65797528e-01 5.05325554e-01 -3.97743926e-01 -1.90792785e+01] [-5.55532294e-01 8.31388036e-01 -1.33343026e-02 1.58360099e+01] [ 3.23941378e-01 2.31170972e-01 9.17399567e-01 -5.92406863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.17800114499997 meters Centerline goodness [0,1] 0.78508052179234 Centerline is valid? [False, False] Translation: X:-19.09, Y:15.85, Z:-5.92 [[ 0.76522892 0.49920395 -0.40647277 -19.08951799] [ -0.55400213 0.83225419 -0.02084734 15.84914226] [ 0.3278816 0.24113977 0.91342502 -5.92263262] [ 0. 0. 0. 1. ]] SLAMing on 245.20800114499997 meters Centerline goodness [0,1] 0.7615186650801118 Centerline is valid? [False, False] Translation: X:-19.10, Y:15.86, Z:-5.92 [[ 0.76440768 0.49333294 -0.41509458 -19.1018124 ] [ -0.55252851 0.83304222 -0.02743923 15.86186872] [ 0.33225463 0.25032635 0.90936438 -5.92212072] [ 0. 0. 0. 1. ]] Total time of SLAM: 24272.55 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%| | 0/8174 [00:00