+ python -m lidar_slam --no-model /working/f469127b-5551-49af-ad62-21dba0c8af42 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/f469127b-5551-49af-ad62-21dba0c8af42 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 0.018241008 Adjusted end_distance from 9.223372036854776e+18 to 181.988241008 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.018241008 meters Centerline goodness [0,1] 0.8645395967574309 Centerline is valid? [0, False] SLAMing on 0.048241008 meters Centerline goodness [0,1] 0.869059004532413 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 9.99999761e-01 -5.37601628e-04 -4.34010783e-04 9.75588740e-04] [ 5.37726654e-04 9.99999814e-01 2.88005182e-04 -1.53862598e-03] [ 4.33855871e-04 -2.88238492e-04 9.99999864e-01 4.00858495e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.078241008 meters Centerline goodness [0,1] 0.8735184417737256 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99997516e-01 -1.86040889e-03 -1.22715078e-03 3.66812755e-03] [ 1.86002079e-03 9.99998220e-01 -3.17329203e-04 -2.52649971e-03] [ 1.22773896e-03 3.15045889e-04 9.99999197e-01 -4.96113161e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.10824100800000001 meters Centerline goodness [0,1] 0.875878024886925 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99977830e-01 -6.39272292e-03 -1.86349144e-03 5.26152828e-03] [ 6.38460949e-03 9.99970253e-01 -4.32779866e-03 -2.27073950e-03] [ 1.89110242e-03 4.31580505e-03 9.99988899e-01 -4.14057127e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.138241008 meters Centerline goodness [0,1] 0.8772719727778239 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99974657e-01 -6.72983189e-03 -2.32254857e-03 6.70607261e-03] [ 6.71999904e-03 9.99968534e-01 -4.21579596e-03 -2.92406525e-03] [ 2.35084709e-03 4.20008160e-03 9.99988416e-01 -7.71202873e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.16824100800000003 meters Centerline goodness [0,1] 0.8782422694328494 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99971639e-01 -6.99231452e-03 -2.79789637e-03 7.92617476e-03] [ 6.98052044e-03 9.99966802e-01 -4.20313285e-03 -2.92556341e-03] [ 2.82719311e-03 4.18348287e-03 9.99987253e-01 -8.23435621e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.19824100800000002 meters Centerline goodness [0,1] 0.8745304750243842 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99984102e-01 -4.50242287e-03 -3.39467968e-03 1.05958135e-02] [ 4.49988852e-03 9.99989591e-01 -7.53833309e-04 -4.58515418e-03] [ 3.39803842e-03 7.38545645e-04 9.99993954e-01 -1.99430008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.22824100800000002 meters Centerline goodness [0,1] 0.8603069992491866 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99981383e-01 -4.58350221e-03 -4.02815794e-03 1.24055227e-02] [ 4.58145287e-03 9.99989371e-01 -5.17836049e-04 -4.37605035e-03] [ 4.03048863e-03 4.99371593e-04 9.99991753e-01 -2.08164770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.258241008 meters Centerline goodness [0,1] 0.8564049156425745 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99978722e-01 -4.74820369e-03 -4.47321562e-03 1.40430568e-02] [ 4.74652232e-03 9.99988661e-01 -3.86416573e-04 -5.30423779e-03] [ 4.47499968e-03 3.65176133e-04 9.99989920e-01 -2.62971578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.288241008 meters Centerline goodness [0,1] 0.8495216610268622 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.00 [[ 9.99976453e-01 -4.86539754e-03 -4.83956181e-03 1.54533936e-02] [ 4.86469663e-03 9.99988155e-01 -1.56588480e-04 -6.31547243e-03] [ 4.84026635e-03 1.33041793e-04 9.99988277e-01 -3.12636331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.31824100800000005 meters Centerline goodness [0,1] 0.8436626184216017 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 9.99975550e-01 -4.24551818e-03 -5.55644280e-03 1.98028073e-02] [ 4.25099612e-03 9.99990490e-01 9.74432474e-04 -6.75798425e-03] [ 5.55225299e-03 -9.98029066e-04 9.99984088e-01 -5.98689226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.348241008 meters Centerline goodness [0,1] 0.8272229334116807 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.99996725 -0.00422338 -0.00690398 0.02653837] [ 0.00424074 0.99998788 0.00250135 -0.0055689 ] [ 0.00689334 -0.00253055 0.99997304 -0.00886833] [ 0. 0. 0. 1. ]] SLAMing on 0.37824100800000005 meters Centerline goodness [0,1] 0.8209068168919345 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.99995809 -0.0052424 -0.00750625 0.02941382] [ 0.00525874 0.99998384 0.00215862 -0.00636689] [ 0.00749481 -0.00219801 0.9999695 -0.00997046] [ 0. 0. 0. 1. ]] SLAMing on 0.408241008 meters Centerline goodness [0,1] 0.8155561668183069 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.99994344 -0.00664203 -0.00830674 0.03337272] [ 0.00665686 0.9999763 0.00175864 -0.00839143] [ 0.00829486 -0.00181384 0.99996395 -0.01168666] [ 0. 0. 0. 1. ]] SLAMing on 0.43824100800000004 meters Centerline goodness [0,1] 0.8062858356338926 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.01 [[ 0.99992169 -0.00848513 -0.00919826 0.03830161] [ 0.0084965 0.99996319 0.00119716 -0.00999669] [ 0.00918776 -0.00127522 0.99995698 -0.01405247] [ 0. 0. 0. 1. ]] SLAMing on 0.468241008 meters Centerline goodness [0,1] 0.7963564830653438 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.02 [[ 0.99987863 -0.01306762 -0.00848337 0.07738435] [ 0.01312926 0.99988751 0.00725132 -0.01590043] [ 0.00838766 -0.00736182 0.99993772 -0.01589989] [ 0. 0. 0. 1. ]] SLAMing on 0.49824100800000004 meters Centerline goodness [0,1] 0.790298379490697 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.02, Z:-0.02 [[ 0.99985509 -0.01508928 -0.00788151 0.10075465] [ 0.01511534 0.99988045 0.00325812 -0.0178929 ] [ 0.0078314 -0.00337678 0.99996363 -0.01752088] [ 0. 0. 0. 1. ]] SLAMing on 0.528241008 meters Centerline goodness [0,1] 0.7858351043067181 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.02, Z:-0.02 [[ 0.99978866 -0.01885024 -0.00820341 0.10555831] [ 0.01886457 0.99982065 0.001673 -0.02066214] [ 0.0081704 -0.0018274 0.99996495 -0.01989639] [ 0. 0. 0. 1. ]] SLAMing on 0.558241008 meters Centerline goodness [0,1] 0.7792719281067084 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.02 [[ 9.99729768e-01 -2.19144919e-02 -7.75539545e-03 1.30243695e-01] [ 2.19089050e-02 9.99759647e-01 -8.04622969e-04 -2.47731696e-02] [ 7.77116433e-03 6.34493312e-04 9.99969603e-01 -2.01288652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.588241008 meters Centerline goodness [0,1] 0.7652676385611257 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:-0.02 [[ 0.99944175 -0.03246535 -0.00788553 0.16538902] [ 0.0324518 0.99947161 -0.00183937 -0.03490536] [ 0.00794108 0.00158244 0.99996722 -0.02069872] [ 0. 0. 0. 1. ]] SLAMing on 0.618241008 meters Centerline goodness [0,1] 0.7570834823024669 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.04, Z:-0.02 [[ 0.99924901 -0.03775197 -0.00872941 0.17170582] [ 0.03771389 0.99927851 -0.00448604 -0.03918755] [ 0.00889247 0.00415346 0.99995184 -0.02322201] [ 0. 0. 0. 1. ]] SLAMing on 0.648241008 meters Centerline goodness [0,1] 0.7381904804710324 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.02 [[ 0.99897663 -0.04390595 -0.01086082 0.18230044] [ 0.04384782 0.9990229 -0.00553318 -0.0430368 ] [ 0.01109315 0.00505129 0.99992571 -0.02483828] [ 0. 0. 0. 1. ]] SLAMing on 0.678241008 meters Centerline goodness [0,1] 0.7381904804710324 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.02 [[ 0.99897663 -0.04390595 -0.01086082 0.18230044] [ 0.04384782 0.9990229 -0.00553318 -0.0430368 ] [ 0.01109315 0.00505129 0.99992571 -0.02483828] [ 0. 0. 0. 1. ]] SLAMing on 0.708241008 meters Centerline goodness [0,1] 0.6883538482348167 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:-0.02 [[ 9.98708879e-01 -4.89727973e-02 -1.34996129e-02 2.19399509e-01] [ 4.89775973e-02 9.98799877e-01 2.49979259e-05 -5.43735205e-02] [ 1.34821875e-02 -6.86144256e-04 9.99908876e-01 -2.49929402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.738241008 meters Centerline goodness [0,1] 0.666031443544545 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.06, Z:-0.03 [[ 0.9986217 -0.05034571 -0.0148325 0.22695703] [ 0.05037241 0.99872948 0.00143194 -0.05801098] [ 0.01474157 -0.00217711 0.99988897 -0.02757037] [ 0. 0. 0. 1. ]] SLAMing on 0.7682410080000001 meters Centerline goodness [0,1] 0.6239528885439729 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.06, Z:-0.03 [[ 0.99856179 -0.05124862 -0.01574594 0.23320271] [ 0.05129546 0.99868017 0.00258541 -0.06167631] [ 0.01559266 -0.00338938 0.99987268 -0.03013691] [ 0. 0. 0. 1. ]] SLAMing on 0.798241008 meters Centerline goodness [0,1] 0.6346629419307566 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.07, Z:-0.03 [[ 0.99863723 -0.0475803 -0.02144295 0.25118834] [ 0.0476152 0.99886513 0.00111943 -0.06802318] [ 0.02136535 -0.00213892 0.99976945 -0.0283627 ] [ 0. 0. 0. 1. ]] SLAMing on 0.828241008 meters Centerline goodness [0,1] 0.5571355900850906 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.08, Z:-0.03 [[ 9.98697213e-01 -4.62283017e-02 -2.16060434e-02 2.78313358e-01] [ 4.62576000e-02 9.98929176e-01 8.57950829e-04 -7.64135665e-02] [ 2.15432455e-02 -1.85627682e-03 9.99766194e-01 -3.25284719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.858241008 meters Centerline goodness [0,1] 0.5346360843554385 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.08, Z:-0.03 [[ 9.98771520e-01 -4.13122816e-02 -2.73632166e-02 2.96441382e-01] [ 4.13501245e-02 9.99144383e-01 8.18350059e-04 -8.15941276e-02] [ 2.73059962e-02 -1.94881715e-03 9.99625222e-01 -3.09506910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.888241008 meters Centerline goodness [0,1] 0.5322158683119951 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.08, Z:-0.03 [[ 0.99882741 -0.0393607 -0.02818764 0.30258435] [ 0.0394983 0.99921021 0.00434136 -0.08436775] [ 0.0279945 -0.00544963 0.99959322 -0.03378519] [ 0. 0. 0. 1. ]] SLAMing on 0.918241008 meters Centerline goodness [0,1] 0.5278333721200839 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:-0.04 [[ 0.99885529 -0.03787345 -0.02921821 0.30959661] [ 0.03809809 0.99924828 0.00717013 -0.08637089] [ 0.02892469 -0.00827508 0.99954734 -0.03717069] [ 0. 0. 0. 1. ]] SLAMing on 0.948241008 meters Centerline goodness [0,1] 0.49304460725215615 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.09, Z:-0.04 [[ 0.99909393 -0.03481511 -0.02447909 0.33394518] [ 0.03499342 0.99936376 0.00689395 -0.08996041] [ 0.0242235 -0.00774432 0.99967657 -0.04139045] [ 0. 0. 0. 1. ]] SLAMing on 0.978241008 meters Centerline goodness [0,1] 0.5027686008096413 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.09, Z:-0.04 [[ 0.99927929 -0.03342188 -0.0179964 0.34946176] [ 0.03347972 0.99943513 0.00292212 -0.091496 ] [ 0.01788857 -0.00352253 0.99983378 -0.04298543] [ 0. 0. 0. 1. ]] SLAMing on 1.0082410080000002 meters Centerline goodness [0,1] 0.481478029914729 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.09, Z:-0.04 [[ 9.99426190e-01 -3.18409586e-02 -1.15517588e-02 3.65220355e-01] [ 3.18402808e-02 9.99492940e-01 -2.42631454e-04 -9.42836969e-02] [ 1.15536270e-02 -1.25319014e-04 9.99933247e-01 -4.41432014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.038241008 meters Centerline goodness [0,1] 0.4927617840970414 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.10, Z:-0.05 [[ 9.99471936e-01 -3.22029090e-02 -4.33852466e-03 3.91259063e-01] [ 3.22038473e-02 9.99481311e-01 1.46564012e-04 -9.99080835e-02] [ 4.33155453e-03 -2.86203803e-04 9.99990578e-01 -4.59077701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.068241008 meters Centerline goodness [0,1] 0.4825686352659836 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.10, Z:-0.04 [[ 0.99949945 -0.02974308 -0.0107792 0.40804762] [ 0.02976141 0.99955584 0.00154332 -0.10395065] [ 0.01072851 -0.00186335 0.99994071 -0.04031485] [ 0. 0. 0. 1. ]] SLAMing on 1.098241008 meters Centerline goodness [0,1] 0.46810805740549666 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.11, Z:-0.03 [[ 0.99947401 -0.02729947 -0.01750528 0.42649253] [ 0.02734584 0.99962312 0.00241456 -0.10749216] [ 0.01743276 -0.00289199 0.99984386 -0.03431923] [ 0. 0. 0. 1. ]] SLAMing on 1.128241008 meters Centerline goodness [0,1] 0.5387697715289983 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.11, Z:-0.03 [[ 9.99578745e-01 -2.64904710e-02 -1.18569489e-02 4.43606174e-01] [ 2.64881826e-02 9.99649065e-01 -3.50027751e-04 -1.08917649e-01] [ 1.18620603e-02 3.58112722e-05 9.99929643e-01 -3.43320230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.158241008 meters Centerline goodness [0,1] 0.6964432445122667 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.03 [[ 9.99478198e-01 -3.09481886e-02 -9.24888464e-03 4.76609163e-01] [ 3.09587274e-02 9.99520165e-01 9.98440203e-04 -1.12851858e-01] [ 9.21354679e-03 -1.28425291e-03 9.99956730e-01 -3.37476334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.188241008 meters Centerline goodness [0,1] 0.6910018965557612 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.12, Z:-0.03 [[ 0.99945828 -0.03165955 -0.00898988 0.50218709] [ 0.03167083 0.99949773 0.00111488 -0.11557916] [ 0.00895007 -0.00139899 0.99995897 -0.03221168] [ 0. 0. 0. 1. ]] SLAMing on 1.2182410080000001 meters Centerline goodness [0,1] 0.7018680183985732 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.03 [[ 0.99928801 -0.03613991 -0.01083392 0.51247571] [ 0.03617407 0.99934108 0.00297389 -0.11809871] [ 0.01071931 -0.00336368 0.99993689 -0.03041145] [ 0. 0. 0. 1. ]] SLAMing on 1.2482410080000002 meters Centerline goodness [0,1] 0.7032267095961364 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.03 [[ 0.99905147 -0.04152044 -0.01312311 0.52434794] [ 0.04158453 0.99912417 0.00464925 -0.11987262] [ 0.01291858 -0.00519056 0.99990308 -0.02830489] [ 0. 0. 0. 1. ]] SLAMing on 1.278241008 meters Centerline goodness [0,1] 0.7208417438110485 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.02 [[ 0.99866873 -0.04945953 -0.01464673 0.56426578] [ 0.04957453 0.99874154 0.00759574 -0.12178099] [ 0.01425261 -0.00831174 0.99986388 -0.02447715] [ 0. 0. 0. 1. ]] SLAMing on 1.308241008 meters Centerline goodness [0,1] 0.7227043996122062 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.12, Z:-0.02 [[ 0.99835598 -0.05473575 -0.01700966 0.57584968] [ 0.05489354 0.99845208 0.00895234 -0.12166887] [ 0.01649331 -0.00987134 0.99981525 -0.02224375] [ 0. 0. 0. 1. ]] SLAMing on 1.338241008 meters Centerline goodness [0,1] 0.7345946444208877 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.12, Z:-0.02 [[ 0.99801261 -0.06007595 -0.01901891 0.58709755] [ 0.06026754 0.99813546 0.00966577 -0.12068099] [ 0.01840276 -0.01079279 0.9997724 -0.0209533 ] [ 0. 0. 0. 1. ]] SLAMing on 1.368241008 meters Centerline goodness [0,1] 0.7261409835312493 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.12, Z:-0.02 [[ 0.99766956 -0.06602744 -0.01719964 0.62113665] [ 0.06617128 0.99777675 0.00793188 -0.116322 ] [ 0.01663768 -0.00905151 0.99982061 -0.02161266] [ 0. 0. 0. 1. ]] SLAMing on 1.398241008 meters Centerline goodness [0,1] 0.7394138302999702 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.02 [[ 0.99745525 -0.06878418 -0.01875544 0.63169264] [ 0.06897622 0.99757025 0.00979184 -0.11395888] [ 0.01803634 -0.01106061 0.99977615 -0.02290097] [ 0. 0. 0. 1. ]] SLAMing on 1.428241008 meters Centerline goodness [0,1] 0.7433897529734675 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.11, Z:-0.02 [[ 0.99755104 -0.06570718 -0.02396854 0.65138468] [ 0.06587683 0.99780751 0.0063576 -0.11180237] [ 0.02349824 -0.007921 0.9996925 -0.02166403] [ 0. 0. 0. 1. ]] SLAMing on 1.4582410080000001 meters Centerline goodness [0,1] 0.7227179603915319 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.11, Z:-0.02 [[ 0.99741149 -0.06689712 -0.02636447 0.6619865 ] [ 0.06713411 0.9977102 0.00820793 -0.10835443] [ 0.02575501 -0.00995664 0.9996187 -0.02349808] [ 0. 0. 0. 1. ]] SLAMing on 1.4882410080000001 meters Centerline goodness [0,1] 0.736248332617395 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.03 [[ 0.99747958 -0.06751714 -0.02181557 0.68755875] [ 0.06762604 0.99770151 0.00429245 -0.09994096] [ 0.02147562 -0.00575694 0.9997528 -0.02777592] [ 0. 0. 0. 1. ]] SLAMing on 1.5182410080000002 meters Centerline goodness [0,1] 0.7272971942494448 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.10, Z:-0.03 [[ 0.99773602 -0.06525471 -0.01626853 0.70445465] [ 0.06528582 0.99786564 0.0013882 -0.09737564] [ 0.01614322 -0.00244716 0.9998667 -0.02911086] [ 0. 0. 0. 1. ]] SLAMing on 1.548241008 meters Centerline goodness [0,1] 0.722294362602427 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.10, Z:-0.03 [[ 9.97847463e-01 -6.15811179e-02 -2.25434296e-02 7.23738547e-01] [ 6.15848297e-02 9.98101712e-01 -5.30228027e-04 -9.56330038e-02] [ 2.25332877e-02 -8.59246582e-04 9.99745724e-01 -2.69833029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.578241008 meters Centerline goodness [0,1] 0.7139916774799767 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.09, Z:-0.03 [[ 0.99780215 -0.06168785 -0.02419688 0.73289287] [ 0.06177387 0.99808618 0.00282343 -0.09342595] [ 0.0239764 -0.00431196 0.99970323 -0.02819902] [ 0. 0. 0. 1. ]] SLAMing on 1.608241008 meters Centerline goodness [0,1] 0.6982710788556716 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:-0.03 [[ 0.99781318 -0.06146492 -0.02430903 0.77106207] [ 0.06164017 0.9980771 0.00652624 -0.08699144] [ 0.02386115 -0.00801038 0.99968319 -0.03146697] [ 0. 0. 0. 1. ]] SLAMing on 1.638241008 meters Centerline goodness [0,1] 0.7160403664851945 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:-0.03 [[ 0.99798223 -0.05821026 -0.02535821 0.79147846] [ 0.05829274 0.99829634 0.00252509 -0.08480244] [ 0.02516802 -0.0039982 0.99967524 -0.03309682] [ 0. 0. 0. 1. ]] SLAMing on 1.668241008 meters Centerline goodness [0,1] 0.7008884283856176 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.08, Z:-0.03 [[ 9.98087219e-01 -5.48752664e-02 -2.84711935e-02 8.12776509e-01] [ 5.48593890e-02 9.98493192e-01 -1.33906926e-03 -8.39853755e-02] [ 2.85017746e-02 -2.25404366e-04 9.99593716e-01 -3.36054893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.698241008 meters Centerline goodness [0,1] 0.6978507383966245 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.08, Z:-0.03 [[ 0.99827885 -0.05396222 -0.02296551 0.82853443] [ 0.05382809 0.99852958 -0.00641963 -0.08304785] [ 0.02327816 0.00517239 0.99971565 -0.03496767] [ 0. 0. 0. 1. ]] SLAMing on 1.7282410080000001 meters Centerline goodness [0,1] 0.6940980151062708 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.08, Z:-0.04 [[ 0.99836557 -0.05207664 -0.0235418 0.83339907] [ 0.05201573 0.99864116 -0.00319255 -0.08389837] [ 0.02367607 0.00196278 0.99971776 -0.03726329] [ 0. 0. 0. 1. ]] SLAMing on 1.7582410080000002 meters Centerline goodness [0,1] 0.6869517663786504 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.08, Z:-0.04 [[ 0.99828401 -0.05341186 -0.02400451 0.84849409] [ 0.0534961 0.9985639 0.00288042 -0.08185275] [ 0.02381619 -0.00415963 0.9997077 -0.04018647] [ 0. 0. 0. 1. ]] SLAMing on 1.7882410080000002 meters Centerline goodness [0,1] 0.715410080459518 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.08, Z:-0.04 [[ 9.98394230e-01 -4.99856622e-02 -2.66532451e-02 8.69647260e-01] [ 4.99626614e-02 9.98749917e-01 -1.52863689e-03 -7.98641244e-02] [ 2.66963363e-02 1.94515186e-04 9.99643570e-01 -4.18626749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.818241008 meters Centerline goodness [0,1] 0.7170985134574666 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.08, Z:-0.04 [[ 0.9986401 -0.04783524 -0.02073025 0.88504172] [ 0.0477487 0.99884856 -0.00464953 -0.0790455 ] [ 0.02092879 0.00365336 0.99977429 -0.04314557] [ 0. 0. 0. 1. ]] SLAMing on 1.848241008 meters Centerline goodness [0,1] 0.7198640285888608 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.08, Z:-0.04 [[ 0.99880211 -0.04680216 -0.01427958 0.90007057] [ 0.04667773 0.99887012 -0.00892634 -0.07767793] [ 0.01468122 0.00824911 0.9998582 -0.04442656] [ 0. 0. 0. 1. ]] SLAMing on 1.878241008 meters Centerline goodness [0,1] 0.7231878376023697 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:-0.05 [[ 0.99875467 -0.04900357 -0.00936755 0.92727873] [ 0.04890299 0.99874642 -0.01068064 -0.07453499] [ 0.00987919 0.01020923 0.99989908 -0.04610622] [ 0. 0. 0. 1. ]] SLAMing on 1.908241008 meters Centerline goodness [0,1] 0.7196006077707836 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.08, Z:-0.04 [[ 0.99872309 -0.04930501 -0.01100893 0.93605583] [ 0.0492468 0.99877151 -0.00549799 -0.07547091] [ 0.01126649 0.00494882 0.99992428 -0.04444347] [ 0. 0. 0. 1. ]] SLAMing on 1.938241008 meters Centerline goodness [0,1] 0.7240367690201448 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.08, Z:-0.05 [[ 0.99881104 -0.04740483 -0.01137084 0.94002035] [ 0.04738245 0.99887433 -0.00222976 -0.07580331] [ 0.01146374 0.00168833 0.99993286 -0.04606707] [ 0. 0. 0. 1. ]] SLAMing on 1.9682410080000001 meters Centerline goodness [0,1] 0.7429927913408977 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:-0.05 [[ 0.99847592 -0.05381937 -0.01221967 0.95834324] [ 0.05384317 0.99854808 0.00162703 -0.07081899] [ 0.01211436 -0.0022825 0.99992401 -0.04692688] [ 0. 0. 0. 1. ]] SLAMing on 1.9982410080000002 meters Centerline goodness [0,1] 0.7392965865664874 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.07, Z:-0.05 [[ 0.99858934 -0.0510539 -0.01458893 0.98098814] [ 0.05103201 0.99869527 -0.00186894 -0.06866088] [ 0.01466531 0.0011218 0.99989183 -0.04880577] [ 0. 0. 0. 1. ]] SLAMing on 2.028241008 meters Centerline goodness [0,1] 0.7449917613389991 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.07, Z:-0.05 [[ 0.99847048 -0.05301661 -0.01568262 0.98593683] [ 0.05295949 0.99858851 -0.00403581 -0.06595881] [ 0.01587445 0.0031991 0.99986888 -0.05189366] [ 0. 0. 0. 1. ]] SLAMing on 2.058241008 meters Centerline goodness [0,1] 0.7436837197198065 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.06, Z:-0.06 [[ 0.99834151 -0.05502228 -0.01693441 0.99117156] [ 0.05492358 0.99847106 -0.00623986 -0.0633213 ] [ 0.01725185 0.00529941 0.99983713 -0.05501042] [ 0. 0. 0. 1. ]] SLAMing on 2.0882410080000002 meters Centerline goodness [0,1] 0.7498218411903168 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.06, Z:-0.06 [[ 0.99786513 -0.06271421 -0.01822404 1.01114744] [ 0.06266899 0.99802973 -0.00304275 -0.05832454] [ 0.01837896 0.00189417 0.9998293 -0.05604169] [ 0. 0. 0. 1. ]] SLAMing on 2.118241008 meters Centerline goodness [0,1] 0.7486315337555007 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:-0.06 [[ 0.99791599 -0.06332095 -0.01241501 1.02738923] [ 0.06320108 0.99795249 -0.00982114 -0.05373351] [ 0.01301147 0.00901603 0.9998747 -0.05895769] [ 0. 0. 0. 1. ]] SLAMing on 2.1482410080000003 meters Centerline goodness [0,1] 0.7477732100034258 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:-0.06 [[ 0.99800103 -0.06177757 -0.01332206 1.03185981] [ 0.06168211 0.99806796 -0.00746128 -0.05228482] [ 0.01375726 0.00662463 0.99988342 -0.06091165] [ 0. 0. 0. 1. ]] SLAMing on 2.178241008 meters Centerline goodness [0,1] 0.7439598101198459 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:-0.06 [[ 0.99795423 -0.06175842 -0.01653011 1.041291 ] [ 0.06168968 0.9980846 -0.00463748 -0.04975739] [ 0.01678485 0.00360826 0.99985261 -0.06113951] [ 0. 0. 0. 1. ]] SLAMing on 2.2082410080000003 meters Centerline goodness [0,1] 0.75007393012547 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.04, Z:-0.06 [[ 0.9977273 -0.06586732 -0.01420288 1.07391562] [ 0.06577354 0.99781022 -0.00697195 -0.03882556] [ 0.014631 0.00602193 0.99987483 -0.06252003] [ 0. 0. 0. 1. ]] SLAMing on 2.238241008 meters Centerline goodness [0,1] 0.7724458856228418 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.04, Z:-0.06 [[ 0.99786747 -0.06338098 -0.01560032 1.07795439] [ 0.06331521 0.99798263 -0.00467455 -0.03580938] [ 0.01586513 0.00367684 0.99986738 -0.06415114] [ 0. 0. 0. 1. ]] SLAMing on 2.268241008 meters Centerline goodness [0,1] 0.7686596817031599 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.03, Z:-0.07 [[ 0.99810595 -0.06069373 -0.01003874 1.09389123] [ 0.0606128 0.99812784 -0.00817891 -0.03087928] [ 0.01051635 0.00755494 0.99991616 -0.06597992] [ 0. 0. 0. 1. ]] SLAMing on 2.298241008 meters Centerline goodness [0,1] 0.8030728011052036 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.03, Z:-0.07 [[ 9.98217095e-01 -5.83161921e-02 -1.27221689e-02 1.10481911e+00] [ 5.82976521e-02 9.98297580e-01 -1.82363440e-03 -2.50864827e-02] [ 1.28068578e-02 1.07871046e-03 9.99917407e-01 -6.56852238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.328241008 meters Centerline goodness [0,1] 0.7861776447105788 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:-0.07 [[ 9.98314294e-01 -5.62792790e-02 -1.41849848e-02 1.10966926e+00] [ 5.62802583e-02 9.98414955e-01 -3.30453027e-04 -2.14618011e-02] [ 1.41810986e-02 -4.68438628e-04 9.99899333e-01 -6.83868413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3582410080000002 meters Centerline goodness [0,1] 0.8135353072323047 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:-0.07 [[ 0.99845437 -0.0534072 -0.01537998 1.11279511] [ 0.05344458 0.99856875 0.00202973 -0.01760504] [ 0.01524956 -0.00284857 0.99987966 -0.06967944] [ 0. 0. 0. 1. ]] SLAMing on 2.388241008 meters Centerline goodness [0,1] 0.815029622700343 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.01, Z:-0.07 [[ 0.99856592 -0.05088613 -0.01663468 1.1164774 ] [ 0.05095676 0.99869344 0.00384934 -0.01308696] [ 0.01641707 -0.00469147 0.99985422 -0.07155509] [ 0. 0. 0. 1. ]] SLAMing on 2.4182410080000003 meters Centerline goodness [0,1] 0.8235855317736851 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.01, Z:-0.07 [[ 0.9986631 -0.04848111 -0.01793304 1.1203612 ] [ 0.04858841 0.99880321 0.00559672 -0.00872315] [ 0.01764024 -0.00646058 0.99982353 -0.07353063] [ 0. 0. 0. 1. ]] SLAMing on 2.448241008 meters Centerline goodness [0,1] 0.8314871943518499 Centerline is valid? [False, False] Translation: X:1.14, Y:0.00, Z:-0.08 [[ 9.98831444e-01 -4.63980770e-02 -1.35264759e-02 1.13963547e+00] [ 4.63998644e-02 9.98922930e-01 -1.81831955e-04 2.81040199e-03] [ 1.35203436e-02 -4.46007173e-04 9.99908497e-01 -7.86697231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4782410080000004 meters Centerline goodness [0,1] 0.8283889107109632 Centerline is valid? [False, False] Translation: X:1.14, Y:0.01, Z:-0.08 [[ 0.99891523 -0.04412901 -0.01486615 1.14374472] [ 0.04415965 0.99902297 0.00173884 0.00629219] [ 0.0147749 -0.00239343 0.99988798 -0.08060167] [ 0. 0. 0. 1. ]] SLAMing on 2.508241008 meters Centerline goodness [0,1] 0.8238035342392314 Centerline is valid? [False, False] Translation: X:1.15, Y:0.01, Z:-0.08 [[ 0.9989788 -0.04218053 -0.01619131 1.14834059] [ 0.04223883 0.99910217 0.00327606 0.01025028] [ 0.01603859 -0.00395661 0.99986355 -0.08311743] [ 0. 0. 0. 1. ]] SLAMing on 2.538241008 meters Centerline goodness [0,1] 0.8452637244348762 Centerline is valid? [False, False] Translation: X:1.15, Y:0.01, Z:-0.09 [[ 0.99905388 -0.0398609 -0.01739117 1.15221558] [ 0.03995698 0.9991878 0.00521263 0.01319543] [ 0.01716926 -0.0059026 0.99983517 -0.08515959] [ 0. 0. 0. 1. ]] SLAMing on 2.568241008 meters Centerline goodness [0,1] 0.8417542483120315 Centerline is valid? [False, False] Translation: X:1.17, Y:0.02, Z:-0.09 [[ 9.99129199e-01 -3.87340129e-02 -1.55087065e-02 1.17397704e+00] [ 3.87207206e-02 9.99249402e-01 -1.15655621e-03 2.16060459e-02] [ 1.55418638e-02 5.55040791e-04 9.99879064e-01 -8.94608710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.598241008 meters Centerline goodness [0,1] 0.8417542483120315 Centerline is valid? [False, False] Translation: X:1.17, Y:0.02, Z:-0.09 [[ 9.99129199e-01 -3.87340129e-02 -1.55087065e-02 1.17397704e+00] [ 3.87207206e-02 9.99249402e-01 -1.15655621e-03 2.16060459e-02] [ 1.55418638e-02 5.55040791e-04 9.99879064e-01 -8.94608710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6282410080000003 meters Centerline goodness [0,1] 0.8313096538786617 Centerline is valid? [False, False] Translation: X:1.18, Y:0.02, Z:-0.09 [[ 9.99175122e-01 -3.69475643e-02 -1.68509191e-02 1.17866852e+00] [ 3.69591994e-02 9.99316703e-01 3.79465222e-04 2.45160316e-02] [ 1.68253846e-02 -1.00194869e-03 9.99857941e-01 -9.18428935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.658241008 meters Centerline goodness [0,1] 0.8535000206979344 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:-0.09 [[ 0.999247 -0.03436674 -0.01800985 1.18197876] [ 0.03442151 0.99940365 0.00273959 0.02740875] [ 0.01790496 -0.00335746 0.99983406 -0.09310793] [ 0. 0. 0. 1. ]] SLAMing on 2.6882410080000003 meters Centerline goodness [0,1] 0.8501381500268053 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:-0.10 [[ 0.99939621 -0.03274769 -0.01161029 1.19619868] [ 0.03270896 0.99945875 -0.00351019 0.03436854] [ 0.01171896 0.00312831 0.99992644 -0.09667807] [ 0. 0. 0. 1. ]] SLAMing on 2.718241008 meters Centerline goodness [0,1] 0.8499609647861281 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.10 [[ 0.99944463 -0.0324629 -0.00752317 1.21695006] [ 0.03239473 0.99943452 -0.00901227 0.04747914] [ 0.00781148 0.00876355 0.99993109 -0.10000671] [ 0. 0. 0. 1. ]] SLAMing on 2.7482410080000004 meters Centerline goodness [0,1] 0.8607978558911452 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.10 [[ 0.99952771 -0.02953737 -0.00847916 1.21918995] [ 0.02948425 0.99954524 -0.00632336 0.05054521] [ 0.00866208 0.00607038 0.99994406 -0.10044986] [ 0. 0. 0. 1. ]] SLAMing on 2.778241008 meters Centerline goodness [0,1] 0.8578077057721216 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.10 [[ 0.9995918 -0.02690959 -0.00959731 1.22212641] [ 0.02687321 0.99963125 -0.00389916 0.05368951] [ 0.00969869 0.00363965 0.99994634 -0.10126147] [ 0. 0. 0. 1. ]] SLAMing on 2.808241008 meters Centerline goodness [0,1] 0.8598407094178504 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.10 [[ 0.9996548 -0.02577103 -0.00511207 1.23974545] [ 0.02571757 0.99961657 -0.01026233 0.06356514] [ 0.00537458 0.01012732 0.99993427 -0.10384282] [ 0. 0. 0. 1. ]] SLAMing on 2.8382410080000002 meters Centerline goodness [0,1] 0.8692994731643069 Centerline is valid? [False, False] Translation: X:1.24, Y:0.07, Z:-0.10 [[ 0.99973048 -0.02247895 -0.00580266 1.24116347] [ 0.02243766 0.99972313 -0.00708577 0.06511076] [ 0.00596034 0.00695367 0.99995806 -0.10383814] [ 0. 0. 0. 1. ]] SLAMing on 2.868241008 meters Centerline goodness [0,1] 0.870850601124287 Centerline is valid? [False, False] Translation: X:1.24, Y:0.07, Z:-0.10 [[ 0.99978645 -0.01956116 -0.00666434 1.24353336] [ 0.01953119 0.99979898 -0.00453162 0.06824022] [ 0.00675164 0.00440049 0.99996753 -0.10462697] [ 0. 0. 0. 1. ]] SLAMing on 2.8982410080000003 meters Centerline goodness [0,1] 0.874943557325233 Centerline is valid? [False, False] Translation: X:1.25, Y:0.07, Z:-0.10 [[ 0.99984137 -0.01623892 -0.00731592 1.2450428 ] [ 0.01622633 0.99986677 -0.00177645 0.07201707] [ 0.00734379 0.00165746 0.99997166 -0.10497687] [ 0. 0. 0. 1. ]] SLAMing on 2.928241008 meters Centerline goodness [0,1] 0.8819631649346641 Centerline is valid? [False, False] Translation: X:1.25, Y:0.08, Z:-0.11 [[ 0.99991817 -0.00983056 -0.00818637 1.24750569] [ 0.00985589 0.99994675 0.0030604 0.08118195] [ 0.00815585 -0.00314083 0.99996181 -0.10612474] [ 0. 0. 0. 1. ]] SLAMing on 2.9582410080000003 meters Centerline goodness [0,1] 0.8851406944215896 Centerline is valid? [False, False] Translation: X:1.26, Y:0.09, Z:-0.11 [[ 0.99996624 -0.00321117 -0.00756363 1.25674429] [ 0.00318204 0.99998749 -0.00385969 0.08644631] [ 0.00757592 0.00383549 0.99996395 -0.10616909] [ 0. 0. 0. 1. ]] SLAMing on 2.988241008 meters Centerline goodness [0,1] 0.889805915162492 Centerline is valid? [False, False] Translation: X:1.26, Y:0.09, Z:-0.11 [[ 9.99967693e-01 7.41654700e-04 -8.00397166e-03 1.25757600e+00] [-7.47674234e-04 9.99999440e-01 -7.49102375e-04 8.95978849e-02] [ 8.00341160e-03 7.55062537e-04 9.99967687e-01 -1.06067792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0182410080000004 meters Centerline goodness [0,1] 0.8841058926785459 Centerline is valid? [False, False] Translation: X:1.27, Y:0.10, Z:-0.11 [[ 0.99997868 0.005798 -0.00300441 1.27200857] [-0.00581732 0.9999622 -0.0064619 0.09536049] [ 0.00296683 0.00647924 0.99997461 -0.11124069] [ 0. 0. 0. 1. ]] SLAMing on 3.048241008 meters Centerline goodness [0,1] 0.8994160704005264 Centerline is valid? [False, False] Translation: X:1.27, Y:0.10, Z:-0.11 [[ 9.99888466e-01 1.45172292e-02 -3.50797021e-03 1.27255807e+00] [-1.45148466e-02 9.99894406e-01 7.03701265e-04 9.93578646e-02] [ 3.51781558e-03 -6.52705129e-04 9.99993599e-01 -1.10385317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.078241008 meters Centerline goodness [0,1] 0.9046122239342578 Centerline is valid? [False, False] Translation: X:1.27, Y:0.10, Z:-0.11 [[ 9.99879486e-01 1.49890462e-02 -4.04258667e-03 1.27375981e+00] [-1.49902901e-02 9.99887601e-01 -2.77558726e-04 1.03716369e-01] [ 4.03797195e-03 3.38124823e-04 9.99991790e-01 -1.10885064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1082410080000002 meters Centerline goodness [0,1] 0.9084659242945063 Centerline is valid? [False, False] Translation: X:1.27, Y:0.11, Z:-0.11 [[ 9.99874728e-01 1.52027316e-02 -4.40515000e-03 1.27475971e+00] [-1.52083156e-02 9.99883582e-01 -1.23690291e-03 1.07457211e-01] [ 4.38583286e-03 1.30374287e-03 9.99989532e-01 -1.11488909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.138241008 meters Centerline goodness [0,1] 0.9059360356857851 Centerline is valid? [False, False] Translation: X:1.28, Y:0.11, Z:-0.11 [[ 0.99981707 0.01844177 -0.00507132 1.27723907] [-0.0184339 0.99982881 0.00159362 0.11005519] [ 0.00509984 -0.00149984 0.99998587 -0.11258036] [ 0. 0. 0. 1. ]] SLAMing on 3.1682410080000003 meters Centerline goodness [0,1] 0.9109587635214187 Centerline is valid? [False, False] Translation: X:1.28, Y:0.11, Z:-0.11 [[ 0.99987487 0.01492574 -0.00524075 1.27755493] [-0.0149396 0.99988498 -0.00261517 0.11210461] [ 0.00520111 0.00269314 0.99998285 -0.11287339] [ 0. 0. 0. 1. ]] SLAMing on 3.198241008 meters Centerline goodness [0,1] 0.9102674190382728 Centerline is valid? [False, False] Translation: X:1.28, Y:0.11, Z:-0.11 [[ 0.99988472 0.01390152 -0.00610652 1.28064701] [-0.01392104 0.99989809 -0.00316539 0.11012164] [ 0.00606189 0.00325003 0.99997635 -0.1143459 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2282410080000004 meters Centerline goodness [0,1] 0.911869765150271 Centerline is valid? [False, False] Translation: X:1.28, Y:0.10, Z:-0.11 [[ 0.99993419 0.00952357 -0.00639596 1.28119401] [-0.00956263 0.99993565 -0.00610389 0.10487485] [ 0.00633741 0.00616465 0.99996092 -0.11377014] [ 0. 0. 0. 1. ]] SLAMing on 3.258241008 meters Centerline goodness [0,1] 0.9098531199143027 Centerline is valid? [False, False] Translation: X:1.28, Y:0.10, Z:-0.11 [[ 0.99996237 0.00561 -0.0066172 1.28152309] [-0.00567378 0.99993725 -0.00965964 0.10338243] [ 0.00656259 0.00969683 0.99993145 -0.11365387] [ 0. 0. 0. 1. ]] SLAMing on 3.2882410080000004 meters Centerline goodness [0,1] 0.9095918577156369 Centerline is valid? [False, False] Translation: X:1.28, Y:0.10, Z:-0.11 [[ 0.9999636 0.00462242 -0.00717158 1.28354132] [-0.00469042 0.99994392 -0.0094949 0.09953175] [ 0.00712729 0.00952819 0.99992921 -0.11439215] [ 0. 0. 0. 1. ]] SLAMing on 3.318241008 meters Centerline goodness [0,1] 0.907634558582212 Centerline is valid? [False, False] Translation: X:1.28, Y:0.10, Z:-0.11 [[ 9.99971578e-01 6.48150386e-04 -7.51153901e-03 1.28420777e+00] [-7.46236672e-04 9.99914402e-01 -1.30626437e-02 9.76641204e-02] [ 7.50242947e-03 1.30678778e-02 9.99886466e-01 -1.14341358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.348241008 meters Centerline goodness [0,1] 0.9063215102974829 Centerline is valid? [False, False] Translation: X:1.28, Y:0.09, Z:-0.11 [[ 0.99996323 -0.0033071 -0.0079116 1.28485362] [ 0.00318455 0.99987552 -0.01545314 0.0916293 ] [ 0.00796172 0.01542738 0.99984929 -0.11358254] [ 0. 0. 0. 1. ]] SLAMing on 3.3782410080000003 meters Centerline goodness [0,1] 0.9069059807973026 Centerline is valid? [False, False] Translation: X:1.29, Y:0.09, Z:-0.11 [[ 0.99996186 -0.00316324 -0.00814114 1.28510731] [ 0.00304487 0.99989007 -0.01451116 0.08845377] [ 0.00818614 0.01448582 0.99986156 -0.11312876] [ 0. 0. 0. 1. ]] SLAMing on 3.408241008 meters Centerline goodness [0,1] 0.9086551319768758 Centerline is valid? [False, False] Translation: X:1.29, Y:0.09, Z:-0.11 [[ 0.99996082 -0.00281031 -0.00839463 1.28546118] [ 0.00269507 0.99990241 -0.01370811 0.08632701] [ 0.00843233 0.01368495 0.9998708 -0.1128267 ] [ 0. 0. 0. 1. ]] SLAMing on 3.4382410080000003 meters Centerline goodness [0,1] 0.9091600230130681 Centerline is valid? [False, False] Translation: X:1.29, Y:0.08, Z:-0.11 [[ 9.99962328e-01 9.11231294e-04 -8.63203089e-03 1.28602766e+00] [-9.88728158e-04 9.99959210e-01 -8.97781614e-03 8.25773129e-02] [ 8.62349792e-03 8.98601266e-03 9.99922440e-01 -1.12523045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.468241008 meters Centerline goodness [0,1] 0.9110534338565485 Centerline is valid? [False, False] Translation: X:1.29, Y:0.08, Z:-0.11 [[ 0.99994509 0.00560833 -0.00885216 1.28640383] [-0.00564236 0.99997677 -0.00382451 0.07843049] [ 0.0088305 0.00387425 0.99995351 -0.11223355] [ 0. 0. 0. 1. ]] SLAMing on 3.4982410080000004 meters Centerline goodness [0,1] 0.9108528723360572 Centerline is valid? [False, False] Translation: X:1.29, Y:0.08, Z:-0.11 [[ 0.99992232 0.00802945 -0.0095332 1.28901927] [-0.00804473 0.99996641 -0.00156589 0.07645051] [ 0.0095203 0.00164246 0.99995333 -0.11363527] [ 0. 0. 0. 1. ]] SLAMing on 3.528241008 meters Centerline goodness [0,1] 0.9138068962687945 Centerline is valid? [False, False] Translation: X:1.29, Y:0.08, Z:-0.11 [[ 0.99991456 0.00878808 -0.00967673 1.28922071] [-0.00880119 0.99996041 -0.00131368 0.07632388] [ 0.0096648 0.00139873 0.99995232 -0.11366633] [ 0. 0. 0. 1. ]] SLAMing on 3.5582410080000004 meters Centerline goodness [0,1] 0.916267354711881 Centerline is valid? [False, False] Translation: X:1.29, Y:0.08, Z:-0.11 [[ 9.99907217e-01 9.41963798e-03 -9.84006784e-03 1.28965110e+00] [-9.43262113e-03 9.99954700e-01 -1.27384060e-03 7.70810512e-02] [ 9.82762297e-03 1.36654004e-03 9.99950774e-01 -1.13943329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5882410080000002 meters Centerline goodness [0,1] 0.9190386874703712 Centerline is valid? [False, False] Translation: X:1.29, Y:0.08, Z:-0.11 [[ 0.9998498 0.01433929 -0.00973445 1.28921201] [-0.01430557 0.99989146 0.00352523 0.07613135] [ 0.00978394 -0.00338544 0.99994641 -0.11348979] [ 0. 0. 0. 1. ]] SLAMing on 3.618241008 meters Centerline goodness [0,1] 0.9181066403357195 Centerline is valid? [False, False] Translation: X:1.29, Y:0.08, Z:-0.11 [[ 0.99984249 0.01470695 -0.00993512 1.28952426] [-0.0146698 0.99988516 0.00380275 0.07550101] [ 0.0099899 -0.0036564 0.99994341 -0.11336888] [ 0. 0. 0. 1. ]] SLAMing on 3.6482410080000003 meters Centerline goodness [0,1] 0.9177555884286653 Centerline is valid? [False, False] Translation: X:1.29, Y:0.08, Z:-0.11 [[ 9.99879010e-01 1.17817365e-02 -1.01565385e-02 1.28941994e+00] [-1.17794387e-02 9.99930579e-01 2.86033822e-04 7.53553037e-02] [ 1.01592034e-02 -1.66360892e-04 9.99948380e-01 -1.13096232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.678241008 meters Centerline goodness [0,1] 0.9150128270908158 Centerline is valid? [False, False] Translation: X:1.29, Y:0.07, Z:-0.11 [[ 0.99990779 0.00883719 -0.01031064 1.28928666] [-0.00886708 0.99995661 -0.00285619 0.07368794] [ 0.01028495 0.00294735 0.99994276 -0.11281891] [ 0. 0. 0. 1. ]] SLAMing on 3.7082410080000003 meters Centerline goodness [0,1] 0.9153085102015682 Centerline is valid? [False, False] Translation: X:1.29, Y:0.07, Z:-0.11 [[ 0.99992915 0.00591936 -0.01032723 1.28917241] [-0.00596837 0.99997104 -0.00472154 0.06731749] [ 0.01029898 0.00478284 0.99993553 -0.11252469] [ 0. 0. 0. 1. ]] SLAMing on 3.738241008 meters Centerline goodness [0,1] 0.91562127257023 Centerline is valid? [False, False] Translation: X:1.29, Y:0.06, Z:-0.11 [[ 0.99992733 0.0058709 -0.01052961 1.29001777] [-0.00590983 0.9999758 -0.00366991 0.06284561] [ 0.01050781 0.00373187 0.99993783 -0.11278179] [ 0. 0. 0. 1. ]] SLAMing on 3.7682410080000004 meters Centerline goodness [0,1] 0.9157964118725411 Centerline is valid? [False, False] Translation: X:1.29, Y:0.06, Z:-0.11 [[ 0.99992638 0.00571072 -0.0107063 1.29103906] [-0.00574054 0.99997972 -0.0027563 0.05872524] [ 0.01069034 0.00281756 0.99993889 -0.1133361 ] [ 0. 0. 0. 1. ]] SLAMing on 3.798241008 meters Centerline goodness [0,1] 0.9167994371909206 Centerline is valid? [False, False] Translation: X:1.29, Y:0.05, Z:-0.11 [[ 0.99992353 0.00574683 -0.01095062 1.29218454] [-0.00576645 0.99998182 -0.00176149 0.05478226] [ 0.0109403 0.0018245 0.99993849 -0.11397846] [ 0. 0. 0. 1. ]] SLAMing on 3.8282410080000004 meters Centerline goodness [0,1] 0.913697266354171 Centerline is valid? [False, False] Translation: X:1.29, Y:0.05, Z:-0.11 [[ 0.99993462 0.00278077 -0.01109154 1.29291239] [-0.00281824 0.99999037 -0.00336441 0.04774591] [ 0.01108208 0.00339545 0.99993283 -0.11436902] [ 0. 0. 0. 1. ]] SLAMing on 3.8582410080000002 meters Centerline goodness [0,1] 0.9135457425004658 Centerline is valid? [False, False] Translation: X:1.29, Y:0.04, Z:-0.11 [[ 0.99993191 0.00286206 -0.01131299 1.29350977] [-0.00288559 0.99999371 -0.00206397 0.04204632] [ 0.01130701 0.00209647 0.99993388 -0.11416761] [ 0. 0. 0. 1. ]] SLAMing on 3.888241008 meters Centerline goodness [0,1] 0.9142934185144469 Centerline is valid? [False, False] Translation: X:1.29, Y:0.04, Z:-0.11 [[ 9.99930266e-01 2.68056735e-03 -1.15011813e-02 1.29412385e+00] [-2.69376737e-03 9.99995731e-01 -1.13237215e-03 3.65643491e-02] [ 1.14980968e-02 1.16327469e-03 9.99933218e-01 -1.14053695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9182410080000003 meters Centerline goodness [0,1] 0.9133213003879588 Centerline is valid? [False, False] Translation: X:1.29, Y:0.03, Z:-0.11 [[ 9.99929362e-01 2.81401998e-03 -1.15478668e-02 1.29417451e+00] [-2.81338760e-03 9.99996040e-01 7.10063618e-05 3.15387317e-02] [ 1.15480209e-02 -3.85127208e-05 9.99933319e-01 -1.13580930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.948241008 meters Centerline goodness [0,1] 0.9152348937583001 Centerline is valid? [False, False] Translation: X:1.29, Y:0.03, Z:-0.11 [[ 9.99927198e-01 2.94061043e-03 -1.17026048e-02 1.29445450e+00] [-2.92751711e-03 9.99995070e-01 1.13581158e-03 2.70103047e-02] [ 1.17058871e-02 -1.10146931e-03 9.99930877e-01 -1.13202918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9782410080000004 meters Centerline goodness [0,1] 0.9163403049745854 Centerline is valid? [False, False] Translation: X:1.29, Y:0.02, Z:-0.11 [[ 9.99932167e-01 -2.35319019e-05 -1.16473543e-02 1.29368647e+00] [ 1.48508836e-05 9.99999722e-01 -7.45406985e-04 2.14389897e-02] [ 1.16473686e-02 7.45183448e-04 9.99931889e-01 -1.12187353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.008241008000001 meters Centerline goodness [0,1] 0.9142254609233083 Centerline is valid? [False, False] Translation: X:1.29, Y:0.02, Z:-0.11 [[ 9.99931013e-01 1.03034862e-04 -1.17455446e-02 1.29384390e+00] [-9.84304400e-05 9.99999918e-01 3.92591772e-04 1.74754912e-02] [ 1.17455840e-02 -3.91408570e-04 9.99930942e-01 -1.11784944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.038241008000001 meters Centerline goodness [0,1] 0.9151937563907264 Centerline is valid? [False, False] Translation: X:1.29, Y:0.01, Z:-0.11 [[ 0.9999235 -0.0036634 -0.01181381 1.29387697] [ 0.00363897 0.9999912 -0.00208882 0.01221314] [ 0.01182136 0.00204567 0.99992803 -0.11129959] [ 0. 0. 0. 1. ]] SLAMing on 4.068241008000001 meters Centerline goodness [0,1] 0.9148278081082765 Centerline is valid? [False, False] Translation: X:1.30, Y:0.01, Z:-0.11 [[ 0.99991338 -0.00456858 -0.01234353 1.29610928] [ 0.0045426 0.99998741 -0.00213238 0.00888632] [ 0.01235311 0.00207612 0.99992154 -0.11243343] [ 0. 0. 0. 1. ]] SLAMing on 4.0982410080000005 meters Centerline goodness [0,1] 0.9148905048478769 Centerline is valid? [False, False] Translation: X:1.30, Y:0.01, Z:-0.11 [[ 9.99910542e-01 -4.77165524e-03 -1.24956044e-02 1.29656766e+00] [ 4.75525566e-03 9.99987793e-01 -1.34181053e-03 5.36351863e-03] [ 1.25018545e-02 1.28227070e-03 9.99921027e-01 -1.12260753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.128241008000001 meters Centerline goodness [0,1] 0.9134657651811693 Centerline is valid? [False, False] Translation: X:1.30, Y:0.00, Z:-0.11 [[ 9.99907451e-01 -5.10090031e-03 -1.26122759e-02 1.29719110e+00] [ 5.09177597e-03 9.99986751e-01 -7.55453695e-04 2.46878888e-03] [ 1.26159623e-02 6.91164895e-04 9.99920177e-01 -1.12413856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.158241008000001 meters Centerline goodness [0,1] 0.9134984377293602 Centerline is valid? [False, False] Translation: X:1.30, Y:0.00, Z:-0.11 [[ 9.99870711e-01 -9.72366460e-03 -1.28066848e-02 1.29849187e+00] [ 9.66428887e-03 9.99942301e-01 -4.69006335e-03 8.69191729e-04] [ 1.28515505e-02 4.56568948e-03 9.99906992e-01 -1.13412983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.188241008 meters Centerline goodness [0,1] 0.9132141663882393 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.00, Z:-0.11 [[ 0.99985775 -0.01037943 -0.01329448 1.2998012 ] [ 0.01032028 0.99993657 -0.00451045 -0.00140216] [ 0.01334045 0.00437261 0.99990145 -0.11348781] [ 0. 0. 0. 1. ]] SLAMing on 4.218241008000001 meters Centerline goodness [0,1] 0.9073579711353967 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.00, Z:-0.11 [[ 0.99985118 -0.01072073 -0.01351596 1.30020631] [ 0.01066799 0.99993522 -0.00396791 -0.00425558] [ 0.01355762 0.00382313 0.99990078 -0.11303141] [ 0. 0. 0. 1. ]] SLAMing on 4.248241008000001 meters Centerline goodness [0,1] 0.8998847322644871 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.01, Z:-0.11 [[ 0.99984505 -0.01106989 -0.01368674 1.30060599] [ 0.01102397 0.99993337 -0.00342542 -0.00709578] [ 0.01372375 0.00327401 0.99990046 -0.11264672] [ 0. 0. 0. 1. ]] SLAMing on 4.278241008000001 meters Centerline goodness [0,1] 0.88335396688839 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.01, Z:-0.11 [[ 0.99983082 -0.01235993 -0.01362226 1.30145882] [ 0.01231254 0.99991787 -0.00355727 -0.00915194] [ 0.01366511 0.00338894 0.99990089 -0.11320902] [ 0. 0. 0. 1. ]] SLAMing on 4.308241008 meters Centerline goodness [0,1] 0.8655170965302865 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.01, Z:-0.11 [[ 0.99982182 -0.01285884 -0.01381966 1.30266565] [ 0.01280806 0.99991092 -0.00375694 -0.00927138] [ 0.01386674 0.00357927 0.99989745 -0.11421977] [ 0. 0. 0. 1. ]] SLAMing on 4.338241008000001 meters Centerline goodness [0,1] 0.8537465639885011 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.01, Z:-0.11 [[ 0.999811 -0.01333761 -0.01414436 1.30396544] [ 0.01328555 0.99990464 -0.00376793 -0.01010807] [ 0.01419327 0.0035793 0.99989286 -0.11492574] [ 0. 0. 0. 1. ]] SLAMing on 4.368241008000001 meters Centerline goodness [0,1] 0.8263503281171125 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.01, Z:-0.12 [[ 0.99980057 -0.01392923 -0.01431037 1.30472088] [ 0.01387905 0.9998972 -0.00360022 -0.01183463] [ 0.01435905 0.00340088 0.99989112 -0.11509824] [ 0. 0. 0. 1. ]] SLAMing on 4.398241008000001 meters Centerline goodness [0,1] 0.8789511193091305 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.01, Z:-0.12 [[ 0.99969988 -0.01966308 -0.01461201 1.30624866] [ 0.01954076 0.9997732 -0.00846748 -0.01166401] [ 0.01477519 0.00817941 0.99985739 -0.11558063] [ 0. 0. 0. 1. ]] SLAMing on 4.4282410080000005 meters Centerline goodness [0,1] 0.8531685997646663 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.01, Z:-0.12 [[ 0.99968017 -0.02060733 -0.01465937 1.30670704] [ 0.02048324 0.99975351 -0.00856537 -0.01249989] [ 0.01483227 0.00826236 0.99985586 -0.11545818] [ 0. 0. 0. 1. ]] SLAMing on 4.458241008000001 meters Centerline goodness [0,1] 0.8299863316160235 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.01, Z:-0.12 [[ 0.99965715 -0.02167204 -0.01469364 1.30715705] [ 0.02154295 0.99972842 -0.0088875 -0.01296749] [ 0.01488226 0.00856791 0.99985254 -0.11538127] [ 0. 0. 0. 1. ]] SLAMing on 4.488241008000001 meters Centerline goodness [0,1] 0.7985725113693785 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.01, Z:-0.12 [[ 0.99963197 -0.02276876 -0.01474813 1.30761799] [ 0.0226298 0.99969857 -0.00952159 -0.01233108] [ 0.01496048 0.00918434 0.9998459 -0.11535793] [ 0. 0. 0. 1. ]] SLAMing on 4.518241008 meters Centerline goodness [0,1] 0.7985725113693785 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.01, Z:-0.12 [[ 0.99963197 -0.02276876 -0.01474813 1.30761799] [ 0.0226298 0.99969857 -0.00952159 -0.01233108] [ 0.01496048 0.00918434 0.9998459 -0.11535793] [ 0. 0. 0. 1. ]] SLAMing on 4.548241008000001 meters Centerline goodness [0,1] 0.7754191114836546 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.01, Z:-0.12 [[ 0.99959921 -0.02396228 -0.01507382 1.3086907 ] [ 0.02380237 0.99965942 -0.01070017 -0.01008805] [ 0.01532508 0.01033709 0.99982913 -0.11563791] [ 0. 0. 0. 1. ]] SLAMing on 4.578241008000001 meters Centerline goodness [0,1] 0.804338686622383 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.00, Z:-0.11 [[ 0.99956403 -0.02552878 -0.0148336 1.30766154] [ 0.02533731 0.999595 -0.01295576 -0.00240932] [ 0.01515834 0.01257426 0.99980604 -0.11462773] [ 0. 0. 0. 1. ]] SLAMing on 4.608241008000001 meters Centerline goodness [0,1] 0.7984943169903116 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.00, Z:-0.11 [[ 9.99619979e-01 -2.29784882e-02 -1.52278477e-02 1.30862908e+00] [ 2.28242975e-02 9.99687220e-01 -1.02231920e-02 -5.66063129e-04] [ 1.54579982e-02 9.87174201e-03 9.99831785e-01 -1.14532079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6382410080000005 meters Centerline goodness [0,1] 0.789767967833808 Centerline is valid? [False, False] Translation: X:1.31, Y:0.00, Z:-0.11 [[ 0.9996832 -0.02003847 -0.01522991 1.3085706 ] [ 0.01993123 0.99977571 -0.00716069 0.00142086] [ 0.01536999 0.00685487 0.99985838 -0.11409602] [ 0. 0. 0. 1. ]] SLAMing on 4.668241008000001 meters Centerline goodness [0,1] 0.8653781371062826 Centerline is valid? [False, False] Translation: X:1.31, Y:0.00, Z:-0.11 [[ 0.99973941 -0.01692242 -0.01532105 1.30861543] [ 0.01686061 0.99984922 -0.00415471 0.0040407 ] [ 0.01538905 0.00389531 0.99987399 -0.11374349] [ 0. 0. 0. 1. ]] SLAMing on 4.698241008000001 meters Centerline goodness [0,1] 0.763495006531541 Centerline is valid? [False, False] Translation: X:1.33, Y:0.02, Z:-0.12 [[ 0.99982864 -0.01501442 -0.01082858 1.32569486] [ 0.01489045 0.99982369 -0.01143985 0.01731946] [ 0.01099843 0.01127665 0.99987593 -0.11890644] [ 0. 0. 0. 1. ]] SLAMing on 4.728241008 meters Centerline goodness [0,1] 0.8448304906296062 Centerline is valid? [False, False] Translation: X:1.33, Y:0.02, Z:-0.12 [[ 0.99986509 -0.01213153 -0.01107375 1.3267377 ] [ 0.0120305 0.99988581 -0.00914511 0.02212366] [ 0.01118342 0.00901065 0.99989686 -0.11964231] [ 0. 0. 0. 1. ]] SLAMing on 4.758241008000001 meters Centerline goodness [0,1] 0.8330737170041679 Centerline is valid? [False, False] Translation: X:1.33, Y:0.03, Z:-0.12 [[ 0.99989307 -0.00922189 -0.0113491 1.32768876] [ 0.00914372 0.99993425 -0.00692036 0.02726768] [ 0.01141217 0.00681585 0.99991165 -0.12014891] [ 0. 0. 0. 1. ]] SLAMing on 4.788241008000001 meters Centerline goodness [0,1] 0.8199090066559946 Centerline is valid? [False, False] Translation: X:1.33, Y:0.04, Z:-0.12 [[ 0.99992049 -0.0043874 -0.01182226 1.3302196 ] [ 0.00433988 0.99998241 -0.00404187 0.04029371] [ 0.01183978 0.00399024 0.99992195 -0.12240507] [ 0. 0. 0. 1. ]] SLAMing on 4.818241008000001 meters Centerline goodness [0,1] 0.8166002934395304 Centerline is valid? [False, False] Translation: X:1.33, Y:0.05, Z:-0.12 [[ 0.99992127 -0.00203055 -0.01238287 1.3326127 ] [ 0.00199589 0.99999406 -0.00281041 0.04730898] [ 0.0123885 0.00278548 0.99991938 -0.12407113] [ 0. 0. 0. 1. ]] SLAMing on 4.8482410080000005 meters Centerline goodness [0,1] 0.8210373304120671 Centerline is valid? [False, False] Translation: X:1.33, Y:0.05, Z:-0.12 [[ 9.99920853e-01 8.84716172e-04 -1.25501091e-02 1.33341039e+00] [-8.97230549e-04 9.99999106e-01 -9.91557530e-04 5.39543214e-02] [ 1.25492207e-02 1.00273939e-03 9.99920753e-01 -1.24665640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.878241008000001 meters Centerline goodness [0,1] 0.6728405455463883 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.13 [[ 9.99912438e-01 3.30965122e-03 -1.28126054e-02 1.33472901e+00] [-3.30571208e-03 9.99994482e-01 3.28609177e-04 6.07023062e-02] [ 1.28136223e-02 -2.86225619e-04 9.99917861e-01 -1.25592829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.908241008000001 meters Centerline goodness [0,1] 0.7023121994245752 Centerline is valid? [False, False] Translation: X:1.34, Y:0.08, Z:-0.13 [[ 9.99899000e-01 5.25647323e-03 -1.32045094e-02 1.33605831e+00] [-5.26451554e-03 9.99985977e-01 -5.74372265e-04 7.50912673e-02] [ 1.32013051e-02 6.43829599e-04 9.99912652e-01 -1.26757013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.938241008000001 meters Centerline goodness [0,1] 0.6983125458547321 Centerline is valid? [False, False] Translation: X:1.34, Y:0.08, Z:-0.13 [[ 9.99877912e-01 7.82993559e-03 -1.35223482e-02 1.33782023e+00] [-7.81718926e-03 9.99968950e-01 9.95211996e-04 8.09767090e-02] [ 1.35297208e-02 -8.89383737e-04 9.99908074e-01 -1.28103824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.968241008000001 meters Centerline goodness [0,1] 0.6842325474362461 Centerline is valid? [False, False] Translation: X:1.34, Y:0.09, Z:-0.13 [[ 0.99984697 0.01068634 -0.01385027 1.33917915] [-0.01064887 0.99993944 0.00277662 0.08678939] [ 0.0138791 -0.00262871 0.99990023 -0.12888608] [ 0. 0. 0. 1. ]] SLAMing on 4.998241008000001 meters Centerline goodness [0,1] 0.7284059246223786 Centerline is valid? [False, False] Translation: X:1.34, Y:0.10, Z:-0.13 [[ 0.99975779 0.01699852 -0.01397892 1.33940613] [-0.01690995 0.99983634 0.00643024 0.09998947] [ 0.01408593 -0.0061923 0.99988161 -0.12886717] [ 0. 0. 0. 1. ]] SLAMing on 5.028241008000001 meters Centerline goodness [0,1] 0.7271699771856751 Centerline is valid? [False, False] Translation: X:1.34, Y:0.11, Z:-0.13 [[ 0.99969189 0.02045734 -0.01405755 1.33978456] [-0.02033976 0.99975736 0.00845692 0.10667742] [ 0.01422714 -0.00816839 0.99986542 -0.1289912 ] [ 0. 0. 0. 1. ]] SLAMing on 5.058241008 meters Centerline goodness [0,1] 0.7674798108707477 Centerline is valid? [False, False] Translation: X:1.34, Y:0.11, Z:-0.13 [[ 0.99961335 0.02393141 -0.01415793 1.3404191 ] [-0.02378587 0.99966339 0.01036081 0.11365255] [ 0.01440111 -0.01002004 0.99984609 -0.1294082 ] [ 0. 0. 0. 1. ]] SLAMing on 5.088241008000001 meters Centerline goodness [0,1] 0.7971611338740697 Centerline is valid? [False, False] Translation: X:1.34, Y:0.12, Z:-0.13 [[ 0.99951818 0.02753751 -0.01432091 1.34106188] [-0.02735892 0.99954726 0.01252061 0.11988385] [ 0.01465921 -0.01212278 0.99981906 -0.12960027] [ 0. 0. 0. 1. ]] SLAMing on 5.118241008000001 meters Centerline goodness [0,1] 0.8341391941391941 Centerline is valid? [False, False] Translation: X:1.34, Y:0.13, Z:-0.13 [[ 0.9992674 0.03543528 -0.01445692 1.34212875] [-0.03517456 0.99922075 0.01790665 0.1296927 ] [ 0.01508019 -0.01738502 0.99973514 -0.1303002 ] [ 0. 0. 0. 1. ]] SLAMing on 5.148241008000001 meters Centerline goodness [0,1] 0.8533793680686336 Centerline is valid? [False, False] Translation: X:1.34, Y:0.13, Z:-0.13 [[ 0.99913532 0.03888589 -0.01471404 1.34341773] [-0.03858134 0.9990463 0.02044452 0.13371651] [ 0.01549501 -0.01985916 0.99968271 -0.13101122] [ 0. 0. 0. 1. ]] SLAMing on 5.1782410080000005 meters Centerline goodness [0,1] 0.8511514188991516 Centerline is valid? [False, False] Translation: X:1.34, Y:0.14, Z:-0.13 [[ 0.99911806 0.03916755 -0.01513322 1.34453461] [-0.03887434 0.99905951 0.01920644 0.13917108] [ 0.01587126 -0.01860121 0.999701 -0.13166482] [ 0. 0. 0. 1. ]] SLAMing on 5.208241008000001 meters Centerline goodness [0,1] 0.8487822229661868 Centerline is valid? [False, False] Translation: X:1.35, Y:0.14, Z:-0.13 [[ 0.99911137 0.03923161 -0.01540642 1.34537822] [-0.03895432 0.99908058 0.01790429 0.14407885] [ 0.01609467 -0.01728823 0.999721 -0.13224989] [ 0. 0. 0. 1. ]] SLAMing on 5.238241008000001 meters Centerline goodness [0,1] 0.8654911104634218 Centerline is valid? [False, False] Translation: X:1.36, Y:0.15, Z:-0.14 [[ 0.99909614 0.04097348 -0.0113174 1.35768182] [-0.04089147 0.9991363 0.00738532 0.15001834] [ 0.01161023 -0.00691586 0.99990868 -0.13671327] [ 0. 0. 0. 1. ]] SLAMing on 5.268241008 meters Centerline goodness [0,1] 0.8757752341311135 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.14 [[ 0.99896043 0.0441344 -0.01141155 1.3585528 ] [-0.04402631 0.99898467 0.00955546 0.15530969] [ 0.01182168 -0.00904312 0.99988923 -0.13713485] [ 0. 0. 0. 1. ]] SLAMing on 5.298241008000001 meters Centerline goodness [0,1] 0.8896661168069158 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.14 [[ 0.99897942 0.04366264 -0.0115622 1.35890607] [-0.04356691 0.99901515 0.00840523 0.1587703 ] [ 0.01191781 -0.00789292 0.99989783 -0.13722691] [ 0. 0. 0. 1. ]] SLAMing on 5.328241008000001 meters Centerline goodness [0,1] 0.8882650079318695 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.14 [[ 0.99899803 0.04318904 -0.01173194 1.35919091] [-0.04310432 0.99904332 0.00738053 0.16179739] [ 0.01203948 -0.00686744 0.99990394 -0.13712634] [ 0. 0. 0. 1. ]] SLAMing on 5.358241008000001 meters Centerline goodness [0,1] 0.8880427771882737 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.14 [[ 0.99901126 0.04285422 -0.01183314 1.35888381] [-0.04277739 0.99906235 0.00667147 0.16387812] [ 0.01210794 -0.00615869 0.99990773 -0.13635918] [ 0. 0. 0. 1. ]] SLAMing on 5.3882410080000005 meters Centerline goodness [0,1] 0.8875683088495023 Centerline is valid? [False, False] Translation: X:1.36, Y:0.17, Z:-0.13 [[ 0.99905257 0.04184409 -0.01195987 1.3569151 ] [-0.04178898 0.99911483 0.00482152 0.16756706] [ 0.01215103 -0.00431716 0.99991685 -0.13355926] [ 0. 0. 0. 1. ]] SLAMing on 5.418241008000001 meters Centerline goodness [0,1] 0.8866894482413735 Centerline is valid? [False, False] Translation: X:1.36, Y:0.17, Z:-0.13 [[ 0.99906483 0.04149673 -0.01214479 1.35725941] [-0.04145029 0.99913236 0.00405082 0.16962264] [ 0.01230234 -0.00354363 0.99991804 -0.13348244] [ 0. 0. 0. 1. ]] SLAMing on 5.448241008000001 meters Centerline goodness [0,1] 0.8899354758397477 Centerline is valid? [False, False] Translation: X:1.36, Y:0.17, Z:-0.13 [[ 0.99908434 0.04096055 -0.01235744 1.35800151] [-0.04092576 0.99915752 0.00305565 0.17214774] [ 0.01247219 -0.00254711 0.99991898 -0.1339042 ] [ 0. 0. 0. 1. ]] SLAMing on 5.478241008000001 meters Centerline goodness [0,1] 0.890399249452726 Centerline is valid? [False, False] Translation: X:1.36, Y:0.17, Z:-0.13 [[ 0.99910526 0.04039508 -0.01252649 1.35868956] [-0.04037055 0.99918234 0.00220502 0.17409669] [ 0.01260532 -0.00169734 0.99991911 -0.13439968] [ 0. 0. 0. 1. ]] SLAMing on 5.508241008000001 meters Centerline goodness [0,1] 0.8755420280186791 Centerline is valid? [False, False] Translation: X:1.36, Y:0.18, Z:-0.14 [[ 0.99928753 0.03547871 -0.01287237 1.35977522] [-0.03552654 0.99936258 -0.00350608 0.17840427] [ 0.01273978 0.0039609 0.999911 -0.13532508] [ 0. 0. 0. 1. ]] SLAMing on 5.538241008000001 meters Centerline goodness [0,1] 0.8743199016072211 Centerline is valid? [False, False] Translation: X:1.36, Y:0.18, Z:-0.14 [[ 0.99931573 0.03463583 -0.01297813 1.36017958] [-0.03469148 0.99938971 -0.00408782 0.17870803] [ 0.01282862 0.00453526 0.99990742 -0.13548997] [ 0. 0. 0. 1. ]] SLAMing on 5.568241008000001 meters Centerline goodness [0,1] 0.8415814673106274 Centerline is valid? [False, False] Translation: X:1.36, Y:0.18, Z:-0.13 [[ 0.99940189 0.03221291 -0.01257772 1.35832314] [-0.03229578 0.99945759 -0.00644217 0.18086355] [ 0.01236338 0.00684452 0.99990014 -0.13415498] [ 0. 0. 0. 1. ]] SLAMing on 5.5982410080000005 meters Centerline goodness [0,1] 0.8293541828243235 Centerline is valid? [False, False] Translation: X:1.36, Y:0.18, Z:-0.13 [[ 0.99949615 0.02930641 -0.01218969 1.35720954] [-0.02941884 0.9995253 -0.00914899 0.18424151] [ 0.01191578 0.00950299 0.99988385 -0.13350748] [ 0. 0. 0. 1. ]] SLAMing on 5.628241008000001 meters Centerline goodness [0,1] 0.8123873023860444 Centerline is valid? [False, False] Translation: X:1.36, Y:0.18, Z:-0.13 [[ 0.99950704 0.02881026 -0.01247572 1.35815562] [-0.02893053 0.99953562 -0.00956965 0.18475855] [ 0.01219423 0.00992586 0.99987638 -0.13401822] [ 0. 0. 0. 1. ]] SLAMing on 5.658241008000001 meters Centerline goodness [0,1] 0.8006768048128342 Centerline is valid? [False, False] Translation: X:1.36, Y:0.18, Z:-0.13 [[ 0.99951764 0.028312 -0.01276421 1.35929338] [-0.02843973 0.9995461 -0.00993881 0.18488649] [ 0.01247703 0.01029702 0.99986914 -0.13476765] [ 0. 0. 0. 1. ]] SLAMing on 5.688241008000001 meters Centerline goodness [0,1] 0.7722982043967108 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.14 [[ 0.99952396 0.02801649 -0.0129198 1.35993536] [-0.0281491 0.9995517 -0.01019947 0.18521412] [ 0.01262825 0.0105583 0.99986452 -0.13521968] [ 0. 0. 0. 1. ]] SLAMing on 5.718241008000001 meters Centerline goodness [0,1] 0.75697820620285 Centerline is valid? [False, False] Translation: X:1.36, Y:0.19, Z:-0.14 [[ 0.99950634 0.02852451 -0.01316916 1.3633886 ] [-0.02865487 0.99954114 -0.00981862 0.18748967] [ 0.01288304 0.01019114 0.99986507 -0.13855463] [ 0. 0. 0. 1. ]] SLAMing on 5.748241008000001 meters Centerline goodness [0,1] 0.7547815919151424 Centerline is valid? [False, False] Translation: X:1.37, Y:0.19, Z:-0.14 [[ 0.9994452 0.03032402 -0.01377473 1.3667692 ] [-0.03043363 0.99950621 -0.00781853 0.18820593] [ 0.01353084 0.00823341 0.99987456 -0.14093806] [ 0. 0. 0. 1. ]] SLAMing on 5.778241008000001 meters Centerline goodness [0,1] 0.7437751509054327 Centerline is valid? [False, False] Translation: X:1.37, Y:0.19, Z:-0.14 [[ 0.99944885 0.03014045 -0.01391196 1.36733071] [-0.03025926 0.9995067 -0.00841002 0.19031178] [ 0.01365161 0.00882635 0.99986786 -0.14132267] [ 0. 0. 0. 1. ]] SLAMing on 5.808241008 meters Centerline goodness [0,1] 0.7780085599194361 Centerline is valid? [False, False] Translation: X:1.37, Y:0.19, Z:-0.14 [[ 0.99945336 0.02991794 -0.01406729 1.36785269] [-0.03004439 0.99950925 -0.00886525 0.19159159] [ 0.01379516 0.00928305 0.99986175 -0.14157923] [ 0. 0. 0. 1. ]] SLAMing on 5.838241008000001 meters Centerline goodness [0,1] 0.7557725348866446 Centerline is valid? [False, False] Translation: X:1.37, Y:0.19, Z:-0.14 [[ 0.99946503 0.02933748 -0.01445566 1.36851751] [-0.02947949 0.99951822 -0.00971031 0.1936056 ] [ 0.01416382 0.01013126 0.99984836 -0.14136257] [ 0. 0. 0. 1. ]] SLAMing on 5.868241008000001 meters Centerline goodness [0,1] 0.752289156626506 Centerline is valid? [False, False] Translation: X:1.37, Y:0.20, Z:-0.14 [[ 0.99947112 0.02898672 -0.01473921 1.36903292] [-0.0291392 0.99952293 -0.01023793 0.19500857] [ 0.01443541 0.010662 0.99983896 -0.1412198 ] [ 0. 0. 0. 1. ]] SLAMing on 5.898241008000001 meters Centerline goodness [0,1] 0.7502513404825737 Centerline is valid? [False, False] Translation: X:1.37, Y:0.20, Z:-0.14 [[ 0.99947319 0.02875485 -0.01504971 1.36958202] [-0.02891986 0.99952269 -0.01086419 0.19706113] [ 0.01473013 0.0112937 0.99982772 -0.1410935 ] [ 0. 0. 0. 1. ]] SLAMing on 5.9282410080000005 meters Centerline goodness [0,1] 0.7415674085817393 Centerline is valid? [False, False] Translation: X:1.37, Y:0.20, Z:-0.14 [[ 0.99940579 0.03072351 -0.01562449 1.37229495] [-0.03086321 0.99948506 -0.00877977 0.19839226] [ 0.0153467 0.00925677 0.99983938 -0.14257552] [ 0. 0. 0. 1. ]] SLAMing on 5.958241008000001 meters Centerline goodness [0,1] 0.7135270228053734 Centerline is valid? [False, False] Translation: X:1.37, Y:0.20, Z:-0.14 [[ 0.99940209 0.03072274 -0.01586098 1.37280994] [-0.03087847 0.99947638 -0.00966837 0.20236948] [ 0.01555564 0.01015236 0.99982746 -0.14256086] [ 0. 0. 0. 1. ]] SLAMing on 5.988241008000001 meters Centerline goodness [0,1] 0.7417695687483081 Centerline is valid? [False, False] Translation: X:1.37, Y:0.21, Z:-0.14 [[ 0.99930378 0.0337964 -0.01580361 1.37271115] [-0.03392384 0.99939346 -0.00786694 0.20915075] [ 0.01552815 0.00839758 0.99984417 -0.14200485] [ 0. 0. 0. 1. ]] SLAMing on 6.018241008000001 meters Centerline goodness [0,1] 0.7802625793077455 Centerline is valid? [False, False] Translation: X:1.37, Y:0.21, Z:-0.14 [[ 0.99917499 0.03742793 -0.01576355 1.37275236] [-0.03750358 0.99928622 -0.00453126 0.21102686] [ 0.0155827 0.00511871 0.99986548 -0.14167622] [ 0. 0. 0. 1. ]] SLAMing on 6.048241008000001 meters Centerline goodness [0,1] 0.7952135462508907 Centerline is valid? [False, False] Translation: X:1.37, Y:0.21, Z:-0.14 [[ 9.99026978e-01 4.11972923e-02 -1.57442190e-02 1.37262371e+00] [-4.12202348e-02 9.99149440e-01 -1.13534446e-03 2.12974850e-01] [ 1.56840544e-02 1.78322015e-03 9.99875408e-01 -1.40961193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.078241008000001 meters Centerline goodness [0,1] 0.7891367806505422 Centerline is valid? [False, False] Translation: X:1.37, Y:0.22, Z:-0.14 [[ 9.98871856e-01 4.47808260e-02 -1.58016438e-02 1.37296737e+00] [-4.47554958e-02 9.98996061e-01 1.95318649e-03 2.15592025e-01] [ 1.58732452e-02 -1.24377261e-03 9.99873239e-01 -1.40638789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.108241008000001 meters Centerline goodness [0,1] 0.851537402478201 Centerline is valid? [False, False] Translation: X:1.37, Y:0.22, Z:-0.14 [[ 0.99857227 0.05117491 -0.01531481 1.37109733] [-0.05107085 0.99866972 0.00711043 0.2217607 ] [ 0.01565831 -0.00631814 0.99985744 -0.13843799] [ 0. 0. 0. 1. ]] SLAMing on 6.1382410080000005 meters Centerline goodness [0,1] 0.8675988045227496 Centerline is valid? [False, False] Translation: X:1.37, Y:0.23, Z:-0.14 [[ 0.99855652 0.05146272 -0.01537756 1.37107691] [-0.05137551 0.9986613 0.00601361 0.22612155] [ 0.01566645 -0.0052149 0.99986367 -0.13812149] [ 0. 0. 0. 1. ]] SLAMing on 6.168241008000001 meters Centerline goodness [0,1] 0.8641730640854473 Centerline is valid? [False, False] Translation: X:1.37, Y:0.23, Z:-0.14 [[ 0.99854689 0.05156691 -0.01565113 1.37189553] [-0.05149589 0.99866115 0.00490734 0.23001022] [ 0.01588324 -0.00409424 0.99986547 -0.13848452] [ 0. 0. 0. 1. ]] SLAMing on 6.198241008000001 meters Centerline goodness [0,1] 0.8680173420043356 Centerline is valid? [False, False] Translation: X:1.37, Y:0.23, Z:-0.14 [[ 0.99835808 0.05501456 -0.01595447 1.37397693] [-0.05490327 0.99846476 0.0073319 0.23391083] [ 0.01633334 -0.00644391 0.99984584 -0.13978494] [ 0. 0. 0. 1. ]] SLAMing on 6.228241008000001 meters Centerline goodness [0,1] 0.8696015196109128 Centerline is valid? [False, False] Translation: X:1.37, Y:0.24, Z:-0.14 [[ 0.99836903 0.05478845 -0.01604699 1.37431995] [-0.05469132 0.9984826 0.00643082 0.2367386 ] [ 0.01637497 -0.0055427 0.99985056 -0.13997092] [ 0. 0. 0. 1. ]] SLAMing on 6.258241008000001 meters Centerline goodness [0,1] 0.871172804768753 Centerline is valid? [False, False] Translation: X:1.37, Y:0.24, Z:-0.14 [[ 0.99837963 0.05454755 -0.01620753 1.37462442] [-0.05446171 0.99849964 0.0056919 0.23906331] [ 0.01649369 -0.00479999 0.99985245 -0.13987977] [ 0. 0. 0. 1. ]] SLAMing on 6.288241008000001 meters Centerline goodness [0,1] 0.8759244557723646 Centerline is valid? [False, False] Translation: X:1.37, Y:0.24, Z:-0.14 [[ 0.99839456 0.05422291 -0.01637616 1.37486126] [-0.05414858 0.99852062 0.00494922 0.24129219] [ 0.0166203 -0.00405453 0.99985365 -0.13968591] [ 0. 0. 0. 1. ]] SLAMing on 6.318241008000001 meters Centerline goodness [0,1] 0.8769089734775091 Centerline is valid? [False, False] Translation: X:1.38, Y:0.24, Z:-0.14 [[ 0.99840789 0.0539067 -0.01660577 1.37528518] [-0.05384242 0.99854021 0.00429454 0.24307324] [ 0.01681304 -0.00339361 0.99985289 -0.13958144] [ 0. 0. 0. 1. ]] SLAMing on 6.3482410080000005 meters Centerline goodness [0,1] 0.8779781136008338 Centerline is valid? [False, False] Translation: X:1.37, Y:0.24, Z:-0.14 [[ 0.99840609 0.05390979 -0.01670393 1.37469375] [-0.05384726 0.99854047 0.0041717 0.24338961] [ 0.01690445 -0.00326559 0.99985178 -0.13842187] [ 0. 0. 0. 1. ]] SLAMing on 6.378241008000001 meters Centerline goodness [0,1] 0.8838469845489284 Centerline is valid? [False, False] Translation: X:1.38, Y:0.25, Z:-0.14 [[ 9.98575455e-01 5.05456679e-02 -1.70937668e-02 1.37502970e+00] [-5.05537192e-02 9.98721342e-01 -3.89508524e-05 2.45276829e-01] [ 1.70699409e-02 9.03048852e-04 9.99853890e-01 -1.38361983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.408241008000001 meters Centerline goodness [0,1] 0.8838469845489284 Centerline is valid? [False, False] Translation: X:1.38, Y:0.25, Z:-0.14 [[ 9.98575455e-01 5.05456679e-02 -1.70937668e-02 1.37502970e+00] [-5.05537192e-02 9.98721342e-01 -3.89508524e-05 2.45276829e-01] [ 1.70699409e-02 9.03048852e-04 9.99853890e-01 -1.38361983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.438241008000001 meters Centerline goodness [0,1] 0.8891912665932651 Centerline is valid? [False, False] Translation: X:1.38, Y:0.25, Z:-0.14 [[ 9.98578905e-01 5.04427557e-02 -1.71958720e-02 1.37517144e+00] [-5.04517816e-02 9.98726494e-01 -9.12050264e-05 2.45207125e-01] [ 1.71693723e-02 9.58637795e-04 9.99852136e-01 -1.38273124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.468241008000001 meters Centerline goodness [0,1] 0.8815087129000768 Centerline is valid? [False, False] Translation: X:1.38, Y:0.25, Z:-0.14 [[ 9.98593689e-01 5.01353690e-02 -1.72362731e-02 1.37529428e+00] [-5.01481981e-02 9.98741739e-01 -3.12624667e-04 2.45429590e-01] [ 1.71989118e-02 1.17655306e-03 9.99851396e-01 -1.38320395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.498241008000001 meters Centerline goodness [0,1] 0.8685700016647244 Centerline is valid? [False, False] Translation: X:1.38, Y:0.25, Z:-0.14 [[ 0.99877308 0.04636513 -0.01739593 1.37530298] [-0.04645032 0.99891035 -0.00452514 0.24700374] [ 0.01716716 0.00532763 0.99983844 -0.13839352] [ 0. 0. 0. 1. ]] SLAMing on 6.528241008000001 meters Centerline goodness [0,1] 0.8664792252421119 Centerline is valid? [False, False] Translation: X:1.38, Y:0.24, Z:-0.14 [[ 0.99896253 0.04195521 -0.01770948 1.37627536] [-0.04210283 0.99908088 -0.00804631 0.2443249 ] [ 0.01735562 0.00878358 0.9998108 -0.13942536] [ 0. 0. 0. 1. ]] SLAMing on 6.558241008000001 meters Centerline goodness [0,1] 0.8480455281851036 Centerline is valid? [False, False] Translation: X:1.38, Y:0.24, Z:-0.14 [[ 0.99907956 0.03893219 -0.018009 1.37866942] [-0.03912734 0.99917786 -0.01061388 0.24279496] [ 0.01758097 0.01130876 0.99978149 -0.14185116] [ 0. 0. 0. 1. ]] SLAMing on 6.588241008000001 meters Centerline goodness [0,1] 0.7764774478364083 Centerline is valid? [False, False] Translation: X:1.38, Y:0.24, Z:-0.14 [[ 0.99912796 0.03766424 -0.01801992 1.37929749] [-0.03786297 0.99922439 -0.01081708 0.2406657 ] [ 0.01759853 0.01148994 0.99977911 -0.14263352] [ 0. 0. 0. 1. ]] SLAMing on 6.618241008000001 meters Centerline goodness [0,1] 0.7270712510356255 Centerline is valid? [False, False] Translation: X:1.38, Y:0.24, Z:-0.15 [[ 0.99955265 0.02615397 -0.01450743 1.38477344] [-0.02622946 0.99964325 -0.00503774 0.23635033] [ 0.0143705 0.00541601 0.99988207 -0.14716827] [ 0. 0. 0. 1. ]] SLAMing on 6.648241008000001 meters Centerline goodness [0,1] 0.7455017660502805 Centerline is valid? [False, False] Translation: X:1.39, Y:0.24, Z:-0.15 [[ 0.99965032 0.02189829 -0.01482214 1.38575108] [-0.02203724 0.99971411 -0.00927717 0.23670402] [ 0.01461475 0.00960056 0.99984711 -0.14790153] [ 0. 0. 0. 1. ]] SLAMing on 6.6782410080000005 meters Centerline goodness [0,1] 0.7339197132018842 Centerline is valid? [False, False] Translation: X:1.39, Y:0.24, Z:-0.15 [[ 0.99966389 0.02127852 -0.01480957 1.38603059] [-0.02141923 0.99972631 -0.00940821 0.23604887] [ 0.01460533 0.00972226 0.99984607 -0.14823826] [ 0. 0. 0. 1. ]] SLAMing on 6.708241008000001 meters Centerline goodness [0,1] 0.719037508846426 Centerline is valid? [False, False] Translation: X:1.39, Y:0.24, Z:-0.15 [[ 0.99967325 0.02070573 -0.01498893 1.38666275] [-0.02085516 0.99973366 -0.00988271 0.23676389] [ 0.01478031 0.01019208 0.99983882 -0.14856145] [ 0. 0. 0. 1. ]] SLAMing on 6.738241008000001 meters Centerline goodness [0,1] 0.7124880203341806 Centerline is valid? [False, False] Translation: X:1.39, Y:0.24, Z:-0.15 [[ 0.99967653 0.0204061 -0.01517977 1.38717654] [-0.02056313 0.9997359 -0.01026137 0.23789599] [ 0.01496637 0.01057019 0.99983213 -0.14868252] [ 0. 0. 0. 1. ]] SLAMing on 6.768241008000001 meters Centerline goodness [0,1] 0.7107768588154413 Centerline is valid? [False, False] Translation: X:1.39, Y:0.24, Z:-0.15 [[ 0.99960298 0.02368677 -0.01525812 1.38766094] [-0.02379806 0.99969119 -0.00715441 0.23996445] [ 0.01508395 0.00751468 0.99985799 -0.14866844] [ 0. 0. 0. 1. ]] SLAMing on 6.798241008000001 meters Centerline goodness [0,1] 0.7417735754748418 Centerline is valid? [False, False] Translation: X:1.39, Y:0.24, Z:-0.15 [[ 0.99959353 0.02410553 -0.01522151 1.38762392] [-0.02422519 0.99967667 -0.00772599 0.24327883] [ 0.01503035 0.00809159 0.9998543 -0.14862938] [ 0. 0. 0. 1. ]] SLAMing on 6.828241008000001 meters Centerline goodness [0,1] 0.7216527065883236 Centerline is valid? [False, False] Translation: X:1.39, Y:0.25, Z:-0.15 [[ 0.99957563 0.02474963 -0.015363 1.3879839 ] [-0.02487755 0.99965694 -0.00819207 0.24692658] [ 0.01515498 0.00857079 0.99984842 -0.14864773] [ 0. 0. 0. 1. ]] SLAMing on 6.858241008000001 meters Centerline goodness [0,1] 0.7315720605645212 Centerline is valid? [False, False] Translation: X:1.39, Y:0.25, Z:-0.15 [[ 0.99947656 0.02844614 -0.01540837 1.3883595 ] [-0.02852008 0.99958263 -0.00460049 0.24769728] [ 0.01527107 0.00503753 0.9998707 -0.14866651] [ 0. 0. 0. 1. ]] SLAMing on 6.8882410080000005 meters Centerline goodness [0,1] 0.7453936696751653 Centerline is valid? [False, False] Translation: X:1.39, Y:0.25, Z:-0.15 [[ 0.99941262 0.03080153 -0.01502248 1.38608902] [-0.03085151 0.99951915 -0.00310683 0.25236811] [ 0.01491956 0.00356848 0.99988233 -0.1464625 ] [ 0. 0. 0. 1. ]] SLAMing on 6.918241008000001 meters Centerline goodness [0,1] 0.7670220297338941 Centerline is valid? [False, False] Translation: X:1.39, Y:0.26, Z:-0.15 [[ 0.99943003 0.03025048 -0.01498383 1.38561627] [-0.0303159 0.99953172 -0.004158 0.25536183] [ 0.01485103 0.00460988 0.99987909 -0.14582747] [ 0. 0. 0. 1. ]] SLAMing on 6.948241008000001 meters Centerline goodness [0,1] 0.7343155794767358 Centerline is valid? [False, False] Translation: X:1.39, Y:0.26, Z:-0.15 [[ 0.99945 0.02952435 -0.01510025 1.38557394] [-0.02960498 0.99954844 -0.00514437 0.25800794] [ 0.01494154 0.00558858 0.99987275 -0.14541626] [ 0. 0. 0. 1. ]] SLAMing on 6.978241008000001 meters Centerline goodness [0,1] 0.7767666064119346 Centerline is valid? [False, False] Translation: X:1.39, Y:0.26, Z:-0.15 [[ 0.99947401 0.0286492 -0.01519634 1.38574433] [-0.02874463 0.99956818 -0.00609922 0.26006534] [ 0.01501504 0.00653282 0.99986593 -0.14530616] [ 0. 0. 0. 1. ]] SLAMing on 7.008241008000001 meters Centerline goodness [0,1] 0.7511652476539681 Centerline is valid? [False, False] Translation: X:1.39, Y:0.26, Z:-0.15 [[ 0.99955912 0.02531049 -0.01552246 1.38761241] [-0.02545436 0.99963418 -0.00914195 0.26355464] [ 0.0152854 0.00953303 0.99983773 -0.14660778] [ 0. 0. 0. 1. ]] SLAMing on 7.038241008000001 meters Centerline goodness [0,1] 0.7364871874675796 Centerline is valid? [False, False] Translation: X:1.39, Y:0.26, Z:-0.15 [[ 0.99957899 0.02440822 -0.01568676 1.38820494] [-0.02456603 0.99964872 -0.0099471 0.26476319] [ 0.01543846 0.01032827 0.99982748 -0.14691225] [ 0. 0. 0. 1. ]] SLAMing on 7.068241008000001 meters Centerline goodness [0,1] 0.7222498858873811 Centerline is valid? [False, False] Translation: X:1.39, Y:0.27, Z:-0.15 [[ 0.99959755 0.02352482 -0.01585285 1.38878112] [-0.02369889 0.9996599 -0.01088307 0.26658933] [ 0.01559144 0.01125439 0.99981511 -0.14717939] [ 0. 0. 0. 1. ]] SLAMing on 7.098241008000001 meters Centerline goodness [0,1] 0.6853110622953538 Centerline is valid? [False, False] Translation: X:1.39, Y:0.27, Z:-0.15 [[ 0.99961463 0.02268357 -0.01600147 1.38944029] [-0.02287642 0.99966659 -0.01197367 0.26917637] [ 0.01572453 0.01233511 0.99980027 -0.1475569 ] [ 0. 0. 0. 1. ]] SLAMing on 7.128241008000001 meters Centerline goodness [0,1] 0.7038255690455861 Centerline is valid? [False, False] Translation: X:1.39, Y:0.28, Z:-0.15 [[ 0.99962134 0.02261312 -0.01567866 1.38833525] [-0.02281234 0.99965978 -0.0126461 0.27613659] [ 0.01538736 0.01299898 0.99979711 -0.14662012] [ 0. 0. 0. 1. ]] SLAMing on 7.158241008000001 meters Centerline goodness [0,1] 0.6921763395181275 Centerline is valid? [False, False] Translation: X:1.39, Y:0.28, Z:-0.15 [[ 0.99955883 0.02494943 -0.01611455 1.3903052 ] [-0.02511811 0.9996309 -0.01035104 0.27841687] [ 0.01585035 0.01075125 0.99981657 -0.14766349] [ 0. 0. 0. 1. ]] SLAMing on 7.188241008000001 meters Centerline goodness [0,1] 0.7210991985010929 Centerline is valid? [False, False] Translation: X:1.39, Y:0.28, Z:-0.15 [[ 0.99947418 0.02814244 -0.0161049 1.39062457] [-0.02826304 0.99957379 -0.0073104 0.28034962] [ 0.0158923 0.00776173 0.99984358 -0.14770258] [ 0. 0. 0. 1. ]] SLAMing on 7.218241008000001 meters Centerline goodness [0,1] 0.7214040918060027 Centerline is valid? [False, False] Translation: X:1.39, Y:0.28, Z:-0.15 [[ 0.9993784 0.03138603 -0.01605393 1.39082136] [-0.03146132 0.99949502 -0.00445901 0.2830287 ] [ 0.01590587 0.00496132 0.99986118 -0.14765408] [ 0. 0. 0. 1. ]] SLAMing on 7.248241008000001 meters Centerline goodness [0,1] 0.7272840712933886 Centerline is valid? [False, False] Translation: X:1.39, Y:0.29, Z:-0.15 [[ 0.99937296 0.03153296 -0.01610471 1.39084509] [-0.03162808 0.99948353 -0.00568655 0.28843536] [ 0.01591708 0.00619235 0.99985414 -0.14738113] [ 0. 0. 0. 1. ]] SLAMing on 7.278241008000001 meters Centerline goodness [0,1] 0.7312650752723946 Centerline is valid? [False, False] Translation: X:1.39, Y:0.30, Z:-0.15 [[ 9.99139541e-01 3.82213279e-02 -1.61030477e-02 1.39265044e+00] [-3.82332371e-02 9.99268749e-01 -4.32245320e-04 2.95310305e-01] [ 1.60747514e-02 1.04754503e-03 9.99870244e-01 -1.48809931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.308241008000001 meters Centerline goodness [0,1] 0.7451960110757188 Centerline is valid? [False, False] Translation: X:1.39, Y:0.30, Z:-0.15 [[ 0.99900042 0.04167026 -0.0161785 1.39374149] [-0.04164016 0.99913027 0.0021926 0.29922406] [ 0.0162558 -0.00151673 0.99986672 -0.14954661] [ 0. 0. 0. 1. ]] SLAMing on 7.338241008000001 meters Centerline goodness [0,1] 0.7559022447201361 Centerline is valid? [False, False] Translation: X:1.39, Y:0.30, Z:-0.15 [[ 0.99884811 0.04518121 -0.01615903 1.39446561] [-0.04510544 0.9989696 0.00502337 0.30282514] [ 0.01636934 -0.00428872 0.99985682 -0.15001309] [ 0. 0. 0. 1. ]] SLAMing on 7.368241008000001 meters Centerline goodness [0,1] 0.7994210263245585 Centerline is valid? [False, False] Translation: X:1.39, Y:0.31, Z:-0.15 [[ 0.99883684 0.04540195 -0.01623689 1.39472585] [-0.04534424 0.99896379 0.0039051 0.30753913] [ 0.01639736 -0.00316431 0.99986055 -0.14999466] [ 0. 0. 0. 1. ]] SLAMing on 7.398241008000001 meters Centerline goodness [0,1] 0.8131016377047131 Centerline is valid? [False, False] Translation: X:1.40, Y:0.31, Z:-0.15 [[ 0.99867883 0.04876587 -0.0162016 1.39512597] [-0.04867396 0.99879658 0.00601947 0.31323524] [ 0.01647565 -0.00522292 0.99985063 -0.1500177 ] [ 0. 0. 0. 1. ]] SLAMing on 7.4282410080000005 meters Centerline goodness [0,1] 0.8197156791532635 Centerline is valid? [False, False] Translation: X:1.40, Y:0.32, Z:-0.15 [[ 0.99868221 0.04857963 -0.01654892 1.39625805] [-0.04850843 0.99881182 0.00467762 0.31800543] [ 0.0167565 -0.00386869 0.99985212 -0.15045814] [ 0. 0. 0. 1. ]] SLAMing on 7.458241008000001 meters Centerline goodness [0,1] 0.8291376651523361 Centerline is valid? [False, False] Translation: X:1.40, Y:0.32, Z:-0.15 [[ 0.99867432 0.0486926 -0.01669238 1.39688986] [-0.04863964 0.99881003 0.00356452 0.32262665] [ 0.01684608 -0.00274788 0.99985432 -0.15077264] [ 0. 0. 0. 1. ]] SLAMing on 7.488241008000001 meters Centerline goodness [0,1] 0.8528570243821529 Centerline is valid? [False, False] Translation: X:1.40, Y:0.33, Z:-0.15 [[ 0.99848038 0.0524852 -0.01679974 1.39807649] [-0.05239289 0.99860919 0.00588863 0.32862712] [ 0.01708544 -0.00499949 0.99984153 -0.15130838] [ 0. 0. 0. 1. ]] SLAMing on 7.518241008000001 meters Centerline goodness [0,1] 0.8621900054002409 Centerline is valid? [False, False] Translation: X:1.40, Y:0.33, Z:-0.15 [[ 0.99847045 0.05262613 -0.01694843 1.39850313] [-0.05254867 0.99860593 0.00498394 0.33191416] [ 0.01718709 -0.0040857 0.99984394 -0.15134565] [ 0. 0. 0. 1. ]] SLAMing on 7.548241008000001 meters Centerline goodness [0,1] 0.8845641772415228 Centerline is valid? [False, False] Translation: X:1.40, Y:0.33, Z:-0.15 [[ 0.99846235 0.05274766 -0.01704741 1.39876071] [-0.05268366 0.99860249 0.0041822 0.33469418] [ 0.01724419 -0.00327765 0.99984594 -0.15133852] [ 0. 0. 0. 1. ]] SLAMing on 7.578241008000001 meters Centerline goodness [0,1] 0.8770299211943526 Centerline is valid? [False, False] Translation: X:1.40, Y:0.34, Z:-0.15 [[ 0.99845682 0.05278142 -0.01726549 1.39940103] [-0.05273044 0.99860301 0.00339494 0.33741954] [ 0.01742056 -0.00247929 0.99984518 -0.15155583] [ 0. 0. 0. 1. ]] SLAMing on 7.608241008000001 meters Centerline goodness [0,1] 0.8916166916541729 Centerline is valid? [False, False] Translation: X:1.40, Y:0.34, Z:-0.15 [[ 0.99825953 0.05643525 -0.01711654 1.39946153] [-0.05633452 0.998392 0.00631133 0.34096663] [ 0.0174452 -0.0053361 0.99983358 -0.15133054] [ 0. 0. 0. 1. ]] SLAMing on 7.638241008000001 meters Centerline goodness [0,1] 0.8946491081846975 Centerline is valid? [False, False] Translation: X:1.40, Y:0.34, Z:-0.15 [[ 0.99826835 0.05625049 -0.01720973 1.3995152 ] [-0.05616433 0.99840666 0.00544988 0.34387614] [ 0.01748887 -0.00447387 0.99983705 -0.15104702] [ 0. 0. 0. 1. ]] SLAMing on 7.668241008000001 meters Centerline goodness [0,1] 0.8964830376595082 Centerline is valid? [False, False] Translation: X:1.40, Y:0.35, Z:-0.15 [[ 0.99827808 0.05603663 -0.01734254 1.39954413] [-0.05596139 0.99842142 0.00479429 0.34603229] [ 0.01758382 -0.00381552 0.99983811 -0.15060073] [ 0. 0. 0. 1. ]] SLAMing on 7.698241008000001 meters Centerline goodness [0,1] 0.8952382929259383 Centerline is valid? [False, False] Translation: X:1.40, Y:0.35, Z:-0.15 [[ 0.99829281 0.05576267 -0.01737784 1.39911925] [-0.05569843 0.99843897 0.00415953 0.34793242] [ 0.01758266 -0.00318451 0.99984034 -0.14991542] [ 0. 0. 0. 1. ]] SLAMing on 7.728241008000001 meters Centerline goodness [0,1] 0.8999170296618959 Centerline is valid? [False, False] Translation: X:1.40, Y:0.35, Z:-0.15 [[ 0.99830069 0.05560617 -0.01742665 1.39885549] [-0.05554792 0.99844876 0.0038095 0.34883282] [ 0.01761145 -0.00283501 0.99984089 -0.1493858 ] [ 0. 0. 0. 1. ]] SLAMing on 7.758241008000001 meters Centerline goodness [0,1] 0.8965661030377583 Centerline is valid? [False, False] Translation: X:1.40, Y:0.35, Z:-0.15 [[ 9.98484446e-01 5.21531955e-02 -1.75742778e-02 1.39882866e+00] [-5.21699209e-02 9.98638100e-01 -4.94273616e-04 3.51092778e-01] [ 1.75245654e-02 1.41037320e-03 9.99845438e-01 -1.49336425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.788241008000001 meters Centerline goodness [0,1] 0.9008565132426927 Centerline is valid? [False, False] Translation: X:1.40, Y:0.35, Z:-0.15 [[ 0.99862685 0.04914493 -0.01814388 1.40178258] [-0.04921971 0.99878113 -0.003698 0.35125094] [ 0.01794002 0.00458595 0.99982855 -0.15197893] [ 0. 0. 0. 1. ]] SLAMing on 7.818241008000001 meters Centerline goodness [0,1] 0.8976381221202939 Centerline is valid? [False, False] Translation: X:1.40, Y:0.35, Z:-0.15 [[ 0.99869068 0.04765698 -0.01859428 1.40421178] [-0.04775949 0.9988458 -0.00510813 0.3518741 ] [ 0.01832938 0.00598949 0.99981406 -0.15396272] [ 0. 0. 0. 1. ]] SLAMing on 7.848241008000001 meters Centerline goodness [0,1] 0.8949102665064036 Centerline is valid? [False, False] Translation: X:1.40, Y:0.35, Z:-0.15 [[ 0.9987085 0.04724832 -0.01867978 1.40483218] [-0.04735501 0.998864 -0.005311 0.35194554] [ 0.01840762 0.00618872 0.99981141 -0.15459515] [ 0. 0. 0. 1. ]] SLAMing on 7.878241008000001 meters Centerline goodness [0,1] 0.8905439608315008 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.16 [[ 0.99872392 0.0468709 -0.01880584 1.40538981] [-0.04698237 0.99888041 -0.00553013 0.35205974] [ 0.01852559 0.00640662 0.99980786 -0.15504088] [ 0. 0. 0. 1. ]] SLAMing on 7.908241008000001 meters Centerline goodness [0,1] 0.8875615482101676 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.16 [[ 0.99874848 0.04633309 -0.01883412 1.40572717] [-0.04644934 0.99890391 -0.00578247 0.35170175] [ 0.01854555 0.00665007 0.9998059 -0.15549049] [ 0. 0. 0. 1. ]] SLAMing on 7.938241008000001 meters Centerline goodness [0,1] 0.8849898496084849 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.16 [[ 0.99874879 0.04625913 -0.01899835 1.40618353] [-0.04637749 0.99890693 -0.00583723 0.35158796] [ 0.01870756 0.00671102 0.99980248 -0.1556673 ] [ 0. 0. 0. 1. ]] SLAMing on 7.9682410080000015 meters Centerline goodness [0,1] 0.8797934338511313 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.16 [[ 0.9987517 0.04623459 -0.0189052 1.40630451] [-0.04635576 0.99890684 -0.00602187 0.35218538] [ 0.01860611 0.00689071 0.99980315 -0.15604481] [ 0. 0. 0. 1. ]] SLAMing on 7.998241008000001 meters Centerline goodness [0,1] 0.8878039679084521 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.16 [[ 0.99875381 0.04614758 -0.01900589 1.40673453] [-0.04627299 0.99890952 -0.00621212 0.35283806] [ 0.01869849 0.00708383 0.99980007 -0.15633938] [ 0. 0. 0. 1. ]] SLAMing on 8.028241008 meters Centerline goodness [0,1] 0.8907486242342436 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.16 [[ 0.99875883 0.04606583 -0.01894028 1.40668528] [-0.04619298 0.99891247 -0.00633133 0.35317963] [ 0.01862802 0.00719838 0.99980057 -0.15644141] [ 0. 0. 0. 1. ]] SLAMing on 8.058241008000001 meters Centerline goodness [0,1] 0.8887760389677687 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.16 [[ 0.99875972 0.04600704 -0.01903629 1.40681053] [-0.04613456 0.99891527 -0.00631493 0.35302641] [ 0.01872511 0.00718533 0.99979885 -0.15633413] [ 0. 0. 0. 1. ]] SLAMing on 8.088241008 meters Centerline goodness [0,1] 0.8771169751870815 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.16 [[ 0.99876543 0.04584878 -0.01911806 1.40694893] [-0.04597601 0.99892287 -0.00626957 0.35256409] [ 0.01881002 0.0071408 0.99979758 -0.15635951] [ 0. 0. 0. 1. ]] SLAMing on 8.118241008000002 meters Centerline goodness [0,1] 0.8785436873039938 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.16 [[ 0.99877808 0.04559915 -0.01905436 1.40681877] [-0.04572679 0.99893401 -0.00631751 0.35222669] [ 0.01874597 0.00718109 0.99979849 -0.15638027] [ 0. 0. 0. 1. ]] SLAMing on 8.148241008000001 meters Centerline goodness [0,1] 0.8717491762853058 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.16 [[ 0.99877107 0.04567915 -0.01922905 1.40727762] [-0.04580393 0.99893183 -0.0060996 0.35149692] [ 0.01892988 0.00697287 0.9997965 -0.1565452 ] [ 0. 0. 0. 1. ]] SLAMing on 8.178241008 meters Centerline goodness [0,1] 0.8924567934613065 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.16 [[ 0.99875985 0.04590622 -0.01927124 1.40730654] [-0.04602824 0.9989225 -0.00593637 0.35109727] [ 0.01897795 0.00681603 0.99979667 -0.15646451] [ 0. 0. 0. 1. ]] SLAMing on 8.208241008000002 meters Centerline goodness [0,1] 0.8790788139626311 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.16 [[ 0.99873699 0.0463244 -0.01945424 1.40791848] [-0.0464432 0.99890467 -0.00569961 0.35102629] [ 0.0191689 0.00659593 0.9997945 -0.15675765] [ 0. 0. 0. 1. ]] SLAMing on 8.238241008000001 meters Centerline goodness [0,1] 0.8960505856743028 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.16 [[ 0.99873211 0.04645778 -0.01938665 1.40751372] [-0.04658044 0.99889698 -0.00592397 0.35223488] [ 0.01909005 0.00681949 0.99979451 -0.15633101] [ 0. 0. 0. 1. ]] SLAMing on 8.268241008 meters Centerline goodness [0,1] 0.89841526990259 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.16 [[ 0.99872712 0.04656986 -0.01937469 1.407165 ] [-0.04669888 0.99888939 -0.00626057 0.35398324] [ 0.01906162 0.00715738 0.99979269 -0.1557422 ] [ 0. 0. 0. 1. ]] SLAMing on 8.298241008000002 meters Centerline goodness [0,1] 0.9000186571031737 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.15 [[ 0.99854213 0.05048836 -0.01909309 1.40612909] [-0.05053783 0.9987199 -0.00211717 0.35288073] [ 0.01896176 0.00307901 0.99981547 -0.15469422] [ 0. 0. 0. 1. ]] SLAMing on 8.328241008000001 meters Centerline goodness [0,1] 0.9000186571031737 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.15 [[ 0.99854213 0.05048836 -0.01909309 1.40612909] [-0.05053783 0.9987199 -0.00211717 0.35288073] [ 0.01896176 0.00307901 0.99981547 -0.15469422] [ 0. 0. 0. 1. ]] SLAMing on 8.358241008 meters Centerline goodness [0,1] 0.9076486548060394 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.15 [[ 0.99852779 0.05072206 -0.01922291 1.40631002] [-0.05077123 0.99870815 -0.00207806 0.35294162] [ 0.01909268 0.00305097 0.99981306 -0.15458038] [ 0. 0. 0. 1. ]] SLAMing on 8.388241008000001 meters Centerline goodness [0,1] 0.9070795541811087 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.15 [[ 0.99851768 0.05090198 -0.01927244 1.40666395] [-0.05095186 0.99869889 -0.0021059 0.35331224] [ 0.01914017 0.00308475 0.99981205 -0.15491073] [ 0. 0. 0. 1. ]] SLAMing on 8.418241008 meters Centerline goodness [0,1] 0.907740942556466 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.16 [[ 0.99846954 0.05181465 -0.01933466 1.40777149] [-0.05186355 0.99865211 -0.00203586 0.3545776 ] [ 0.01920311 0.00303551 0.999811 -0.15614273] [ 0. 0. 0. 1. ]] SLAMing on 8.448241008000002 meters Centerline goodness [0,1] 0.9058168291111619 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.16 [[ 0.99844984 0.05213116 -0.01950024 1.40854628] [-0.05217897 0.99863584 -0.00195105 0.35457006] [ 0.01937193 0.00296552 0.99980795 -0.1567522 ] [ 0. 0. 0. 1. ]] SLAMing on 8.478241008000001 meters Centerline goodness [0,1] 0.9100158122503329 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.16 [[ 0.99842699 0.05250815 -0.01965825 1.40919743] [-0.05255201 0.9986167 -0.00172131 0.35427839] [ 0.01954067 0.00275168 0.99980528 -0.15723477] [ 0. 0. 0. 1. ]] SLAMing on 8.508241008 meters Centerline goodness [0,1] 0.9104620640806633 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.16 [[ 0.99841288 0.05271734 -0.01981424 1.40984092] [-0.05276032 0.99860584 -0.00165223 0.35429959] [ 0.01969952 0.00269502 0.99980231 -0.15770269] [ 0. 0. 0. 1. ]] SLAMing on 8.538241008000002 meters Centerline goodness [0,1] 0.9070144445599085 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.16 [[ 0.99839585 0.05296739 -0.02000443 1.4105362 ] [-0.05300734 0.99859304 -0.00147177 0.35397727] [ 0.01989833 0.00252979 0.99979881 -0.15814637] [ 0. 0. 0. 1. ]] SLAMing on 8.568241008000001 meters Centerline goodness [0,1] 0.9097744360902256 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.16 [[ 9.98358491e-01 5.37142902e-02 -1.98770824e-02 1.41026512e+00] [-5.37346788e-02 9.98555127e-01 -4.92677997e-04 3.51693651e-01] [ 1.98218987e-02 1.55995790e-03 9.99802310e-01 -1.58226864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.598241008 meters Centerline goodness [0,1] 0.912382813311992 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.16 [[ 9.98329006e-01 5.42235634e-02 -1.99749978e-02 1.41043551e+00] [-5.42274784e-02 9.98528548e-01 3.46001699e-04 3.49533897e-01] [ 1.99643670e-02 7.37770228e-04 9.99800420e-01 -1.58231316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.628241008000002 meters Centerline goodness [0,1] 0.9088665864886161 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.16 [[ 9.98286465e-01 5.49754702e-02 -2.00457489e-02 1.41060538e+00] [-5.49578674e-02 9.98487653e-01 1.42838332e-03 3.46661638e-01] [ 2.00939588e-02 -3.24264122e-04 9.99798043e-01 -1.58320665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.658241008000001 meters Centerline goodness [0,1] 0.9094880489276279 Centerline is valid? [False, False] Translation: X:1.41, Y:0.34, Z:-0.16 [[ 0.99823866 0.05583592 -0.02004837 1.41066254] [-0.0557954 0.9984389 0.0025753 0.34384422] [ 0.02016086 -0.00145216 0.99979569 -0.15843584] [ 0. 0. 0. 1. ]] SLAMing on 8.688241008 meters Centerline goodness [0,1] 0.9107113213811421 Centerline is valid? [False, False] Translation: X:1.41, Y:0.34, Z:-0.16 [[ 0.99810328 0.05826302 -0.01988116 1.41035303] [-0.05816303 0.99829155 0.00557158 0.33650791] [ 0.02017181 -0.00440467 0.99978683 -0.15854442] [ 0. 0. 0. 1. ]] SLAMing on 8.718241008000001 meters Centerline goodness [0,1] 0.9129991256193529 Centerline is valid? [False, False] Translation: X:1.41, Y:0.33, Z:-0.16 [[ 0.99804936 0.05921605 -0.01977217 1.40989942] [-0.05908619 0.99822771 0.0070889 0.33228531] [ 0.0201569 -0.00590681 0.99977938 -0.15831657] [ 0. 0. 0. 1. ]] SLAMing on 8.748241008 meters Centerline goodness [0,1] 0.9122565864833906 Centerline is valid? [False, False] Translation: X:1.41, Y:0.33, Z:-0.16 [[ 0.99820007 0.05659788 -0.01983169 1.40925565] [-0.05652302 0.99839197 0.00431536 0.32996978] [ 0.02004404 -0.00318664 0.99979402 -0.15788061] [ 0. 0. 0. 1. ]] SLAMing on 8.778241008000002 meters Centerline goodness [0,1] 0.9118529710039944 Centerline is valid? [False, False] Translation: X:1.41, Y:0.32, Z:-0.16 [[ 0.99842006 0.05550697 -0.00873841 1.4149578 ] [-0.05546077 0.99844603 0.00544392 0.3174887 ] [ 0.00902701 -0.00495068 0.999947 -0.16071194] [ 0. 0. 0. 1. ]] SLAMing on 8.808241008000001 meters Centerline goodness [0,1] 0.9129196549215258 Centerline is valid? [False, False] Translation: X:1.41, Y:0.31, Z:-0.16 [[ 0.99858802 0.05238077 -0.00884429 1.41465515] [-0.05235651 0.99862409 0.00295266 0.31309275] [ 0.00898679 -0.00248544 0.99995653 -0.16069356] [ 0. 0. 0. 1. ]] SLAMing on 8.838241008 meters Centerline goodness [0,1] 0.9166770586523673 Centerline is valid? [False, False] Translation: X:1.42, Y:0.31, Z:-0.16 [[ 9.98751320e-01 4.91137551e-02 -9.14549923e-03 1.41529249e+00] [-4.91125132e-02 9.98793187e-01 3.60464707e-04 3.08965827e-01] [ 9.15216610e-03 8.91438504e-05 9.99958114e-01 -1.61412029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.868241008000002 meters Centerline goodness [0,1] 0.9135465878582281 Centerline is valid? [False, False] Translation: X:1.42, Y:0.30, Z:-0.16 [[ 0.99890135 0.04588513 -0.00952044 1.41665381] [-0.04590687 0.99894356 -0.00207764 0.30471672] [ 0.00941505 0.00251241 0.99995252 -0.16280872] [ 0. 0. 0. 1. ]] SLAMing on 8.898241008000001 meters Centerline goodness [0,1] 0.9117549255964752 Centerline is valid? [False, False] Translation: X:1.42, Y:0.29, Z:-0.17 [[ 0.99914513 0.03994577 -0.01064597 1.42148169] [-0.04000803 0.99918309 -0.00570138 0.29233511] [ 0.01040953 0.00612243 0.99992708 -0.16736061] [ 0. 0. 0. 1. ]] SLAMing on 8.928241008 meters Centerline goodness [0,1] 0.9125036456814299 Centerline is valid? [False, False] Translation: X:1.42, Y:0.29, Z:-0.17 [[ 0.99925054 0.03714785 -0.01088111 1.42231899] [-0.03722902 0.99927969 -0.00735495 0.28580401] [ 0.01060005 0.00775453 0.99991375 -0.16830382] [ 0. 0. 0. 1. ]] SLAMing on 8.958241008000002 meters Centerline goodness [0,1] 0.9109653233364574 Centerline is valid? [False, False] Translation: X:1.42, Y:0.28, Z:-0.17 [[ 0.99934631 0.03436931 -0.01121195 1.42342454] [-0.03447345 0.99936298 -0.00923158 0.28047009] [ 0.01088752 0.00961206 0.99989453 -0.16930459] [ 0. 0. 0. 1. ]] SLAMing on 8.988241008000001 meters Centerline goodness [0,1] 0.909324385899507 Centerline is valid? [False, False] Translation: X:1.43, Y:0.27, Z:-0.17 [[ 0.99934782 0.03413192 -0.01178727 1.42529342] [-0.03422889 0.99938099 -0.00812563 0.27446288] [ 0.01150263 0.0085238 0.99989751 -0.17033619] [ 0. 0. 0. 1. ]] SLAMing on 9.018241008 meters Centerline goodness [0,1] 0.9090399119070869 Centerline is valid? [False, False] Translation: X:1.43, Y:0.27, Z:-0.17 [[ 0.99932997 0.0346309 -0.01184516 1.425408 ] [-0.03470729 0.99937763 -0.00630515 0.26842819] [ 0.01161944 0.00671204 0.99990996 -0.1703592 ] [ 0. 0. 0. 1. ]] SLAMing on 9.048241008000002 meters Centerline goodness [0,1] 0.9080598757453195 Centerline is valid? [False, False] Translation: X:1.43, Y:0.26, Z:-0.17 [[ 0.99937558 0.03328566 -0.01185354 1.42530436] [-0.03336176 0.9994236 -0.00628198 0.25787783] [ 0.01163761 0.00667351 0.99991001 -0.17071649] [ 0. 0. 0. 1. ]] SLAMing on 9.078241008000001 meters Centerline goodness [0,1] 0.9104119756484029 Centerline is valid? [False, False] Translation: X:1.43, Y:0.25, Z:-0.17 [[ 0.9993468 0.03408883 -0.01199692 1.42576689] [-0.0341469 0.99940591 -0.0046697 0.25288383] [ 0.01183061 0.00507631 0.99991713 -0.17103691] [ 0. 0. 0. 1. ]] SLAMing on 9.108241008 meters Centerline goodness [0,1] 0.9095495048481466 Centerline is valid? [False, False] Translation: X:1.43, Y:0.25, Z:-0.17 [[ 0.99931004 0.03507953 -0.01220141 1.42636573] [-0.03511969 0.99937833 -0.00309282 0.2489077 ] [ 0.01208533 0.0035192 0.99992078 -0.17130814] [ 0. 0. 0. 1. ]] SLAMing on 9.138241008000001 meters Centerline goodness [0,1] 0.911388998157388 Centerline is valid? [False, False] Translation: X:1.43, Y:0.25, Z:-0.17 [[ 0.99928009 0.03591509 -0.01222307 1.42622593] [-0.03593909 0.99935245 -0.0017495 0.24532407] [ 0.01215232 0.00218753 0.99992377 -0.17110503] [ 0. 0. 0. 1. ]] SLAMing on 9.168241008 meters Centerline goodness [0,1] 0.9140053226879574 Centerline is valid? [False, False] Translation: X:1.43, Y:0.24, Z:-0.17 [[ 9.99243593e-01 3.69171197e-02 -1.22216399e-02 1.42580454e+00] [-3.69218208e-02 9.99318144e-01 -1.59175652e-04 2.41177990e-01] [ 1.22074302e-02 6.10300449e-04 9.99925300e-01 -1.70571115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.198241008000002 meters Centerline goodness [0,1] 0.913586641253004 Centerline is valid? [False, False] Translation: X:1.43, Y:0.23, Z:-0.17 [[ 9.99269839e-01 3.61531223e-02 -1.23587969e-02 1.42530593e+00] [-3.61576874e-02 9.99346086e-01 -1.46070253e-04 2.32105540e-01] [ 1.23454344e-02 5.92829113e-04 9.99923616e-01 -1.70033060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.228241008000001 meters Centerline goodness [0,1] 0.9148539078862783 Centerline is valid? [False, False] Translation: X:1.42, Y:0.23, Z:-0.17 [[ 0.99936945 0.03330731 -0.01230172 1.42467785] [-0.03334069 0.99944087 -0.00251823 0.22790149] [ 0.01221096 0.00292679 0.99992116 -0.16978164] [ 0. 0. 0. 1. ]] SLAMing on 9.258241008 meters Centerline goodness [0,1] 0.9155575762585765 Centerline is valid? [False, False] Translation: X:1.42, Y:0.22, Z:-0.17 [[ 0.99945672 0.03050339 -0.01248248 1.4245674 ] [-0.03056408 0.99952176 -0.00470058 0.22329709] [ 0.01233313 0.00507954 0.99991104 -0.16953492] [ 0. 0. 0. 1. ]] SLAMing on 9.288241008000002 meters Centerline goodness [0,1] 0.9187833046507288 Centerline is valid? [False, False] Translation: X:1.42, Y:0.21, Z:-0.17 [[ 0.99949294 0.0294861 -0.01201814 1.42188951] [-0.02953723 0.99955528 -0.00409871 0.21192853] [ 0.01189194 0.00445162 0.99991938 -0.16764466] [ 0. 0. 0. 1. ]] SLAMing on 9.318241008000001 meters Centerline goodness [0,1] 0.9199278666777215 Centerline is valid? [False, False] Translation: X:1.42, Y:0.21, Z:-0.17 [[ 0.99946561 0.03035784 -0.01212013 1.42213631] [-0.03038648 0.99953584 -0.00218547 0.20605748] [ 0.01204816 0.00255259 0.99992416 -0.1676934 ] [ 0. 0. 0. 1. ]] SLAMing on 9.348241008 meters Centerline goodness [0,1] 0.9188284692774591 Centerline is valid? [False, False] Translation: X:1.42, Y:0.20, Z:-0.17 [[ 0.9995182 0.02867478 -0.0118792 1.42070739] [-0.02872208 0.9995801 -0.00383076 0.20263886] [ 0.01176437 0.00417011 0.9999221 -0.16688612] [ 0. 0. 0. 1. ]] SLAMing on 9.378241008000002 meters Centerline goodness [0,1] 0.9205458964292391 Centerline is valid? [False, False] Translation: X:1.42, Y:0.20, Z:-0.17 [[ 0.99949147 0.02960057 -0.01185812 1.42063346] [-0.02962769 0.99955876 -0.00211813 0.19762779] [ 0.01179019 0.00246838 0.99992745 -0.16683107] [ 0. 0. 0. 1. ]] SLAMing on 9.408241008000001 meters Centerline goodness [0,1] 0.9209067800141685 Centerline is valid? [False, False] Translation: X:1.42, Y:0.19, Z:-0.16 [[ 0.99952486 0.02857643 -0.01155175 1.4181045 ] [-0.02861458 0.99958555 -0.00315061 0.193641 ] [ 0.01145693 0.00347966 0.99992831 -0.1648263 ] [ 0. 0. 0. 1. ]] SLAMing on 9.438241008 meters Centerline goodness [0,1] 0.9188524760932519 Centerline is valid? [False, False] Translation: X:1.42, Y:0.18, Z:-0.16 [[ 9.99448458e-01 3.12448146e-02 -1.12490747e-02 1.41642671e+00] [-3.12414327e-02 9.99511754e-01 4.76282228e-04 1.83108945e-01] [ 1.12584637e-02 -1.24582328e-04 9.99936614e-01 -1.63608436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.468241008000001 meters Centerline goodness [0,1] 0.9183652224604942 Centerline is valid? [False, False] Translation: X:1.42, Y:0.18, Z:-0.16 [[ 0.99941765 0.03219612 -0.01130352 1.41677128] [-0.03217603 0.99948031 0.00195428 0.17891425] [ 0.01136057 -0.00158944 0.9999342 -0.16390648] [ 0. 0. 0. 1. ]] SLAMing on 9.498241008 meters Centerline goodness [0,1] 0.915524591868566 Centerline is valid? [False, False] Translation: X:1.42, Y:0.17, Z:-0.16 [[ 0.99938497 0.03315889 -0.01140903 1.41724928] [-0.03312175 0.99944544 0.00342941 0.17480513] [ 0.01151642 -0.00304942 0.99992903 -0.16426328] [ 0. 0. 0. 1. ]] SLAMing on 9.528241008000002 meters Centerline goodness [0,1] 0.9145464774645246 Centerline is valid? [False, False] Translation: X:1.42, Y:0.17, Z:-0.16 [[ 9.99454955e-01 3.09318709e-02 -1.15330688e-02 1.41723739e+00] [-3.09244497e-02 9.99521387e-01 8.21292181e-04 1.72661868e-01] [ 1.15529530e-02 -4.64190735e-04 9.99933155e-01 -1.64489396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.558241008000001 meters Centerline goodness [0,1] 0.9105768830844736 Centerline is valid? [False, False] Translation: X:1.42, Y:0.17, Z:-0.16 [[ 0.99953035 0.02839678 -0.01151947 1.41689441] [-0.02841976 0.99959439 -0.00183565 0.16977822] [ 0.01146267 0.00216217 0.99993196 -0.16453916] [ 0. 0. 0. 1. ]] SLAMing on 9.588241008 meters Centerline goodness [0,1] 0.9080552454203366 Centerline is valid? [False, False] Translation: X:1.42, Y:0.16, Z:-0.16 [[ 9.99560642e-01 2.73359650e-02 -1.14572050e-02 1.41601389e+00] [-2.73503195e-02 9.99625307e-01 -1.09804976e-03 1.57384597e-01] [ 1.14228958e-02 1.41092554e-03 9.99933761e-01 -1.63662957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.618241008000002 meters Centerline goodness [0,1] 0.9108446190426962 Centerline is valid? [False, False] Translation: X:1.42, Y:0.15, Z:-0.16 [[ 0.99964125 0.0242143 -0.01144727 1.41585176] [-0.02425525 0.99969984 -0.00345247 0.15256621] [ 0.01136023 0.00372889 0.99992852 -0.16374502] [ 0. 0. 0. 1. ]] SLAMing on 9.648241008000001 meters Centerline goodness [0,1] 0.9127580906484982 Centerline is valid? [False, False] Translation: X:1.42, Y:0.15, Z:-0.16 [[ 0.99971197 0.02107365 -0.01148364 1.41606519] [-0.02113997 0.99976036 -0.00568508 0.14734588] [ 0.01136108 0.00592621 0.9999179 -0.16421913] [ 0. 0. 0. 1. ]] SLAMing on 9.678241008 meters Centerline goodness [0,1] 0.9151841383323635 Centerline is valid? [False, False] Translation: X:1.42, Y:0.14, Z:-0.17 [[ 0.99975948 0.01847363 -0.01181966 1.41792013] [-0.0185597 0.99980173 -0.00721384 0.1413353 ] [ 0.01168405 0.00743147 0.99990412 -0.16582475] [ 0. 0. 0. 1. ]] SLAMing on 9.708241008000002 meters Centerline goodness [0,1] 0.9190149625935162 Centerline is valid? [False, False] Translation: X:1.42, Y:0.13, Z:-0.17 [[ 0.99980628 0.01493772 -0.01281695 1.42304347] [-0.01503815 0.99985669 -0.00777552 0.12831898] [ 0.01269897 0.00796675 0.99988763 -0.17009544] [ 0. 0. 0. 1. ]] SLAMing on 9.738241008000001 meters Centerline goodness [0,1] 0.9186629758361604 Centerline is valid? [False, False] Translation: X:1.42, Y:0.12, Z:-0.17 [[ 0.99983948 0.01228109 -0.0130453 1.42420767] [-0.01240307 0.99987973 -0.00931121 0.1218798 ] [ 0.01292938 0.00947152 0.99987155 -0.17107344] [ 0. 0. 0. 1. ]] SLAMing on 9.768241008 meters Centerline goodness [0,1] 0.9214072947695128 Centerline is valid? [False, False] Translation: X:1.43, Y:0.12, Z:-0.17 [[ 0.99986593 0.00952238 -0.01332081 1.425146 ] [-0.00966789 0.99989383 -0.01090202 0.11515301] [ 0.01321558 0.01102935 0.99985184 -0.17164927] [ 0. 0. 0. 1. ]] SLAMing on 9.798241008000002 meters Centerline goodness [0,1] 0.9224254531077678 Centerline is valid? [False, False] Translation: X:1.43, Y:0.11, Z:-0.17 [[ 0.99988595 0.00673214 -0.01351921 1.42593389] [-0.00690227 0.99989708 -0.0125771 0.10846117] [ 0.01343315 0.01266898 0.99982951 -0.17219301] [ 0. 0. 0. 1. ]] SLAMing on 9.828241008000001 meters Centerline goodness [0,1] 0.9249216853722797 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:-0.17 [[ 0.99989787 0.00371328 -0.01380054 1.42655773] [-0.00389793 0.99990292 -0.01337715 0.09493337] [ 0.01374953 0.01342958 0.99981528 -0.17206357] [ 0. 0. 0. 1. ]] SLAMing on 9.858241008000002 meters Centerline goodness [0,1] 0.9259675172083931 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:-0.17 [[ 0.99989382 0.00454834 -0.01384429 1.42618336] [-0.00470138 0.99992798 -0.01104201 0.08783911] [ 0.01379307 0.01110593 0.99984319 -0.17117297] [ 0. 0. 0. 1. ]] SLAMing on 9.888241008000001 meters Centerline goodness [0,1] 0.9298121528572321 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:-0.17 [[ 0.99988915 0.00535498 -0.01389302 1.42579216] [-0.00548026 0.99994453 -0.00899485 0.08196876] [ 0.01384408 0.00906999 0.99986303 -0.17029626] [ 0. 0. 0. 1. ]] SLAMing on 9.918241008 meters Centerline goodness [0,1] 0.9286828801464623 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:-0.17 [[ 0.99988424 0.00623934 -0.01387745 1.42517333] [-0.00633726 0.99995526 -0.00702331 0.07667826] [ 0.01383301 0.00711044 0.99987904 -0.16933038] [ 0. 0. 0. 1. ]] SLAMing on 9.948241008000002 meters Centerline goodness [0,1] 0.9323033474541075 Centerline is valid? [False, False] Translation: X:1.42, Y:0.07, Z:-0.17 [[ 0.99988217 0.00727897 -0.01351509 1.42333778] [-0.00732869 0.99996654 -0.00363318 0.0666267 ] [ 0.01348819 0.0037318 0.99990207 -0.16680351] [ 0. 0. 0. 1. ]] SLAMing on 9.978241008000001 meters Centerline goodness [0,1] 0.9311076001995676 Centerline is valid? [False, False] Translation: X:1.42, Y:0.06, Z:-0.17 [[ 0.99987893 0.0074932 -0.01363752 1.42341984] [-0.00752512 0.99996906 -0.00229028 0.06171342] [ 0.01361993 0.00239263 0.99990438 -0.16627531] [ 0. 0. 0. 1. ]] SLAMing on 10.008241008 meters Centerline goodness [0,1] 0.9326509851142899 Centerline is valid? [False, False] Translation: X:1.42, Y:0.06, Z:-0.17 [[ 9.99879833e-01 7.24780149e-03 -1.37035829e-02 1.42382492e+00] [-7.26748116e-03 9.99972630e-01 -1.38684461e-03 5.66488692e-02] [ 1.36931562e-02 1.48626849e-03 9.99905140e-01 -1.66185223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.038241008000002 meters Centerline goodness [0,1] 0.9333361032054345 Centerline is valid? [False, False] Translation: X:1.42, Y:0.05, Z:-0.17 [[ 0.99989864 0.00384408 -0.01370878 1.42340655] [-0.00390211 0.99998353 -0.00420888 0.05322823] [ 0.01369237 0.00426195 0.99989717 -0.1656969 ] [ 0. 0. 0. 1. ]] SLAMing on 10.068241008000001 meters Centerline goodness [0,1] 0.9375310481867859 Centerline is valid? [False, False] Translation: X:1.42, Y:0.05, Z:-0.17 [[ 9.99901083e-01 -1.79424433e-04 -1.40638426e-02 1.42495492e+00] [ 8.72629970e-05 9.99978522e-01 -6.55341623e-03 4.50730708e-02] [ 1.40647164e-02 6.55154073e-03 9.99879623e-01 -1.66444653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.098241008 meters Centerline goodness [0,1] 0.9380345863104483 Centerline is valid? [False, False] Translation: X:1.43, Y:0.04, Z:-0.17 [[ 9.99898967e-01 -1.71926821e-04 -1.42135640e-02 1.42544559e+00] [ 9.74201749e-05 9.99986253e-01 -5.24246596e-03 3.99611561e-02] [ 1.42142699e-02 5.24055161e-03 9.99885239e-01 -1.66276103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.128241008000002 meters Centerline goodness [0,1] 0.9395174708818635 Centerline is valid? [False, False] Translation: X:1.43, Y:0.03, Z:-0.17 [[ 9.99896827e-01 -1.01992876e-05 -1.43643934e-02 1.42585600e+00] [-4.48977319e-05 9.99992644e-01 -3.83533857e-03 3.49938497e-02] [ 1.43643269e-02 3.83558780e-03 9.99889471e-01 -1.66065791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.158241008000001 meters Centerline goodness [0,1] 0.9425773794705834 Centerline is valid? [False, False] Translation: X:1.43, Y:0.03, Z:-0.17 [[ 9.99893470e-01 2.61358448e-05 -1.45961962e-02 1.42670881e+00] [-6.76973805e-05 9.99995945e-01 -2.84693554e-03 3.13129742e-02] [ 1.45960626e-02 2.84762038e-03 9.99889417e-01 -1.66359367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.188241008 meters Centerline goodness [0,1] 0.9425773794705834 Centerline is valid? [False, False] Translation: X:1.43, Y:0.03, Z:-0.17 [[ 9.99893470e-01 2.61358448e-05 -1.45961962e-02 1.42670881e+00] [-6.76973805e-05 9.99995945e-01 -2.84693554e-03 3.13129742e-02] [ 1.45960626e-02 2.84762038e-03 9.99889417e-01 -1.66359367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.218241008000001 meters Centerline goodness [0,1] 0.942463482855071 Centerline is valid? [False, False] Translation: X:1.43, Y:0.03, Z:-0.17 [[ 9.99892709e-01 -5.46407172e-05 -1.46481443e-02 1.42787622e+00] [ 3.31102502e-05 9.99998919e-01 -1.47008113e-03 2.60356309e-02] [ 1.46482088e-02 1.46943840e-03 9.99891629e-01 -1.67361478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.248241008 meters Centerline goodness [0,1] 0.9396795672076571 Centerline is valid? [False, False] Translation: X:1.43, Y:0.02, Z:-0.17 [[ 9.99889988e-01 2.50365518e-04 -1.48306753e-02 1.42835130e+00] [-2.54680337e-04 9.99999926e-01 -2.89050865e-04 2.21396595e-02] [ 1.48306018e-02 2.92796147e-04 9.99889978e-01 -1.67307293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.278241008000002 meters Centerline goodness [0,1] 0.9418951997676638 Centerline is valid? [False, False] Translation: X:1.43, Y:0.02, Z:-0.17 [[ 9.99883695e-01 -1.81172313e-04 -1.52500398e-02 1.43013908e+00] [ 1.82346374e-04 9.99999981e-01 7.55969697e-05 1.79799761e-02] [ 1.52500259e-02 -7.83689669e-05 9.99883709e-01 -1.68222057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.308241008000001 meters Centerline goodness [0,1] 0.9423144857968123 Centerline is valid? [False, False] Translation: X:1.43, Y:0.01, Z:-0.17 [[ 0.99987825 -0.00325269 -0.01526115 1.42988675] [ 0.00322169 0.9999927 -0.00205574 0.01217983] [ 0.01526773 0.00200632 0.99988143 -0.16780099] [ 0. 0. 0. 1. ]] SLAMing on 10.338241008 meters Centerline goodness [0,1] 0.9455874390904169 Centerline is valid? [False, False] Translation: X:1.43, Y:0.01, Z:-0.17 [[ 9.99878483e-01 -2.82272074e-03 -1.53314136e-02 1.42993483e+00] [ 2.80598914e-03 9.99995444e-01 -1.11272899e-03 9.33304254e-03] [ 1.53344847e-02 1.06957400e-03 9.99881848e-01 -1.67601069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.368241008000002 meters Centerline goodness [0,1] 0.9446041666666667 Centerline is valid? [False, False] Translation: X:1.43, Y:0.01, Z:-0.17 [[ 9.99879018e-01 -2.36561629e-03 -1.53737616e-02 1.42994804e+00] [ 2.36187222e-03 9.99997177e-01 -2.61688034e-04 6.92959602e-03] [ 1.53743373e-02 2.25345514e-04 9.99881782e-01 -1.67457049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.398241008000001 meters Centerline goodness [0,1] 0.9461140111889857 Centerline is valid? [False, False] Translation: X:1.43, Y:0.00, Z:-0.17 [[ 9.99878977e-01 -1.81098335e-03 -1.54516109e-02 1.43012875e+00] [ 1.82144762e-03 9.99998121e-01 6.63181987e-04 3.85075499e-03] [ 1.54503808e-02 -6.91246026e-04 9.99880397e-01 -1.67458036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.428241008 meters Centerline goodness [0,1] 0.9474797321113853 Centerline is valid? [False, False] Translation: X:1.44, Y:0.00, Z:-0.17 [[ 0.99995909 0.00199202 -0.00882297 1.4414987 ] [-0.00203457 0.99998633 -0.00481569 0.00403046] [ 0.00881326 0.00483345 0.99994948 -0.17079774] [ 0. 0. 0. 1. ]] SLAMing on 10.458241008000002 meters Centerline goodness [0,1] 0.9478796936297403 Centerline is valid? [False, False] Translation: X:1.44, Y:0.00, Z:-0.17 [[ 0.99995903 0.0029074 -0.0085728 1.44008352] [-0.00294137 0.99998786 -0.00395322 0.003286 ] [ 0.0085612 0.00397828 0.99995544 -0.16964746] [ 0. 0. 0. 1. ]] SLAMing on 10.488241008000001 meters Centerline goodness [0,1] 0.9491598983197966 Centerline is valid? [False, False] Translation: X:1.44, Y:0.00, Z:-0.17 [[ 0.99995722 0.00331563 -0.00863461 1.43986646] [-0.00334599 0.99998826 -0.00350428 0.00230383] [ 0.00862289 0.00353302 0.99995658 -0.16919997] [ 0. 0. 0. 1. ]] SLAMing on 10.518241008 meters Centerline goodness [0,1] 0.9500165782493368 Centerline is valid? [False, True] Translation: X:1.44, Y:0.00, Z:-0.17 [[ 9.99955542e-01 4.06360205e-03 -8.50882895e-03 1.43880920e+00] [-4.08437294e-03 9.99988718e-01 -2.42514591e-03 3.80885464e-05] [ 8.49887812e-03 2.45979132e-03 9.99960858e-01 -1.68105489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.548241008000002 meters Centerline goodness [0,1] 0.9501793377977733 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.01, Z:-0.17 [[ 9.99966707e-01 3.99370648e-03 -7.11585703e-03 1.46789027e+00] [-3.99374173e-03 9.99992025e-01 9.25679181e-06 -5.06778474e-03] [ 7.11583725e-03 1.91624115e-05 9.99974682e-01 -1.65524504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.578241008000001 meters Centerline goodness [0,1] 0.9513266998341625 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.01, Z:-0.17 [[ 9.99971933e-01 2.16621928e-03 -7.17226702e-03 1.49637566e+00] [-2.16620832e-03 9.99997654e-01 9.29739932e-06 -7.75552439e-03] [ 7.17227033e-03 6.23948608e-06 9.99974279e-01 -1.68316240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.608241008000002 meters Centerline goodness [0,1] 0.9516917254143531 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.01, Z:-0.17 [[ 9.99976628e-01 4.84018593e-04 -6.81979650e-03 1.52565416e+00] [-4.83975023e-04 9.99999883e-01 8.03914964e-06 -1.09510695e-02] [ 6.81979959e-03 -4.73835058e-06 9.99976745e-01 -1.67648980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.638241008000001 meters Centerline goodness [0,1] 0.9503167308408893 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.01, Z:-0.17 [[ 9.99965561e-01 -2.01412698e-03 -8.05103393e-03 1.55477494e+00] [ 2.01426597e-03 9.99997971e-01 9.15448689e-06 -1.46641107e-02] [ 8.05099916e-03 -2.53710953e-05 9.99967590e-01 -1.68539951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.668241008 meters Centerline goodness [0,1] 0.9492339355133775 Centerline is valid? [True, False] Translation: X:1.56, Y:-0.02, Z:-0.17 [[ 0.99994579 -0.00608849 -0.00844644 1.558479 ] [ 0.00606205 0.99997666 -0.00315279 -0.01805883] [ 0.00846543 0.00310142 0.99995936 -0.17198993] [ 0. 0. 0. 1. ]] SLAMing on 10.698241008000002 meters Centerline goodness [0,1] 0.9496076431530087 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.02, Z:-0.17 [[ 0.99994099 -0.00634207 -0.00881981 1.55989076] [ 0.00631691 0.99997591 -0.00287661 -0.01956264] [ 0.00883784 0.00282073 0.99995697 -0.17280497] [ 0. 0. 0. 1. ]] SLAMing on 10.728241008000001 meters Centerline goodness [0,1] 0.9468047570619124 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.02, Z:-0.17 [[ 0.99993654 -0.00649565 -0.00920427 1.56124892] [ 0.00647163 0.99997558 -0.00263724 -0.02087296] [ 0.00922117 0.00257751 0.99995416 -0.17353585] [ 0. 0. 0. 1. ]] SLAMing on 10.758241008 meters Centerline goodness [0,1] 0.9460179940019994 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.02, Z:-0.17 [[ 0.99993545 -0.00626934 -0.0094757 1.56169018] [ 0.00625109 0.99997855 -0.0019538 -0.02302823] [ 0.00948775 0.00189444 0.9999532 -0.17332201] [ 0. 0. 0. 1. ]] SLAMing on 10.788241008000002 meters Centerline goodness [0,1] 0.9474999479372749 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.03, Z:-0.17 [[ 9.99935547e-01 -5.91951537e-03 -9.68818421e-03 1.56186723e+00] [ 5.90851102e-03 9.99981867e-01 -1.16408107e-03 -2.54389285e-02] [ 9.69489933e-03 1.10676330e-03 9.99952391e-01 -1.72852486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.818241008000001 meters Centerline goodness [0,1] 0.9490127468132967 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.03, Z:-0.17 [[ 9.99943236e-01 -4.83317019e-03 -9.49558454e-03 1.56031925e+00] [ 4.83756879e-03 9.99988202e-01 4.40311678e-04 -2.88811183e-02] [ 9.49334441e-03 -4.86222227e-04 9.99954819e-01 -1.71097317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.848241008 meters Centerline goodness [0,1] 0.9505452119341993 Centerline is valid? [False, True] Translation: X:1.56, Y:-0.03, Z:-0.17 [[ 9.99946907e-01 -4.25687150e-03 -9.38415982e-03 1.55936600e+00] [ 4.26928747e-03 9.99990037e-01 1.30344160e-03 -3.04292092e-02] [ 9.37851774e-03 -1.34343607e-03 9.99955118e-01 -1.70002534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.878241008000002 meters Centerline goodness [0,1] 0.9515641608136554 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.03, Z:-0.17 [[ 9.99952702e-01 -4.84496351e-03 -8.43327349e-03 1.58795088e+00] [ 4.84554969e-03 9.99988259e-01 4.90766608e-05 -3.16084578e-02] [ 8.43293670e-03 -8.99381853e-05 9.99964438e-01 -1.69674030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.908241008000001 meters Centerline goodness [0,1] 0.9500737264023592 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.04, Z:-0.17 [[ 9.99944506e-01 -8.16946315e-03 -6.65172304e-03 1.61697561e+00] [ 8.16991689e-03 9.99966625e-01 4.10443376e-05 -3.53904749e-02] [ 6.65116573e-03 -9.53860843e-05 9.99977876e-01 -1.69438087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.938241008000002 meters Centerline goodness [0,1] 0.9495491002784358 Centerline is valid? [True, False] Translation: X:1.62, Y:-0.04, Z:-0.17 [[ 9.99944643e-01 -8.10330120e-03 -6.71180643e-03 1.61686687e+00] [ 8.10701738e-03 9.99966999e-01 5.26656422e-04 -3.65540218e-02] [ 6.70731728e-03 -5.81039999e-04 9.99977337e-01 -1.68950875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.968241008000001 meters Centerline goodness [0,1] 0.9477568500270259 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.04, Z:-0.17 [[ 9.99946560e-01 -7.84595043e-03 -6.73181218e-03 1.61657189e+00] [ 7.85421400e-03 9.99968433e-01 1.20198261e-03 -3.81050761e-02] [ 6.72216898e-03 -1.25479147e-03 9.99976619e-01 -1.68333913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.998241008 meters Centerline goodness [0,1] 0.951738012278082 Centerline is valid? [False, True] Translation: X:1.62, Y:-0.04, Z:-0.17 [[ 9.99946172e-01 -7.77639748e-03 -6.86889194e-03 1.61686788e+00] [ 7.78753797e-03 9.99968402e-01 1.59662127e-03 -3.94941476e-02] [ 6.85625893e-03 -1.65002708e-03 9.99975134e-01 -1.68222287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.028241008000002 meters Centerline goodness [0,1] 0.9472523815466534 Centerline is valid? [True, False] Translation: X:1.62, Y:-0.04, Z:-0.17 [[ 0.99994828 -0.00752241 -0.00684428 1.61663865] [ 0.00753804 0.99996903 0.0022609 -0.04136378] [ 0.00682706 -0.00231238 0.99997402 -0.16782301] [ 0. 0. 0. 1. ]] SLAMing on 11.058241008000001 meters Centerline goodness [0,1] 0.9493094267409934 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.04, Z:-0.17 [[ 0.99994906 -0.00738079 -0.00688497 1.61670428] [ 0.00739755 0.99996973 0.00241277 -0.04155058] [ 0.00686696 -0.00246358 0.99997339 -0.16781411] [ 0. 0. 0. 1. ]] SLAMing on 11.088241008 meters Centerline goodness [0,1] 0.9500270912349436 Centerline is valid? [False, True] Translation: X:1.62, Y:-0.04, Z:-0.17 [[ 0.99994924 -0.00729097 -0.00695388 1.61693733] [ 0.00730822 0.99997027 0.00245784 -0.04144502] [ 0.00693575 -0.00250853 0.9999728 -0.16798086] [ 0. 0. 0. 1. ]] SLAMing on 11.118241008000002 meters Centerline goodness [0,1] 0.9496368341960261 Centerline is valid? [True, False] Translation: X:1.62, Y:-0.04, Z:-0.17 [[ 0.99994998 -0.00708098 -0.00706377 1.61704583] [ 0.0070987 0.99997171 0.00248562 -0.04112176] [ 0.00704597 -0.00253564 0.99997196 -0.16795753] [ 0. 0. 0. 1. ]] SLAMing on 11.148241008000001 meters Centerline goodness [0,1] 0.9508989021519488 Centerline is valid? [False, True] Translation: X:1.62, Y:-0.04, Z:-0.17 [[ 0.99994978 -0.00694986 -0.00722105 1.61760893] [ 0.00696677 0.99997304 0.00231811 -0.04058041] [ 0.00720474 -0.0023683 0.99997124 -0.16844459] [ 0. 0. 0. 1. ]] SLAMing on 11.178241008 meters Centerline goodness [0,1] 0.9519076827113006 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.04, Z:-0.17 [[ 9.99952986e-01 -2.56373331e-03 -9.35159240e-03 1.64614359e+00] [ 2.56439355e-03 9.99996710e-01 5.86115187e-05 -3.56302081e-02] [ 9.35141137e-03 -8.25899264e-05 9.99956271e-01 -1.71663450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.208241008000002 meters Centerline goodness [0,1] 0.9537828229277115 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.03, Z:-0.17 [[ 9.99964525e-01 3.59394636e-04 -8.41538798e-03 1.67455822e+00] [-3.58984685e-04 9.99999934e-01 5.02248872e-05 -3.32658504e-02] [ 8.41540548e-03 -4.72021100e-05 9.99964589e-01 -1.74040205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.238241008000001 meters Centerline goodness [0,1] 0.9547060779911865 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.03, Z:-0.17 [[ 9.99960636e-01 2.57391743e-03 -8.49131272e-03 1.70300680e+00] [-2.57360605e-03 9.99996687e-01 4.75968703e-05 -3.09377447e-02] [ 8.49140710e-03 -2.57417028e-05 9.99963947e-01 -1.74379406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.268241008 meters Centerline goodness [0,1] 0.9529480346435709 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.03, Z:-0.18 [[ 9.99928588e-01 5.12480021e-03 -1.07961215e-02 1.73081792e+00] [-5.12438966e-03 9.99986868e-01 6.56901377e-05 -2.91982605e-02] [ 1.07963163e-02 -1.03619134e-05 9.99941718e-01 -1.78316782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.298241008000002 meters Centerline goodness [0,1] 0.9517909204498126 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.03, Z:-0.18 [[ 9.99906201e-01 7.53321210e-03 -1.14384894e-02 1.75910159e+00] [-7.53291738e-03 9.99971625e-01 6.88502821e-05 -2.70520646e-02] [ 1.14386835e-02 1.73213715e-05 9.99934576e-01 -1.81260809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.328241008000001 meters Centerline goodness [0,1] 0.9517350420237997 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.03, Z:-0.18 [[ 9.99874741e-01 9.89449706e-03 -1.23531501e-02 1.78821842e+00] [-9.89433821e-03 9.99951047e-01 7.39755659e-05 -2.56150969e-02] [ 1.23532773e-02 4.82599448e-05 9.99923694e-01 -1.80390603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.358241008000002 meters Centerline goodness [0,1] 0.9504389514974161 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.03, Z:-0.18 [[ 9.99880300e-01 9.54515571e-03 -1.21768388e-02 1.81715908e+00] [-9.54497094e-03 9.99954443e-01 7.32904708e-05 -2.69741343e-02] [ 1.21769836e-02 4.29458745e-05 9.99925857e-01 -1.83711545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.388241008000001 meters Centerline goodness [0,1] 0.9516772664920813 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.03, Z:-0.18 [[ 9.99897055e-01 7.98718718e-03 -1.19198810e-02 1.84607322e+00] [-7.98691857e-03 9.99968102e-01 7.01383059e-05 -3.13672287e-02] [ 1.19200610e-02 2.50720336e-05 9.99928953e-01 -1.81511323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.418241008 meters Centerline goodness [0,1] 0.9517504721190363 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.03, Z:-0.18 [[ 9.99902138e-01 7.03342436e-03 -1.20932159e-02 1.87486269e+00] [-7.03308818e-03 9.99975265e-01 7.03272861e-05 -3.28881674e-02] [ 1.20934114e-02 1.47322498e-05 9.99926872e-01 -1.80500464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.448241008000002 meters Centerline goodness [0,1] 0.952470176753482 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.03, Z:-0.18 [[ 9.99916999e-01 6.03612742e-03 -1.13824110e-02 1.90415366e+00] [-6.03576813e-03 9.99981782e-01 6.59176508e-05 -3.44904199e-02] [ 1.13826015e-02 2.78941386e-06 9.99935216e-01 -1.80897534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.478241008000001 meters Centerline goodness [0,1] 0.9530501769727254 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.04, Z:-0.18 [[ 9.99923868e-01 5.28884083e-03 -1.11483599e-02 1.93290129e+00] [-5.28846274e-03 9.99986014e-01 6.33944554e-05 -3.60598887e-02] [ 1.11485393e-02 -4.43194312e-06 9.99937853e-01 -1.81400088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.508241008 meters Centerline goodness [0,1] 0.9537010038738701 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.04, Z:-0.18 [[ 9.99959423e-01 2.59490202e-03 -8.62662516e-03 1.96100446e+00] [-2.59458801e-03 9.99996633e-01 4.75914388e-05 -4.06926114e-02] [ 8.62671960e-03 -2.52069695e-05 9.99962789e-01 -1.80199106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.538241008000002 meters Centerline goodness [0,1] 0.9541025161545015 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.04, Z:-0.18 [[ 9.99976330e-01 9.34921126e-04 -6.81656557e-03 1.98990850e+00] [-9.34689581e-04 9.99999562e-01 3.71536198e-05 -4.39172040e-02] [ 6.81659732e-03 -3.07813676e-05 9.99976766e-01 -1.80206361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.568241008000001 meters Centerline goodness [0,1] 0.9547434000791782 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.05, Z:-0.18 [[ 9.99985621e-01 -1.87232577e-03 -5.02523595e-03 2.01893600e+00] [ 1.87248335e-03 9.99998247e-01 2.66528949e-05 -4.70351827e-02] [ 5.02517723e-03 -3.60621822e-05 9.99987373e-01 -1.80053280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.598241008 meters Centerline goodness [0,1] 0.9537566247531954 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.05, Z:-0.18 [[ 9.99982864e-01 -3.97801965e-03 -4.29504838e-03 2.04794839e+00] [ 3.97815205e-03 9.99992087e-01 2.22830385e-05 -5.08806268e-02] [ 4.29492575e-03 -3.93690121e-05 9.99990776e-01 -1.80708233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.628241008000002 meters Centerline goodness [0,1] 0.9540692314139636 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.06, Z:-0.18 [[ 9.99958101e-01 -6.07914317e-03 -6.84394579e-03 2.07605274e+00] [ 6.07953357e-03 9.99981519e-01 3.62405147e-05 -5.85849695e-02] [ 6.84359899e-03 -7.78469944e-05 9.99976579e-01 -1.82829919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.658241008000001 meters Centerline goodness [0,1] 0.9524078726968174 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.06, Z:-0.19 [[ 9.99949336e-01 -6.35447062e-03 -7.80675728e-03 2.10460672e+00] [ 6.35494369e-03 9.99979807e-01 3.57937807e-05 -6.08998188e-02] [ 7.80637218e-03 -8.54034702e-05 9.99969526e-01 -1.86060942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.688241008000002 meters Centerline goodness [0,1] 0.9524962624497273 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.06, Z:-0.19 [[ 9.99919782e-01 -5.91752675e-03 -1.11988107e-02 2.13446755e+00] [ 5.91854521e-03 9.99982484e-01 5.78036187e-05 -6.20871618e-02] [ 1.11982724e-02 -1.24079649e-04 9.99937290e-01 -1.90344284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.718241008000001 meters Centerline goodness [0,1] 0.9508553326293558 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.06, Z:-0.19 [[ 9.99897335e-01 -5.54260873e-03 -1.32135806e-02 2.16192577e+00] [ 5.54396704e-03 9.99984630e-01 6.61693169e-05 -6.27779523e-02] [ 1.32130107e-02 -1.39418179e-04 9.99912695e-01 -1.94231391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.748241008 meters Centerline goodness [0,1] 0.9527349524815206 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.06, Z:-0.20 [[ 9.99896644e-01 -3.23177639e-03 -1.40092005e-02 2.19018204e+00] [ 3.23296942e-03 9.99994772e-01 6.25147558e-05 -6.34756116e-02] [ 1.40089252e-02 -1.07799611e-04 9.99901864e-01 -1.95518861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.778241008000002 meters Centerline goodness [0,1] 0.9524020507627065 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.06, Z:-0.20 [[ 9.99919618e-01 -1.53926111e-03 -1.25852181e-02 2.21803423e+00] [ 1.54012162e-03 9.99998812e-01 5.86830342e-05 -6.44045764e-02] [ 1.25851129e-02 -7.80610836e-05 9.99920801e-01 -1.97734982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.808241008000001 meters Centerline goodness [0,1] 0.9576255010498187 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.06, Z:-0.19 [[ 9.99927173e-01 -1.59334334e-04 -1.20674304e-02 2.24751093e+00] [ 1.59992021e-04 9.99999986e-01 5.35356832e-05 -6.35380766e-02] [ 1.20674217e-02 -5.54624769e-05 9.99927184e-01 -1.92624104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.838241008 meters Centerline goodness [0,1] 0.9581576661511408 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.06, Z:-0.19 [[ 9.99922021e-01 1.16683277e-03 -1.24334043e-02 2.27510212e+00] [-1.16623620e-03 9.99999318e-01 5.52317267e-05 -6.37536199e-02] [ 1.24334603e-02 -4.07271335e-05 9.99922701e-01 -1.94001899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.868241008000002 meters Centerline goodness [0,1] 0.9574752380750386 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.06, Z:-0.19 [[ 9.99923194e-01 2.85237232e-03 -1.20611325e-02 2.30383188e+00] [-2.85201118e-03 9.99995932e-01 4.71423864e-05 -6.40530007e-02] [ 1.20612179e-02 -1.27402808e-05 9.99927261e-01 -1.94111997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.898241008000001 meters Centerline goodness [0,1] 0.9588168906113583 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.06, Z:-0.19 [[ 9.99914061e-01 7.57077259e-03 -1.07029758e-02 2.33284617e+00] [-7.57079316e-03 9.99971340e-01 3.85947501e-05 -6.45434154e-02] [ 1.07029613e-02 4.24385830e-05 9.99942721e-01 -1.92441578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.928241008 meters Centerline goodness [0,1] 0.9584568467296496 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.06, Z:-0.19 [[ 9.99896215e-01 9.20939811e-03 -1.10790758e-02 2.36183239e+00] [-9.20947382e-03 9.99957591e-01 4.41860262e-05 -6.46165201e-02] [ 1.10790129e-02 5.78510183e-05 9.99938624e-01 -1.94380488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.958241008000002 meters Centerline goodness [0,1] 0.9587827015483182 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.07, Z:-0.20 [[ 9.99881783e-01 1.11058412e-02 -1.06339025e-02 2.39153577e+00] [-1.11060200e-02 9.99938325e-01 4.22427277e-05 -6.52179476e-02] [ 1.06337158e-02 7.58626000e-05 9.99943458e-01 -1.95862341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.988241008000001 meters Centerline goodness [0,1] 0.9583368961094485 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.07, Z:-0.20 [[ 9.99877268e-01 1.18116709e-02 -1.02923869e-02 2.42223578e+00] [-1.18118679e-02 9.99930237e-01 4.16463758e-05 -6.60066018e-02] [ 1.02921608e-02 7.99310502e-05 9.99947031e-01 -1.98809165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.018241008000002 meters Centerline goodness [0,1] 0.9587896191843644 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.07, Z:-0.20 [[ 9.99875695e-01 1.14912275e-02 -1.07956888e-02 2.45236473e+00] [-1.14914256e-02 9.99933970e-01 4.36829006e-05 -7.14054466e-02] [ 1.07954780e-02 8.03803846e-05 9.99941724e-01 -2.01677396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.048241008000002 meters Centerline goodness [0,1] 0.959499342941468 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.08, Z:-0.20 [[ 9.99886624e-01 1.07839708e-02 -1.05092889e-02 2.48301929e+00] [-1.07841195e-02 9.99941849e-01 4.25240325e-05 -7.58990600e-02] [ 1.05091364e-02 7.08142161e-05 9.99944775e-01 -2.02051929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.078241008000001 meters Centerline goodness [0,1] 0.9597457170563517 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.08, Z:-0.20 [[ 9.99904146e-01 1.01186415e-02 -9.45045338e-03 2.51311160e+00] [-1.01187320e-02 9.99948804e-01 3.82396363e-05 -7.99982017e-02] [ 9.45035648e-03 5.73906341e-05 9.99955343e-01 -2.01658706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.108241008000002 meters Centerline goodness [0,1] 0.9610857192135219 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.08, Z:-0.20 [[ 9.99925311e-01 9.88656995e-03 -7.18522443e-03 2.54358854e+00] [-9.88661627e-03 9.99951126e-01 2.90737765e-05 -8.29541936e-02] [ 7.18516069e-03 4.19659517e-05 9.99974186e-01 -2.00809125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.138241008000001 meters Centerline goodness [0,1] 0.9610857192135219 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.08, Z:-0.20 [[ 9.99924978e-01 9.92019212e-03 -7.18522027e-03 2.57441414e+00] [-9.92023195e-03 9.99950793e-01 3.00968070e-05 -8.31121860e-02] [ 7.18516527e-03 4.11845026e-05 9.99974186e-01 -2.01525562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.168241008 meters Centerline goodness [0,1] 0.9619033213043197 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.09, Z:-0.20 [[ 9.99933396e-01 1.11243597e-02 -3.07430620e-03 2.60462146e+00] [-1.11243724e-02 9.99938122e-01 1.29882162e-05 -8.79806000e-02] [ 3.07426045e-03 2.12123758e-05 9.99995274e-01 -1.99405863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.198241008000002 meters Centerline goodness [0,1] 0.961036995394495 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.09, Z:-0.20 [[ 9.99907967e-01 1.33900820e-02 -2.18234074e-03 2.63757618e+00] [-1.33900791e-02 9.99910349e-01 1.59080455e-05 -9.03190438e-02] [ 2.18235810e-03 1.33151337e-05 9.99997619e-01 -1.98032480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.228241008000001 meters Centerline goodness [0,1] 0.9602751019699731 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.09, Z:-0.20 [[ 9.99877378e-01 1.56188346e-02 -1.13149664e-03 2.66939297e+00] [-1.56188320e-02 9.99878019e-01 1.11590537e-05 -9.03329315e-02] [ 1.13153291e-03 6.51497063e-06 9.99999360e-01 -2.01135666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.258241008 meters Centerline goodness [0,1] 0.9554111048306448 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.09, Z:-0.20 [[ 9.99771813e-01 2.12439070e-02 -2.24016175e-03 2.70138291e+00] [-2.12439332e-02 9.99774322e-01 1.20821736e-05 -8.96975659e-02] [ 2.23991287e-03 3.55104300e-05 9.99997491e-01 -2.03009820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.288241008000002 meters Centerline goodness [0,1] 0.9537413781849039 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.09, Z:-0.20 [[ 9.99693571e-01 2.45576851e-02 -3.11182984e-03 2.73303573e+00] [-2.45577491e-02 9.99698413e-01 1.76290882e-05 -8.98831260e-02] [ 3.11132428e-03 5.87958504e-05 9.99995158e-01 -2.04983306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.318241008000001 meters Centerline goodness [0,1] 0.9503901042463448 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.09, Z:-0.21 [[ 9.99621826e-01 2.71143513e-02 -4.58432495e-03 2.76385072e+00] [-2.71145074e-02 9.99632334e-01 2.81023558e-05 -9.06305006e-02] [ 4.58340142e-03 9.62099846e-05 9.99989492e-01 -2.07307980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.348241008000002 meters Centerline goodness [0,1] 0.95012599978087 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.09, Z:-0.21 [[ 9.99564638e-01 2.90111038e-02 -5.37504479e-03 2.79569799e+00] [-2.90113416e-02 9.99579082e-01 3.37454016e-05 -9.17209036e-02] [ 5.37376133e-03 1.22206550e-04 9.99985554e-01 -2.08951789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.378241008000002 meters Centerline goodness [0,1] 0.9473776415197634 Centerline is valid? [True, False] Translation: X:2.80, Y:-0.09, Z:-0.21 [[ 9.99567984e-01 2.88470813e-02 -5.62947981e-03 2.79706061e+00] [-2.88484112e-02 9.99583786e-01 -1.55161296e-04 -9.23118975e-02] [ 5.62266079e-03 3.17495812e-04 9.99984142e-01 -2.10223649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.408241008000001 meters Centerline goodness [0,1] 0.9435185185185185 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.10, Z:-0.21 [[ 9.99567388e-01 2.87943243e-02 -5.99356357e-03 2.79903794e+00] [-2.87934017e-02 9.99585355e-01 2.40187780e-04 -9.57037279e-02] [ 5.99799441e-03 -6.75087884e-05 9.99982010e-01 -2.11965970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.438241008000002 meters Centerline goodness [0,1] 0.9438793560941093 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.10, Z:-0.21 [[ 0.99966338 0.02522709 -0.00605943 2.79923967] [-0.02525035 0.99967396 -0.00379363 -0.09590375] [ 0.00596175 0.00394535 0.99997445 -0.21289923] [ 0. 0. 0. 1. ]] SLAMing on 12.468241008000001 meters Centerline goodness [0,1] 0.9431651478106245 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.10, Z:-0.21 [[ 0.99973813 0.02206841 -0.00605454 2.79878642] [-0.02211177 0.99972965 -0.00719032 -0.09714851] [ 0.00589423 0.00732231 0.99995582 -0.21303163] [ 0. 0. 0. 1. ]] SLAMing on 12.498241008 meters Centerline goodness [0,1] 0.9437244886579083 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.10, Z:-0.21 [[ 0.99973476 0.02214521 -0.00632487 2.79958794] [-0.02218575 0.9997333 -0.0064125 -0.10121064] [ 0.00618118 0.00655113 0.99995944 -0.21321351] [ 0. 0. 0. 1. ]] SLAMing on 12.528241008000002 meters Centerline goodness [0,1] 0.9424295537279224 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.11, Z:-0.21 [[ 0.99980012 0.01899372 -0.00624127 2.79968782] [-0.01904891 0.99977888 -0.0089063 -0.10655422] [ 0.00607073 0.00902341 0.99994086 -0.21387152] [ 0. 0. 0. 1. ]] SLAMing on 12.558241008000001 meters Centerline goodness [0,1] 0.9411618837214545 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.11, Z:-0.21 [[ 0.99980328 0.01865683 -0.00673227 2.80144304] [-0.0187137 0.99978888 -0.0084845 -0.10962342] [ 0.00657256 0.00860882 0.99994134 -0.21461799] [ 0. 0. 0. 1. ]] SLAMing on 12.588241008 meters Centerline goodness [0,1] 0.9435445396096962 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.11, Z:-0.21 [[ 0.99979913 0.01882043 -0.00689077 2.80176294] [-0.01887126 0.99979463 -0.00738747 -0.11346232] [ 0.00675032 0.00751603 0.99994897 -0.21426503] [ 0. 0. 0. 1. ]] SLAMing on 12.618241008000002 meters Centerline goodness [0,1] 0.9453305567633127 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.12, Z:-0.21 [[ 0.99985996 0.01509837 -0.00721852 2.80225583] [-0.01516686 0.99983956 -0.00953005 -0.12036572] [ 0.00707347 0.0096382 0.99992853 -0.21363816] [ 0. 0. 0. 1. ]] SLAMing on 12.648241008000001 meters Centerline goodness [0,1] 0.9462395350446274 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.12, Z:-0.21 [[ 0.99990808 0.0115676 -0.00707265 2.80144819] [-0.01165585 0.99985309 -0.01256726 -0.12333305] [ 0.00692624 0.01264854 0.99989602 -0.21305895] [ 0. 0. 0. 1. ]] SLAMing on 12.678241008 meters Centerline goodness [0,1] 0.9489081552227734 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.13, Z:-0.21 [[ 0.99991037 0.01115234 -0.00740856 2.80220816] [-0.01123641 0.99987182 -0.01140532 -0.12917138] [ 0.00728042 0.01148754 0.99990751 -0.2122222 ] [ 0. 0. 0. 1. ]] SLAMing on 12.708241008000002 meters Centerline goodness [0,1] 0.950966481356563 Centerline is valid? [False, True] Translation: X:2.80, Y:-0.13, Z:-0.21 [[ 0.99990995 0.01081832 -0.00794046 2.80315423] [-0.01089808 0.9998899 -0.01007103 -0.13464229] [ 0.00783063 0.01015666 0.99991776 -0.21100884] [ 0. 0. 0. 1. ]] SLAMing on 12.738241008000001 meters Centerline goodness [0,1] 0.9517721577942341 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.14, Z:-0.21 [[ 9.99941549e-01 7.60517347e-03 -7.68509813e-03 2.83398715e+00] [-7.60547450e-03 9.99971078e-01 -9.94569146e-06 -1.44501584e-01] [ 7.68480022e-03 6.83939279e-05 9.99970469e-01 -2.07247093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.768241008000002 meters Centerline goodness [0,1] 0.9530551766310739 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.15, Z:-0.21 [[ 9.99963596e-01 1.66573406e-03 -8.36846423e-03 2.86542539e+00] [-1.66591037e-03 9.99998612e-01 -1.40980773e-05 -1.54356288e-01] [ 8.36842913e-03 2.80386754e-05 9.99964984e-01 -2.07620760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.798241008000002 meters Centerline goodness [0,1] 0.9535397709905716 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.16, Z:-0.21 [[ 9.99962040e-01 -2.34201567e-04 -8.70997104e-03 2.89399061e+00] [ 2.34062594e-04 9.99999972e-01 -1.69750178e-05 -1.59017644e-01] [ 8.70997477e-03 1.49356950e-05 9.99962067e-01 -2.09383367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.828241008000001 meters Centerline goodness [0,1] 0.9535329171396141 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.16, Z:-0.21 [[ 9.99952966e-01 -2.72553263e-03 -9.30788284e-03 2.92248259e+00] [ 2.72547701e-03 9.99996286e-01 -1.86604094e-05 -1.63272618e-01] [ 9.30789913e-03 -6.70888898e-06 9.99956681e-01 -2.10381389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.858241008000002 meters Centerline goodness [0,1] 0.9528643599275569 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.17, Z:-0.21 [[ 9.99931808e-01 -6.76024063e-03 -9.52252390e-03 2.95056450e+00] [ 6.76035575e-03 9.99977148e-01 -2.00996618e-05 -1.70829583e-01] [ 9.52244218e-03 -4.42773581e-05 9.99954660e-01 -2.12450679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.888241008000001 meters Centerline goodness [0,1] 0.9534783750865713 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.17, Z:-0.21 [[ 9.99909149e-01 -7.82227681e-03 -1.09774714e-02 2.97966180e+00] [ 7.82243963e-03 9.99969404e-01 -2.81050235e-05 -1.73157461e-01] [ 1.09773554e-02 -5.77681373e-05 9.99939745e-01 -2.11991349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.918241008 meters Centerline goodness [0,1] 0.9518132854578097 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.18, Z:-0.22 [[ 9.99897972e-01 -8.59893625e-03 -1.14063066e-02 3.00719298e+00] [ 8.59918406e-03 9.99963026e-01 -2.73191759e-05 -1.75602179e-01] [ 1.14061198e-02 -7.07685415e-05 9.99934946e-01 -2.15171262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.948241008000002 meters Centerline goodness [0,1] 0.9531122717906944 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.18, Z:-0.21 [[ 9.99907657e-01 -8.21188876e-03 -1.08278609e-02 3.03625025e+00] [ 8.21203297e-03 9.99966280e-01 -3.11431920e-05 -1.76439960e-01] [ 1.08277515e-02 -5.77784342e-05 9.99941377e-01 -2.13263109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.978241008000001 meters Centerline goodness [0,1] 0.9493710389859804 Centerline is valid? [True, False] Translation: X:3.04, Y:-0.18, Z:-0.21 [[ 9.99916507e-01 -7.48419537e-03 -1.05340496e-02 3.03521830e+00] [ 7.48980449e-03 9.99971829e-01 4.93124684e-04 -1.77202272e-01] [ 1.05300622e-02 -5.71981483e-04 9.99944394e-01 -2.12978108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.008241008 meters Centerline goodness [0,1] 0.9492518673295386 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.18, Z:-0.21 [[ 9.99923013e-01 -6.77782504e-03 -1.03936937e-02 3.03448120e+00] [ 6.78718633e-03 9.99976592e-01 8.65661000e-04 -1.77515606e-01] [ 1.03875831e-02 -9.36138292e-04 9.99945609e-01 -2.12742859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.038241008000002 meters Centerline goodness [0,1] 0.9504343013883207 Centerline is valid? [False, True] Translation: X:3.03, Y:-0.18, Z:-0.21 [[ 9.99932439e-01 -5.77006990e-03 -1.00907703e-02 3.03325267e+00] [ 5.78458925e-03 9.99982275e-01 1.41028003e-03 -1.77951747e-01] [ 1.00824540e-02 -1.46855571e-03 9.99948092e-01 -2.12445819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.068241008000001 meters Centerline goodness [0,1] 0.947635502501027 Centerline is valid? [True, False] Translation: X:3.03, Y:-0.18, Z:-0.21 [[ 9.99940863e-01 -4.80402131e-03 -9.75665967e-03 3.03217551e+00] [ 4.82216868e-03 9.99986685e-01 1.83732667e-03 -1.78200718e-01] [ 9.74770321e-03 -1.88426628e-03 9.99950715e-01 -2.12503173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.098241008000002 meters Centerline goodness [0,1] 0.9452977372934736 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.18, Z:-0.21 [[ 9.99948969e-01 -3.79833129e-03 -9.36119593e-03 3.03088663e+00] [ 3.81968962e-03 9.99990140e-01 2.26476006e-03 -1.78372855e-01] [ 9.35250132e-03 -2.30040135e-03 9.99953618e-01 -2.12464770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.128241008000002 meters Centerline goodness [0,1] 0.9400950717889018 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.18, Z:-0.22 [[ 9.99989419e-01 3.00260654e-03 -3.48518677e-03 3.03847654e+00] [-3.02036246e-03 9.99982430e-01 -5.10064925e-03 -1.78101981e-01] [ 3.46981029e-03 5.11112181e-03 9.99980918e-01 -2.17908589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.158241008000001 meters Centerline goodness [0,1] 0.9358643208733369 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.18, Z:-0.22 [[ 0.99998655 0.00418677 -0.00306159 3.03630782] [-0.00419916 0.99998297 -0.00405246 -0.17938301] [ 0.00304458 0.00406526 0.9999871 -0.216383 ] [ 0. 0. 0. 1. ]] SLAMing on 13.188241008000002 meters Centerline goodness [0,1] 0.9344133914150066 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.18, Z:-0.22 [[ 9.99983558e-01 4.98038287e-03 -2.84240997e-03 3.03510691e+00] [-4.98991497e-03 9.99981918e-01 -3.35634751e-03 -1.80974464e-01] [ 2.82564268e-03 3.37047571e-03 9.99990328e-01 -2.15558635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.218241008000001 meters Centerline goodness [0,1] 0.9277509735250178 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.18, Z:-0.21 [[ 9.99980057e-01 5.71893872e-03 -2.67933580e-03 3.03412232e+00] [-5.72579614e-03 9.99980334e-01 -2.55873009e-03 -1.83050547e-01] [ 2.66464989e-03 2.57402039e-03 9.99993137e-01 -2.14776438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.248241008 meters Centerline goodness [0,1] 0.9228438400709482 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.19, Z:-0.21 [[ 9.99969364e-01 7.57656828e-03 -1.96614938e-03 3.03122344e+00] [-7.57777583e-03 9.99971104e-01 -6.07449851e-04 -1.87988421e-01] [ 1.96149018e-03 6.22330281e-04 9.99997883e-01 -2.13193569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.278241008000002 meters Centerline goodness [0,1] 0.9222230463052239 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.19, Z:-0.21 [[ 9.99967550e-01 7.83727195e-03 -1.86449504e-03 3.03138474e+00] [-7.83799739e-03 9.99969209e-01 -3.82093123e-04 -1.89566566e-01] [ 1.86144306e-03 3.96694632e-04 9.99998189e-01 -2.13890074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.308241008000001 meters Centerline goodness [0,1] 0.9154353431178104 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.19, Z:-0.21 [[ 9.99967408e-01 7.85447219e-03 -1.86831435e-03 3.03201500e+00] [-7.85509269e-03 9.99969095e-01 -3.25013487e-04 -1.90764430e-01] [ 1.86570380e-03 3.39678676e-04 9.99998202e-01 -2.14823317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.338241008 meters Centerline goodness [0,1] 0.918620861339308 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.19, Z:-0.22 [[ 9.99967753e-01 7.72427493e-03 -2.19753265e-03 3.03367268e+00] [-7.72380653e-03 9.99970146e-01 2.21555304e-04 -1.94817734e-01] [ 2.19917840e-03 -2.04574842e-04 9.99997561e-01 -2.15948360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.368241008000002 meters Centerline goodness [0,1] 0.9202954801552523 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.20, Z:-0.22 [[ 9.99990864e-01 3.80766966e-03 -1.94239651e-03 3.03374597e+00] [-3.81560053e-03 9.99984333e-01 -4.09580079e-03 -1.95180620e-01] [ 1.92677062e-03 4.10317478e-03 9.99989726e-01 -2.17357018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.398241008000001 meters Centerline goodness [0,1] 0.9216293833131801 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.20, Z:-0.22 [[ 9.99991717e-01 3.25190001e-03 -2.44771790e-03 3.03555229e+00] [-3.26046618e-03 9.99988546e-01 -3.50383814e-03 -1.99675261e-01] [ 2.43629573e-03 3.51178982e-03 9.99990866e-01 -2.17605752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.428241008000002 meters Centerline goodness [0,1] 0.9245737160809749 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.20, Z:-0.22 [[ 9.99993132e-01 2.18781999e-03 -2.99152791e-03 3.03810647e+00] [-2.19728764e-03 9.99992577e-01 -3.16520542e-03 -2.04219449e-01] [ 2.98458080e-03 3.17175693e-03 9.99990516e-01 -2.18423479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.458241008000002 meters Centerline goodness [0,1] 0.9311825757963086 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.21, Z:-0.22 [[ 0.99997956 -0.00549144 -0.00327477 3.04312011] [ 0.00546039 0.99994077 -0.00941468 -0.20912794] [ 0.00332628 0.00939661 0.99995032 -0.22307938] [ 0. 0. 0. 1. ]] SLAMing on 13.488241008000001 meters Centerline goodness [0,1] 0.9317895925859369 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.21, Z:-0.22 [[ 0.99996747 -0.00722994 -0.00357588 3.04578115] [ 0.00719694 0.99993215 -0.00915925 -0.2143804 ] [ 0.00364186 0.00913321 0.99995166 -0.22388523] [ 0. 0. 0. 1. ]] SLAMing on 13.518241008000002 meters Centerline goodness [0,1] 0.9348908857509628 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.22, Z:-0.23 [[ 0.99992211 -0.01188316 -0.00381506 3.04777654] [ 0.01183194 0.99984314 -0.01317924 -0.21685144] [ 0.00397108 0.01313307 0.99990587 -0.2254385 ] [ 0. 0. 0. 1. ]] SLAMing on 13.548241008000002 meters Centerline goodness [0,1] 0.9349228466738917 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.22, Z:-0.23 [[ 0.99990198 -0.01332399 -0.00430159 3.05051943] [ 0.01326901 0.99983301 -0.01256494 -0.22189632] [ 0.00446828 0.01250663 0.99991181 -0.22575485] [ 0. 0. 0. 1. ]] SLAMing on 13.578241008000001 meters Centerline goodness [0,1] 0.934046997389034 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.23, Z:-0.23 [[ 0.9998214 -0.01837481 -0.00442061 3.05257625] [ 0.01830442 0.99971278 -0.01546919 -0.22837412] [ 0.00470358 0.01538551 0.99987057 -0.22622315] [ 0. 0. 0. 1. ]] SLAMing on 13.608241008000002 meters Centerline goodness [0,1] 0.9360626538844361 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.23, Z:-0.23 [[ 0.99981142 -0.01877782 -0.00495147 3.05421949] [ 0.01870536 0.99972284 -0.01429534 -0.23313571] [ 0.00521854 0.01420003 0.99988556 -0.22558662] [ 0. 0. 0. 1. ]] SLAMing on 13.638241008000001 meters Centerline goodness [0,1] 0.9336410391665568 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.24, Z:-0.23 [[ 0.99979794 -0.01942103 -0.00518699 3.05598641] [ 0.01935228 0.99972832 -0.01299151 -0.24004405] [ 0.00543789 0.01288851 0.99990215 -0.22558806] [ 0. 0. 0. 1. ]] SLAMing on 13.668241008 meters Centerline goodness [0,1] 0.9335116242122544 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.24, Z:-0.22 [[ 0.99985506 -0.01604133 -0.00570442 3.05782223] [ 0.0159966 0.9998416 -0.00780299 -0.24499517] [ 0.00582869 0.00771061 0.99995329 -0.22494666] [ 0. 0. 0. 1. ]] SLAMing on 13.698241008000002 meters Centerline goodness [0,1] 0.9338142041851617 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.25, Z:-0.22 [[ 9.99906936e-01 -1.21241595e-02 -6.25496135e-03 3.05917094e+00] [ 1.21081073e-02 9.99923320e-01 -2.59784155e-03 -2.48960986e-01] [ 6.28597836e-03 2.52186404e-03 9.99977063e-01 -2.24154369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.728241008000001 meters Centerline goodness [0,1] 0.9348177601060305 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.25, Z:-0.22 [[ 9.99947494e-01 -7.75836281e-03 -6.69461811e-03 3.05967243e+00] [ 7.77789890e-03 9.99965555e-01 2.89709489e-03 -2.52876964e-01] [ 6.67191080e-03 -2.94901284e-03 9.99973394e-01 -2.22680102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.758241008 meters Centerline goodness [0,1] 0.9334838024429103 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.25, Z:-0.22 [[ 0.9999571 -0.00687778 -0.00620432 3.05804919] [ 0.00689843 0.99997072 0.00331369 -0.25355383] [ 0.00618135 -0.00335634 0.99997526 -0.22247734] [ 0. 0. 0. 1. ]] SLAMing on 13.788241008000002 meters Centerline goodness [0,1] 0.9352151536053483 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.25, Z:-0.23 [[ 9.99999419e-01 -1.06209533e-03 -1.85296634e-04 3.06549830e+00] [ 1.06114737e-03 9.99986720e-01 -5.04314972e-03 -2.53298387e-01] [ 1.90650479e-04 5.04295016e-03 9.99987266e-01 -2.27565996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.818241008000001 meters Centerline goodness [0,1] 0.9372039806290245 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.25, Z:-0.23 [[ 9.99999948e-01 1.98783687e-04 2.54557428e-04 3.06327002e+00] [-1.97740910e-04 9.99991617e-01 -4.08992492e-03 -2.54354440e-01] [-2.55368304e-04 4.08987437e-03 9.99991604e-01 -2.26317884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.848241008000002 meters Centerline goodness [0,1] 0.9365405117270789 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.25, Z:-0.23 [[ 9.99999568e-01 8.55458309e-04 3.63443160e-04 3.06263260e+00] [-8.54063914e-04 9.99992341e-01 -3.81961055e-03 -2.54869613e-01] [-3.66707894e-04 3.81929850e-03 9.99992639e-01 -2.26293716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.878241008000002 meters Centerline goodness [0,1] 0.9379077976254144 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.26, Z:-0.23 [[ 9.99996895e-01 2.38204780e-03 7.31876291e-04 3.06129432e+00] [-2.37956220e-03 9.99991462e-01 -3.37850934e-03 -2.56065323e-01] [-7.39917812e-04 3.37675730e-03 9.99994025e-01 -2.27188788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.908241008000001 meters Centerline goodness [0,1] 0.9337627970383042 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.26, Z:-0.23 [[ 9.99996062e-01 2.69476308e-03 7.84279060e-04 3.06144656e+00] [-2.69201555e-03 9.99990309e-01 -3.48346859e-03 -2.55617337e-01] [-7.93658582e-04 3.48134358e-03 9.99993625e-01 -2.28049000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.938241008000002 meters Centerline goodness [0,1] 0.9330596358401535 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.26, Z:-0.23 [[ 9.99995365e-01 2.91067143e-03 8.93100045e-04 3.06157894e+00] [-2.90745310e-03 9.99989351e-01 -3.58393745e-03 -2.55769875e-01] [-9.03522199e-04 3.58132419e-03 9.99993179e-01 -2.28975908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.968241008000001 meters Centerline goodness [0,1] 0.9315472203616879 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.26, Z:-0.23 [[ 9.99993192e-01 3.50916866e-03 1.14125039e-03 3.06052116e+00] [-3.50595855e-03 9.99989926e-01 -2.80274260e-03 -2.57377917e-01] [-1.15107419e-03 2.79872234e-03 9.99995421e-01 -2.28216991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.998241008 meters Centerline goodness [0,1] 0.9324011831137402 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.26, Z:-0.23 [[ 9.99992500e-01 3.73011666e-03 1.04183266e-03 3.06107073e+00] [-3.72799903e-03 9.99990996e-01 -2.02720408e-03 -2.61328642e-01] [-1.04938499e-03 2.02330493e-03 9.99997403e-01 -2.28483053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.028241008000002 meters Centerline goodness [0,1] 0.9324011831137402 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.26, Z:-0.23 [[ 9.99992500e-01 3.73011666e-03 1.04183266e-03 3.06107073e+00] [-3.72799903e-03 9.99990996e-01 -2.02720408e-03 -2.61328642e-01] [-1.04938499e-03 2.02330493e-03 9.99997403e-01 -2.28483053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.058241008000001 meters Centerline goodness [0,1] 0.9299726709419055 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.26, Z:-0.23 [[ 9.99992408e-01 3.80612997e-03 8.35635331e-04 3.06159871e+00] [-3.80506583e-03 9.99991953e-01 -1.27136151e-03 -2.64528304e-01] [-8.40467574e-04 1.26817221e-03 9.99998843e-01 -2.28143678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.088241008 meters Centerline goodness [0,1] 0.9326506285218898 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.27, Z:-0.23 [[ 9.99994095e-01 3.42047971e-03 3.32281746e-04 3.06323407e+00] [-3.42023451e-03 9.99993880e-01 -7.35710308e-04 -2.68027538e-01] [-3.34796195e-04 7.34569482e-04 9.99999674e-01 -2.28167943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.118241008000002 meters Centerline goodness [0,1] 0.9329739736469563 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.27, Z:-0.23 [[ 9.99999747e-01 -1.96287215e-04 6.84223400e-04 3.06237433e+00] [ 1.99392730e-04 9.99989667e-01 -4.54163469e-03 -2.68916821e-01] [-6.83324865e-04 4.54176997e-03 9.99989453e-01 -2.28457174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.148241008000001 meters Centerline goodness [0,1] 0.9357405641095518 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.27, Z:-0.23 [[ 9.99999717e-01 -7.49451807e-04 6.27612416e-05 3.06427073e+00] [ 7.49677349e-04 9.99992969e-01 -3.67424120e-03 -2.72543171e-01] [-6.00071337e-05 3.67428721e-03 9.99993248e-01 -2.27852009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.178241008000002 meters Centerline goodness [0,1] 0.9382309339482787 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.28, Z:-0.23 [[ 9.99983847e-01 -5.68063594e-03 -1.91303460e-04 3.06676606e+00] [ 5.67907676e-03 9.99956869e-01 -7.34906325e-03 -2.76713593e-01] [ 2.33042562e-04 7.34785811e-03 9.99972977e-01 -2.29417103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.208241008000002 meters Centerline goodness [0,1] 0.9393872481369031 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.28, Z:-0.23 [[ 9.99978352e-01 -6.53780517e-03 -7.42724943e-04 3.06903949e+00] [ 6.53291209e-03 9.99958117e-01 -6.40974734e-03 -2.81418296e-01] [ 7.84599515e-04 6.40475643e-03 9.99979182e-01 -2.29087751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.238241008000001 meters Centerline goodness [0,1] 0.9387675723731733 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.29, Z:-0.23 [[ 9.99971480e-01 -7.43082108e-03 -1.34972921e-03 3.07131657e+00] [ 7.42344238e-03 9.99957909e-01 -5.39192842e-03 -2.86270148e-01] [ 1.38973885e-03 5.38175501e-03 9.99984553e-01 -2.28430207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.268241008000002 meters Centerline goodness [0,1] 0.9405310327498115 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.29, Z:-0.23 [[ 9.99965079e-01 -8.11666538e-03 -1.99001941e-03 3.07356922e+00] [ 8.10816887e-03 9.99958135e-01 -4.24108695e-03 -2.91233224e-01] [ 2.02435958e-03 4.22480343e-03 9.99989026e-01 -2.27796209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.298241008000002 meters Centerline goodness [0,1] 0.9391899504281208 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.30, Z:-0.23 [[ 9.99910381e-01 -1.31494467e-02 -2.51440464e-03 3.07722691e+00] [ 1.31281139e-02 9.99879204e-01 -8.32043811e-03 -2.95669973e-01] [ 2.62351007e-03 8.28668305e-03 9.99962223e-01 -2.30516757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.328241008000001 meters Centerline goodness [0,1] 0.9363700664874806 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.30, Z:-0.23 [[ 0.9999029 -0.01357695 -0.00313986 3.07944812] [ 0.01355203 0.99987753 -0.00782692 -0.29852584] [ 0.00324574 0.00778361 0.99996444 -0.23091898] [ 0. 0. 0. 1. ]] SLAMing on 14.358241008000002 meters Centerline goodness [0,1] 0.935874971738639 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.30, Z:-0.23 [[ 9.99934906e-01 -1.08028063e-02 -3.67188591e-03 3.08197112e+00] [ 1.07924678e-02 9.99937772e-01 -2.82382047e-03 -3.03642963e-01] [ 3.70216261e-03 2.78400795e-03 9.99989272e-01 -2.30183471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.388241008000001 meters Centerline goodness [0,1] 0.9375834920273995 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.31, Z:-0.23 [[ 9.99941920e-01 -1.01770148e-02 -3.54766164e-03 3.08157065e+00] [ 1.01722040e-02 9.99947321e-01 -1.37145361e-03 -3.08175819e-01] [ 3.56143206e-03 1.33528642e-03 9.99992767e-01 -2.29507428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.418241008 meters Centerline goodness [0,1] 0.9369264093940604 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.31, Z:-0.23 [[ 9.99948965e-01 -9.52613721e-03 -3.36459232e-03 3.08057609e+00] [ 9.52535002e-03 9.99954602e-01 -2.49910510e-04 -3.10869000e-01] [ 3.36682026e-03 2.17848836e-04 9.99994309e-01 -2.28413859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.448241008000002 meters Centerline goodness [0,1] 0.9370683258176836 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.31, Z:-0.23 [[ 9.99955996e-01 -8.85237230e-03 -3.10519019e-03 3.07942852e+00] [ 8.85426869e-03 9.99960622e-01 5.97502152e-04 -3.12708703e-01] [ 3.09977860e-03 -6.24970048e-04 9.99995000e-01 -2.27611349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.478241008000001 meters Centerline goodness [0,1] 0.9372802378434006 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.31, Z:-0.23 [[ 9.99962075e-01 -8.25685603e-03 -2.77016197e-03 3.07832577e+00] [ 8.25977525e-03 9.99965342e-01 1.04402676e-03 -3.13470244e-01] [ 2.76144559e-03 -1.06686808e-03 9.99995618e-01 -2.27371350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.508241008000002 meters Centerline goodness [0,1] 0.9376640419947506 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99989317e-01 -3.58411121e-03 -2.91876537e-03 3.07788073e+00] [ 3.60298483e-03 9.99972469e-01 6.48692256e-03 -3.17105653e-01] [ 2.89543516e-03 -6.49736953e-03 9.99974700e-01 -2.25669958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.538241008000002 meters Centerline goodness [0,1] 0.9367178612059158 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99989958e-01 -3.40703748e-03 -2.91125360e-03 3.07801291e+00] [ 3.42445861e-03 9.99976135e-01 6.00017941e-03 -3.16401259e-01] [ 2.89074129e-03 -6.01008862e-03 9.99977761e-01 -2.26688524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.568241008000001 meters Centerline goodness [0,1] 0.9361653534315405 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99992985e-01 -2.74461968e-03 -2.54885419e-03 3.07672200e+00] [ 2.75992318e-03 9.99978070e-01 6.02008927e-03 -3.16259442e-01] [ 2.53227544e-03 -6.02708168e-03 9.99978631e-01 -2.26817129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.598241008000002 meters Centerline goodness [0,1] 0.9368661619768605 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99995010e-01 -2.20321208e-03 -2.26382028e-03 3.07565341e+00] [ 2.21642443e-03 9.99980430e-01 5.85046788e-03 -3.15802430e-01] [ 2.25088616e-03 -5.85545628e-03 9.99980323e-01 -2.27114849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.628241008000002 meters Centerline goodness [0,1] 0.9357976653696498 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.32, Z:-0.23 [[ 9.99996525e-01 -1.60710041e-03 -2.08973811e-03 3.07475693e+00] [ 1.61937524e-03 9.99981369e-01 5.88549787e-03 -3.15843508e-01] [ 2.08024059e-03 -5.88886149e-03 9.99980497e-01 -2.27168373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.658241008000001 meters Centerline goodness [0,1] 0.9324898146554197 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99994475e-01 -2.04526645e-03 -2.62058032e-03 3.07623416e+00] [ 2.06118585e-03 9.99979353e-01 6.08653220e-03 -3.17640141e-01] [ 2.60807763e-03 -6.09190007e-03 9.99978043e-01 -2.26962284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.688241008000002 meters Centerline goodness [0,1] 0.9357608477155903 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99990472e-01 -2.78300588e-03 -3.36319543e-03 3.07866402e+00] [ 2.80361293e-03 9.99977231e-01 6.13812236e-03 -3.19554811e-01] [ 3.34603643e-03 -6.14749297e-03 9.99975506e-01 -2.27253702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.718241008000001 meters Centerline goodness [0,1] 0.9364050253573075 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 0.99998612 -0.00346862 -0.00396594 3.08093068] [ 0.00349354 0.99997408 0.00629566 -0.32190824] [ 0.003944 -0.00630943 0.99997232 -0.22771374] [ 0. 0. 0. 1. ]] SLAMing on 14.748241008 meters Centerline goodness [0,1] 0.9336893119359239 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99955619e-01 -8.44184942e-03 -4.18280008e-03 3.08351385e+00] [ 8.44805235e-03 9.99963238e-01 1.46751866e-03 -3.23046112e-01] [ 4.17025774e-03 -1.50279004e-03 9.99990175e-01 -2.30561324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.778241008000002 meters Centerline goodness [0,1] 0.9292973286875725 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99953917e-01 -8.50662107e-03 -4.44984701e-03 3.08429575e+00] [ 8.51481889e-03 9.99962080e-01 1.82657946e-03 -3.24253923e-01] [ 4.43414025e-03 -1.86438493e-03 9.99988431e-01 -2.30407232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.808241008000001 meters Centerline goodness [0,1] 0.9369701544536059 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99959135e-01 -8.05261962e-03 -4.10893006e-03 3.08295356e+00] [ 8.06083089e-03 9.99965539e-01 1.98576436e-03 -3.23746401e-01] [ 4.09279786e-03 -2.01880460e-03 9.99989587e-01 -2.29893690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.838241008 meters Centerline goodness [0,1] 0.9371125659000058 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99961947e-01 -7.78381553e-03 -3.93917833e-03 3.08220127e+00] [ 7.79154047e-03 9.99967745e-01 1.94952011e-03 -3.23287282e-01] [ 3.92387657e-03 -1.98013819e-03 9.99990341e-01 -2.29728637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.868241008000002 meters Centerline goodness [0,1] 0.9378781299753944 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99965802e-01 -7.40508548e-03 -3.68229053e-03 3.08118900e+00] [ 7.41319270e-03 9.99970117e-01 2.19292494e-03 -3.23278868e-01] [ 3.66594170e-03 -2.22014748e-03 9.99990816e-01 -2.29264237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.898241008000001 meters Centerline goodness [0,1] 0.9367595768598853 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99968224e-01 -7.15094543e-03 -3.52356300e-03 3.08056695e+00] [ 7.15889198e-03 9.99971848e-01 2.24783319e-03 -3.22544553e-01] [ 3.50738967e-03 -2.27298657e-03 9.99991266e-01 -2.29069391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.928241008000002 meters Centerline goodness [0,1] 0.9383678300280015 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99969042e-01 -7.11379524e-03 -3.36284614e-03 3.08027883e+00] [ 7.12039441e-03 9.99972740e-01 1.95449477e-03 -3.21366753e-01] [ 3.34885059e-03 -1.97837906e-03 9.99992436e-01 -2.29448890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.958241008000002 meters Centerline goodness [0,1] 0.9364511850527651 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99970963e-01 -6.90967523e-03 -3.21383795e-03 3.07974763e+00] [ 6.91599644e-03 9.99974163e-01 1.95993573e-03 -3.20769793e-01] [ 3.20021239e-03 -1.98210571e-03 9.99992915e-01 -2.29379528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.988241008000001 meters Centerline goodness [0,1] 0.9370552818828681 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99971085e-01 -6.88402354e-03 -3.23089745e-03 3.07986022e+00] [ 6.88967714e-03 9.99974749e-01 1.74199720e-03 -3.20115778e-01] [ 3.21882392e-03 -1.76420667e-03 9.99993263e-01 -2.29729988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.018241008000002 meters Centerline goodness [0,1] 0.9390008359998847 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99971719e-01 -6.78000928e-03 -3.25477796e-03 3.07996071e+00] [ 6.78444849e-03 9.99976068e-01 1.35480869e-03 -3.19223440e-01] [ 3.24551445e-03 -1.37685224e-03 9.99993785e-01 -2.30396069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.048241008000002 meters Centerline goodness [0,1] 0.9382769337016574 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99972522e-01 -6.65424619e-03 -3.26732399e-03 3.07975295e+00] [ 6.65881650e-03 9.99976864e-01 1.38991452e-03 -3.18876469e-01] [ 3.25799957e-03 -1.41163284e-03 9.99993696e-01 -2.30156951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.078241008000001 meters Centerline goodness [0,1] 0.9339788478718193 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99974817e-01 -6.34713076e-03 -3.17478544e-03 3.07905711e+00] [ 6.35263418e-03 9.99978332e-01 1.72640540e-03 -3.19185444e-01] [ 3.16375893e-03 -1.74653017e-03 9.99993470e-01 -2.29476455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.108241008000002 meters Centerline goodness [0,1] 0.9378031878031878 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99975866e-01 -6.17142268e-03 -3.19080012e-03 3.07873625e+00] [ 6.17751273e-03 9.99979110e-01 1.90230760e-03 -3.19606859e-01] [ 3.17899352e-03 -1.92197290e-03 9.99993100e-01 -2.29039951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.138241008000001 meters Centerline goodness [0,1] 0.9375433125433126 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99976125e-01 -6.16309495e-03 -3.12492177e-03 3.07863669e+00] [ 6.16903143e-03 9.99979178e-01 1.89365251e-03 -3.19146259e-01] [ 3.11318594e-03 -1.91288504e-03 9.99993324e-01 -2.29054897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.168241008 meters Centerline goodness [0,1] 0.9366810966810967 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99975572e-01 -6.28433844e-03 -3.05987170e-03 3.07895047e+00] [ 6.28898063e-03 9.99979084e-01 1.50986818e-03 -3.18644675e-01] [ 3.05031918e-03 -1.52907477e-03 9.99994179e-01 -2.29928558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.198241008000002 meters Centerline goodness [0,1] 0.9357623350752086 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99975716e-01 -6.25600436e-03 -3.07067626e-03 3.07906042e+00] [ 6.26082803e-03 9.99979178e-01 1.56379101e-03 -3.18826965e-01] [ 3.06082924e-03 -1.58297801e-03 9.99994063e-01 -2.30036363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.228241008000001 meters Centerline goodness [0,1] 0.9350818344803655 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99974244e-01 -6.35263786e-03 -3.33985310e-03 3.07973168e+00] [ 6.35891364e-03 9.99978030e-01 1.87180978e-03 -3.20430688e-01] [ 3.32788879e-03 -1.89299941e-03 9.99992671e-01 -2.29768293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.258241008000002 meters Centerline goodness [0,1] 0.9335768751268447 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99974085e-01 -6.26664964e-03 -3.54389132e-03 3.07989472e+00] [ 6.27426016e-03 9.99978026e-01 2.14048091e-03 -3.21208589e-01] [ 3.53039980e-03 -2.16266074e-03 9.99991430e-01 -2.29269247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.288241008000002 meters Centerline goodness [0,1] 0.9314901756216311 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99974517e-01 -6.17416244e-03 -3.58404223e-03 3.07998449e+00] [ 6.18183864e-03 9.99978614e-01 2.13465826e-03 -3.21441198e-01] [ 3.57078586e-03 -2.15675984e-03 9.99991299e-01 -2.29440386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.318241008000001 meters Centerline goodness [0,1] 0.9293073341094296 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99970230e-01 -6.70508166e-03 -3.81839492e-03 3.08167314e+00] [ 6.71096442e-03 9.99976311e-01 1.52991206e-03 -3.20944242e-01] [ 3.80804628e-03 -1.55549162e-03 9.99991540e-01 -2.31099924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.348241008000002 meters Centerline goodness [0,1] 0.9295791035224992 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99966929e-01 -7.10317893e-03 -3.96047520e-03 3.08297665e+00] [ 7.10796401e-03 9.99974024e-01 1.19544429e-03 -3.20503414e-01] [ 3.95188087e-03 -1.22355567e-03 9.99991443e-01 -2.32338613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.378241008000002 meters Centerline goodness [0,1] 0.9268944676894467 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99962772e-01 -7.54484340e-03 -4.18694586e-03 3.08434894e+00] [ 7.54814552e-03 9.99971213e-01 7.73429377e-04 -3.19960724e-01] [ 4.18098993e-03 -8.05004261e-04 9.99990936e-01 -2.33484998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.408241008000001 meters Centerline goodness [0,1] 0.9271717641586231 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99961759e-01 -7.61971513e-03 -4.29182107e-03 3.08476796e+00] [ 7.62347594e-03 9.99970571e-01 8.60598134e-04 -3.20430052e-01] [ 4.28513726e-03 -8.93283818e-04 9.99990420e-01 -2.33600902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.438241008000002 meters Centerline goodness [0,1] 0.9266006984866123 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99965291e-01 -7.11518820e-03 -4.33479465e-03 3.08367971e+00] [ 7.12287299e-03 9.99973083e-01 1.75996435e-03 -3.22362836e-01] [ 4.32215549e-03 -1.79077946e-03 9.99989056e-01 -2.31644454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.468241008000001 meters Centerline goodness [0,1] 0.9269968841909089 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99969030e-01 -6.64408317e-03 -4.21846538e-03 3.08258967e+00] [ 6.65363507e-03 9.99975323e-01 2.25432529e-03 -3.23075563e-01] [ 4.20338336e-03 -2.28232361e-03 9.99988561e-01 -2.30554263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.498241008 meters Centerline goodness [0,1] 0.9260789848956666 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99971529e-01 -6.34303888e-03 -4.08734915e-03 3.08186019e+00] [ 6.35274463e-03 9.99977022e-01 2.36598988e-03 -3.22984076e-01] [ 4.07224767e-03 -2.39188840e-03 9.99988848e-01 -2.30185058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.528241008000002 meters Centerline goodness [0,1] 0.9262817713337409 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99970822e-01 -6.45904891e-03 -4.07870489e-03 3.08227416e+00] [ 6.46668215e-03 9.99977359e-01 1.86107995e-03 -3.22205796e-01] [ 4.06659174e-03 -1.88740133e-03 9.99989950e-01 -2.31219464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.558241008000001 meters Centerline goodness [0,1] 0.924387832257314 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99969448e-01 -6.58074101e-03 -4.21870116e-03 3.08268744e+00] [ 6.58934918e-03 9.99976230e-01 2.02983685e-03 -3.22462348e-01] [ 4.20524305e-03 -2.05757333e-03 9.99989041e-01 -2.31012232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.588241008000002 meters Centerline goodness [0,1] 0.9236024303032064 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99967022e-01 -6.84152486e-03 -4.37587205e-03 3.08339733e+00] [ 6.84956523e-03 9.99974876e-01 1.82509252e-03 -3.22269775e-01] [ 4.36327570e-03 -1.85500515e-03 9.99988760e-01 -2.31421076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.618241008000002 meters Centerline goodness [0,1] 0.9236718909016894 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.32, Z:-0.23 [[ 9.99965106e-01 -7.03227988e-03 -4.50939582e-03 3.08401096e+00] [ 7.04030719e-03 9.99973656e-01 1.76673535e-03 -3.22181139e-01] [ 4.49685284e-03 -1.79842124e-03 9.99988272e-01 -2.31656242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.648241008000001 meters Centerline goodness [0,1] 0.9200596264577792 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.32, Z:-0.23 [[ 9.99960595e-01 -7.42461686e-03 -4.86650576e-03 3.08548704e+00] [ 7.43358278e-03 9.99970702e-01 1.82688055e-03 -3.23075404e-01] [ 4.85279929e-03 -1.86298414e-03 9.99986490e-01 -2.32103099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.678241008000002 meters Centerline goodness [0,1] 0.9181651269198263 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.32, Z:-0.23 [[ 9.99949989e-01 -8.29731311e-03 -5.58342548e-03 3.08782039e+00] [ 8.30823729e-03 9.99963612e-01 1.93619504e-03 -3.24884706e-01] [ 5.56715709e-03 -1.98248663e-03 9.99982538e-01 -2.31901119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.708241008000002 meters Centerline goodness [0,1] 0.9182240244475788 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.33, Z:-0.23 [[ 9.99942767e-01 -8.76545826e-03 -6.13431205e-03 3.08890975e+00] [ 8.78442023e-03 9.99956700e-01 3.07104611e-03 -3.28285940e-01] [ 6.10712731e-03 -3.12475672e-03 9.99976469e-01 -2.29890906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.738241008000001 meters Centerline goodness [0,1] 0.9184993531694696 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.33, Z:-0.23 [[ 0.99993355 -0.00935872 -0.0067316 3.0906632 ] [ 0.00938374 0.99994914 0.00369561 -0.33054366] [ 0.00669668 -0.00375853 0.99997051 -0.2290557 ] [ 0. 0. 0. 1. ]] SLAMing on 15.768241008000002 meters Centerline goodness [0,1] 0.9181909369837149 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.33, Z:-0.23 [[ 0.99992179 -0.01014358 -0.00731519 3.09305556] [ 0.01016965 0.99994204 0.00353552 -0.33111393] [ 0.00727891 -0.00360964 0.99996699 -0.22981545] [ 0. 0. 0. 1. ]] SLAMing on 15.798241008000002 meters Centerline goodness [0,1] 0.9177840508115738 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.33, Z:-0.23 [[ 9.99908282e-01 -1.11843476e-02 -7.63795168e-03 3.09540353e+00] [ 1.12065423e-02 9.99933088e-01 2.86924848e-03 -3.30302992e-01] [ 7.60534994e-03 -2.95458035e-03 9.99966714e-01 -2.31439748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.828241008000001 meters Centerline goodness [0,1] 0.9182969946965233 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.33, Z:-0.23 [[ 0.99991033 -0.01102179 -0.00760635 3.09480402] [ 0.0110482 0.99993305 0.00343855 -0.33078 ] [ 0.00756795 -0.00352227 0.99996516 -0.23021529] [ 0. 0. 0. 1. ]] SLAMing on 15.858241008000002 meters Centerline goodness [0,1] 0.9199776161163962 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.33, Z:-0.23 [[ 0.99991343 -0.0107557 -0.00757977 3.09373857] [ 0.01078759 0.99993308 0.00417816 -0.33164918] [ 0.00753433 -0.00425956 0.99996254 -0.2282745 ] [ 0. 0. 0. 1. ]] SLAMing on 15.888241008000001 meters Centerline goodness [0,1] 0.9193995517282058 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.33, Z:-0.23 [[ 0.99991613 -0.01049417 -0.00759044 3.09271484] [ 0.01053448 0.99993051 0.00529067 -0.33341954] [ 0.00753439 -0.00537018 0.9999572 -0.22586706] [ 0. 0. 0. 1. ]] SLAMing on 15.918241008000003 meters Centerline goodness [0,1] 0.9224206878165823 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.34, Z:-0.22 [[ 0.99990226 -0.01167364 -0.0076937 3.09355675] [ 0.01172056 0.99991282 0.00608142 -0.33613704] [ 0.00762204 -0.006171 0.99995191 -0.22388654] [ 0. 0. 0. 1. ]] SLAMing on 15.948241008000002 meters Centerline goodness [0,1] 0.9224206878165823 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.34, Z:-0.22 [[ 0.99990226 -0.01167364 -0.0076937 3.09355675] [ 0.01172056 0.99991282 0.00608142 -0.33613704] [ 0.00762204 -0.006171 0.99995191 -0.22388654] [ 0. 0. 0. 1. ]] SLAMing on 15.978241008000001 meters Centerline goodness [0,1] 0.9234310493332145 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.34, Z:-0.22 [[ 0.9998872 -0.01252241 -0.00829338 3.09575745] [ 0.01257357 0.99990206 0.00614595 -0.33693887] [ 0.00821561 -0.00624954 0.99994672 -0.22392224] [ 0. 0. 0. 1. ]] SLAMing on 16.008241008000002 meters Centerline goodness [0,1] 0.9242087811232496 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.34, Z:-0.23 [[ 0.99985856 -0.01401495 -0.00929758 3.09973337] [ 0.01406529 0.99988665 0.00537142 -0.33647811] [ 0.00922125 -0.00550144 0.99994235 -0.225244 ] [ 0. 0. 0. 1. ]] SLAMing on 16.038241008 meters Centerline goodness [0,1] 0.923214073457744 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.34, Z:-0.23 [[ 0.99984194 -0.01479398 -0.0098609 3.10214576] [ 0.01484424 0.9998771 0.00504332 -0.33676424] [ 0.00978508 -0.0051889 0.99993866 -0.22627635] [ 0. 0. 0. 1. ]] SLAMing on 16.068241008 meters Centerline goodness [0,1] 0.9185777777777777 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.34, Z:-0.23 [[ 0.99979867 -0.01684539 -0.0109024 3.10731325] [ 0.01688434 0.99985136 0.00349081 -0.33538003] [ 0.01084198 -0.00367419 0.99993447 -0.22929943] [ 0. 0. 0. 1. ]] SLAMing on 16.098241008000002 meters Centerline goodness [0,1] 0.9132116702102527 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.33, Z:-0.23 [[ 9.99774937e-01 -1.77568575e-02 -1.16090380e-02 3.10998319e+00] [ 1.77895295e-02 9.99838062e-01 2.71717349e-03 -3.33949737e-01] [ 1.15589096e-02 -2.92308128e-03 9.99928921e-01 -2.30510932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.128241008000003 meters Centerline goodness [0,1] 0.8989904935691791 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.33, Z:-0.23 [[ 0.99978821 -0.01640768 -0.01242284 3.11447285] [ 0.01648114 0.99984716 0.00583404 -0.33377425] [ 0.01232522 -0.00603754 0.99990581 -0.23126099] [ 0. 0. 0. 1. ]] SLAMing on 16.158241008 meters Centerline goodness [0,1] 0.9097363381941376 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.33, Z:-0.23 [[ 0.99978065 -0.0166961 -0.01264453 3.11512368] [ 0.0167638 0.9998456 0.00526722 -0.3318023 ] [ 0.01255463 -0.00547804 0.99990618 -0.2316304 ] [ 0. 0. 0. 1. ]] SLAMing on 16.188241008000002 meters Centerline goodness [0,1] 0.9088028169014084 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.33, Z:-0.23 [[ 0.99978006 -0.01677457 -0.01258782 3.11495649] [ 0.01683278 0.99984805 0.00453254 -0.32922811] [ 0.01250988 -0.00474343 0.9999105 -0.23214093] [ 0. 0. 0. 1. ]] SLAMing on 16.218241008000003 meters Centerline goodness [0,1] 0.8938367215230719 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.33, Z:-0.23 [[ 0.99979365 -0.01617996 -0.01228277 3.11302115] [ 0.016236 0.99985816 0.00447686 -0.32685847] [ 0.0122086 -0.00467535 0.99991454 -0.23103043] [ 0. 0. 0. 1. ]] SLAMing on 16.248241008 meters Centerline goodness [0,1] 0.9075996374162987 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.32, Z:-0.23 [[ 0.99981277 -0.01530111 -0.01184514 3.11049102] [ 0.01535152 0.99987344 0.00417607 -0.32396755] [ 0.01177974 -0.00435713 0.99992112 -0.23020294] [ 0. 0. 0. 1. ]] SLAMing on 16.278241008000002 meters Centerline goodness [0,1] 0.9137371865408004 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.32, Z:-0.23 [[ 0.99988938 -0.00972309 -0.01125562 3.10651579] [ 0.00981412 0.99991935 0.00806109 -0.31900946] [ 0.01117633 -0.00817066 0.99990416 -0.22835931] [ 0. 0. 0. 1. ]] SLAMing on 16.308241008000003 meters Centerline goodness [0,1] 0.9105915509159406 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.31, Z:-0.23 [[ 0.99990546 -0.00847891 -0.01082462 3.1040177 ] [ 0.008559 0.99993618 0.00737384 -0.31380774] [ 0.0107614 -0.00746579 0.99991422 -0.22845019] [ 0. 0. 0. 1. ]] SLAMing on 16.338241008 meters Centerline goodness [0,1] 0.9037001084908354 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.31, Z:-0.23 [[ 0.99991803 -0.00733789 -0.01049214 3.10174984] [ 0.00740799 0.99995039 0.00665886 -0.30873798] [ 0.01044276 -0.00673604 0.99992278 -0.22847368] [ 0. 0. 0. 1. ]] SLAMing on 16.368241008000002 meters Centerline goodness [0,1] 0.8965722717212417 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.31, Z:-0.22 [[ 9.99949097e-01 -1.74082796e-03 -9.93847153e-03 3.09736011e+00] [ 1.85314008e-03 9.99934405e-01 1.13027415e-02 -3.05161911e-01] [ 9.91814349e-03 -1.13205835e-02 9.99886731e-01 -2.24916792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.398241008000003 meters Centerline goodness [0,1] 0.89209610323457 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.30, Z:-0.23 [[ 9.99951734e-01 -1.38555944e-03 -9.72671302e-03 3.09631223e+00] [ 1.48871592e-03 9.99942644e-01 1.06062656e-02 -3.02213756e-01] [ 9.71145952e-03 -1.06202340e-02 9.99896444e-01 -2.25160316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.428241008 meters Centerline goodness [0,1] 0.8916859513461647 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.30, Z:-0.23 [[ 9.99952022e-01 -1.38578358e-03 -9.69711728e-03 3.09613268e+00] [ 1.47994863e-03 9.99951760e-01 9.71019364e-03 -2.99489529e-01] [ 9.68319327e-03 -9.72407900e-03 9.99905835e-01 -2.25854138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.458241008 meters Centerline goodness [0,1] 0.891739093747363 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.30, Z:-0.23 [[ 9.99950645e-01 -1.52105572e-03 -9.81806945e-03 3.09654687e+00] [ 1.60705702e-03 9.99960361e-01 8.75755391e-03 -2.97071381e-01] [ 9.80435954e-03 -8.77289988e-03 9.99913452e-01 -2.26846811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.488241008000003 meters Centerline goodness [0,1] 0.893090179019575 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.29, Z:-0.23 [[ 9.99949893e-01 -1.73584382e-03 -9.85892530e-03 3.09733564e+00] [ 1.80275525e-03 9.99975377e-01 6.78206171e-03 -2.92718316e-01] [ 9.84690994e-03 -6.79949511e-03 9.99928400e-01 -2.29765562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.518241008 meters Centerline goodness [0,1] 0.895169578622816 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.29, Z:-0.23 [[ 9.99947284e-01 -2.27988885e-03 -1.00115231e-02 3.09878957e+00] [ 2.33485832e-03 9.99982246e-01 5.48236986e-03 -2.90016443e-01] [ 9.99884612e-03 -5.50545634e-03 9.99934854e-01 -2.31964252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.548241008 meters Centerline goodness [0,1] 0.8942305011014752 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.29, Z:-0.23 [[ 9.99947103e-01 -2.60552108e-03 -9.95003019e-03 3.09957713e+00] [ 2.65067066e-03 9.99986239e-01 4.52714465e-03 -2.87806406e-01] [ 9.93809770e-03 -4.55327943e-03 9.99940249e-01 -2.33769262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.578241008000003 meters Centerline goodness [0,1] 0.8908711383245199 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.29, Z:-0.23 [[ 9.99946057e-01 -2.74330820e-03 -1.00178668e-02 3.09994878e+00] [ 2.78367882e-03 9.99988053e-01 4.01814357e-03 -2.86685348e-01] [ 1.00067241e-02 -4.04581334e-03 9.99941747e-01 -2.34445944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.608241008 meters Centerline goodness [0,1] 0.8915826977676334 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.29, Z:-0.23 [[ 9.99944506e-01 -2.79758660e-03 -1.01566663e-02 3.09993904e+00] [ 2.83874275e-03 9.99987810e-01 4.03997928e-03 -2.87096660e-01] [ 1.01452403e-02 -4.06858725e-03 9.99940259e-01 -2.33938020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.638241008 meters Centerline goodness [0,1] 0.8951866596141533 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.29, Z:-0.23 [[ 9.99942168e-01 -2.91467887e-03 -1.03521086e-02 3.10029330e+00] [ 2.95758319e-03 9.99987091e-01 4.13161250e-03 -2.87338930e-01] [ 1.03399327e-02 -4.16199078e-03 9.99937880e-01 -2.33615974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.668241008000003 meters Centerline goodness [0,1] 0.8888733965421082 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.29, Z:-0.23 [[ 9.99940639e-01 -3.02076039e-03 -1.04686627e-02 3.10073039e+00] [ 3.06415892e-03 9.99986769e-01 4.13200869e-03 -2.87536908e-01] [ 1.04560424e-02 -4.16384105e-03 9.99936665e-01 -2.33821342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.698241008 meters Centerline goodness [0,1] 0.8926387190036695 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.29, Z:-0.24 [[ 0.99993583 -0.00378349 -0.01067831 3.10243015] [ 0.00382024 0.99998685 0.00342257 -0.28714968] [ 0.01066523 -0.00346315 0.99993713 -0.23538786] [ 0. 0. 0. 1. ]] SLAMing on 16.728241008 meters Centerline goodness [0,1] 0.8942502568089064 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.29, Z:-0.24 [[ 0.9999326 -0.00397525 -0.01090808 3.10313562] [ 0.00401128 0.99998657 0.0032831 -0.28741553] [ 0.01089488 -0.00332663 0.99993512 -0.23562273] [ 0. 0. 0. 1. ]] SLAMing on 16.758241008000002 meters Centerline goodness [0,1] 0.8935356973467623 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.29, Z:-0.24 [[ 0.99993167 -0.00386055 -0.01103403 3.10319685] [ 0.00389962 0.9999862 0.00352089 -0.28776817] [ 0.01102029 -0.00356368 0.99993292 -0.23522285] [ 0. 0. 0. 1. ]] SLAMing on 16.788241008 meters Centerline goodness [0,1] 0.8938003737066682 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.29, Z:-0.24 [[ 0.99993357 -0.00370363 -0.010915 3.10288628] [ 0.00374075 0.99998728 0.00338261 -0.28734842] [ 0.01090233 -0.00342321 0.99993471 -0.23546223] [ 0. 0. 0. 1. ]] SLAMing on 16.818241008 meters Centerline goodness [0,1] 0.893331112221667 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.29, Z:-0.24 [[ 9.99940493e-01 -3.19221594e-03 -1.04316728e-02 3.10150083e+00] [ 3.22355188e-03 9.99990339e-01 2.98849114e-03 -2.85240231e-01] [ 1.04220321e-02 -3.02194034e-03 9.99941123e-01 -2.35920507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.848241008000002 meters Centerline goodness [0,1] 0.8900433381486832 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.28, Z:-0.24 [[ 9.99942816e-01 -2.96929856e-03 -1.02736315e-02 3.10091578e+00] [ 2.99942817e-03 9.99991243e-01 2.91854874e-03 -2.84356377e-01] [ 1.02648755e-02 -2.94919686e-03 9.99942966e-01 -2.35847622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.878241008000003 meters Centerline goodness [0,1] 0.8875548885553888 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.28, Z:-0.24 [[ 9.99943960e-01 -2.89616776e-03 -1.01827461e-02 3.10064558e+00] [ 2.92505128e-03 9.99991738e-01 2.82276797e-03 -2.83848048e-01] [ 1.01744867e-02 -2.85239483e-03 9.99944170e-01 -2.35879729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.908241008 meters Centerline goodness [0,1] 0.8889536335636394 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.28, Z:-0.24 [[ 9.99939125e-01 -3.34270649e-03 -1.05153834e-02 3.10164099e+00] [ 3.36956187e-03 9.99991104e-01 2.53723393e-03 -2.83573095e-01] [ 1.05068087e-02 -2.57251171e-03 9.99941493e-01 -2.36030040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.938241008000002 meters Centerline goodness [0,1] 0.8895751606710625 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.28, Z:-0.24 [[ 9.99936578e-01 -3.38978971e-03 -1.07400893e-02 3.10202524e+00] [ 3.42081723e-03 9.99990025e-01 2.87189269e-03 -2.84806663e-01] [ 1.07302471e-02 -2.90845043e-03 9.99938199e-01 -2.35584110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.968241008000003 meters Centerline goodness [0,1] 0.8874606140032903 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.29, Z:-0.24 [[ 0.99993121 -0.00365159 -0.01114642 3.10308215] [ 0.00368644 0.99998838 0.00310748 -0.28626342] [ 0.01113495 -0.00314836 0.99993305 -0.23538408] [ 0. 0. 0. 1. ]] SLAMing on 16.998241008 meters Centerline goodness [0,1] 0.8952154448796866 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.29, Z:-0.24 [[ 9.99922005e-01 -4.36448985e-03 -1.17019106e-02 3.10538846e+00] [ 4.39710967e-03 9.99986515e-01 2.76328558e-03 -2.86845258e-01] [ 1.16896925e-02 -2.81452465e-03 9.99927712e-01 -2.36573728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.028241008000002 meters Centerline goodness [0,1] 0.8959890279060654 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.29, Z:-0.24 [[ 9.99920290e-01 -4.54912248e-03 -1.17779028e-02 3.10608768e+00] [ 4.57781813e-03 9.99986616e-01 2.41058495e-03 -2.86001678e-01] [ 1.17667791e-02 -2.46430990e-03 9.99927732e-01 -2.37483458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.058241008000003 meters Centerline goodness [0,1] 0.8965661524728723 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.28, Z:-0.24 [[ 9.99917949e-01 -4.82939907e-03 -1.18647092e-02 3.10703515e+00] [ 4.85198481e-03 9.99986470e-01 1.87555995e-03 -2.84753895e-01] [ 1.18554909e-02 -1.93297344e-03 9.99927853e-01 -2.38711829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.088241008 meters Centerline goodness [0,1] 0.8949237868829534 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.28, Z:-0.24 [[ 9.99918512e-01 -4.78890033e-03 -1.18336793e-02 3.10704450e+00] [ 4.80995295e-03 9.99986899e-01 1.75122305e-03 -2.83985924e-01] [ 1.18251378e-02 -1.80799979e-03 9.99928446e-01 -2.38950590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.118241008000002 meters Centerline goodness [0,1] 0.8925416526892541 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.28, Z:-0.24 [[ 9.99921547e-01 -4.54597377e-03 -1.16719714e-02 3.10659408e+00] [ 4.56620544e-03 9.99988117e-01 1.70729190e-03 -2.83604097e-01] [ 1.16640714e-02 -1.76045457e-03 9.99930423e-01 -2.39096368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.148241008000003 meters Centerline goodness [0,1] 0.8916297583674385 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.28, Z:-0.24 [[ 9.99933852e-01 -3.23799812e-03 -1.10366179e-02 3.10345316e+00] [ 3.26805226e-03 9.99990998e-01 2.70618305e-03 -2.84761256e-01] [ 1.10277559e-02 -2.74207229e-03 9.99935433e-01 -2.37171316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.178241008 meters Centerline goodness [0,1] 0.8948827829594151 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.28, Z:-0.24 [[ 9.99938329e-01 -2.69176967e-03 -1.07746529e-02 3.10217839e+00] [ 2.72315924e-03 9.99992088e-01 2.89966902e-03 -2.84599445e-01] [ 1.07667624e-02 -2.92883129e-03 9.99937747e-01 -2.36602772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.208241008 meters Centerline goodness [0,1] 0.8962816367488015 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.28, Z:-0.24 [[ 9.99941947e-01 -2.38585738e-03 -1.05076406e-02 3.10155654e+00] [ 2.41201759e-03 9.99994022e-01 2.47766760e-03 -2.83166464e-01] [ 1.05016665e-02 -2.50286838e-03 9.99941724e-01 -2.37225741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.238241008000003 meters Centerline goodness [0,1] 0.8938800455593522 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.28, Z:-0.24 [[ 9.99946011e-01 -6.15533302e-04 -1.03728512e-02 3.09987992e+00] [ 6.36934584e-04 9.99997675e-01 2.06002425e-03 -2.79263616e-01] [ 1.03715591e-02 -2.06651986e-03 9.99944079e-01 -2.38151687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.268241008 meters Centerline goodness [0,1] 0.8976530499280416 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.28, Z:-0.24 [[ 9.99948372e-01 1.44073001e-04 -1.01603497e-02 3.09874643e+00] [-1.28393834e-04 9.99998800e-01 1.54380735e-03 -2.77242372e-01] [ 1.01605599e-02 -1.54242312e-03 9.99947191e-01 -2.38632679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.298241008 meters Centerline goodness [0,1] 0.9046606659671986 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.28, Z:-0.24 [[ 9.99950242e-01 1.08546334e-03 -9.91641294e-03 3.09727316e+00] [-1.07269269e-03 9.99998589e-01 1.29305806e-03 -2.75931935e-01] [ 9.91780251e-03 -1.28235645e-03 9.99949995e-01 -2.38716618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.328241008000003 meters Centerline goodness [0,1] 0.9016638520528224 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.27, Z:-0.24 [[ 9.99954356e-01 2.21724744e-03 -9.29351233e-03 3.09501378e+00] [-2.20587749e-03 9.99996806e-01 1.23350116e-03 -2.74730611e-01] [ 9.29621762e-03 -1.21294451e-03 9.99956054e-01 -2.38803554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.358241008 meters Centerline goodness [0,1] 0.9055730114106169 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.27, Z:-0.24 [[ 9.99955217e-01 2.67636748e-03 -9.07749222e-03 3.09447869e+00] [-2.67190705e-03 9.99996304e-01 5.03465194e-04 -2.72327380e-01] [ 9.07880613e-03 -4.79188431e-04 9.99958672e-01 -2.39970379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.388241008 meters Centerline goodness [0,1] 0.9009764819144547 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.27, Z:-0.24 [[ 9.99954641e-01 4.06199562e-03 -8.61490218e-03 3.09321037e+00] [-4.06207676e-03 9.99991750e-01 8.07897886e-06 -2.68424885e-01] [ 8.61486393e-03 2.69157816e-05 9.99962891e-01 -2.41865445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.418241008000003 meters Centerline goodness [0,1] 0.9016809038302562 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.27, Z:-0.24 [[ 9.99956322e-01 4.48865820e-03 -8.19792966e-03 3.09219378e+00] [-4.48911212e-03 9.99989923e-01 -3.69698642e-05 -2.68260862e-01] [ 8.19768111e-03 7.37696749e-05 9.99966396e-01 -2.42262500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.448241008 meters Centerline goodness [0,1] 0.9050827878321139 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.27, Z:-0.24 [[ 9.99954922e-01 4.69793571e-03 -8.25131944e-03 3.09192094e+00] [-4.69561626e-03 9.99988930e-01 3.00451698e-04 -2.69456911e-01] [ 8.25263960e-03 -2.61693125e-04 9.99965912e-01 -2.41671994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.478241008 meters Centerline goodness [0,1] 0.9052101395425646 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.27, Z:-0.24 [[ 9.99952426e-01 5.12889455e-03 -8.29704581e-03 3.09120340e+00] [-5.11952606e-03 9.99986234e-01 1.14998081e-03 -2.71931214e-01] [ 8.30282972e-03 -1.10744916e-03 9.99964918e-01 -2.40300456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.508241008000002 meters Centerline goodness [0,1] 0.9064736274970298 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.27, Z:-0.24 [[ 9.99968234e-01 1.86126555e-03 -7.75020532e-03 3.08931928e+00] [-1.87991035e-03 9.99995355e-01 -2.39912695e-03 -2.73390131e-01] [ 7.74570391e-03 2.41362043e-03 9.99967089e-01 -2.40001955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.538241008000004 meters Centerline goodness [0,1] 0.9056963073356517 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.28, Z:-0.24 [[ 9.99966516e-01 1.82460653e-03 -7.97736032e-03 3.08977887e+00] [-1.83854227e-03 9.99996796e-01 -1.73992661e-03 -2.75656991e-01] [ 7.97416008e-03 1.75453506e-03 9.99966667e-01 -2.39325119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.568241008 meters Centerline goodness [0,1] 0.9022270055468168 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.28, Z:-0.24 [[ 9.99964692e-01 1.63471797e-03 -8.24268036e-03 3.09061736e+00] [-1.64555637e-03 9.99997790e-01 -1.30830114e-03 -2.77568379e-01] [ 8.24052345e-03 1.32181874e-03 9.99965173e-01 -2.39067125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.598241008000002 meters Centerline goodness [0,1] 0.8952481403352948 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.28, Z:-0.24 [[ 9.99962289e-01 8.05726224e-04 -8.64699411e-03 3.09320640e+00] [-8.14317753e-04 9.99999178e-01 -9.90110878e-04 -2.81136597e-01] [ 8.64618925e-03 9.97114942e-04 9.99962124e-01 -2.40338015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.628241008000003 meters Centerline goodness [0,1] 0.8951991771606482 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.28, Z:-0.24 [[ 9.99958877e-01 4.63450023e-04 -9.05699312e-03 3.09504710e+00] [-4.71167301e-04 9.99999528e-01 -8.49964308e-04 -2.83193122e-01] [ 9.05659493e-03 8.54196714e-04 9.99958623e-01 -2.41287850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.658241008 meters Centerline goodness [0,1] 0.8966112549773063 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.29, Z:-0.24 [[ 9.99954175e-01 7.09427286e-05 -9.57302253e-03 3.09700921e+00] [-7.65395391e-05 9.99999826e-01 -5.84278929e-04 -2.85633057e-01] [ 9.57297942e-03 5.84984869e-04 9.99954007e-01 -2.41889361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.688241008000002 meters Centerline goodness [0,1] 0.8994054630097033 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.29, Z:-0.24 [[ 9.99947393e-01 -7.52456312e-04 -1.02296366e-02 3.10011455e+00] [ 7.47784985e-04 9.99999614e-01 -4.60463672e-04 -2.89691200e-01] [ 1.02299791e-02 4.52789880e-04 9.99947570e-01 -2.43340064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.718241008000003 meters Centerline goodness [0,1] 0.8961724099225502 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.29, Z:-0.24 [[ 9.99944635e-01 -8.53213394e-04 -1.04880248e-02 3.10110714e+00] [ 8.52227822e-04 9.99999632e-01 -9.84400195e-05 -2.91601216e-01] [ 1.04881049e-02 8.94963829e-05 9.99944994e-01 -2.43569549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.748241008 meters Centerline goodness [0,1] 0.9003571729898473 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.29, Z:-0.24 [[ 9.99942829e-01 -7.58428245e-04 -1.06659744e-02 3.10151224e+00] [ 7.62521617e-04 9.99999637e-01 3.79717069e-04 -2.93598659e-01] [ 1.06656826e-02 -3.87828397e-04 9.99943045e-01 -2.43357461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.778241008000002 meters Centerline goodness [0,1] 0.8998476555887829 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.30, Z:-0.24 [[ 9.99939606e-01 -7.81139153e-04 -1.09624202e-02 3.10228154e+00] [ 7.91072746e-04 9.99999280e-01 9.01842777e-04 -2.95802319e-01] [ 1.09617079e-02 -9.10460382e-04 9.99939504e-01 -2.43080121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.808241008000003 meters Centerline goodness [0,1] 0.9022863132844151 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.30, Z:-0.24 [[ 9.99935008e-01 -9.51377351e-04 -1.13610883e-02 3.10378285e+00] [ 9.71978553e-04 9.99997893e-01 1.80792845e-03 -3.00224175e-01] [ 1.13593443e-02 -1.81885368e-03 9.99933826e-01 -2.43023905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.838241008 meters Centerline goodness [0,1] 0.9022863132844151 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.30, Z:-0.24 [[ 9.99935008e-01 -9.51377351e-04 -1.13610883e-02 3.10378285e+00] [ 9.71978553e-04 9.99997893e-01 1.80792845e-03 -3.00224175e-01] [ 1.13593443e-02 -1.81885368e-03 9.99933826e-01 -2.43023905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.868241008000002 meters Centerline goodness [0,1] 0.9011250602204778 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.30, Z:-0.24 [[ 9.99932070e-01 -1.07530927e-03 -1.16059629e-02 3.10467138e+00] [ 1.10060166e-03 9.99997033e-01 2.17309105e-03 -3.02254015e-01] [ 1.16035917e-02 -2.18571697e-03 9.99930287e-01 -2.43101742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.898241008000003 meters Centerline goodness [0,1] 0.9018505903723888 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.30, Z:-0.24 [[ 9.99928256e-01 -1.22028968e-03 -1.19160717e-02 3.10553701e+00] [ 1.25232552e-03 9.99995621e-01 2.68136531e-03 -3.04506649e-01] [ 1.19127475e-02 -2.69609574e-03 9.99925406e-01 -2.42766251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.928241008 meters Centerline goodness [0,1] 0.8967784165291137 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.31, Z:-0.24 [[ 9.99925235e-01 -1.94266332e-03 -1.20727424e-02 3.10673726e+00] [ 1.98567682e-03 9.99991721e-01 3.55189516e-03 -3.08658520e-01] [ 1.20657423e-02 -3.57560216e-03 9.99920813e-01 -2.42054804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.958241008 meters Centerline goodness [0,1] 0.8992478622701404 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.31, Z:-0.24 [[ 9.99919454e-01 -2.27121220e-03 -1.24870615e-02 3.10804254e+00] [ 2.32131911e-03 9.99989307e-01 3.99967818e-03 -3.11178262e-01] [ 1.24778438e-02 -4.02834247e-03 9.99914034e-01 -2.41881781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.988241008000003 meters Centerline goodness [0,1] 0.9002124361256244 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.32, Z:-0.24 [[ 9.99909664e-01 -2.97862881e-03 -1.31069654e-02 3.11037895e+00] [ 3.04021701e-03 9.99984420e-01 4.68147783e-03 -3.15865873e-01] [ 1.30928168e-02 -4.72090294e-03 9.99903141e-01 -2.41749913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.018241008 meters Centerline goodness [0,1] 0.900507555658092 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.32, Z:-0.24 [[ 9.99908809e-01 -2.94267203e-03 -1.31800788e-02 3.11071116e+00] [ 3.00915736e-03 9.99982835e-01 5.02739209e-03 -3.17293360e-01] [ 1.31650586e-02 -5.06659457e-03 9.99900500e-01 -2.41704490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.048241008 meters Centerline goodness [0,1] 0.8982061873537652 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.32, Z:-0.24 [[ 9.99906910e-01 -3.02155412e-03 -1.33057292e-02 3.11116985e+00] [ 3.08802800e-03 9.99982841e-01 4.97817566e-03 -3.17824340e-01] [ 1.32904591e-02 -5.01880071e-03 9.99899083e-01 -2.41962760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.078241008000003 meters Centerline goodness [0,1] 0.8973543443689461 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.32, Z:-0.24 [[ 9.99909456e-01 -2.70400017e-03 -1.31820991e-02 3.11079032e+00] [ 2.77219604e-03 9.99982856e-01 5.15784489e-03 -3.18687591e-01] [ 1.31679263e-02 -5.19392125e-03 9.99899809e-01 -2.42102889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.108241008 meters Centerline goodness [0,1] 0.8983629316827674 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.32, Z:-0.24 [[ 9.99912204e-01 -2.39972582e-03 -1.30316963e-02 3.11048331e+00] [ 2.46616473e-03 9.99984032e-01 5.08458005e-03 -3.19299711e-01] [ 1.30192867e-02 -5.11627195e-03 9.99902156e-01 -2.42703696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.138241008 meters Centerline goodness [0,1] 0.8975361185905788 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.32, Z:-0.24 [[ 9.99919620e-01 -1.46853966e-03 -1.25934995e-02 3.10906717e+00] [ 1.53698732e-03 9.99984091e-01 5.42720336e-03 -3.20813540e-01] [ 1.25853291e-02 -5.44612317e-03 9.99905970e-01 -2.43067595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.168241008000003 meters Centerline goodness [0,1] 0.8997861024395883 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.32, Z:-0.24 [[ 9.99921474e-01 -1.28802352e-03 -1.24653939e-02 3.10904550e+00] [ 1.35313462e-03 9.99985479e-01 5.21632489e-03 -3.21107423e-01] [ 1.24584941e-02 -5.23278263e-03 9.99908698e-01 -2.43952756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.198241008 meters Centerline goodness [0,1] 0.8971035041523192 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.32, Z:-0.24 [[ 9.99922571e-01 -1.15848145e-03 -1.23898750e-02 3.10897917e+00] [ 1.22221629e-03 9.99986055e-01 5.13777270e-03 -3.21666796e-01] [ 1.23837502e-02 -5.15251800e-03 9.99910043e-01 -2.44448155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.228241008 meters Centerline goodness [0,1] 0.8992985100585541 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.32, Z:-0.24 [[ 9.99918628e-01 -1.39010479e-03 -1.26808845e-02 3.10992877e+00] [ 1.46054554e-03 9.99983547e-01 5.54730862e-03 -3.23720512e-01] [ 1.26729645e-02 -5.56537823e-03 9.99904207e-01 -2.44219303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.258241008000002 meters Centerline goodness [0,1] 0.9053331784116656 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.32, Z:-0.25 [[ 9.99911168e-01 -1.87342773e-03 -1.31964440e-02 3.11184570e+00] [ 1.94327354e-03 9.99984162e-01 5.28194198e-03 -3.24588245e-01] [ 1.31863397e-02 -5.30711708e-03 9.99898972e-01 -2.45098582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.288241008000004 meters Centerline goodness [0,1] 0.9043425359946696 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.32, Z:-0.25 [[ 9.99906274e-01 -2.31864936e-03 -1.34932188e-02 3.11330473e+00] [ 2.38229632e-03 9.99986104e-01 4.70279971e-03 -3.24184183e-01] [ 1.34821272e-02 -4.73450378e-03 9.99897903e-01 -2.46263009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.318241008 meters Centerline goodness [0,1] 0.9054701798216309 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.32, Z:-0.25 [[ 9.99904122e-01 -2.46502908e-03 -1.36261101e-02 3.11399354e+00] [ 2.52527213e-03 9.99987106e-01 4.40571153e-03 -3.24058389e-01] [ 1.36150742e-02 -4.43969876e-03 9.99897454e-01 -2.46945031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.348241008000002 meters Centerline goodness [0,1] 0.9084239524430912 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.32, Z:-0.25 [[ 9.99899990e-01 -2.93412430e-03 -1.38347413e-02 3.11540103e+00] [ 2.98106459e-03 9.99989866e-01 3.37352778e-03 -3.22735066e-01] [ 1.38247027e-02 -3.41443265e-03 9.99898604e-01 -2.48897555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.378241008000003 meters Centerline goodness [0,1] 0.9082992249412174 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.32, Z:-0.25 [[ 9.99900107e-01 -3.23154184e-03 -1.37598070e-02 3.11612827e+00] [ 3.26815816e-03 9.99991176e-01 2.63945412e-03 -3.21308855e-01] [ 1.37511561e-02 -2.68415968e-03 9.99901846e-01 -2.50497357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.408241008 meters Centerline goodness [0,1] 0.9087719298245613 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.32, Z:-0.25 [[ 9.99898691e-01 -3.49167783e-03 -1.37991611e-02 3.11689743e+00] [ 3.52152216e-03 9.99991512e-01 2.13905775e-03 -3.20219234e-01] [ 1.37915751e-02 -2.18743510e-03 9.99902499e-01 -2.51596340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.438241008000002 meters Centerline goodness [0,1] 0.90806862972409 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.32, Z:-0.25 [[ 9.99897507e-01 -3.47119750e-03 -1.38897634e-02 3.11695342e+00] [ 3.50406886e-03 9.99991116e-01 2.34295245e-03 -3.21122558e-01] [ 1.38815072e-02 -2.39138300e-03 9.99900788e-01 -2.51188507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.468241008000003 meters Centerline goodness [0,1] 0.9137260591990713 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.32, Z:-0.25 [[ 9.99890297e-01 -3.67894883e-03 -1.43477658e-02 3.11776271e+00] [ 3.72383034e-03 9.99988253e-01 3.10265841e-03 -3.23379364e-01] [ 1.43361827e-02 -3.15574668e-03 9.99892252e-01 -2.49787913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.498241008 meters Centerline goodness [0,1] 0.9115188583078492 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.33, Z:-0.25 [[ 0.99988553 -0.00371115 -0.01466805 3.11795574] [ 0.0037704 0.99998484 0.00401407 -0.32552315] [ 0.01465293 -0.00406892 0.99988436 -0.24798925] [ 0. 0. 0. 1. ]] SLAMing on 18.528241008000002 meters Centerline goodness [0,1] 0.9118437189744788 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.33, Z:-0.25 [[ 9.99866619e-01 -7.70113786e-03 -1.44026647e-02 3.11689022e+00] [ 7.70949203e-03 9.99970144e-01 5.24610868e-04 -3.26445587e-01] [ 1.43981946e-02 -6.35578123e-04 9.99896139e-01 -2.46690755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.558241008000003 meters Centerline goodness [0,1] 0.9167762485023816 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.33, Z:-0.25 [[ 9.99859560e-01 -8.07383239e-03 -1.46858180e-02 3.11809049e+00] [ 8.08088277e-03 9.99967261e-01 4.20803227e-04 -3.26597205e-01] [ 1.46819397e-02 -5.39418504e-04 9.99892069e-01 -2.47085919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.588241008 meters Centerline goodness [0,1] 0.9171153342452198 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.33, Z:-0.25 [[ 9.99854541e-01 -8.30976636e-03 -1.48944788e-02 3.11921634e+00] [ 8.31231554e-03 9.99965446e-01 1.09249511e-04 -3.25688583e-01] [ 1.48930563e-02 -2.33041227e-04 9.99889065e-01 -2.47987063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.618241008000002 meters Centerline goodness [0,1] 0.9182898550724637 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.33, Z:-0.25 [[ 0.99986209 -0.00538721 -0.01570904 3.12288852] [ 0.00544567 0.9999784 0.00368152 -0.32589536] [ 0.01568887 -0.00376656 0.99986983 -0.24956713] [ 0. 0. 0. 1. ]] SLAMing on 18.648241008000003 meters Centerline goodness [0,1] 0.9197563098346389 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.33, Z:-0.25 [[ 0.99985636 -0.00559558 -0.01599863 3.12373859] [ 0.0056573 0.99997672 0.00381536 -0.32630283] [ 0.0159769 -0.00390532 0.99986473 -0.24942089] [ 0. 0. 0. 1. ]] SLAMing on 18.678241008 meters Centerline goodness [0,1] 0.9200886607559496 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.33, Z:-0.25 [[ 0.99985363 -0.00560605 -0.01616437 3.12404159] [ 0.00567355 0.99997537 0.00413255 -0.32713776] [ 0.01614081 -0.00422365 0.99986081 -0.24891966] [ 0. 0. 0. 1. ]] SLAMing on 18.708241008 meters Centerline goodness [0,1] 0.9206085995228952 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.33, Z:-0.25 [[ 0.99984449 -0.00602505 -0.01657385 3.12541479] [ 0.00609169 0.99997355 0.00397313 -0.32736258] [ 0.01654948 -0.00407347 0.99985475 -0.24912642] [ 0. 0. 0. 1. ]] SLAMing on 18.738241008000003 meters Centerline goodness [0,1] 0.921216007461599 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.33, Z:-0.25 [[ 0.99984075 -0.00608513 -0.01677619 3.12590413] [ 0.00615136 0.99997348 0.00389911 -0.32758667] [ 0.01675202 -0.00400169 0.99985167 -0.2491632 ] [ 0. 0. 0. 1. ]] SLAMing on 18.768241008 meters Centerline goodness [0,1] 0.9233169991832925 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.33, Z:-0.25 [[ 0.99984007 -0.00600717 -0.01684508 3.12583778] [ 0.00607241 0.99997425 0.00382394 -0.32758542] [ 0.01682167 -0.00392562 0.9998508 -0.24901815] [ 0. 0. 0. 1. ]] SLAMing on 18.798241008 meters Centerline goodness [0,1] 0.927331602438811 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.33, Z:-0.25 [[ 0.99983694 -0.00603325 -0.01702058 3.12623116] [ 0.00609664 0.99997466 0.00367485 -0.32735943] [ 0.01699798 -0.00377802 0.99984839 -0.24913174] [ 0. 0. 0. 1. ]] SLAMing on 18.828241008000003 meters Centerline goodness [0,1] 0.9267801360464777 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.33, Z:-0.25 [[ 0.99983713 -0.00595182 -0.01703761 3.1262161 ] [ 0.00601122 0.99997603 0.0034369 -0.32667266] [ 0.01701674 -0.00353875 0.99984894 -0.24942388] [ 0. 0. 0. 1. ]] SLAMing on 18.858241008 meters Centerline goodness [0,1] 0.9264491698223128 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.32, Z:-0.25 [[ 9.99840387e-01 -6.02697009e-03 -1.68189477e-02 3.12617152e+00] [ 6.06595683e-03 9.99979030e-01 2.26797286e-03 -3.23547592e-01] [ 1.68049260e-02 -2.36963387e-03 9.99855979e-01 -2.51247074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.888241008 meters Centerline goodness [0,1] 0.9253262796849112 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.32, Z:-0.25 [[ 9.99841156e-01 -6.05964055e-03 -1.67613531e-02 3.12625235e+00] [ 6.09146632e-03 9.99979739e-01 1.84835668e-03 -3.22370044e-01] [ 1.67498131e-02 -1.95016430e-03 9.99857810e-01 -2.51890272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.918241008000003 meters Centerline goodness [0,1] 0.9249115069923983 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.32, Z:-0.25 [[ 9.99839250e-01 -6.15655988e-03 -1.68395367e-02 3.12663266e+00] [ 6.18214448e-03 9.99979813e-01 1.46768326e-03 -3.21272316e-01] [ 1.68301609e-02 -1.57155178e-03 9.99857128e-01 -2.52419389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.948241008 meters Centerline goodness [0,1] 0.924380704041721 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.32, Z:-0.25 [[ 9.99838773e-01 -6.17456436e-03 -1.68612939e-02 3.12651551e+00] [ 6.19717333e-03 9.99979967e-01 1.28895886e-03 -3.20245580e-01] [ 1.68529973e-02 -1.39324341e-03 9.99857007e-01 -2.52289532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.978241008 meters Centerline goodness [0,1] 0.9247477537727894 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.32, Z:-0.25 [[ 9.99840036e-01 -5.90420706e-03 -1.68831855e-02 3.12593688e+00] [ 5.93950015e-03 9.99980278e-01 2.04105033e-03 -3.21362168e-01] [ 1.68708018e-02 -2.14100152e-03 9.99855386e-01 -2.50864736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.008241008000002 meters Centerline goodness [0,1] 0.9264176156170114 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.32, Z:-0.25 [[ 9.99835170e-01 -5.97636015e-03 -1.71439509e-02 3.12616898e+00] [ 6.02329616e-03 9.99978249e-01 2.68743120e-03 -3.22817663e-01] [ 1.71275170e-02 -2.79025132e-03 9.99849420e-01 -2.49507320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.038241008000004 meters Centerline goodness [0,1] 0.9265270506108203 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.32, Z:-0.25 [[ 0.99983103 -0.0059611 -0.01738926 3.12623564] [ 0.00602134 0.99997604 0.00341417 -0.32425695] [ 0.01736849 -0.0035183 0.99984297 -0.24801598] [ 0. 0. 0. 1. ]] SLAMing on 19.068241008 meters Centerline goodness [0,1] 0.928442661083973 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.33, Z:-0.25 [[ 0.99982833 -0.00616502 -0.01747282 3.12631641] [ 0.00623737 0.99997218 0.00408956 -0.32536453] [ 0.01744712 -0.00419784 0.99983898 -0.24662176] [ 0. 0. 0. 1. ]] SLAMing on 19.098241008000002 meters Centerline goodness [0,1] 0.9277007023857897 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.32, Z:-0.25 [[ 0.99981711 -0.00674045 -0.01789739 3.12793291] [ 0.00680684 0.99997017 0.00365082 -0.32496203] [ 0.01787225 -0.00377197 0.99983316 -0.24724203] [ 0. 0. 0. 1. ]] SLAMing on 19.128241008000003 meters Centerline goodness [0,1] 0.9281032423456754 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.33, Z:-0.25 [[ 0.99981339 -0.00674383 -0.01810282 3.1281887 ] [ 0.00681598 0.99996906 0.00392649 -0.32547135] [ 0.01807578 -0.00404914 0.99982842 -0.24662156] [ 0. 0. 0. 1. ]] SLAMing on 19.158241008 meters Centerline goodness [0,1] 0.9303455095393206 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.32, Z:-0.25 [[ 0.99988642 -0.00698959 -0.01335226 3.1448324 ] [ 0.00689827 0.99995258 -0.00687366 -0.32197799] [ 0.01339967 0.00678078 0.99988723 -0.25310947] [ 0. 0. 0. 1. ]] SLAMing on 19.188241008000002 meters Centerline goodness [0,1] 0.9306483128700166 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.32, Z:-0.25 [[ 0.99988308 -0.00675388 -0.01371885 3.14493288] [ 0.00667396 0.99996054 -0.00586322 -0.32392143] [ 0.01375791 0.00577097 0.9998887 -0.25129868] [ 0. 0. 0. 1. ]] SLAMing on 19.218241008000003 meters Centerline goodness [0,1] 0.933428338762215 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.33, Z:-0.25 [[ 9.99889290e-01 -3.62301507e-03 -1.44319716e-02 3.14725538e+00] [ 3.60885283e-03 9.99992981e-01 -1.00723224e-03 -3.26773821e-01] [ 1.44355195e-02 9.55037867e-04 9.99895346e-01 -2.50025672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.248241008 meters Centerline goodness [0,1] 0.9314993042671614 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.32, Z:-0.25 [[ 9.99877080e-01 -4.48831776e-03 -1.50226529e-02 3.15022187e+00] [ 4.45356949e-03 9.99987332e-01 -2.34571353e-03 -3.24054500e-01] [ 1.50329909e-02 2.27852077e-03 9.99884402e-01 -2.52788362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.278241008000002 meters Centerline goodness [0,1] 0.931725740848344 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.32, Z:-0.25 [[ 9.99873062e-01 -4.70581780e-03 -1.52221925e-02 3.15116870e+00] [ 4.66666702e-03 9.99985714e-01 -2.60645338e-03 -3.23169452e-01] [ 1.52342405e-02 2.53508561e-03 9.99880739e-01 -2.53434606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.308241008000003 meters Centerline goodness [0,1] 0.9309684717347797 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.32, Z:-0.25 [[ 9.99867323e-01 -4.79822238e-03 -1.55664485e-02 3.15180397e+00] [ 4.76105710e-03 9.99985729e-01 -2.42370543e-03 -3.22961947e-01] [ 1.55778558e-02 2.34927111e-03 9.99875898e-01 -2.52859184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.338241008 meters Centerline goodness [0,1] 0.9322541269472215 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.32, Z:-0.25 [[ 9.99866960e-01 -4.48635886e-03 -1.56822829e-02 3.15144741e+00] [ 4.45795321e-03 9.99988360e-01 -1.84580965e-03 -3.23723758e-01] [ 1.56903813e-02 1.77565320e-03 9.99875322e-01 -2.51722290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.368241008000002 meters Centerline goodness [0,1] 0.9318973525313516 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.33, Z:-0.25 [[ 9.99871798e-01 -3.36626988e-03 -1.56542515e-02 3.14889308e+00] [ 3.36307425e-03 9.99994318e-01 -2.30458478e-04 -3.25480399e-01] [ 1.56549383e-02 1.77782522e-04 9.99877438e-01 -2.47764950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.398241008000003 meters Centerline goodness [0,1] 0.9322181312150292 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.33, Z:-0.25 [[ 9.99880348e-01 -2.47421607e-03 -1.52698060e-02 3.14659680e+00] [ 2.48190472e-03 9.99996803e-01 4.84589791e-04 -3.25614769e-01] [ 1.52685582e-02 -5.22430013e-04 9.99883292e-01 -2.46027983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.428241008 meters Centerline goodness [0,1] 0.9324695606906325 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.32, Z:-0.25 [[ 9.99889814e-01 -1.70869913e-03 -1.47458853e-02 3.14451338e+00] [ 1.71635901e-03 9.99998399e-01 5.06819099e-04 -3.24093418e-01] [ 1.47449956e-02 -5.32072487e-04 9.99891145e-01 -2.45579816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.458241008 meters Centerline goodness [0,1] 0.9324172500216057 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.32, Z:-0.25 [[ 9.99896768e-01 -1.10904077e-03 -1.43255896e-02 3.14313855e+00] [ 1.10875668e-03 9.99999385e-01 -2.77731659e-05 -3.21005512e-01] [ 1.43256116e-02 1.18867057e-05 9.99897383e-01 -2.46120845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.488241008000003 meters Centerline goodness [0,1] 0.9305698887742231 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.32, Z:-0.25 [[ 9.99900417e-01 -3.00160784e-04 -1.41091070e-02 3.14193829e+00] [ 2.92318791e-04 9.99999802e-01 -5.57869749e-04 -3.16407628e-01] [ 1.41092716e-02 5.53689837e-04 9.99900306e-01 -2.46662263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.518241008 meters Centerline goodness [0,1] 0.9301376120596129 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.31, Z:-0.25 [[ 9.99902253e-01 -1.41051994e-04 -1.39808740e-02 3.14156394e+00] [ 1.29748110e-04 9.99999664e-01 -8.09428609e-04 -3.14681835e-01] [ 1.39809834e-02 8.07535498e-04 9.99901935e-01 -2.46819544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.548241008 meters Centerline goodness [0,1] 0.9322678408051235 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.31, Z:-0.25 [[ 9.99904327e-01 1.75694385e-04 -1.38313587e-02 3.14069401e+00] [-1.88282382e-04 9.99999569e-01 -9.08808662e-04 -3.13116359e-01] [ 1.38311931e-02 9.11325915e-04 9.99903929e-01 -2.46435770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.578241008000003 meters Centerline goodness [0,1] 0.9331704267772916 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.31, Z:-0.25 [[ 9.99908424e-01 1.33739965e-03 -1.34667856e-02 3.13821846e+00] [-1.34895415e-03 9.99998730e-01 -8.48952710e-04 -3.10370156e-01] [ 1.34656332e-02 8.67041043e-04 9.99908958e-01 -2.45325273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.608241008 meters Centerline goodness [0,1] 0.9328610850331427 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.31, Z:-0.24 [[ 9.99910684e-01 1.97041242e-03 -1.32190061e-02 3.13675743e+00] [-1.97843820e-03 9.99997866e-01 -5.94089921e-04 -3.10010681e-01] [ 1.32178073e-02 6.20189846e-04 9.99912449e-01 -2.44506020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.638241008 meters Centerline goodness [0,1] 0.9324381987312604 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.31, Z:-0.24 [[ 9.99910619e-01 2.33438205e-03 -1.31645249e-02 3.13591201e+00] [-2.33958064e-03 9.99997191e-01 -3.79507650e-04 -3.10080354e-01] [ 1.31636020e-02 4.10273196e-04 9.99913272e-01 -2.43658240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.668241008000003 meters Centerline goodness [0,1] 0.9321238661244917 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.31, Z:-0.24 [[ 9.99909014e-01 2.60462426e-03 -1.32355730e-02 3.13541860e+00] [-2.60652798e-03 9.99996595e-01 -1.26585940e-04 -3.10507841e-01] [ 1.32351982e-02 1.61073314e-04 9.99912398e-01 -2.42809073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.698241008000004 meters Centerline goodness [0,1] 0.9303640962965068 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.31, Z:-0.24 [[ 9.99906037e-01 2.14381896e-03 -1.35396324e-02 3.13713268e+00] [-2.15597575e-03 9.99997286e-01 -8.83334317e-04 -3.09255993e-01] [ 1.35377019e-02 9.12442435e-04 9.99907945e-01 -2.44516654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.728241008 meters Centerline goodness [0,1] 0.9303640962965068 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.31, Z:-0.24 [[ 9.99906037e-01 2.14381896e-03 -1.35396324e-02 3.13713268e+00] [-2.15597575e-03 9.99997286e-01 -8.83334317e-04 -3.09255993e-01] [ 1.35377019e-02 9.12442435e-04 9.99907945e-01 -2.44516654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.758241008000002 meters Centerline goodness [0,1] 0.929045996592845 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.31, Z:-0.25 [[ 9.99902668e-01 1.33349932e-03 -1.38879929e-02 3.13974936e+00] [-1.36219875e-03 9.99996956e-01 -2.05723734e-03 -3.07185225e-01] [ 1.38852073e-02 2.07595531e-03 9.99901441e-01 -2.47284080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.788241008000004 meters Centerline goodness [0,1] 0.9281653892926837 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.31, Z:-0.25 [[ 9.99897872e-01 4.71359215e-04 -1.42836701e-02 3.14254698e+00] [-5.15464640e-04 9.99995111e-01 -3.08429733e-03 -3.05598155e-01] [ 1.42821465e-02 3.09134506e-03 9.99893226e-01 -2.49866410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.818241008 meters Centerline goodness [0,1] 0.9241091693145711 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.31, Z:-0.25 [[ 9.99890401e-01 -1.23653331e-04 -1.48044200e-02 3.14487860e+00] [ 7.26970737e-05 9.99994072e-01 -3.44245110e-03 -3.05648948e-01] [ 1.48047579e-02 3.44099758e-03 9.99884483e-01 -2.51174967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.848241008000002 meters Centerline goodness [0,1] 0.9207647159382301 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.31, Z:-0.25 [[ 9.99876058e-01 -7.01523712e-04 -1.57281895e-02 3.14717511e+00] [ 6.61514776e-04 9.99996533e-01 -2.54883079e-03 -3.10436427e-01] [ 1.57299231e-02 2.53811045e-03 9.99873056e-01 -2.49980213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.878241008000003 meters Centerline goodness [0,1] 0.9214551704382699 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.31, Z:-0.25 [[ 9.99869631e-01 -3.82349139e-04 -1.61423499e-02 3.14714218e+00] [ 3.63581471e-04 9.99999255e-01 -1.16555414e-03 -3.13993819e-01] [ 1.61427835e-02 1.15953313e-03 9.99869024e-01 -2.47719514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.908241008 meters Centerline goodness [0,1] 0.9207991744539357 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.32, Z:-0.25 [[ 9.99860519e-01 -6.45402499e-04 -1.66890818e-02 3.14836382e+00] [ 6.33821545e-04 9.99999555e-01 -6.99203981e-04 -3.16147340e-01] [ 1.66895256e-02 6.88528556e-04 9.99860483e-01 -2.46977586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.938241008000002 meters Centerline goodness [0,1] 0.9191421991940126 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.32, Z:-0.25 [[ 9.99859850e-01 -5.34865321e-04 -1.67330406e-02 3.14834579e+00] [ 5.42428548e-04 9.99999753e-01 4.47458304e-04 -3.19236457e-01] [ 1.67327972e-02 -4.56472072e-04 9.99859893e-01 -2.45678572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.968241008000003 meters Centerline goodness [0,1] 0.9227555606776535 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.32, Z:-0.24 [[ 9.99860242e-01 -2.72590406e-04 -1.67159259e-02 3.14793448e+00] [ 2.88599125e-04 9.99999502e-01 9.55287870e-04 -3.19952629e-01] [ 1.67156572e-02 -9.59978562e-04 9.99859823e-01 -2.44917679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.998241008 meters Centerline goodness [0,1] 0.9223865140095506 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.32, Z:-0.25 [[ 9.99859833e-01 -2.87345504e-04 -1.67401037e-02 3.14803525e+00] [ 3.01144665e-04 9.99999617e-01 8.21802583e-04 -3.19792302e-01] [ 1.67398612e-02 -8.26728587e-04 9.99859537e-01 -2.45090542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.028241008000002 meters Centerline goodness [0,1] 0.9199136069114471 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.32, Z:-0.24 [[ 9.99861749e-01 -1.22440166e-04 -1.66273209e-02 3.14755854e+00] [ 1.37974561e-04 9.99999555e-01 9.33125357e-04 -3.19574790e-01] [ 1.66271993e-02 -9.35290498e-04 9.99861321e-01 -2.44769318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.058241008000003 meters Centerline goodness [0,1] 0.9242706749662947 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.32, Z:-0.24 [[ 9.99837383e-01 3.23212316e-03 -1.77414775e-02 3.15000765e+00] [-3.11733050e-03 9.99974054e-01 6.49414525e-03 -3.22577267e-01] [ 1.77620071e-02 -6.43778314e-03 9.99821517e-01 -2.41596922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.088241008 meters Centerline goodness [0,1] 0.9243221484228988 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.32, Z:-0.24 [[ 9.99854185e-01 6.46998598e-04 -1.70642938e-02 3.14713034e+00] [-6.11651673e-04 9.99997657e-01 2.07653465e-03 -3.19627081e-01] [ 1.70655973e-02 -2.06579446e-03 9.99852238e-01 -2.42219413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.118241008000002 meters Centerline goodness [0,1] 0.9241635259932679 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.32, Z:-0.24 [[ 9.99855325e-01 8.99186821e-04 -1.69858845e-02 3.14650570e+00] [-8.63315731e-04 9.99997382e-01 2.11903222e-03 -3.19253025e-01] [ 1.69877455e-02 -2.10406147e-03 9.99853484e-01 -2.41828244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.148241008000003 meters Centerline goodness [0,1] 0.9226565421232779 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.32, Z:-0.24 [[ 9.99854564e-01 7.76800977e-04 -1.70366332e-02 3.14677992e+00] [-7.46946061e-04 9.99998175e-01 1.75868850e-03 -3.18518455e-01] [ 1.70379682e-02 -1.74570728e-03 9.99853319e-01 -2.42272828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.178241008 meters Centerline goodness [0,1] 0.9229792147806004 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.32, Z:-0.24 [[ 9.99846196e-01 -2.45332090e-04 -1.75363458e-02 3.14940150e+00] [ 2.64900227e-04 9.99999345e-01 1.11354753e-03 -3.18738943e-01] [ 1.75360611e-02 -1.11802165e-03 9.99845606e-01 -2.43763781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.208241008 meters Centerline goodness [0,1] 0.9223309377435276 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.32, Z:-0.24 [[ 9.99835321e-01 -8.18803948e-04 -1.81290210e-02 3.15100916e+00] [ 8.46859387e-04 9.99998456e-01 1.53992007e-03 -3.20301050e-01] [ 1.81277321e-02 -1.55501921e-03 9.99834470e-01 -2.42985643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.238241008000003 meters Centerline goodness [0,1] 0.9229723475645031 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.32, Z:-0.24 [[ 9.99826866e-01 -1.22944516e-03 -1.85668111e-02 3.15229701e+00] [ 1.26301556e-03 9.99997589e-01 1.79646885e-03 -3.21271971e-01] [ 1.85645577e-02 -1.81960799e-03 9.99826008e-01 -2.42638261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.268241008 meters Centerline goodness [0,1] 0.9228389708008095 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.32, Z:-0.24 [[ 9.99817091e-01 -1.92111505e-03 -1.90287673e-02 3.15442743e+00] [ 1.94468662e-03 9.99997365e-01 1.22030681e-03 -3.21070033e-01] [ 1.90263728e-02 -1.25708860e-03 9.99818192e-01 -2.44016879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.298241008 meters Centerline goodness [0,1] 0.9192623899953682 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.32, Z:-0.24 [[ 9.99816792e-01 -1.79434146e-03 -1.90568545e-02 3.15454319e+00] [ 1.81874100e-03 9.99997548e-01 1.26310107e-03 -3.21028597e-01] [ 1.90545414e-02 -1.29752914e-03 9.99817604e-01 -2.44188561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.328241008000003 meters Centerline goodness [0,1] 0.9208599785873434 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.32, Z:-0.24 [[ 9.99818522e-01 -1.47167215e-03 -1.89936307e-02 3.15406737e+00] [ 1.49821239e-03 9.99997921e-01 1.38316932e-03 -3.21215980e-01] [ 1.89915556e-02 -1.41137479e-03 9.99818648e-01 -2.44030225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.358241008 meters Centerline goodness [0,1] 0.9170549590484184 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.32, Z:-0.24 [[ 9.99810450e-01 -1.63847614e-03 -1.94004849e-02 3.15505823e+00] [ 1.67013364e-03 9.99997300e-01 1.61569896e-03 -3.22192316e-01] [ 1.93977852e-02 -1.64779411e-03 9.99810487e-01 -2.43709385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.388241008 meters Centerline goodness [0,1] 0.9157326091980587 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.32, Z:-0.24 [[ 9.99797461e-01 -2.20840822e-03 -2.00039752e-02 3.15717316e+00] [ 2.23330623e-03 9.99996759e-01 1.22239905e-03 -3.22365801e-01] [ 2.00012108e-02 -1.26682647e-03 9.99799153e-01 -2.44483536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.418241008000003 meters Centerline goodness [0,1] 0.9120169187090793 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.32, Z:-0.24 [[ 9.99787588e-01 -2.36733953e-03 -2.04737516e-02 3.15842599e+00] [ 2.39346658e-03 9.99996352e-01 1.25171409e-03 -3.22816996e-01] [ 2.04707137e-02 -1.30045145e-03 9.99789607e-01 -2.44578806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.448241008000004 meters Centerline goodness [0,1] 0.9093832382166344 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.32, Z:-0.24 [[ 9.99782646e-01 -2.57098904e-03 -2.06894119e-02 3.15912290e+00] [ 2.59409365e-03 9.99996041e-01 1.08997530e-03 -3.22948914e-01] [ 2.06865277e-02 -1.14340867e-03 9.99785357e-01 -2.44800235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.478241008 meters Centerline goodness [0,1] 0.9100979850550984 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.32, Z:-0.24 [[ 9.99779044e-01 -2.47995591e-03 -2.08737240e-02 3.15916254e+00] [ 2.51208195e-03 9.99995700e-01 1.51298550e-03 -3.23505723e-01] [ 2.08698821e-02 -1.56508770e-03 9.99780975e-01 -2.43926142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.508241008000002 meters Centerline goodness [0,1] 0.9117280551772105 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.32, Z:-0.24 [[ 9.99768353e-01 -3.15077140e-03 -2.12911342e-02 3.16044876e+00] [ 3.18271913e-03 9.99993859e-01 1.46679870e-03 -3.22863017e-01] [ 2.12863819e-02 -1.53422262e-03 9.99772242e-01 -2.43383567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.538241008000004 meters Centerline goodness [0,1] 0.9099680325486778 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.32, Z:-0.24 [[ 9.99769035e-01 -3.07600564e-03 -2.12700524e-02 3.16009504e+00] [ 3.11697881e-03 9.99993350e-01 1.89344691e-03 -3.23297210e-01] [ 2.12640867e-02 -1.95930789e-03 9.99771974e-01 -2.42511552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.568241008 meters Centerline goodness [0,1] 0.9142192497819134 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.32, Z:-0.24 [[ 9.99764428e-01 -3.21294335e-03 -2.14654700e-02 3.16021465e+00] [ 3.26619727e-03 9.99991674e-01 2.44631226e-03 -3.24335477e-01] [ 2.14574314e-02 -2.51584644e-03 9.99766597e-01 -2.41208985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.598241008000002 meters Centerline goodness [0,1] 0.9197708569600744 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.33, Z:-0.24 [[ 9.99764420e-01 -2.98373882e-03 -2.14988589e-02 3.15934296e+00] [ 3.05646963e-03 9.99989715e-01 3.35094295e-03 -3.25450286e-01] [ 2.14886394e-02 -3.41586414e-03 9.99763257e-01 -2.39070713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.628241008000003 meters Centerline goodness [0,1] 0.9204466154919748 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.33, Z:-0.24 [[ 0.9997608 -0.00332894 -0.02161619 3.15881849] [ 0.00343008 0.99998334 0.0046434 -0.3278206 ] [ 0.02160037 -0.00471643 0.99975556 -0.23567351] [ 0. 0. 0. 1. ]] SLAMing on 20.658241008 meters Centerline goodness [0,1] 0.9219870561483295 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.33, Z:-0.23 [[ 0.9997568 -0.00353721 -0.02176774 3.15889492] [ 0.00365207 0.99997961 0.00523903 -0.32909902] [ 0.02174876 -0.00531725 0.99974933 -0.23430477] [ 0. 0. 0. 1. ]] SLAMing on 20.688241008000002 meters Centerline goodness [0,1] 0.9229244980621849 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.33, Z:-0.23 [[ 0.99975125 -0.00385872 -0.02196709 3.1593864 ] [ 0.00397486 0.99997834 0.00524573 -0.32927664] [ 0.02194637 -0.00533174 0.99974493 -0.2338906 ] [ 0. 0. 0. 1. ]] SLAMing on 20.718241008000003 meters Centerline goodness [0,1] 0.923168673997789 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.33, Z:-0.24 [[ 0.99973784 -0.00481189 -0.02238542 3.16170693] [ 0.00490637 0.99997928 0.00416745 -0.32761105] [ 0.0223649 -0.00427619 0.99974073 -0.23574998] [ 0. 0. 0. 1. ]] SLAMing on 20.748241008 meters Centerline goodness [0,1] 0.9227522775562477 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.33, Z:-0.24 [[ 0.99972769 -0.00543918 -0.02269254 3.16348809] [ 0.00551614 0.99997924 0.00333044 -0.32613298] [ 0.02267396 -0.0034547 0.99973694 -0.23735572] [ 0. 0. 0. 1. ]] SLAMing on 20.778241008000002 meters Centerline goodness [0,1] 0.9224490981440066 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.33, Z:-0.24 [[ 9.99721481e-01 -5.81150222e-03 -2.28732752e-02 3.16462104e+00] [ 5.87637197e-03 9.99978898e-01 2.76985683e-03 -3.25228378e-01] [ 2.28566955e-02 -2.90349725e-03 9.99734535e-01 -2.38526845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.808241008000003 meters Centerline goodness [0,1] 0.9205935199675419 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.32, Z:-0.24 [[ 9.99718033e-01 -6.03801199e-03 -2.29651036e-02 3.16524931e+00] [ 6.09607192e-03 9.99978395e-01 2.45901320e-03 -3.24637728e-01] [ 2.29497599e-02 -2.59831676e-03 9.99733243e-01 -2.39116547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.838241008 meters Centerline goodness [0,1] 0.9195328840343946 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.33, Z:-0.24 [[ 9.99719246e-01 -5.88130334e-03 -2.29529821e-02 3.16475897e+00] [ 5.94756739e-03 9.99978337e-01 2.81974875e-03 -3.25092828e-01] [ 2.29359011e-02 -2.95547150e-03 9.99732569e-01 -2.38146559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.868241008000002 meters Centerline goodness [0,1] 0.9170806821813533 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.32, Z:-0.24 [[ 9.99720753e-01 -5.80152835e-03 -2.29076154e-02 3.16459865e+00] [ 5.86108486e-03 9.99979614e-01 2.53357146e-03 -3.24159107e-01] [ 2.28924498e-02 -2.66712744e-03 9.99734376e-01 -2.38426367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.898241008000003 meters Centerline goodness [0,1] 0.9172185430463576 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.32, Z:-0.24 [[ 9.99723854e-01 -5.78665156e-03 -2.27756506e-02 3.16455377e+00] [ 5.83192133e-03 9.99981148e-01 1.92171907e-03 -3.22304637e-01] [ 2.27641009e-02 -2.05401420e-03 9.99738754e-01 -2.39345796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.928241008 meters Centerline goodness [0,1] 0.914146228731548 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.32, Z:-0.24 [[ 9.99724961e-01 -5.59556672e-03 -2.27747946e-02 3.16483564e+00] [ 5.61435047e-03 9.99983950e-01 7.60902434e-04 -3.18660137e-01] [ 2.27701714e-02 -8.88558835e-04 9.99740331e-01 -2.41273874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.958241008 meters Centerline goodness [0,1] 0.9139747697814729 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.32, Z:-0.24 [[ 9.99733625e-01 -5.18658324e-03 -2.24895151e-02 3.16387250e+00] [ 5.20174277e-03 9.99986281e-01 6.15623439e-04 -3.17785106e-01] [ 2.24860136e-02 -7.32444125e-04 9.99746889e-01 -2.41423825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.988241008000003 meters Centerline goodness [0,1] 0.9110816573503141 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.32, Z:-0.24 [[ 9.99747915e-01 -4.42620545e-03 -2.20117211e-02 3.16190170e+00] [ 4.44172933e-03 9.99989920e-01 6.56414070e-04 -3.16448167e-01] [ 2.20085938e-02 -7.54018705e-04 9.99757497e-01 -2.40972083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.018241008 meters Centerline goodness [0,1] 0.9109388458225668 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.31, Z:-0.24 [[ 9.99759923e-01 -3.78450036e-03 -2.15818026e-02 3.16024330e+00] [ 3.79439149e-03 9.99992714e-01 4.17377437e-04 -3.14416199e-01] [ 2.15800658e-02 -4.99167043e-04 9.99766999e-01 -2.40916940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.048241008 meters Centerline goodness [0,1] 0.9095389552709247 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.25 [[ 9.99864706e-01 -7.34154253e-04 -1.64326066e-02 3.17500982e+00] [ 6.09637719e-04 9.99971077e-01 -7.58113324e-03 -3.10248045e-01] [ 1.64376970e-02 7.57008962e-03 9.99836235e-01 -2.46871772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.078241008000003 meters Centerline goodness [0,1] 0.9094939786607168 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.24 [[ 9.99852258e-01 3.44906034e-03 -1.68393932e-02 3.17518445e+00] [-3.48901483e-03 9.99991166e-01 -2.34387795e-03 -3.12419548e-01] [ 1.68311602e-02 2.40228456e-03 9.99855460e-01 -2.44553473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.108241008000004 meters Centerline goodness [0,1] 0.9101457559302658 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.31, Z:-0.24 [[ 9.99858589e-01 4.46656663e-03 -1.62127075e-02 3.17252499e+00] [-4.50076969e-03 9.99987721e-01 -2.07377118e-03 -3.11083142e-01] [ 1.62032458e-02 2.14644758e-03 9.99866415e-01 -2.43581994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.138241008 meters Centerline goodness [0,1] 0.9099592278961024 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.31, Z:-0.24 [[ 9.99860051e-01 4.56551940e-03 -1.60945438e-02 3.17237362e+00] [-4.60548483e-03 9.99986401e-01 -2.44697685e-03 -3.09802999e-01] [ 1.60831532e-02 2.52075757e-03 9.99867480e-01 -2.44159800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.168241008000003 meters Centerline goodness [0,1] 0.9092049374269506 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.31, Z:-0.24 [[ 9.99863902e-01 5.34610236e-03 -1.56075655e-02 3.17066448e+00] [-5.38870386e-03 9.99981866e-01 -2.68876379e-03 -3.07483259e-01] [ 1.55929081e-02 2.77250241e-03 9.99874579e-01 -2.44370416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.198241008000004 meters Centerline goodness [0,1] 0.9112116298256095 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.31, Z:-0.24 [[ 9.99866248e-01 5.60231216e-03 -1.53655333e-02 3.16995194e+00] [-5.64770762e-03 9.99979810e-01 -2.91256980e-03 -3.05944366e-01] [ 1.53489060e-02 2.99896027e-03 9.99877701e-01 -2.44503650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.228241008 meters Centerline goodness [0,1] 0.910525270297114 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.30, Z:-0.25 [[ 0.99986783 0.00582539 -0.01517877 3.16953059] [-0.00587523 0.99997749 -0.00324075 -0.30438582] [ 0.01515955 0.0033295 0.99987954 -0.24501418] [ 0. 0. 0. 1. ]] SLAMing on 21.258241008000002 meters Centerline goodness [0,1] 0.9101085288936871 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.30, Z:-0.25 [[ 0.99986955 0.00607531 -0.01496547 3.16933892] [-0.00613213 0.99997415 -0.00375364 -0.302891 ] [ 0.01494228 0.00384492 0.99988097 -0.24625616] [ 0. 0. 0. 1. ]] SLAMing on 21.288241008000004 meters Centerline goodness [0,1] 0.9118080344495438 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.30, Z:-0.25 [[ 0.99986775 0.00603667 -0.0151012 3.16979629] [-0.00609644 0.99997375 -0.00391511 -0.30245423] [ 0.01507716 0.00400666 0.99987831 -0.24655137] [ 0. 0. 0. 1. ]] SLAMing on 21.318241008 meters Centerline goodness [0,1] 0.9113342409802587 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.30, Z:-0.25 [[ 0.99986684 0.00613835 -0.01512061 3.16972097] [-0.0061983 0.9999731 -0.00392101 -0.30198247] [ 0.01509613 0.00401421 0.99987799 -0.24647013] [ 0. 0. 0. 1. ]] SLAMing on 21.348241008000002 meters Centerline goodness [0,1] 0.9086251309196931 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.30, Z:-0.25 [[ 0.99986975 0.0061081 -0.0149387 3.16936323] [-0.00617044 0.99997243 -0.00413086 -0.30056278] [ 0.01491306 0.0042225 0.99987988 -0.24652912] [ 0. 0. 0. 1. ]] SLAMing on 21.378241008000003 meters Centerline goodness [0,1] 0.9093308360292865 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.30, Z:-0.25 [[ 0.99986755 0.00605291 -0.01510769 3.16979245] [-0.00611225 0.99997378 -0.00388442 -0.30140853] [ 0.01508379 0.00397625 0.99987833 -0.24632363] [ 0. 0. 0. 1. ]] SLAMing on 21.408241008 meters Centerline goodness [0,1] 0.9092664092664092 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.30, Z:-0.25 [[ 0.99986392 0.00580705 -0.01544108 3.17065804] [-0.00586231 0.99997657 -0.00353586 -0.30275756] [ 0.01542019 0.0036259 0.99987453 -0.24589948] [ 0. 0. 0. 1. ]] SLAMing on 21.438241008000002 meters Centerline goodness [0,1] 0.9080695167391984 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.30, Z:-0.25 [[ 0.99985913 0.00540868 -0.01588895 3.17205111] [-0.00546176 0.99997964 -0.00329916 -0.30409579] [ 0.01587079 0.00338547 0.99986832 -0.24580963] [ 0. 0. 0. 1. ]] SLAMing on 21.468241008000003 meters Centerline goodness [0,1] 0.9093287083108242 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.31, Z:-0.25 [[ 0.99985283 0.00490084 -0.01644072 3.17374606] [-0.00495382 0.99998266 -0.00318358 -0.30514116] [ 0.01642484 0.00326455 0.99985977 -0.24580925] [ 0. 0. 0. 1. ]] SLAMing on 21.498241008 meters Centerline goodness [0,1] 0.909230725413688 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.25 [[ 9.99849638e-01 4.02968891e-03 -1.68660135e-02 3.17556971e+00] [-4.08100325e-03 9.99987145e-01 -3.00915864e-03 -3.06718465e-01] [ 1.68536707e-02 3.07753643e-03 9.99853231e-01 -2.45751535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.528241008000002 meters Centerline goodness [0,1] 0.9092673459485686 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.25 [[ 9.99846407e-01 3.79180613e-03 -1.71109568e-02 3.17630874e+00] [-3.83797634e-03 9.99989080e-01 -2.66625194e-03 -3.07960768e-01] [ 1.71006600e-02 2.73151387e-03 9.99850042e-01 -2.45386552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.558241008000003 meters Centerline goodness [0,1] 0.9080179896301813 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.24 [[ 9.99842042e-01 3.29504415e-03 -1.74652287e-02 3.17741838e+00] [-3.32855452e-03 9.99992674e-01 -1.88996860e-03 -3.10813247e-01] [ 1.74588732e-02 1.94780403e-03 9.99845685e-01 -2.44374856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.588241008 meters Centerline goodness [0,1] 0.9080179896301813 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.24 [[ 9.99842042e-01 3.29504415e-03 -1.74652287e-02 3.17741838e+00] [-3.32855452e-03 9.99992674e-01 -1.88996860e-03 -3.10813247e-01] [ 1.74588732e-02 1.94780403e-03 9.99845685e-01 -2.44374856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.618241008000002 meters Centerline goodness [0,1] 0.9092948994562873 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.24 [[ 9.99840532e-01 3.06657652e-03 -1.75927917e-02 3.17768721e+00] [-3.08886420e-03 9.99994461e-01 -1.23983131e-03 -3.12495722e-01] [ 1.75888922e-02 1.29397534e-03 9.99844466e-01 -2.43340088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.648241008000003 meters Centerline goodness [0,1] 0.9092948994562873 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.24 [[ 9.99840532e-01 3.06657652e-03 -1.75927917e-02 3.17768721e+00] [-3.08886420e-03 9.99994461e-01 -1.23983131e-03 -3.12495722e-01] [ 1.75888922e-02 1.29397534e-03 9.99844466e-01 -2.43340088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.678241008 meters Centerline goodness [0,1] 0.911662402621669 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.24 [[ 9.99839325e-01 3.00556533e-03 -1.76717534e-02 3.17780472e+00] [-3.02395901e-03 9.99994913e-01 -1.01422264e-03 -3.13057797e-01] [ 1.76686152e-02 1.06749834e-03 9.99843328e-01 -2.42954036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.708241008 meters Centerline goodness [0,1] 0.9119774919614148 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.24 [[ 9.99833101e-01 2.69159872e-03 -1.80700184e-02 3.17897648e+00] [-2.71016749e-03 9.99995824e-01 -1.00319141e-03 -3.13492807e-01] [ 1.80672427e-02 1.05199675e-03 9.99836221e-01 -2.42987839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.738241008000003 meters Centerline goodness [0,1] 0.9084772054810262 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.24 [[ 9.99833465e-01 3.06568177e-03 -1.79901090e-02 3.17857422e+00] [-3.07631032e-03 9.99995110e-01 -5.63155592e-04 -3.14888089e-01] [ 1.79882945e-02 6.18404965e-04 9.99838006e-01 -2.42800722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.768241008 meters Centerline goodness [0,1] 0.9053599655122863 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.24 [[ 9.99835222e-01 3.27015220e-03 -1.78559723e-02 3.17823219e+00] [-3.28211242e-03 9.99994409e-01 -6.40552132e-04 -3.14629005e-01] [ 1.78537777e-02 6.99051892e-04 9.99840364e-01 -2.43063286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.798241008 meters Centerline goodness [0,1] 0.9068312284730196 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.24 [[ 9.99837410e-01 3.48154227e-03 -1.76927338e-02 3.17781095e+00] [-3.49484639e-03 9.99993633e-01 -7.21090277e-04 -3.14317298e-01] [ 1.76901106e-02 7.82806422e-04 9.99843211e-01 -2.43282273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.828241008000003 meters Centerline goodness [0,1] 0.9073200207170398 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.24 [[ 9.99836675e-01 3.75156717e-03 -1.76790388e-02 3.17732536e+00] [-3.76100960e-03 9.99992802e-01 -5.00885212e-04 -3.14315882e-01] [ 1.76770325e-02 5.67294439e-04 9.99843588e-01 -2.42699023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.858241008000004 meters Centerline goodness [0,1] 0.9050481806414498 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.32, Z:-0.24 [[ 9.99836210e-01 4.32356158e-03 -1.75744179e-02 3.17643177e+00] [-4.32780479e-03 9.99990614e-01 -2.03416909e-04 -3.15254998e-01] [ 1.75733735e-02 2.79442242e-04 9.99845537e-01 -2.42262779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.888241008 meters Centerline goodness [0,1] 0.9027294428945325 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.24 [[ 9.99834224e-01 4.20212468e-03 -1.77162735e-02 3.17715263e+00] [-4.21403720e-03 9.99990919e-01 -6.35127608e-04 -3.14964322e-01] [ 1.77134437e-02 7.09679354e-04 9.99842853e-01 -2.43158805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.918241008000003 meters Centerline goodness [0,1] 0.9045412685622194 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.24 [[ 9.99836557e-01 4.36994198e-03 -1.75431480e-02 3.17679542e+00] [-4.38533498e-03 9.99990032e-01 -8.39062878e-04 -3.14194164e-01] [ 1.75393065e-02 9.15858320e-04 9.99845755e-01 -2.43564133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.948241008000004 meters Centerline goodness [0,1] 0.9042914746543779 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.24 [[ 9.99838797e-01 4.47754551e-03 -1.73876570e-02 3.17645618e+00] [-4.49355893e-03 9.99989515e-01 -8.82004482e-04 -3.13711005e-01] [ 1.73835255e-02 9.59994762e-04 9.99848434e-01 -2.43690350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.978241008 meters Centerline goodness [0,1] 0.907691865147854 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.24 [[ 9.99840640e-01 4.42062227e-03 -1.72960193e-02 3.17649488e+00] [-4.43962928e-03 9.99989582e-01 -1.06068178e-03 -3.13339680e-01] [ 1.72911503e-02 1.13730066e-03 9.99849850e-01 -2.44114513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.008241008000002 meters Centerline goodness [0,1] 0.9080053962513275 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.24 [[ 9.99836774e-01 4.08553420e-03 -1.75992739e-02 3.17758713e+00] [-4.10799406e-03 9.99990793e-01 -1.24021829e-03 -3.13296232e-01] [ 1.75940449e-02 1.31231356e-03 9.99844352e-01 -2.44467075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.038241008000004 meters Centerline goodness [0,1] 0.9087116635019277 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.32, Z:-0.24 [[ 9.99834255e-01 3.72774770e-03 -1.78203799e-02 3.17850947e+00] [-3.74308757e-03 9.99992652e-01 -8.27527871e-04 -3.15125618e-01] [ 1.78171641e-02 8.94093955e-04 9.99840862e-01 -2.44193350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.068241008 meters Centerline goodness [0,1] 0.9084488772304056 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.32, Z:-0.24 [[ 9.99830891e-01 3.68321894e-03 -1.80173249e-02 3.17882339e+00] [-3.69297243e-03 9.99993052e-01 -5.08098287e-04 -3.16063216e-01] [ 1.80153283e-02 5.74549847e-04 9.99837546e-01 -2.43685985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.098241008000002 meters Centerline goodness [0,1] 0.9074718761688293 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.32, Z:-0.24 [[ 9.99826273e-01 3.30009134e-03 -1.83448160e-02 3.18005884e+00] [-3.31240340e-03 9.99994309e-01 -6.40801812e-04 -3.16239508e-01] [ 1.83425969e-02 7.01455919e-04 9.99831514e-01 -2.44011743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.128241008000003 meters Centerline goodness [0,1] 0.9113722998729352 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.32, Z:-0.25 [[ 9.99823635e-01 2.80266394e-03 -1.85699586e-02 3.18162971e+00] [-2.81912130e-03 9.99995656e-01 -8.60117489e-04 -3.16890543e-01] [ 1.85674673e-02 9.12316761e-04 9.99827193e-01 -2.45149806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.158241008 meters Centerline goodness [0,1] 0.912426925970944 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.32, Z:-0.25 [[ 9.99821422e-01 2.76262431e-03 -1.86946966e-02 3.18219287e+00] [-2.77458858e-03 9.99995962e-01 -6.14075159e-04 -3.18224724e-01] [ 1.86929246e-02 6.65835591e-04 9.99825050e-01 -2.45295077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.188241008000002 meters Centerline goodness [0,1] 0.9109835305033634 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.32, Z:-0.24 [[ 9.99819585e-01 2.88667055e-03 -1.87740470e-02 3.18225777e+00] [-2.89165870e-03 9.99995791e-01 -2.38552604e-04 -3.19476714e-01] [ 1.87732794e-02 2.92797702e-04 9.99823724e-01 -2.44964677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.218241008000003 meters Centerline goodness [0,1] 0.9126974907063197 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.32, Z:-0.24 [[ 9.99818142e-01 3.16552735e-03 -1.88059068e-02 3.18194586e+00] [-3.16252711e-03 9.99994981e-01 1.89274804e-04 -3.20722463e-01] [ 1.88064115e-02 -1.29766192e-04 9.99823135e-01 -2.44409729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.248241008 meters Centerline goodness [0,1] 0.9137695681217508 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.32, Z:-0.24 [[ 9.99819141e-01 3.59063526e-03 -1.86759680e-02 3.18111243e+00] [-3.57994373e-03 9.99993408e-01 6.05876256e-04 -3.21626355e-01] [ 1.86780204e-02 -5.38907764e-04 9.99825405e-01 -2.43808737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.278241008000002 meters Centerline goodness [0,1] 0.9125651418645049 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.32, Z:-0.24 [[ 9.99824842e-01 4.15705727e-03 -1.82484177e-02 3.17952315e+00] [-4.15269741e-03 9.99991339e-01 2.76804044e-04 -3.19936564e-01] [ 1.82494103e-02 -2.00975403e-04 9.99833445e-01 -2.43871312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.308241008000003 meters Centerline goodness [0,1] 0.9101853455742248 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.32, Z:-0.24 [[ 9.99831732e-01 4.42747603e-03 -1.78018533e-02 3.17858357e+00] [-4.43348870e-03 9.99990128e-01 -2.98303868e-04 -3.17621618e-01] [ 1.78003568e-02 3.77177989e-04 9.99841490e-01 -2.44696421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.338241008 meters Centerline goodness [0,1] 0.9079440059911286 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.32, Z:-0.25 [[ 9.99838099e-01 4.72538759e-03 -1.73622411e-02 3.17771449e+00] [-4.74125256e-03 9.99988379e-01 -8.72713755e-04 -3.15263732e-01] [ 1.73579155e-02 9.54891232e-04 9.99848884e-01 -2.45675522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.368241008000002 meters Centerline goodness [0,1] 0.9060587779022666 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.25 [[ 9.99840365e-01 4.63387292e-03 -1.72560354e-02 3.17791656e+00] [-4.65917522e-03 9.99988129e-01 -1.42637362e-03 -3.13571550e-01] [ 1.72492209e-02 1.50654482e-03 9.99850086e-01 -2.46626888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.398241008000003 meters Centerline goodness [0,1] 0.9048709289680041 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.25 [[ 9.99844140e-01 4.63360944e-03 -1.70360045e-02 3.17758803e+00] [-4.66526930e-03 9.99987463e-01 -1.81913697e-03 -3.11805985e-01] [ 1.70273618e-02 1.89833099e-03 9.99853222e-01 -2.47136355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.428241008 meters Centerline goodness [0,1] 0.9041652362970591 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.25 [[ 9.99845381e-01 4.68310279e-03 -1.69494358e-02 3.17748256e+00] [-4.71582784e-03 9.99987092e-01 -1.89129255e-03 -3.11403874e-01] [ 1.69403599e-02 1.97093074e-03 9.99854559e-01 -2.47332898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.458241008 meters Centerline goodness [0,1] 0.9046704871060172 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.25 [[ 9.99842731e-01 4.64342558e-03 -1.71158541e-02 3.17791664e+00] [-4.67544863e-03 9.99987393e-01 -1.83141799e-03 -3.11710233e-01] [ 1.71071342e-02 1.91115426e-03 9.99851836e-01 -2.47326117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.488241008000003 meters Centerline goodness [0,1] 0.9063189568706118 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.25 [[ 9.99837515e-01 4.32126317e-03 -1.75006017e-02 3.17917186e+00] [-4.35587336e-03 9.99988631e-01 -1.94002160e-03 -3.12398079e-01] [ 1.74920194e-02 2.01593678e-03 9.99844971e-01 -2.47657277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.518241008 meters Centerline goodness [0,1] 0.904278337131812 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.31, Z:-0.25 [[ 9.99837013e-01 4.32388060e-03 -1.75285630e-02 3.17964758e+00] [-4.35094637e-03 9.99989400e-01 -1.50625352e-03 -3.14637891e-01] [ 1.75218644e-02 1.58227386e-03 9.99845228e-01 -2.47883788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.548241008 meters Centerline goodness [0,1] 0.905242516869485 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.32, Z:-0.25 [[ 9.99833331e-01 3.93555579e-03 -1.78275728e-02 3.18114279e+00] [-3.96683485e-03 9.99990654e-01 -1.71950982e-03 -3.15317198e-01] [ 1.78206390e-02 1.78994227e-03 9.99839598e-01 -2.48841765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.578241008000003 meters Centerline goodness [0,1] 0.9061416685925584 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.32, Z:-0.25 [[ 9.99830168e-01 3.71832880e-03 -1.80501630e-02 3.18237853e+00] [-3.75074376e-03 9.99991413e-01 -1.76230496e-03 -3.16449225e-01] [ 1.80434551e-02 1.82970720e-03 9.99835529e-01 -2.49773773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.608241008000004 meters Centerline goodness [0,1] 0.909330705237833 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.32, Z:-0.25 [[ 9.99822661e-01 3.12743706e-03 -1.85705526e-02 3.18473981e+00] [-3.16116808e-03 9.99993406e-01 -1.78729463e-03 -3.18537424e-01] [ 1.85648405e-02 1.84568231e-03 9.99825955e-01 -2.50902918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.638241008 meters Centerline goodness [0,1] 0.9114569747558183 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.32, Z:-0.25 [[ 9.99820529e-01 3.10613078e-03 -1.86885342e-02 3.18517913e+00] [-3.13721367e-03 9.99993744e-01 -1.63411918e-03 -3.19208091e-01] [ 1.86833415e-02 1.69245582e-03 9.99824019e-01 -2.51005199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.668241008000003 meters Centerline goodness [0,1] 0.9106375566136338 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.32, Z:-0.25 [[ 9.99818329e-01 3.08730139e-03 -1.88089935e-02 3.18554059e+00] [-3.11712839e-03 9.99993930e-01 -1.55667271e-03 -3.19414610e-01] [ 1.88040734e-02 1.61501996e-03 9.99821883e-01 -2.51071017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.698241008000004 meters Centerline goodness [0,1] 0.9100859365927302 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.32, Z:-0.25 [[ 9.99819436e-01 3.31095420e-03 -1.87118142e-02 3.18513578e+00] [-3.33527948e-03 9.99993633e-01 -1.26893810e-03 -3.19947632e-01] [ 1.87074936e-02 1.33111810e-03 9.99824113e-01 -2.50787623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.728241008 meters Centerline goodness [0,1] 0.9088219082707203 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.32, Z:-0.25 [[ 9.99820709e-01 3.45118001e-03 -1.86182479e-02 3.18453935e+00] [-3.46413415e-03 9.99993780e-01 -6.63570470e-04 -3.21242459e-01] [ 1.86158420e-02 7.27947607e-04 9.99826445e-01 -2.49730032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.758241008000002 meters Centerline goodness [0,1] 0.9100907821229051 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.32, Z:-0.25 [[ 9.99821018e-01 3.59297849e-03 -1.85747875e-02 3.18428633e+00] [-3.60163557e-03 9.99993421e-01 -4.32634683e-04 -3.21461470e-01] [ 1.85731108e-02 4.99456865e-04 9.99827380e-01 -2.49405693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.788241008000004 meters Centerline goodness [0,1] 0.9093948026277542 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.32, Z:-0.25 [[ 9.99822081e-01 3.59169419e-03 -1.85177102e-02 3.18445922e+00] [-3.60275974e-03 9.99993351e-01 -5.64239924e-04 -3.21044768e-01] [ 1.85155605e-02 6.30854396e-04 9.99828373e-01 -2.49927031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.818241008 meters Centerline goodness [0,1] 0.9060106753307031 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.32, Z:-0.25 [[ 9.99820944e-01 3.19036736e-03 -1.86521278e-02 3.18560761e+00] [-3.21194095e-03 9.99994207e-01 -1.12678608e-03 -3.20140314e-01] [ 1.86484249e-02 1.18649385e-03 9.99825399e-01 -2.51135655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.848241008000002 meters Centerline goodness [0,1] 0.907891287249847 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.32, Z:-0.25 [[ 9.99819785e-01 3.41996549e-03 -1.86735307e-02 3.18502460e+00] [-3.42692474e-03 9.99994070e-01 -3.40693250e-04 -3.21926000e-01] [ 1.86722548e-02 4.04624637e-04 9.99825576e-01 -2.49709765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.878241008000003 meters Centerline goodness [0,1] 0.9076237364173974 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.32, Z:-0.25 [[ 9.99819324e-01 3.49412107e-03 -1.86845188e-02 3.18502273e+00] [-3.49795808e-03 9.99993867e-01 -1.72679775e-04 -3.22411568e-01] [ 1.86838008e-02 2.38006240e-04 9.99825414e-01 -2.49579765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.908241008 meters Centerline goodness [0,1] 0.9074052512080107 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.32, Z:-0.25 [[ 9.99820004e-01 3.26691910e-03 -1.86892075e-02 3.18571680e+00] [-3.28062789e-03 9.99994372e-01 -7.02902222e-04 -3.21251228e-01] [ 1.86868060e-02 7.64088038e-04 9.99825094e-01 -2.50699394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.938241008000002 meters Centerline goodness [0,1] 0.9065801344547597 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.32, Z:-0.25 [[ 9.99819449e-01 3.14508735e-03 -1.87397377e-02 3.18633650e+00] [-3.16820725e-03 9.99994256e-01 -1.20417611e-03 -3.19909782e-01] [ 1.87358428e-02 1.26333007e-03 9.99823671e-01 -2.51738892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.968241008000003 meters Centerline goodness [0,1] 0.910850014505367 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.32, Z:-0.25 [[ 9.99816037e-01 2.89215483e-03 -1.89612365e-02 3.18739052e+00] [-2.91975687e-03 9.99994718e-01 -1.42818721e-03 -3.19743079e-01] [ 1.89570058e-02 1.48328667e-03 9.99819200e-01 -2.52466443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.998241008 meters Centerline goodness [0,1] 0.9111790393013101 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.32, Z:-0.25 [[ 9.99804782e-01 2.17950055e-03 -1.96379154e-02 3.18947006e+00] [-2.20264865e-03 9.99996905e-01 -1.15719273e-03 -3.21586878e-01] [ 1.96353325e-02 1.20022225e-03 9.99806488e-01 -2.52188234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.028241008000002 meters Centerline goodness [0,1] 0.909776186734189 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.32, Z:-0.25 [[ 9.99797440e-01 1.71815895e-03 -2.00530809e-02 3.19087304e+00] [-1.73873484e-03 9.99997980e-01 -1.00868114e-03 -3.22756837e-01] [ 2.00513073e-02 1.04334381e-03 9.99798408e-01 -2.52150618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.058241008000003 meters Centerline goodness [0,1] 0.9092551053106884 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.32, Z:-0.25 [[ 9.99793144e-01 1.50276433e-03 -2.02832818e-02 3.19166792e+00] [-1.52180129e-03 9.99998416e-01 -9.23151757e-04 -3.23401977e-01] [ 2.02818624e-02 9.53827922e-04 9.99793847e-01 -2.52201915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.088241008 meters Centerline goodness [0,1] 0.9109523115064897 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.32, Z:-0.25 [[ 9.99789743e-01 1.27537468e-03 -2.04656641e-02 3.19242002e+00] [-1.29025254e-03 9.99998913e-01 -7.13778968e-04 -3.24540520e-01] [ 2.04647316e-02 7.40034766e-04 9.99790302e-01 -2.52194508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.118241008000002 meters Centerline goodness [0,1] 0.9125178430972704 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.32, Z:-0.25 [[ 9.99785124e-01 1.05399344e-03 -2.07025197e-02 3.19323948e+00] [-1.06988346e-03 9.99999142e-01 -7.56479324e-04 -3.24571482e-01] [ 2.07017046e-02 7.78466058e-04 9.99785394e-01 -2.52355323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.148241008000003 meters Centerline goodness [0,1] 0.9095682613768962 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.32, Z:-0.25 [[ 9.99787435e-01 1.13339768e-03 -2.05864179e-02 3.19305340e+00] [-1.14878169e-03 9.99999070e-01 -7.35478628e-04 -3.24606205e-01] [ 2.05855652e-02 7.58971591e-04 9.99787807e-01 -2.52543673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.178241008 meters Centerline goodness [0,1] 0.9103267211201866 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.32, Z:-0.25 [[ 9.99792013e-01 1.35011927e-03 -2.03496495e-02 3.19227558e+00] [-1.36013132e-03 9.99998961e-01 -4.78168921e-04 -3.24826981e-01] [ 2.03489828e-02 5.05747664e-04 9.99792810e-01 -2.52162687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.208241008 meters Centerline goodness [0,1] 0.9090009891196835 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.33, Z:-0.25 [[ 9.99795840e-01 1.79757456e-03 -2.01257734e-02 3.19084787e+00] [-1.78588939e-03 9.99998226e-01 5.98565207e-04 -3.26502526e-01] [ 2.01268136e-02 -5.62500599e-04 9.99797277e-01 -2.50056204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.238241008000003 meters Centerline goodness [0,1] 0.9118410688759883 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.33, Z:-0.25 [[ 9.99796803e-01 2.15600324e-03 -2.00425740e-02 3.18989769e+00] [-2.13481878e-03 9.99997140e-01 1.07830852e-03 -3.27205015e-01] [ 2.00448415e-02 -1.03530215e-03 9.99798546e-01 -2.48913844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.268241008000004 meters Centerline goodness [0,1] 0.9122141857209519 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.33, Z:-0.25 [[ 9.99800852e-01 2.46079212e-03 -1.98040400e-02 3.18900286e+00] [-2.43928180e-03 9.99996409e-01 1.11024114e-03 -3.26983406e-01] [ 1.98067009e-02 -1.06171240e-03 9.99803264e-01 -2.48744724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.298241008 meters Centerline goodness [0,1] 0.9115563298490128 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.33, Z:-0.25 [[ 9.99800745e-01 2.57876078e-03 -1.97944545e-02 3.18876636e+00] [-2.56234416e-03 9.99996352e-01 8.54672081e-04 -3.26020033e-01] [ 1.97965862e-02 -8.03781579e-04 9.99803705e-01 -2.48818496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.328241008000003 meters Centerline goodness [0,1] 0.9109551295066276 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.33, Z:-0.25 [[ 9.99799622e-01 2.41994137e-03 -1.98710646e-02 3.18930252e+00] [-2.41110989e-03 9.99996984e-01 4.68384950e-04 -3.25572647e-01] [ 1.98721381e-02 -4.20379775e-04 9.99802441e-01 -2.49512778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.358241008000004 meters Centerline goodness [0,1] 0.9127279061665312 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.33, Z:-0.25 [[ 9.99795990e-01 2.41906344e-03 -2.00530897e-02 3.18965410e+00] [-2.41015899e-03 9.99996986e-01 4.68200195e-04 -3.25739041e-01] [ 2.00541619e-02 -4.19773543e-04 9.99798807e-01 -2.49511821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.388241008 meters Centerline goodness [0,1] 0.9129131750465549 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.33, Z:-0.25 [[ 9.99792333e-01 2.23054845e-03 -2.02562704e-02 3.19050249e+00] [-2.22591102e-03 9.99997491e-01 2.51482124e-04 -3.25599984e-01] [ 2.02567805e-02 -2.06341244e-04 9.99794789e-01 -2.50093763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.418241008000003 meters Centerline goodness [0,1] 0.9124636839047066 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.32, Z:-0.25 [[ 9.99784452e-01 1.55952956e-03 -2.07030735e-02 3.19263921e+00] [-1.56923900e-03 9.99998666e-01 -4.52747915e-04 -3.24651409e-01] [ 2.07023398e-02 4.85138396e-04 9.99785566e-01 -2.51564186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.448241008000004 meters Centerline goodness [0,1] 0.9117006130691228 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.32, Z:-0.25 [[ 9.99777650e-01 7.00821447e-04 -2.10750961e-02 3.19542508e+00] [-7.36101720e-04 9.99998341e-01 -1.66631567e-03 -3.23541542e-01] [ 2.10738934e-02 1.68145858e-03 9.99776507e-01 -2.54704051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.478241008 meters Centerline goodness [0,1] 0.9156482774674115 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.32, Z:-0.26 [[ 9.99767878e-01 2.89678844e-04 -2.15431257e-02 3.19716665e+00] [-3.30749680e-04 9.99998135e-01 -1.90290876e-03 -3.23872610e-01] [ 2.15425343e-02 1.90959243e-03 9.99766109e-01 -2.55487374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.508241008000002 meters Centerline goodness [0,1] 0.9128560610473583 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.32, Z:-0.26 [[ 9.99761970e-01 4.32393250e-05 -2.18174630e-02 3.19832832e+00] [-9.18069719e-05 9.99997520e-01 -2.22509378e-03 -3.23654893e-01] [ 2.18173127e-02 2.22656714e-03 9.99759495e-01 -2.56336507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.538241008000004 meters Centerline goodness [0,1] 0.9148998051362592 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.32, Z:-0.26 [[ 9.99760510e-01 -1.07578573e-04 -2.18840209e-02 3.19904324e+00] [ 4.84291490e-05 9.99996345e-01 -2.70337108e-03 -3.22095684e-01] [ 2.18842317e-02 2.70166382e-03 9.99756861e-01 -2.57367493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.568241008 meters Centerline goodness [0,1] 0.9148998051362592 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.32, Z:-0.26 [[ 9.99760510e-01 -1.07578573e-04 -2.18840209e-02 3.19904324e+00] [ 4.84291490e-05 9.99996345e-01 -2.70337108e-03 -3.22095684e-01] [ 2.18842317e-02 2.70166382e-03 9.99756861e-01 -2.57367493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.598241008000002 meters Centerline goodness [0,1] 0.912812891569776 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.32, Z:-0.26 [[ 9.99759594e-01 -2.45966307e-06 -2.19261004e-02 3.19885717e+00] [-5.25216626e-05 9.99996856e-01 -2.50699808e-03 -3.21987157e-01] [ 2.19260376e-02 2.50754697e-03 9.99756451e-01 -2.56827020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.628241008000003 meters Centerline goodness [0,1] 0.9124210771334633 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.32, Z:-0.26 [[ 9.99755104e-01 3.36479464e-05 -2.21298465e-02 3.19892088e+00] [-8.80838893e-05 9.99996973e-01 -2.45887261e-03 -3.21745290e-01] [ 2.21296968e-02 2.46021972e-03 9.99752081e-01 -2.56249651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.658241008 meters Centerline goodness [0,1] 0.912667694904403 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.32, Z:-0.26 [[ 9.99767358e-01 1.17381323e-03 -2.15372102e-02 3.19613189e+00] [-1.21965515e-03 9.99997019e-01 -2.11548662e-03 -3.20477647e-01] [ 2.15346628e-02 2.14126244e-03 9.99765809e-01 -2.55212829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.688241008000002 meters Centerline goodness [0,1] 0.91477751008679 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.32, Z:-0.26 [[ 9.99767723e-01 1.25628744e-03 -2.15156323e-02 3.19597656e+00] [-1.30544245e-03 9.99996570e-01 -2.27072542e-03 -3.19048738e-01] [ 2.15127058e-02 2.29828540e-03 9.99765933e-01 -2.55167698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.718241008000003 meters Centerline goodness [0,1] 0.9123975558194086 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.32, Z:-0.26 [[ 9.99767402e-01 1.24690143e-03 -2.15310521e-02 3.19603659e+00] [-1.30068435e-03 9.99996069e-01 -2.48410009e-03 -3.18044461e-01] [ 2.15278701e-02 2.51152739e-03 9.99765094e-01 -2.55312456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.748241008 meters Centerline goodness [0,1] 0.9139709942744209 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.32, Z:-0.25 [[ 9.99767437e-01 1.50886755e-03 -2.15126728e-02 3.19551000e+00] [-1.55549774e-03 9.99996477e-01 -2.15099982e-03 -3.18176143e-01] [ 2.15093514e-02 2.18396249e-03 9.99766262e-01 -2.54629990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.778241008000002 meters Centerline goodness [0,1] 0.9124378398813505 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.32, Z:-0.25 [[ 9.99768000e-01 1.67584063e-03 -2.14741274e-02 3.19521290e+00] [-1.71533470e-03 9.99996871e-01 -1.82085886e-03 -3.18891852e-01] [ 2.14710087e-02 1.85727174e-03 9.99767746e-01 -2.54197440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.808241008000003 meters Centerline goodness [0,1] 0.9161196207148067 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.32, Z:-0.25 [[ 9.99760306e-01 1.41807443e-03 -2.18476539e-02 3.19611633e+00] [-1.44499213e-03 9.99998216e-01 -1.21632625e-03 -3.20776409e-01] [ 2.18458901e-02 1.24760440e-03 9.99760572e-01 -2.53294218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.838241008 meters Centerline goodness [0,1] 0.9170578117256056 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.32, Z:-0.25 [[ 9.99746444e-01 1.06457167e-03 -2.24925244e-02 3.19749843e+00] [-1.07280308e-03 9.99999362e-01 -3.53898690e-04 -3.23365632e-01] [ 2.24921333e-02 3.77939006e-04 9.99746949e-01 -2.51825836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.868241008000002 meters Centerline goodness [0,1] 0.9156718164794008 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.33, Z:-0.25 [[ 9.99734239e-01 7.82697128e-04 -2.30399425e-02 3.19821845e+00] [-7.63839007e-04 9.99999366e-01 8.27286101e-04 -3.26856605e-01] [ 2.30405754e-02 -8.09467433e-04 9.99734203e-01 -2.49522957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.898241008000003 meters Centerline goodness [0,1] 0.9192083062946139 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.33, Z:-0.25 [[ 9.99728612e-01 -3.36607693e-03 -2.30515241e-02 3.19809060e+00] [ 3.30440087e-03 9.99990860e-01 -2.71314252e-03 -3.28646111e-01] [ 2.30604461e-02 2.63623473e-03 9.99730597e-01 -2.48858827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.928241008 meters Centerline goodness [0,1] 0.9184942813347483 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.33, Z:-0.25 [[ 9.99717886e-01 -4.00253960e-03 -2.34121292e-02 3.19982123e+00] [ 3.92944792e-03 9.99987264e-01 -3.16713009e-03 -3.27791958e-01] [ 2.34245076e-02 3.07423985e-03 9.99720882e-01 -2.49769632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.958241008 meters Centerline goodness [0,1] 0.9176608529972153 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.33, Z:-0.25 [[ 0.9997088 -0.00464929 -0.02367902 3.20138628] [ 0.00456164 0.99998255 -0.0037542 -0.32632025] [ 0.02369606 0.00364509 0.99971256 -0.25077148] [ 0. 0. 0. 1. ]] SLAMing on 23.988241008000003 meters Centerline goodness [0,1] 0.9171272342427093 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.33, Z:-0.25 [[ 0.9996948 -0.00541819 -0.02410281 3.20306047] [ 0.00532205 0.99997763 -0.00405104 -0.32523278] [ 0.02412422 0.00392153 0.99970128 -0.25095834] [ 0. 0. 0. 1. ]] SLAMing on 24.018241008000004 meters Centerline goodness [0,1] 0.9169314036945523 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.32, Z:-0.25 [[ 0.99968235 -0.00591081 -0.02450017 3.20437155] [ 0.00581099 0.99997453 -0.00414377 -0.32499211] [ 0.02452404 0.00400008 0.99969124 -0.25096284] [ 0. 0. 0. 1. ]] SLAMing on 24.048241008 meters Centerline goodness [0,1] 0.9153538678579826 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.32, Z:-0.25 [[ 0.99966749 -0.00652055 -0.02494777 3.2059997 ] [ 0.00641733 0.99997053 -0.00421504 -0.32482398] [ 0.02497452 0.00405354 0.99967987 -0.25103723] [ 0. 0. 0. 1. ]] SLAMing on 24.078241008000003 meters Centerline goodness [0,1] 0.9132192663775929 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.32, Z:-0.25 [[ 0.99964284 -0.00739959 -0.02567952 3.20866847] [ 0.00728746 0.99996351 -0.00445717 -0.32468962] [ 0.02571156 0.00426844 0.99966029 -0.25152575] [ 0. 0. 0. 1. ]] SLAMing on 24.108241008000004 meters Centerline goodness [0,1] 0.9096376705295585 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.33, Z:-0.25 [[ 0.99962182 -0.00804458 -0.02629633 3.21073789] [ 0.00793118 0.99995881 -0.00441385 -0.32526539] [ 0.02633075 0.00420362 0.99964445 -0.25159952] [ 0. 0. 0. 1. ]] SLAMing on 24.138241008 meters Centerline goodness [0,1] 0.9029508770905694 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.33, Z:-0.25 [[ 0.99958304 -0.00925437 -0.02735151 3.21427644] [ 0.00912733 0.99994699 -0.00476601 -0.32519285] [ 0.02739417 0.00451438 0.99961452 -0.25191326] [ 0. 0. 0. 1. ]] SLAMing on 24.168241008000003 meters Centerline goodness [0,1] 0.8881652291263276 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.32, Z:-0.25 [[ 0.99954977 -0.0103111 -0.02817683 3.21709048] [ 0.01016687 0.9999345 -0.00525728 -0.32446903] [ 0.02822919 0.00496844 0.99958913 -0.25236187] [ 0. 0. 0. 1. ]] SLAMing on 24.198241008000004 meters Centerline goodness [0,1] 0.8795998361902533 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.33, Z:-0.25 [[ 9.99528230e-01 -8.55022466e-03 -2.94993406e-02 3.22197652e+00] [ 8.52050995e-03 9.99963058e-01 -1.13285801e-03 -3.26339079e-01] [ 2.95079370e-02 8.80974135e-04 9.99564158e-01 -2.51326945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.228241008 meters Centerline goodness [0,1] 0.8759660421545667 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.33, Z:-0.25 [[ 9.99519518e-01 -8.72674006e-03 -2.97418471e-02 3.22261720e+00] [ 8.69784391e-03 9.99961567e-01 -1.10080330e-03 -3.26006720e-01] [ 2.97503105e-02 8.41584444e-04 9.99557007e-01 -2.51097222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.258241008000002 meters Centerline goodness [0,1] 0.9100093709734098 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.32, Z:-0.25 [[ 9.99513460e-01 -8.93583353e-03 -2.98830215e-02 3.22305428e+00] [ 8.89845264e-03 9.99959451e-01 -1.38366229e-03 -3.24634057e-01] [ 2.98941739e-02 1.11707643e-03 9.99552445e-01 -2.51153614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.288241008000004 meters Centerline goodness [0,1] 0.8775682932523932 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.32, Z:-0.25 [[ 9.99520124e-01 -5.39006995e-03 -3.05035914e-02 3.22430613e+00] [ 5.47753579e-03 9.99981121e-01 2.78455918e-03 -3.23789163e-01] [ 3.04880066e-02 -2.95030745e-03 9.99530778e-01 -2.49801893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.318241008 meters Centerline goodness [0,1] 0.8852435154726209 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.32, Z:-0.26 [[ 9.99666236e-01 -3.31153414e-03 -2.56212935e-02 3.24027497e+00] [ 3.16720563e-03 9.99978900e-01 -5.67167827e-03 -3.19507170e-01] [ 2.56395349e-02 5.58863736e-03 9.99655631e-01 -2.55690481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.348241008000002 meters Centerline goodness [0,1] 0.9112195688803673 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.32, Z:-0.25 [[ 9.99676210e-01 -2.63286719e-03 -2.53089630e-02 3.23857371e+00] [ 2.49390968e-03 9.99981652e-01 -5.52044371e-03 -3.17773473e-01] [ 2.53230333e-02 5.45553798e-03 9.99664434e-01 -2.54815971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.378241008000003 meters Centerline goodness [0,1] 0.9122705593293828 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.32, Z:-0.25 [[ 9.99666785e-01 1.72713341e-03 -2.57553056e-02 3.23832213e+00] [-1.74794088e-03 9.99998164e-01 -7.85399680e-04 -3.17180654e-01] [ 2.57539018e-02 8.30156724e-04 9.99667969e-01 -2.52239308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.408241008 meters Centerline goodness [0,1] 0.9097896440129449 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.32, Z:-0.25 [[ 9.99674770e-01 2.48793593e-03 -2.53803886e-02 3.23648896e+00] [-2.50869507e-03 9.99996544e-01 -7.86112303e-04 -3.15209037e-01] [ 2.53783451e-02 8.49528292e-04 9.99677557e-01 -2.51656209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.438241008000002 meters Centerline goodness [0,1] 0.9089050758644517 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.31, Z:-0.26 [[ 0.99977823 0.00537724 -0.02036122 3.25204853] [-0.00554921 0.99994933 -0.00839907 -0.31171896] [ 0.02031502 0.0085102 0.99975741 -0.25723659] [ 0. 0. 0. 1. ]] SLAMing on 24.468241008000003 meters Centerline goodness [0,1] 0.9094711940686034 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.31, Z:-0.26 [[ 0.99978203 0.00604389 -0.01998417 3.25047095] [-0.00621296 0.99994534 -0.00840889 -0.31016947] [ 0.01993226 0.00853122 0.99976493 -0.25689807] [ 0. 0. 0. 1. ]] SLAMing on 24.498241008 meters Centerline goodness [0,1] 0.9110254788060045 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.31, Z:-0.26 [[ 0.99973842 0.00995425 -0.02059132 3.25164258] [-0.01003747 0.99994185 -0.00394217 -0.31042802] [ 0.02055088 0.00414782 0.9997802 -0.25563583] [ 0. 0. 0. 1. ]] SLAMing on 24.528241008000002 meters Centerline goodness [0,1] 0.9053945249597424 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.31, Z:-0.26 [[ 0.99974041 0.01010394 -0.02042128 3.25130878] [-0.01019049 0.99993951 -0.00413857 -0.30929639] [ 0.02037823 0.0043456 0.9997829 -0.25594723] [ 0. 0. 0. 1. ]] SLAMing on 24.558241008000003 meters Centerline goodness [0,1] 0.9054476605754611 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.31, Z:-0.26 [[ 0.99974088 0.01016454 -0.02036795 3.25124086] [-0.01025116 0.99993883 -0.00415283 -0.30869312] [ 0.02032449 0.00436055 0.99978393 -0.2559508 ] [ 0. 0. 0. 1. ]] SLAMing on 24.588241008 meters Centerline goodness [0,1] 0.9107481196532123 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.31, Z:-0.26 [[ 0.99974397 0.01064818 -0.01996523 3.24987055] [-0.01072725 0.99993502 -0.00385749 -0.30853871] [ 0.01992286 0.00407068 0.99979323 -0.25553126] [ 0. 0. 0. 1. ]] SLAMing on 24.618241008000002 meters Centerline goodness [0,1] 0.898428538655655 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.31, Z:-0.25 [[ 0.99974574 0.01071314 -0.01984124 3.24950807] [-0.01078722 0.99993523 -0.00363017 -0.30783155] [ 0.01980106 0.00384328 0.99979655 -0.25490883] [ 0. 0. 0. 1. ]] SLAMing on 24.648241008000003 meters Centerline goodness [0,1] 0.9004597701149425 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.31, Z:-0.25 [[ 0.9997436 0.01082015 -0.01989092 3.24939108] [-0.01088707 0.99993542 -0.00325879 -0.30885604] [ 0.01985437 0.00347451 0.99979685 -0.25435483] [ 0. 0. 0. 1. ]] SLAMing on 24.678241008000004 meters Centerline goodness [0,1] 0.8975560667050029 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.31, Z:-0.25 [[ 9.99738757e-01 1.08633950e-02 -2.01097860e-02 3.24964943e+00] [-1.09214655e-02 9.99936494e-01 -2.78010017e-03 -3.10266086e-01] [ 2.00783076e-02 2.99900222e-03 9.99793913e-01 -2.53583574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.708241008 meters Centerline goodness [0,1] 0.9029987935887861 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.31, Z:-0.25 [[ 9.99736545e-01 1.06533705e-02 -2.03309406e-02 3.25038796e+00] [-1.07115409e-02 9.99938836e-01 -2.75442179e-03 -3.10770479e-01] [ 2.03003532e-02 2.97147183e-03 9.99789511e-01 -2.53635156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.738241008000003 meters Centerline goodness [0,1] 0.9008856173442981 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.31, Z:-0.25 [[ 9.99736278e-01 1.03135613e-02 -2.05183841e-02 3.25150451e+00] [-1.03776085e-02 9.99941598e-01 -3.01742374e-03 -3.10833809e-01] [ 2.04860654e-02 3.22955974e-03 9.99784922e-01 -2.54448597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.768241008000004 meters Centerline goodness [0,1] 0.9015260581629715 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.31, Z:-0.26 [[ 9.99734271e-01 9.24530488e-03 -2.11166336e-02 3.25423622e+00] [-9.31593722e-03 9.99951328e-01 -3.24894655e-03 -3.12306078e-01] [ 2.10855683e-02 3.44480444e-03 9.99771740e-01 -2.55356974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.798241008 meters Centerline goodness [0,1] 0.9071965317919075 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.31, Z:-0.25 [[ 9.99728995e-01 8.98187677e-03 -2.14770388e-02 3.25523530e+00] [-9.04246432e-03 9.99955402e-01 -2.72558853e-03 -3.14683834e-01] [ 2.14516001e-02 2.91905523e-03 9.99765627e-01 -2.54815345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.828241008000003 meters Centerline goodness [0,1] 0.9081216954147525 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.32, Z:-0.25 [[ 9.99718057e-01 8.34181857e-03 -2.22310577e-02 3.25719947e+00] [-8.39017030e-03 9.99962633e-01 -2.08257705e-03 -3.16766303e-01] [ 2.22128545e-02 2.26851224e-03 9.99750690e-01 -2.53742668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.858241008000004 meters Centerline goodness [0,1] 0.9083867598851209 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.32, Z:-0.25 [[ 9.99713219e-01 7.67479429e-03 -2.26842969e-02 3.25894416e+00] [-7.71610003e-03 9.99968727e-01 -1.73392741e-03 -3.18514832e-01] [ 2.26702800e-02 1.90846446e-03 9.99741175e-01 -2.53554335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.888241008 meters Centerline goodness [0,1] 0.9166424798281767 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.32, Z:-0.26 [[ 9.99733892e-01 2.50417893e-03 -2.29319645e-02 3.26160520e+00] [-2.65600729e-03 9.99974740e-01 -6.59275495e-03 -3.18056702e-01] [ 2.29148758e-02 6.65190803e-03 9.99715290e-01 -2.56165120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.918241008000003 meters Centerline goodness [0,1] 0.9206399722254368 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.32, Z:-0.26 [[ 9.99718037e-01 1.71226801e-03 -2.36836160e-02 3.26424812e+00] [-1.86024317e-03 9.99978879e-01 -6.22737702e-03 -3.19994992e-01] [ 2.36724528e-02 6.26967842e-03 9.99700108e-01 -2.56037242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.948241008000004 meters Centerline goodness [0,1] 0.9211868605905156 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.32, Z:-0.26 [[ 9.99709990e-01 1.71432411e-03 -2.40207721e-02 3.26472346e+00] [-1.84936798e-03 9.99982605e-01 -5.60087559e-03 -3.21866929e-01] [ 2.40107525e-02 5.64367452e-03 9.99695770e-01 -2.55104269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.978241008 meters Centerline goodness [0,1] 0.9220272904483431 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.32, Z:-0.25 [[ 9.99704535e-01 1.86877623e-03 -2.42353297e-02 3.26465753e+00] [-1.98762465e-03 9.99986114e-01 -4.88077114e-03 -3.22928906e-01] [ 2.42258721e-02 4.92749978e-03 9.99694367e-01 -2.53667600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.008241008000002 meters Centerline goodness [0,1] 0.9215903137551662 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.32, Z:-0.25 [[ 9.99718255e-01 3.03521514e-03 -2.35414057e-02 3.26227914e+00] [-3.15090783e-03 9.99983134e-01 -4.87889865e-03 -3.21277998e-01] [ 2.35262002e-02 4.95170084e-03 9.99710958e-01 -2.53903206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.038241008000004 meters Centerline goodness [0,1] 0.9160926555642748 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.32, Z:-0.25 [[ 0.99972266 0.0034664 -0.02329362 3.26167191] [-0.00358981 0.99997973 -0.00525816 -0.319179 ] [ 0.02327492 0.00534033 0.99971484 -0.25461689] [ 0. 0. 0. 1. ]] SLAMing on 25.068241008 meters Centerline goodness [0,1] 0.9119664303284619 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.32, Z:-0.26 [[ 9.99694740e-01 8.23437883e-03 -2.32942334e-02 3.26131672e+00] [-8.26839483e-03 9.99964886e-01 -1.36433474e-03 -3.18291676e-01] [ 2.32821810e-02 1.55652418e-03 9.99727722e-01 -2.55001617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.098241008000002 meters Centerline goodness [0,1] 0.9117265627251506 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.32, Z:-0.25 [[ 9.99640985e-01 1.19234458e-02 -2.39944343e-02 3.26339810e+00] [-1.18599120e-02 9.99925781e-01 2.78842856e-03 -3.18895955e-01] [ 2.40259011e-02 -2.50285560e-03 9.99708203e-01 -2.54772184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.128241008000003 meters Centerline goodness [0,1] 0.9122156067535306 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.32, Z:-0.26 [[ 9.99637259e-01 1.22833005e-02 -2.39681281e-02 3.26337858e+00] [-1.22382911e-02 9.99923062e-01 2.02367321e-03 -3.16866733e-01] [ 2.39911414e-02 -1.72961021e-03 9.99710675e-01 -2.56098452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.158241008 meters Centerline goodness [0,1] 0.9085717581910475 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.32, Z:-0.26 [[ 9.99636365e-01 1.29453912e-02 -2.36548967e-02 3.26212544e+00] [-1.29046565e-02 9.99914976e-01 1.87388908e-03 -3.16470659e-01] [ 2.36771437e-02 -1.56794936e-03 9.99718428e-01 -2.56372430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.188241008000002 meters Centerline goodness [0,1] 0.9107678983833718 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.32, Z:-0.26 [[ 9.99632526e-01 1.34357373e-02 -2.35434422e-02 3.26137671e+00] [-1.33989626e-02 9.99908752e-01 1.71905420e-03 -3.15959621e-01] [ 2.35643907e-02 -1.40296479e-03 9.99721337e-01 -2.56449141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.218241008000003 meters Centerline goodness [0,1] 0.91078408829616 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.31, Z:-0.26 [[ 0.99966604 0.01841872 -0.01812628 3.27486519] [-0.01851961 0.99981384 -0.00541403 -0.31294846] [ 0.01802319 0.00574792 0.99982105 -0.26314157] [ 0. 0. 0. 1. ]] SLAMing on 25.248241008 meters Centerline goodness [0,1] 0.9098908027858187 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.31, Z:-0.26 [[ 0.99966283 0.01889652 -0.01780882 3.27416337] [-0.01900233 0.99980267 -0.00579132 -0.31083136] [ 0.01769587 0.00612777 0.99982464 -0.26403084] [ 0. 0. 0. 1. ]] SLAMing on 25.278241008000002 meters Centerline goodness [0,1] 0.9094385934868853 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.31, Z:-0.27 [[ 0.99965954 0.01908912 -0.01778779 3.27454224] [-0.0192032 0.99979597 -0.00626476 -0.30929957] [ 0.01766457 0.00660421 0.99982216 -0.26531445] [ 0. 0. 0. 1. ]] SLAMing on 25.308241008000003 meters Centerline goodness [0,1] 0.909587465861722 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.31, Z:-0.26 [[ 0.99965596 0.01899427 -0.01808817 3.27528221] [-0.01909813 0.99980201 -0.0055863 -0.31262409] [ 0.01797848 0.00592983 0.99982079 -0.26475007] [ 0. 0. 0. 1. ]] SLAMing on 25.338241008 meters Centerline goodness [0,1] 0.9130697862041146 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.32, Z:-0.26 [[ 0.99965137 0.01855768 -0.01878178 3.27670254] [-0.01864671 0.99981566 -0.00457664 -0.31587448] [ 0.01869339 0.00492526 0.99981313 -0.2629774 ] [ 0. 0. 0. 1. ]] SLAMing on 25.368241008000002 meters Centerline goodness [0,1] 0.9122457810471657 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.32, Z:-0.26 [[ 0.99964712 0.01817663 -0.01937135 3.27805192] [-0.01825151 0.9998266 -0.00369552 -0.31912019] [ 0.01930082 0.00404777 0.99980553 -0.26161426] [ 0. 0. 0. 1. ]] SLAMing on 25.398241008000003 meters Centerline goodness [0,1] 0.9118710760061337 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.32, Z:-0.26 [[ 0.99964704 0.01757745 -0.01992059 3.2799844 ] [-0.01765049 0.9998381 -0.00349682 -0.32123258] [ 0.0198559 0.0038472 0.99979545 -0.26171942] [ 0. 0. 0. 1. ]] SLAMing on 25.428241008000004 meters Centerline goodness [0,1] 0.912716830074839 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.32, Z:-0.26 [[ 0.99966605 0.01558177 -0.02061541 3.2848975 ] [-0.01567795 0.99986691 -0.00451218 -0.32243695] [ 0.02054236 0.00483388 0.9997773 -0.26495383] [ 0. 0. 0. 1. ]] SLAMing on 25.458241008 meters Centerline goodness [0,1] 0.912716830074839 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.32, Z:-0.26 [[ 0.99966605 0.01558177 -0.02061541 3.2848975 ] [-0.01567795 0.99986691 -0.00451218 -0.32243695] [ 0.02054236 0.00483388 0.9997773 -0.26495383] [ 0. 0. 0. 1. ]] SLAMing on 25.488241008000003 meters Centerline goodness [0,1] 0.9129597759822653 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.32, Z:-0.27 [[ 0.99966748 0.01501972 -0.02096029 3.28672723] [-0.01511551 0.99987599 -0.00441952 -0.3235828 ] [ 0.02089131 0.00473487 0.99977054 -0.26561057] [ 0. 0. 0. 1. ]] SLAMing on 25.518241008000004 meters Centerline goodness [0,1] 0.9114450596127369 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.33, Z:-0.27 [[ 0.99966444 0.01466082 -0.0213559 3.28812015] [-0.01474779 0.99988356 -0.00392086 -0.32524456] [ 0.02129593 0.0042345 0.99976425 -0.26530284] [ 0. 0. 0. 1. ]] SLAMing on 25.548241008 meters Centerline goodness [0,1] 0.9142613602962789 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.33, Z:-0.26 [[ 9.99660610e-01 1.45355625e-02 -2.16190208e-02 3.28832186e+00] [-1.45782697e-02 9.99892077e-01 -1.81915003e-03 -3.29653331e-01] [ 2.15902452e-02 2.13370055e-03 9.99764627e-01 -2.61971621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.578241008000003 meters Centerline goodness [0,1] 0.9174824352529618 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.33, Z:-0.26 [[ 9.99652334e-01 1.47918487e-02 -2.18268763e-02 3.28769929e+00] [-1.48111119e-02 9.99890049e-01 -7.21138201e-04 -3.31567224e-01] [ 2.18138095e-02 1.04416779e-03 9.99761505e-01 -2.59431979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.608241008000004 meters Centerline goodness [0,1] 0.9179032115887521 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.33, Z:-0.26 [[ 9.99642595e-01 1.50621823e-02 -2.20864723e-02 3.28714697e+00] [-1.50510039e-02 9.99886501e-01 6.72277751e-04 -3.34055949e-01] [ 2.20940915e-02 -3.39613896e-04 9.99755838e-01 -2.56531395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.638241008 meters Centerline goodness [0,1] 0.9184982493306264 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.33, Z:-0.26 [[ 9.99693172e-01 1.19343342e-02 -2.17056208e-02 3.28499403e+00] [-1.20083187e-02 9.99922513e-01 -3.28139903e-03 -3.32652006e-01] [ 2.16647776e-02 3.54104022e-03 9.99759020e-01 -2.56144761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.668241008000003 meters Centerline goodness [0,1] 0.916064610866373 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.33, Z:-0.26 [[ 9.99687778e-01 1.14108197e-02 -2.22292555e-02 3.28655451e+00] [-1.14797483e-02 9.99929678e-01 -2.97566592e-03 -3.33026940e-01] [ 2.21937375e-02 3.22992311e-03 9.99748471e-01 -2.55494996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.698241008000004 meters Centerline goodness [0,1] 0.9209124356144224 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.33, Z:-0.26 [[ 0.9996869 0.0107093 -0.02261431 3.28840869] [-0.01078942 0.99993593 -0.00342356 -0.33226218] [ 0.0225762 0.00366648 0.9997384 -0.25638267] [ 0. 0. 0. 1. ]] SLAMing on 25.728241008 meters Centerline goodness [0,1] 0.9181767452788628 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.33, Z:-0.26 [[ 0.99968806 0.00897685 -0.0233066 3.2928512 ] [-0.0091048 0.99994403 -0.00538951 -0.32896596] [ 0.02325692 0.00560003 0.99971384 -0.26021572] [ 0. 0. 0. 1. ]] SLAMing on 25.758241008000002 meters Centerline goodness [0,1] 0.918072360093026 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.33, Z:-0.26 [[ 0.99967894 0.00804459 -0.02402692 3.29555572] [-0.00818455 0.99995007 -0.00573258 -0.32896129] [ 0.02397961 0.00592739 0.99969488 -0.26090352] [ 0. 0. 0. 1. ]] SLAMing on 25.788241008000004 meters Centerline goodness [0,1] 0.9205171245987572 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.33, Z:-0.26 [[ 0.99966675 0.00717912 -0.02479609 3.29796655] [-0.00732135 0.99995724 -0.00565022 -0.32995423] [ 0.02475447 0.00582988 0.99967656 -0.26069041] [ 0. 0. 0. 1. ]] SLAMing on 25.818241008 meters Centerline goodness [0,1] 0.922116177683516 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.33, Z:-0.26 [[ 0.9996546 0.00650809 -0.02546232 3.29983251] [-0.00664499 0.9999639 -0.00529556 -0.33114258] [ 0.02542694 0.00546293 0.99966176 -0.25994363] [ 0. 0. 0. 1. ]] SLAMing on 25.848241008000002 meters Centerline goodness [0,1] 0.9232810472933128 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.33, Z:-0.26 [[ 0.99964207 0.0054133 -0.02619976 3.3019553 ] [-0.00554855 0.99997164 -0.00509209 -0.33183488] [ 0.02617145 0.00523564 0.99964376 -0.25876695] [ 0. 0. 0. 1. ]] SLAMing on 25.878241008000003 meters Centerline goodness [0,1] 0.923251362096893 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.33, Z:-0.26 [[ 0.99963495 0.00508217 -0.02653569 3.30295081] [-0.00522191 0.99997285 -0.0051993 -0.3310527 ] [ 0.02650855 0.00533597 0.99963435 -0.25866622] [ 0. 0. 0. 1. ]] SLAMing on 25.908241008 meters Centerline goodness [0,1] 0.9203828200686962 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.33, Z:-0.26 [[ 0.99962517 0.0046245 -0.02698386 3.30438065] [-0.00477761 0.99997284 -0.0056124 -0.32956054] [ 0.02695717 0.00573922 0.99962011 -0.25899757] [ 0. 0. 0. 1. ]] SLAMing on 25.938241008000002 meters Centerline goodness [0,1] 0.9214748760669972 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.33, Z:-0.26 [[ 0.99961874 0.00437397 -0.02726244 3.30525103] [-0.00455468 0.99996804 -0.0065701 -0.32609122] [ 0.02723283 0.00669177 0.99960672 -0.25998195] [ 0. 0. 0. 1. ]] SLAMing on 25.968241008000003 meters Centerline goodness [0,1] 0.9211674131319341 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.32, Z:-0.26 [[ 0.9996153 0.00444267 -0.02737718 3.3052192 ] [-0.00462671 0.9999671 -0.00666257 -0.32470674] [ 0.02734668 0.00678667 0.99960297 -0.25958219] [ 0. 0. 0. 1. ]] SLAMing on 25.998241008 meters Centerline goodness [0,1] 0.9201799748736378 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.32, Z:-0.26 [[ 0.99960929 0.00456633 -0.02757555 3.30505196] [-0.00474731 0.9999676 -0.00650117 -0.32343579] [ 0.02754497 0.00662954 0.99959858 -0.25849361] [ 0. 0. 0. 1. ]] SLAMing on 26.028241008000002 meters Centerline goodness [0,1] 0.9224185613228144 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.33, Z:-0.26 [[ 9.99554093e-01 7.85491673e-03 -2.88082533e-02 3.30776977e+00] [-7.90081906e-03 9.99967693e-01 -1.47989069e-03 -3.25226346e-01] [ 2.87956982e-02 1.70683960e-03 9.99583861e-01 -2.55879125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.058241008000003 meters Centerline goodness [0,1] 0.9234263087404647 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.32, Z:-0.25 [[ 9.99553537e-01 8.54213172e-03 -2.86314135e-02 3.30608597e+00] [-8.58906510e-03 9.99961963e-01 -1.51664193e-03 -3.23202747e-01] [ 2.86173691e-02 1.76188188e-03 9.99588886e-01 -2.54898180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.088241008 meters Centerline goodness [0,1] 0.9222267465534291 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.32, Z:-0.25 [[ 9.99548839e-01 8.47015349e-03 -2.88162241e-02 3.30631690e+00] [-8.51870810e-03 9.99962494e-01 -1.56262586e-03 -3.22390676e-01] [ 2.88019076e-02 1.80739787e-03 9.99583505e-01 -2.54468332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.118241008000002 meters Centerline goodness [0,1] 0.9223089014379694 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.32, Z:-0.25 [[ 9.99551039e-01 8.68378821e-03 -2.86759827e-02 3.30559109e+00] [-8.72713411e-03 9.99960956e-01 -1.38676318e-03 -3.21832958e-01] [ 2.86628207e-02 1.63639973e-03 9.99587797e-01 -2.53854129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.148241008000003 meters Centerline goodness [0,1] 0.9231238914895473 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.32, Z:-0.25 [[ 9.99548372e-01 8.38330879e-03 -2.88577758e-02 3.30593457e+00] [-8.42589196e-03 9.99963584e-01 -1.35433452e-03 -3.20631523e-01] [ 2.88453712e-02 1.59687537e-03 9.99582610e-01 -2.53142127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.178241008000004 meters Centerline goodness [0,1] 0.924067599067599 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.32, Z:-0.25 [[ 9.99545394e-01 8.04521065e-03 -2.90565006e-02 3.30660802e+00] [-8.08531232e-03 9.99966516e-01 -1.26289906e-03 -3.20580482e-01] [ 2.90453674e-02 1.49725582e-03 9.99576973e-01 -2.52748886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.208241008 meters Centerline goodness [0,1] 0.9231419904328549 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.32, Z:-0.25 [[ 9.99536407e-01 7.73688268e-03 -2.94467479e-02 3.30739803e+00] [-7.77289832e-03 9.99969176e-01 -1.10880357e-03 -3.20667865e-01] [ 2.94372616e-02 1.33717612e-03 9.99565736e-01 -2.51998665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.238241008000003 meters Centerline goodness [0,1] 0.9240458459390273 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.32, Z:-0.25 [[ 9.99525918e-01 7.18214511e-03 -2.99392107e-02 3.30886178e+00] [-7.21739420e-03 9.99973382e-01 -1.06945455e-03 -3.20851596e-01] [ 2.99307328e-02 1.28503063e-03 9.99551149e-01 -2.51592204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.268241008000004 meters Centerline goodness [0,1] 0.9271782666744064 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.32, Z:-0.25 [[ 9.99503091e-01 6.52390337e-03 -3.08384404e-02 3.31072421e+00] [-6.55485430e-03 9.99978109e-01 -9.02658253e-04 -3.21140362e-01] [ 3.08318765e-02 1.10435120e-03 9.99523975e-01 -2.50300654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.298241008 meters Centerline goodness [0,1] 0.9264020053631806 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.32, Z:-0.25 [[ 9.99493301e-01 6.12750663e-03 -3.12345191e-02 3.31188783e+00] [-6.16540603e-03 9.99980370e-01 -1.11721546e-03 -3.20940826e-01] [ 3.12270602e-02 1.30922286e-03 9.99511459e-01 -2.50402039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.328241008000003 meters Centerline goodness [0,1] 0.926530612244898 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.32, Z:-0.25 [[ 9.99484615e-01 5.75746435e-03 -3.15809306e-02 3.31298763e+00] [-5.80343501e-03 9.99982229e-01 -1.36417659e-03 -3.20162599e-01] [ 3.15725152e-02 1.54675140e-03 9.99500267e-01 -2.50532001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.358241008000004 meters Centerline goodness [0,1] 0.9264210159246774 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.32, Z:-0.25 [[ 9.99473381e-01 4.98511614e-03 -3.20641291e-02 3.31508075e+00] [-5.05412314e-03 9.99985082e-01 -2.07146652e-03 -3.18420052e-01] [ 3.20533243e-02 2.23243171e-03 9.99483667e-01 -2.51509576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.388241008 meters Centerline goodness [0,1] 0.925847580411475 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.31, Z:-0.25 [[ 9.99470880e-01 5.07370652e-03 -3.21281432e-02 3.31537117e+00] [-5.16617690e-03 9.99982747e-01 -2.79581648e-03 -3.14958851e-01] [ 3.21134037e-02 2.96031683e-03 9.99479848e-01 -2.52399416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.418241008000003 meters Centerline goodness [0,1] 0.9245315752949341 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.31, Z:-0.25 [[ 0.9994719 0.00509399 -0.03209327 3.31551262] [-0.00520763 0.99998046 -0.00345831 -0.31213979] [ 0.03207503 0.00362361 0.9994789 -0.2532014 ] [ 0. 0. 0. 1. ]] SLAMing on 26.448241008000004 meters Centerline goodness [0,1] 0.9240747146316154 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.31, Z:-0.25 [[ 9.99421227e-01 8.73394494e-03 -3.28774867e-02 3.31733177e+00] [-8.70815921e-03 9.99961653e-01 9.27408242e-04 -3.12704180e-01] [ 3.28843259e-02 -6.40569095e-04 9.99458959e-01 -2.52073723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.478241008 meters Centerline goodness [0,1] 0.9238372428102126 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.31, Z:-0.25 [[ 9.99426768e-01 9.13026643e-03 -3.26002191e-02 3.31641504e+00] [-9.11741416e-03 9.99958288e-01 5.42874345e-04 -3.10773383e-01] [ 3.26038158e-02 -2.45333453e-04 9.99468324e-01 -2.52353365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.508241008000002 meters Centerline goodness [0,1] 0.9228184063882346 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.31, Z:-0.26 [[ 0.99953808 0.01222418 -0.0278245 3.33112772] [-0.0124236 0.99989828 -0.00700575 -0.30836163] [ 0.02773603 0.0073482 0.99958827 -0.25656496] [ 0. 0. 0. 1. ]] SLAMing on 26.538241008000004 meters Centerline goodness [0,1] 0.9216359216359217 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.31, Z:-0.26 [[ 0.99953202 0.01271196 -0.02782337 3.33062044] [-0.01290833 0.99989295 -0.00688942 -0.30732038] [ 0.02773282 0.00724535 0.99958911 -0.25623003] [ 0. 0. 0. 1. ]] SLAMing on 26.568241008 meters Centerline goodness [0,1] 0.9169856596012113 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.31, Z:-0.26 [[ 0.99952932 0.01305272 -0.02776255 3.33026486] [-0.01325533 0.99988675 -0.00712668 -0.30512947] [ 0.02766639 0.00749132 0.99958914 -0.25638938] [ 0. 0. 0. 1. ]] SLAMing on 26.598241008000002 meters Centerline goodness [0,1] 0.9155929304446978 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.31, Z:-0.26 [[ 9.99464013e-01 1.65857146e-02 -2.82241148e-02 3.33200225e+00] [-1.66743041e-02 9.99856750e-01 -2.90631642e-03 -3.05861493e-01] [ 2.81718684e-02 3.37537615e-03 9.99597395e-01 -2.56021470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.628241008000003 meters Centerline goodness [0,1] 0.9101910646658504 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.30, Z:-0.26 [[ 9.99459640e-01 1.75942333e-02 -2.77645607e-02 3.33018641e+00] [-1.76807670e-02 9.99839552e-01 -2.87426478e-03 -3.04491041e-01] [ 2.77095354e-02 3.36361037e-03 9.99610358e-01 -2.56079741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.658241008 meters Centerline goodness [0,1] 0.9120729317542813 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.30, Z:-0.26 [[ 9.99449497e-01 1.77523439e-02 -2.80277958e-02 3.33045316e+00] [-1.78340243e-02 9.99837404e-01 -2.66696486e-03 -3.04870811e-01] [ 2.79758937e-02 3.16534508e-03 9.99603586e-01 -2.55568246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.688241008000002 meters Centerline goodness [0,1] 0.9137102051267462 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.31, Z:-0.26 [[ 9.99444871e-01 1.80890759e-02 -2.79774076e-02 3.32993701e+00] [-1.81638565e-02 9.99832092e-01 -2.42104638e-03 -3.05396226e-01] [ 2.79289155e-02 2.92788000e-03 9.99605624e-01 -2.55117076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.718241008000003 meters Centerline goodness [0,1] 0.9114669245207895 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.31, Z:-0.26 [[ 9.99438786e-01 1.80844566e-02 -2.81969155e-02 3.33050439e+00] [-1.81591197e-02 9.99832243e-01 -2.39408023e-03 -3.05522890e-01] [ 2.81488896e-02 2.90476780e-03 9.99599521e-01 -2.55074320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.748241008 meters Centerline goodness [0,1] 0.9115962267377241 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.31, Z:-0.26 [[ 9.99435674e-01 1.82441460e-02 -2.82043452e-02 3.33058990e+00] [-1.83209368e-02 9.99829115e-01 -2.46662523e-03 -3.05259075e-01] [ 2.81545241e-02 2.98196328e-03 9.99599135e-01 -2.55351271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.778241008000002 meters Centerline goodness [0,1] 0.9108155068789701 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.30, Z:-0.26 [[ 9.99428390e-01 1.86292541e-02 -2.82107109e-02 3.33125829e+00] [-1.87289676e-02 9.99819235e-01 -3.27447922e-03 -3.03853050e-01] [ 2.81446103e-02 3.80096499e-03 9.99596635e-01 -2.57775505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.808241008000003 meters Centerline goodness [0,1] 0.9104261774463379 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.30, Z:-0.26 [[ 0.99942505 0.01843747 -0.02845404 3.33261004] [-0.01855357 0.99982056 -0.00382165 -0.30286445] [ 0.02837847 0.00434738 0.9995878 -0.25913471] [ 0. 0. 0. 1. ]] SLAMing on 26.838241008000004 meters Centerline goodness [0,1] 0.9086367893735986 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.30, Z:-0.26 [[ 0.99941834 0.01864794 -0.02855224 3.33327825] [-0.01877074 0.99981566 -0.00403883 -0.30312349] [ 0.02847166 0.00457242 0.99958414 -0.26033205] [ 0. 0. 0. 1. ]] SLAMing on 26.868241008000002 meters Centerline goodness [0,1] 0.9065641463761925 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.30, Z:-0.26 [[ 0.99941688 0.01874632 -0.02853894 3.33350261] [-0.01886992 0.99981367 -0.00406802 -0.30341461] [ 0.02845736 0.00460417 0.9995844 -0.26087225] [ 0. 0. 0. 1. ]] SLAMing on 26.898241008000003 meters Centerline goodness [0,1] 0.907997269779876 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.30, Z:-0.26 [[ 0.99941576 0.01872974 -0.02858907 3.33410266] [-0.01885612 0.99981357 -0.00415708 -0.30345911] [ 0.02850587 0.00469373 0.9995826 -0.26154371] [ 0. 0. 0. 1. ]] SLAMing on 26.928241008000004 meters Centerline goodness [0,1] 0.9087409097390561 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.30, Z:-0.26 [[ 0.9994162 0.01875136 -0.02855949 3.33442057] [-0.01887671 0.99981331 -0.00412576 -0.3038287 ] [ 0.0284768 0.00466246 0.99958358 -0.26201979] [ 0. 0. 0. 1. ]] SLAMing on 26.958241008 meters Centerline goodness [0,1] 0.908108417200366 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.31, Z:-0.26 [[ 9.99405960e-01 1.83727319e-02 -2.91576670e-02 3.33590574e+00] [-1.84608158e-02 9.99825790e-01 -2.75461471e-03 -3.08110455e-01] [ 2.91019776e-02 3.29125268e-03 9.99571029e-01 -2.60189265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.988241008000003 meters Centerline goodness [0,1] 0.9120011484352569 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.31, Z:-0.26 [[ 9.99399981e-01 1.76780704e-02 -2.97852787e-02 3.33796725e+00] [-1.77564740e-02 9.99839533e-01 -2.36983297e-03 -3.10641633e-01] [ 2.97386051e-02 2.89729255e-03 9.99553511e-01 -2.59826565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.018241008000004 meters Centerline goodness [0,1] 0.9141835174661782 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.31, Z:-0.26 [[ 9.99399163e-01 1.69112438e-02 -3.02542944e-02 3.34013372e+00] [-1.69844578e-02 9.99853411e-01 -2.16458754e-03 -3.13079586e-01] [ 3.02132535e-02 2.67713976e-03 9.99539890e-01 -2.60196256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.048241008 meters Centerline goodness [0,1] 0.9178711840888066 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.32, Z:-0.26 [[ 9.99397794e-01 1.55669072e-02 -3.10116185e-02 3.34346767e+00] [-1.56414838e-02 9.99875324e-01 -2.16364288e-03 -3.15789886e-01] [ 3.09740709e-02 2.64740765e-03 9.99516682e-01 -2.60770657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.078241008000003 meters Centerline goodness [0,1] 0.9213355806114146 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.32, Z:-0.26 [[ 0.99945768 0.01105986 -0.03101647 3.34452532] [-0.01126767 0.99991518 -0.00653304 -0.31629441] [ 0.03094158 0.00687898 0.99949752 -0.26232096] [ 0. 0. 0. 1. ]] SLAMing on 27.108241008000004 meters Centerline goodness [0,1] 0.9261869109486479 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.32, Z:-0.26 [[ 0.99949535 0.00504994 -0.03136155 3.34792409] [-0.00539391 0.99992612 -0.0108931 -0.32049942] [ 0.03130422 0.01105677 0.99944874 -0.26418913] [ 0. 0. 0. 1. ]] SLAMing on 27.138241008 meters Centerline goodness [0,1] 0.9260335917312661 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.32, Z:-0.26 [[ 0.99946705 0.00390091 -0.03240992 3.35150326] [-0.00423021 0.99994006 -0.01009821 -0.32390465] [ 0.03236859 0.01022992 0.99942365 -0.26349665] [ 0. 0. 0. 1. ]] SLAMing on 27.168241008000003 meters Centerline goodness [0,1] 0.9259455481972039 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.33, Z:-0.26 [[ 9.99439193e-01 2.91341362e-03 -3.33588419e-02 3.35467508e+00] [-3.22592341e-03 9.99951382e-01 -9.31813876e-03 -3.26805460e-01] [ 3.33300725e-02 9.42052614e-03 9.99400000e-01 -2.62738382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.198241008000004 meters Centerline goodness [0,1] 0.9270827183090276 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.33, Z:-0.26 [[ 9.99425801e-01 2.58296528e-03 -3.37845747e-02 3.35615431e+00] [-2.87289582e-03 9.99959441e-01 -8.53601646e-03 -3.29503874e-01] [ 3.37611562e-02 8.62817465e-03 9.99392685e-01 -2.62150670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.228241008 meters Centerline goodness [0,1] 0.928728005213579 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.33, Z:-0.26 [[ 9.99426473e-01 3.07086565e-03 -3.37238022e-02 3.35525651e+00] [-3.32910162e-03 9.99965548e-01 -7.60390068e-03 -3.31061727e-01] [ 3.36992898e-02 7.71180961e-03 9.99402264e-01 -2.60644466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.258241008000002 meters Centerline goodness [0,1] 0.9295911745619727 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.33, Z:-0.26 [[ 0.99958838 0.00679009 -0.02787412 3.36736213] [-0.00716125 0.99988674 -0.01323737 -0.32979996] [ 0.02778108 0.01343153 0.99952379 -0.26127047] [ 0. 0. 0. 1. ]] SLAMing on 27.288241008000004 meters Centerline goodness [0,1] 0.9299985287626894 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.33, Z:-0.26 [[ 0.99954046 0.01101317 -0.02824152 3.36745543] [-0.01123813 0.99990628 -0.00781941 -0.3320552 ] [ 0.02815276 0.0081332 0.99957054 -0.25850373] [ 0. 0. 0. 1. ]] SLAMing on 27.318241008 meters Centerline goodness [0,1] 0.9278843333919878 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.33, Z:-0.26 [[ 0.99953712 0.01154398 -0.02814738 3.36640857] [-0.01176582 0.99990091 -0.00772846 -0.33009836] [ 0.02805538 0.00805606 0.99957391 -0.25778217] [ 0. 0. 0. 1. ]] SLAMing on 27.348241008000002 meters Centerline goodness [0,1] 0.9226877978888272 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.33, Z:-0.26 [[ 0.9994731 0.01588005 -0.02830797 3.36653258] [-0.01598796 0.99986574 -0.00358976 -0.32910657] [ 0.02824716 0.00404046 0.9995928 -0.25729091] [ 0. 0. 0. 1. ]] SLAMing on 27.378241008000003 meters Centerline goodness [0,1] 0.9226877978888272 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.33, Z:-0.26 [[ 0.9994731 0.01588005 -0.02830797 3.36653258] [-0.01598796 0.99986574 -0.00358976 -0.32910657] [ 0.02824716 0.00404046 0.9995928 -0.25729091] [ 0. 0. 0. 1. ]] SLAMing on 27.408241008 meters Centerline goodness [0,1] 0.9249817916970138 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.33, Z:-0.26 [[ 0.99946732 0.01582333 -0.02854286 3.36726948] [-0.01594468 0.99986476 -0.00402866 -0.32738952] [ 0.02847526 0.00448162 0.99958445 -0.25779719] [ 0. 0. 0. 1. ]] SLAMing on 27.438241008000002 meters Centerline goodness [0,1] 0.9235624327390128 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.33, Z:-0.26 [[ 0.9994573 0.01600234 -0.02879284 3.36747402] [-0.01612615 0.99986167 -0.00407315 -0.32653926] [ 0.02872368 0.00453526 0.9995771 -0.25750302] [ 0. 0. 0. 1. ]] SLAMing on 27.468241008000003 meters Centerline goodness [0,1] 0.9229896427324566 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.33, Z:-0.26 [[ 0.99944869 0.01681474 -0.02862835 3.36585661] [-0.0169304 0.99984944 -0.00380244 -0.32548339] [ 0.0285601 0.00428504 0.99958289 -0.25644427] [ 0. 0. 0. 1. ]] SLAMing on 27.498241008 meters Centerline goodness [0,1] 0.9221235341924997 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.33, Z:-0.26 [[ 0.99943788 0.01676304 -0.02903326 3.36646574] [-0.01687742 0.99985072 -0.00369891 -0.32520561] [ 0.02896692 0.00418684 0.9995716 -0.25576361] [ 0. 0. 0. 1. ]] SLAMing on 27.528241008000002 meters Centerline goodness [0,1] 0.9218132123749709 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.33, Z:-0.25 [[ 9.99432250e-01 1.69840922e-02 -2.90984189e-02 3.36609483e+00] [-1.70890503e-02 9.99848319e-01 -3.36210676e-03 -3.25502732e-01] [ 2.90369029e-02 3.85746227e-03 9.99570897e-01 -2.54921363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.558241008000003 meters Centerline goodness [0,1] 0.9233784333081703 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.33, Z:-0.25 [[ 0.99942728 0.01658477 -0.0294968 3.36747416] [-0.01669235 0.99985488 -0.00340464 -0.32505517] [ 0.02943605 0.00389507 0.99955908 -0.2548772 ] [ 0. 0. 0. 1. ]] SLAMing on 27.588241008000004 meters Centerline goodness [0,1] 0.922524609148813 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.32, Z:-0.26 [[ 0.99942243 0.01620265 -0.02987096 3.36874022] [-0.01631947 0.99986009 -0.00367097 -0.32349253] [ 0.0298073 0.00415633 0.99954702 -0.25503217] [ 0. 0. 0. 1. ]] SLAMing on 27.618241008000002 meters Centerline goodness [0,1] 0.9236224133922344 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.32, Z:-0.26 [[ 0.9994195 0.01597414 -0.03009132 3.36946947] [-0.01610434 0.99986195 -0.00408947 -0.32138222] [ 0.03002184 0.0045717 0.99953879 -0.25538134] [ 0. 0. 0. 1. ]] SLAMing on 27.648241008000003 meters Centerline goodness [0,1] 0.9211848410047916 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.32, Z:-0.26 [[ 0.99940882 0.01551394 -0.03068096 3.3711765 ] [-0.01565596 0.99986778 -0.00439398 -0.32043006] [ 0.03060874 0.00487172 0.99951957 -0.25553197] [ 0. 0. 0. 1. ]] SLAMing on 27.678241008000004 meters Centerline goodness [0,1] 0.9197084531172867 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.32, Z:-0.25 [[ 0.99940104 0.01546465 -0.03095824 3.37162139] [-0.0156033 0.99986926 -0.00424224 -0.32041116] [ 0.03088859 0.00472275 0.99951168 -0.25498913] [ 0. 0. 0. 1. ]] SLAMing on 27.708241008 meters Centerline goodness [0,1] 0.9224777018417699 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.32, Z:-0.25 [[ 0.9993824 0.01491435 -0.03181781 3.37374539] [-0.01505598 0.99987776 -0.00421646 -0.32028402] [ 0.03175104 0.0046929 0.99948479 -0.25443914] [ 0. 0. 0. 1. ]] SLAMing on 27.738241008000003 meters Centerline goodness [0,1] 0.9194656156721824 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.32, Z:-0.25 [[ 0.99937346 0.01454224 -0.03226776 3.37519166] [-0.01469435 0.99988199 -0.00448187 -0.31990464] [ 0.03219878 0.00495322 0.99946921 -0.25480823] [ 0. 0. 0. 1. ]] SLAMing on 27.768241008000004 meters Centerline goodness [0,1] 0.9190325667720326 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.32, Z:-0.25 [[ 0.9993632 0.01418492 -0.0327411 3.37658795] [-0.01434101 0.99988687 -0.00453758 -0.32000881] [ 0.03267303 0.00500423 0.99945357 -0.254861 ] [ 0. 0. 0. 1. ]] SLAMing on 27.798241008 meters Centerline goodness [0,1] 0.9166642460859209 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.32, Z:-0.25 [[ 0.99935387 0.01378646 -0.03319303 3.37787578] [-0.01394212 0.99989285 -0.00446263 -0.32048499] [ 0.03312795 0.00492253 0.999439 -0.25461074] [ 0. 0. 0. 1. ]] SLAMing on 27.828241008000003 meters Centerline goodness [0,1] 0.9226514511950161 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.32, Z:-0.25 [[ 0.9993414 0.01321585 -0.03379498 3.37931882] [-0.01335651 0.99990304 -0.00393984 -0.32227201] [ 0.03373964 0.00438862 0.99942102 -0.25343341] [ 0. 0. 0. 1. ]] SLAMing on 27.858241008000004 meters Centerline goodness [0,1] 0.9190251572327044 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.32, Z:-0.25 [[ 0.99932363 0.01254114 -0.03456871 3.3814332 ] [-0.01267591 0.99991288 -0.00368198 -0.32295703] [ 0.03451952 0.00411767 0.99939554 -0.25271446] [ 0. 0. 0. 1. ]] SLAMing on 27.888241008 meters Centerline goodness [0,1] 0.9223210380521942 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.32, Z:-0.25 [[ 9.99318386e-01 1.22870768e-02 -3.48107973e-02 3.38198505e+00] [-1.24060600e-02 9.99917908e-01 -3.20405322e-03 -3.24046095e-01] [ 3.47685712e-02 3.63373413e-03 9.99388784e-01 -2.51806408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.918241008000003 meters Centerline goodness [0,1] 0.921094960956921 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.33, Z:-0.25 [[ 9.99313058e-01 1.21848758e-02 -3.49991623e-02 3.38217198e+00] [-1.22822128e-02 9.99921275e-01 -2.56746379e-03 -3.25230561e-01] [ 3.49651227e-02 2.99556725e-03 9.99384044e-01 -2.50560665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.948241008000004 meters Centerline goodness [0,1] 0.9243707294282544 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.33, Z:-0.25 [[ 9.99300734e-01 1.18200994e-02 -3.54729262e-02 3.38313561e+00] [-1.19062761e-02 9.99926655e-01 -2.21909986e-03 -3.25728876e-01] [ 3.54440945e-02 2.63989857e-03 9.99368174e-01 -2.49440452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.978241008 meters Centerline goodness [0,1] 0.9248342146008004 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.33, Z:-0.25 [[ 9.99277415e-01 1.12488505e-02 -3.63057915e-02 3.38449499e+00] [-1.12956388e-02 9.99935615e-01 -1.08386231e-03 -3.27439050e-01] [ 3.62912618e-02 1.49317623e-03 9.99340140e-01 -2.46466086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.008241008000002 meters Centerline goodness [0,1] 0.9264422233911976 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.33, Z:-0.25 [[ 9.99267946e-01 1.09175392e-02 -3.66657892e-02 3.38539136e+00] [-1.09596146e-02 9.99939493e-01 -9.46738365e-04 -3.27570351e-01] [ 3.66532346e-02 1.34788822e-03 9.99327135e-01 -2.45895174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.038241008000004 meters Centerline goodness [0,1] 0.9257228315054835 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.33, Z:-0.25 [[ 9.99258025e-01 1.01229362e-02 -3.71608133e-02 3.38716532e+00] [-1.01877538e-02 9.99946894e-01 -1.55529764e-03 -3.25827890e-01] [ 3.71430957e-02 1.93272886e-03 9.99308088e-01 -2.46289414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.068241008 meters Centerline goodness [0,1] 0.9252410166520596 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.32, Z:-0.25 [[ 9.99243716e-01 9.44356085e-03 -3.77202339e-02 3.38897465e+00] [-9.52339141e-03 9.99952775e-01 -1.93726623e-03 -3.24875204e-01] [ 3.77001578e-02 2.29502566e-03 9.99286461e-01 -2.46449265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.098241008000002 meters Centerline goodness [0,1] 0.9249963476990504 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.32, Z:-0.25 [[ 9.99229720e-01 9.00275384e-03 -3.81957800e-02 3.39005608e+00] [-9.08214525e-03 9.99956941e-01 -1.90553161e-03 -3.24525824e-01] [ 3.81769803e-02 2.25096344e-03 9.99268458e-01 -2.45758435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.128241008000003 meters Centerline goodness [0,1] 0.9255601974933536 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.32, Z:-0.25 [[ 9.99208307e-01 8.32707766e-03 -3.89026749e-02 3.39202645e+00] [-8.40866028e-03 9.99962776e-01 -1.93394165e-03 -3.24500919e-01] [ 3.88851227e-02 2.25952994e-03 9.99241133e-01 -2.45364237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.158241008 meters Centerline goodness [0,1] 0.9231713375610041 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.32, Z:-0.25 [[ 9.99191457e-01 7.61926049e-03 -3.94763005e-02 3.39400540e+00] [-7.71091611e-03 9.99967916e-01 -2.17004797e-03 -3.24195184e-01] [ 3.94584998e-02 2.47269183e-03 9.99218151e-01 -2.45500121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.188241008000002 meters Centerline goodness [0,1] 0.9245553056634634 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.32, Z:-0.25 [[ 9.99167894e-01 6.79709474e-03 -4.02159036e-02 3.39639412e+00] [-6.90218723e-03 9.99973117e-01 -2.47493793e-03 -3.23612680e-01] [ 4.01980001e-02 2.75045621e-03 9.99187948e-01 -2.45631640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.218241008000003 meters Centerline goodness [0,1] 0.9210179903466432 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.32, Z:-0.24 [[ 9.99152213e-01 6.21756739e-03 -4.06963900e-02 3.39742461e+00] [-6.31011352e-03 9.99977788e-01 -2.14600381e-03 -3.23954887e-01] [ 4.06821432e-02 2.40098330e-03 9.99169254e-01 -2.44281898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.248241008000004 meters Centerline goodness [0,1] 0.9182723279648609 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.32, Z:-0.24 [[ 9.99139156e-01 5.83254380e-03 -4.10722292e-02 3.39830992e+00] [-5.91264930e-03 9.99980847e-01 -1.82915189e-03 -3.24981883e-01] [ 4.10607739e-02 2.07042296e-03 9.99154506e-01 -2.43407238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.278241008000002 meters Centerline goodness [0,1] 0.916432007509093 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.33, Z:-0.24 [[ 9.99089752e-01 4.68869427e-03 -4.23991037e-02 3.40152409e+00] [-4.72941261e-03 9.99988446e-01 -8.60102574e-04 -3.26994711e-01] [ 4.23945811e-02 1.05984252e-03 9.99100383e-01 -2.40891860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.308241008000003 meters Centerline goodness [0,1] 0.9188081718667681 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.33, Z:-0.24 [[ 9.99056823e-01 3.72917345e-03 -4.32615030e-02 3.40443405e+00] [-3.78606691e-03 9.99992072e-01 -1.23324630e-03 -3.26577824e-01] [ 4.32565611e-02 1.39587407e-03 9.99063022e-01 -2.41308866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.338241008000004 meters Centerline goodness [0,1] 0.9155276588255998 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.33, Z:-0.24 [[ 9.99043590e-01 3.13041536e-03 -4.36131266e-02 3.40593917e+00] [-3.19567971e-03 9.99993876e-01 -1.42679837e-03 -3.26137954e-01] [ 4.36083931e-02 1.56480735e-03 9.99047476e-01 -2.41560715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.368241008000002 meters Centerline goodness [0,1] 0.9060503019288269 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.33, Z:-0.24 [[ 9.99009353e-01 2.24377297e-03 -4.44440975e-02 3.40859728e+00] [-2.31466895e-03 9.99996130e-01 -1.54377412e-03 -3.26111002e-01] [ 4.44404616e-02 1.64511815e-03 9.99010680e-01 -2.41511080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.398241008000003 meters Centerline goodness [0,1] 0.8805917576611483 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.33, Z:-0.24 [[ 9.98958393e-01 1.01933233e-03 -4.56189685e-02 3.41192835e+00] [-1.05866225e-03 9.99999089e-01 -8.37987674e-04 -3.27451085e-01] [ 4.56180727e-02 8.85409900e-04 9.98958561e-01 -2.39661169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.428241008000004 meters Centerline goodness [0,1] 0.9021911998586323 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.33, Z:-0.24 [[ 9.98943048e-01 8.64106122e-04 -4.59569366e-02 3.41242282e+00] [-8.92205732e-04 9.99999427e-01 -5.90924631e-04 -3.27876042e-01] [ 4.59563997e-02 6.31303095e-04 9.98943247e-01 -2.38789821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.458241008 meters Centerline goodness [0,1] 0.9021739130434783 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.33, Z:-0.24 [[ 9.98937633e-01 8.42732030e-04 -4.60748904e-02 3.41246820e+00] [-8.66452047e-04 9.99999502e-01 -4.94845354e-04 -3.27188407e-01] [ 4.60744505e-02 5.34241330e-04 9.98937866e-01 -2.38226504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.488241008000003 meters Centerline goodness [0,1] 0.8981438107506734 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.33, Z:-0.24 [[ 9.98923550e-01 5.58816161e-04 -4.63834934e-02 3.41340044e+00] [-6.01055107e-04 9.99999417e-01 -8.96704034e-04 -3.25112656e-01] [ 4.63829653e-02 9.23617813e-04 9.98923304e-01 -2.38386953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.518241008000004 meters Centerline goodness [0,1] 0.9005241700640653 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.32, Z:-0.24 [[ 0.99888156 0.00440186 -0.047077 3.41435609] [-0.00422719 0.99998381 0.00380934 -0.32498253] [ 0.04709301 -0.00360608 0.998884 -0.23590615] [ 0. 0. 0. 1. ]] SLAMing on 28.548241008 meters Centerline goodness [0,1] 0.9033477792967046 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.32, Z:-0.24 [[ 9.98876156e-01 4.83186503e-03 -4.71495390e-02 3.41371419e+00] [-4.67335934e-03 9.99983054e-01 3.47142192e-03 -3.22742610e-01] [ 4.71655134e-02 -3.24717384e-03 9.98881810e-01 -2.35614420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.578241008000003 meters Centerline goodness [0,1] 0.9082693700217234 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.32, Z:-0.24 [[ 9.98867743e-01 5.31013145e-03 -4.72761534e-02 3.41322666e+00] [-5.16635139e-03 9.99981652e-01 3.16295341e-03 -3.20073662e-01] [ 4.72920817e-02 -2.91512692e-03 9.98876850e-01 -2.35369875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.608241008000004 meters Centerline goodness [0,1] 0.9145935076127549 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.31, Z:-0.24 [[ 9.99049372e-01 1.13846915e-02 -4.20801765e-02 3.42659830e+00] [-1.14717476e-02 9.99932527e-01 -1.82791384e-03 -3.14947954e-01] [ 4.20565270e-02 2.30890934e-03 9.99112565e-01 -2.38735252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.638241008 meters Centerline goodness [0,1] 0.9146923519263945 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.31, Z:-0.24 [[ 9.99054492e-01 1.24700799e-02 -4.16487502e-02 3.42442259e+00] [-1.25525519e-02 9.99919736e-01 -1.71924235e-03 -3.12674784e-01] [ 4.16239682e-02 2.24041489e-03 9.99130835e-01 -2.38127332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.668241008000003 meters Centerline goodness [0,1] 0.9127639511958168 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.31, Z:-0.24 [[ 9.98973852e-01 1.62877245e-02 -4.22605464e-02 3.42582358e+00] [-1.61860065e-02 9.99865222e-01 2.74800024e-03 -3.13247295e-01] [ 4.22996093e-02 -2.06115091e-03 9.99102845e-01 -2.36805911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.698241008000004 meters Centerline goodness [0,1] 0.9134711332858161 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.31, Z:-0.24 [[ 9.98973901e-01 1.67000756e-02 -4.20981352e-02 3.42541489e+00] [-1.66262296e-02 9.99859562e-01 2.10367697e-03 -3.10543674e-01] [ 4.21273546e-02 -1.40158512e-03 9.99111266e-01 -2.37732728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.728241008 meters Centerline goodness [0,1] 0.908672294704528 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.31, Z:-0.24 [[ 9.98962377e-01 1.80255994e-02 -4.18240026e-02 3.42358916e+00] [-1.79705195e-02 9.99837085e-01 1.69256517e-03 -3.06916264e-01] [ 4.18476984e-02 -9.39209869e-04 9.99123560e-01 -2.38134289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.758241008000002 meters Centerline goodness [0,1] 0.911483592841544 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.31, Z:-0.24 [[ 9.98958319e-01 1.83589273e-02 -4.17759023e-02 3.42314867e+00] [-1.83155949e-02 9.99831247e-01 1.41979770e-03 -3.05758472e-01] [ 4.17949185e-02 -6.53168225e-04 9.99125997e-01 -2.38314378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.788241008000004 meters Centerline goodness [0,1] 0.9095761292337393 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.31, Z:-0.24 [[ 9.98952115e-01 1.85809449e-02 -4.18260679e-02 3.42283840e+00] [-1.85375247e-02 9.99827149e-01 1.42575491e-03 -3.05238316e-01] [ 4.18453301e-02 -6.48909116e-04 9.99123890e-01 -2.37900134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.818241008 meters Centerline goodness [0,1] 0.9133458219800181 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.31, Z:-0.24 [[ 9.98950247e-01 1.87794876e-02 -4.17820028e-02 3.42240625e+00] [-1.87355300e-02 9.99823433e-01 1.44342986e-03 -3.05035459e-01] [ 4.18017323e-02 -6.59106646e-04 9.99125708e-01 -2.37565990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.848241008000002 meters Centerline goodness [0,1] 0.9098979389895677 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.30, Z:-0.24 [[ 9.98952491e-01 1.89143339e-02 -4.16673650e-02 3.42200988e+00] [-1.88680221e-02 9.99820851e-01 1.50448127e-03 -3.04496937e-01] [ 4.16883566e-02 -7.16724551e-04 9.99130406e-01 -2.37288719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.878241008000003 meters Centerline goodness [0,1] 0.9113554566837645 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.30, Z:-0.24 [[ 9.98954502e-01 1.88305468e-02 -4.16570821e-02 3.42215048e+00] [-1.87799975e-02 9.99822353e-01 1.60449432e-03 -3.04810161e-01] [ 4.16798953e-02 -8.20496931e-04 9.99130679e-01 -2.37238689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.908241008 meters Centerline goodness [0,1] 0.9124139298971409 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.31, Z:-0.24 [[ 9.98952470e-01 1.85816871e-02 -4.18172749e-02 3.42276518e+00] [-1.85244315e-02 9.99826865e-01 1.75629455e-03 -3.05755494e-01] [ 4.18426698e-02 -9.79813535e-04 9.99123732e-01 -2.37156087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.938241008000002 meters Centerline goodness [0,1] 0.9105273609259312 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.31, Z:-0.24 [[ 9.98944888e-01 1.81745791e-02 -4.21757691e-02 3.42398979e+00] [-1.81108454e-02 9.99834194e-01 1.89277506e-03 -3.07114136e-01] [ 4.22031765e-02 -1.12693914e-03 9.99108413e-01 -2.37155832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.968241008000003 meters Centerline goodness [0,1] 0.9150820230459216 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.31, Z:-0.24 [[ 9.98931441e-01 1.76233134e-02 -4.27246463e-02 3.42583374e+00] [-1.75547843e-02 9.99843945e-01 1.97865278e-03 -3.08586192e-01] [ 4.27528493e-02 -1.22651652e-03 9.99084926e-01 -2.37330280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.998241008000004 meters Centerline goodness [0,1] 0.9155894187141512 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.31, Z:-0.24 [[ 9.99003983e-01 1.31782210e-02 -4.26307024e-02 3.42618793e+00] [-1.32736088e-02 9.99909990e-01 -1.95523754e-03 -3.10532116e-01] [ 4.26010986e-02 2.51915335e-03 9.99088985e-01 -2.38003420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.028241008000002 meters Centerline goodness [0,1] 0.9191884554936419 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.31, Z:-0.24 [[ 9.98984750e-01 1.20986501e-02 -4.33946079e-02 3.42897135e+00] [-1.21733771e-02 9.99924838e-01 -1.45818362e-03 -3.13876292e-01] [ 4.33737043e-02 1.98496213e-03 9.99056946e-01 -2.37619619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.058241008000003 meters Centerline goodness [0,1] 0.9168292962920446 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.31, Z:-0.24 [[ 0.99902033 0.0077176 -0.04357541 3.43000772] [-0.0079762 0.99995158 -0.00576392 -0.31438067] [ 0.04352882 0.00610584 0.99903351 -0.23875413] [ 0. 0. 0. 1. ]] SLAMing on 29.088241008000004 meters Centerline goodness [0,1] 0.9123424384897171 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.32, Z:-0.24 [[ 9.99017539e-01 2.40696205e-03 -4.42511466e-02 3.43408257e+00] [-2.88722949e-03 9.99937591e-01 -1.07925127e-02 -3.15696866e-01] [ 4.42224078e-02 1.09096727e-02 9.98962140e-01 -2.42245635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.118241008000002 meters Centerline goodness [0,1] 0.907738612027551 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.32, Z:-0.24 [[ 9.98994823e-01 1.70686095e-03 -4.47931915e-02 3.43680369e+00] [-2.20253874e-03 9.99936864e-01 -1.10188981e-02 -3.16598188e-01] [ 4.47715557e-02 1.11064809e-02 9.98935510e-01 -2.43673056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.148241008000003 meters Centerline goodness [0,1] 0.9086571825121443 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.32, Z:-0.24 [[ 9.98973529e-01 1.21582943e-03 -4.52814604e-02 3.43900758e+00] [-1.73054971e-03 9.99934320e-01 -1.13296649e-02 -3.16576071e-01] [ 4.52647113e-02 1.13963972e-02 9.98910020e-01 -2.44894954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.178241008000004 meters Centerline goodness [0,1] 0.9027019216876174 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.32, Z:-0.25 [[ 9.98966964e-01 1.20125268e-03 -4.54264359e-02 3.43984763e+00] [-1.72290733e-03 9.99933007e-01 -1.14460949e-02 -3.16297035e-01] [ 4.54096430e-02 1.15125362e-02 9.98902110e-01 -2.45616593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.208241008 meters Centerline goodness [0,1] 0.9069078660820581 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.32, Z:-0.24 [[ 9.98989012e-01 2.39928258e-03 -4.48909597e-02 3.43770450e+00] [-2.88112609e-03 9.99938902e-01 -1.06720223e-02 -3.17071011e-01] [ 4.48626118e-02 1.07905695e-02 9.98934888e-01 -2.44987637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.238241008000003 meters Centerline goodness [0,1] 0.9079644480472482 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.32, Z:-0.24 [[ 0.99893415 0.00615625 -0.0457456 3.43908126] [-0.00634677 0.99997178 -0.00402065 -0.32165162] [ 0.04571956 0.0043067 0.99894503 -0.24003807] [ 0. 0. 0. 1. ]] SLAMing on 29.268241008000004 meters Centerline goodness [0,1] 0.9079644480472482 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.32, Z:-0.24 [[ 0.99893415 0.00615625 -0.0457456 3.43908126] [-0.00634677 0.99997178 -0.00402065 -0.32165162] [ 0.04571956 0.0043067 0.99894503 -0.24003807] [ 0. 0. 0. 1. ]] SLAMing on 29.298241008 meters Centerline goodness [0,1] 0.9120949258754243 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.32, Z:-0.24 [[ 9.98935002e-01 6.89757625e-03 -4.56211086e-02 3.43735331e+00] [-7.03124604e-03 9.99971443e-01 -2.77017588e-03 -3.23180140e-01] [ 4.56006983e-02 3.08799889e-03 9.98954974e-01 -2.37548356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.328241008000003 meters Centerline goodness [0,1] 0.9110678822368039 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.32, Z:-0.24 [[ 9.98935698e-01 7.26166319e-03 -4.55493090e-02 3.43628616e+00] [-7.34494218e-03 9.99971646e-01 -1.66122499e-03 -3.24543156e-01] [ 4.55359543e-02 1.99401399e-03 9.98960710e-01 -2.35339013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.358241008000004 meters Centerline goodness [0,1] 0.9106052677481249 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.33, Z:-0.23 [[ 9.98943422e-01 7.45855394e-03 -4.53476594e-02 3.43524848e+00] [-7.47511943e-03 9.99972042e-01 -1.95731470e-04 -3.26817030e-01] [ 4.53449317e-02 5.34503835e-04 9.98971247e-01 -2.32719915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.388241008 meters Centerline goodness [0,1] 0.9082624720666338 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.33, Z:-0.23 [[ 9.98943306e-01 7.29362391e-03 -4.53770321e-02 3.43555351e+00] [-7.30254280e-03 9.99973336e-01 -3.07822420e-05 -3.27435426e-01] [ 4.53755977e-02 3.62117434e-04 9.98969931e-01 -2.32572648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.418241008000003 meters Centerline goodness [0,1] 0.9050566390283779 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.33, Z:-0.23 [[ 9.98935097e-01 7.21915232e-03 -4.55692434e-02 3.43584257e+00] [-7.21076315e-03 9.99973941e-01 3.48476409e-04 -3.28444248e-01] [ 4.55705716e-02 -1.95162943e-05 9.98961122e-01 -2.31842250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.448241008000004 meters Centerline goodness [0,1] 0.9067425569176882 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.33, Z:-0.23 [[ 9.98915627e-01 6.78317476e-03 -4.60603741e-02 3.43722991e+00] [-6.77112218e-03 9.99976988e-01 4.17688982e-04 -3.29223753e-01] [ 4.60621475e-02 -1.05355631e-04 9.98938570e-01 -2.31583256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.478241008 meters Centerline goodness [0,1] 0.9056796612644181 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.33, Z:-0.23 [[ 9.98902463e-01 6.29798236e-03 -4.64134162e-02 3.43915209e+00] [-6.32092336e-03 9.99979962e-01 -3.47523548e-04 -3.28790911e-01] [ 4.64102975e-02 6.40517775e-04 9.98922256e-01 -2.33339641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.508241008000002 meters Centerline goodness [0,1] 0.9049431884737027 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.33, Z:-0.23 [[ 9.98903177e-01 6.17092718e-03 -4.64151107e-02 3.43995186e+00] [-6.22475840e-03 9.99980111e-01 -1.01532665e-03 -3.27618095e-01] [ 4.64079221e-02 1.30313586e-03 9.98921722e-01 -2.34940876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.538241008000004 meters Centerline goodness [0,1] 0.9060628195763331 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.33, Z:-0.24 [[ 9.98891409e-01 5.87503620e-03 -4.67058459e-02 3.44135270e+00] [-5.95826621e-03 9.99980900e-01 -1.64298391e-03 -3.26780441e-01] [ 4.66953013e-02 1.91944837e-03 9.98907335e-01 -2.36301125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.568241008 meters Centerline goodness [0,1] 0.9075336428277605 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.33, Z:-0.24 [[ 9.98874549e-01 5.80684004e-03 -4.70735086e-02 3.44248602e+00] [-5.88212491e-03 9.99981633e-01 -1.46093822e-03 -3.28434727e-01] [ 4.70641605e-02 1.73618627e-03 9.98890360e-01 -2.36651673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.598241008000002 meters Centerline goodness [0,1] 0.9046878210585023 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.33, Z:-0.24 [[ 9.98850031e-01 5.28266577e-03 -4.76519481e-02 3.44433227e+00] [-5.35853780e-03 9.99984570e-01 -1.46460722e-03 -3.29006913e-01] [ 4.76434759e-02 1.71826774e-03 9.98862927e-01 -2.36730602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.628241008000003 meters Centerline goodness [0,1] 0.9025290859537556 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.33, Z:-0.24 [[ 9.98824144e-01 4.69209539e-03 -4.82526082e-02 3.44645443e+00] [-4.77133929e-03 9.99987451e-01 -1.52722035e-03 -3.29343267e-01] [ 4.82448368e-02 1.75565413e-03 9.98833997e-01 -2.37082847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.658241008 meters Centerline goodness [0,1] 0.892761630469921 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.33, Z:-0.24 [[ 9.98815419e-01 4.48823563e-03 -4.84521865e-02 3.44710348e+00] [-4.55831543e-03 9.99988718e-01 -1.33597142e-03 -3.30139460e-01] [ 4.84456437e-02 1.55524921e-03 9.98824610e-01 -2.36904345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.688241008000002 meters Centerline goodness [0,1] 0.9009985566585172 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.33, Z:-0.24 [[ 9.98826496e-01 5.30188859e-03 -4.81406375e-02 3.44512959e+00] [-5.32771622e-03 9.99985724e-01 -4.08204252e-04 -3.31054400e-01] [ 4.81377860e-02 6.64204877e-04 9.98840484e-01 -2.35022660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.718241008000003 meters Centerline goodness [0,1] 0.9060418439508202 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.33, Z:-0.23 [[ 0.99876157 0.00932933 -0.0488701 3.44624682] [-0.00911998 0.99994826 0.00450501 -0.33266627] [ 0.0489096 -0.00405374 0.99879498 -0.23288227] [ 0. 0. 0. 1. ]] SLAMing on 29.748241008000004 meters Centerline goodness [0,1] 0.9079112721746501 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.33, Z:-0.23 [[ 0.99868371 0.01326472 -0.0495468 3.44778213] [-0.01284312 0.99987864 0.00881775 -0.33299175] [ 0.04965775 -0.0081698 0.99873288 -0.23201627] [ 0. 0. 0. 1. ]] SLAMing on 29.778241008000002 meters Centerline goodness [0,1] 0.9133185608490291 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.33, Z:-0.24 [[ 9.98880828e-01 1.64868346e-02 -4.43314194e-02 3.46199984e+00] [-1.64908321e-02 9.99863979e-01 2.75560893e-04 -3.28540815e-01] [ 4.43299325e-02 4.55809501e-04 9.99016841e-01 -2.38613413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.808241008000003 meters Centerline goodness [0,1] 0.9142225968665524 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.33, Z:-0.24 [[ 9.98872829e-01 1.75975105e-02 -4.40840025e-02 3.46032722e+00] [-1.76108023e-02 9.99844914e-01 8.68671424e-05 -3.26041211e-01] [ 4.40786944e-02 6.89585425e-04 9.99027824e-01 -2.38694376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.838241008000004 meters Centerline goodness [0,1] 0.9118227172525815 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.32, Z:-0.24 [[ 0.99892483 0.02446807 -0.0393763 3.47284431] [-0.0247275 0.99967553 -0.00611475 -0.3227238 ] [ 0.03921391 0.00708185 0.99920574 -0.24421729] [ 0. 0. 0. 1. ]] SLAMing on 29.868241008000002 meters Centerline goodness [0,1] 0.9102225575254621 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.32, Z:-0.24 [[ 0.99891165 0.02558 -0.03900241 3.47095225] [-0.02583477 0.99964797 -0.00604198 -0.32111663] [ 0.03883413 0.00704302 0.99922085 -0.24401386] [ 0. 0. 0. 1. ]] SLAMing on 29.898241008000003 meters Centerline goodness [0,1] 0.9090434479958234 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.32, Z:-0.24 [[ 0.99889752 0.02646482 -0.03877309 3.46974 ] [-0.02671813 0.99962482 -0.00602954 -0.31943835] [ 0.03859897 0.00705884 0.99922985 -0.24402225] [ 0. 0. 0. 1. ]] SLAMing on 29.928241008000004 meters Centerline goodness [0,1] 0.9109068769569755 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.32, Z:-0.24 [[ 0.99889121 0.02643008 -0.03895886 3.47016934] [-0.02667093 0.99962816 -0.00567541 -0.31970272] [ 0.03879437 0.00670818 0.9992247 -0.24349816] [ 0. 0. 0. 1. ]] SLAMing on 29.958241008 meters Centerline goodness [0,1] 0.9096331470596751 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.32, Z:-0.24 [[ 0.9988817 0.02619655 -0.03935855 3.47116568] [-0.02642889 0.99963614 -0.00539449 -0.32041153] [ 0.03920291 0.00642866 0.99921059 -0.24297494] [ 0. 0. 0. 1. ]] SLAMing on 29.988241008000003 meters Centerline goodness [0,1] 0.9091094295692665 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.32, Z:-0.24 [[ 0.99887186 0.02617134 -0.03962397 3.47157243] [-0.02637231 0.9996418 -0.00455768 -0.32333576] [ 0.0394905 0.00559751 0.99920427 -0.24193045] [ 0. 0. 0. 1. ]] SLAMing on 30.018241008000004 meters Centerline goodness [0,1] 0.9120132898111448 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.33, Z:-0.24 [[ 0.99885972 0.02578415 -0.04018002 3.47310994] [-0.02596553 0.99965484 -0.00399882 -0.32537163] [ 0.04006304 0.00503756 0.99918446 -0.24132261] [ 0. 0. 0. 1. ]] SLAMing on 30.048241008 meters Centerline goodness [0,1] 0.9129225001464472 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.33, Z:-0.24 [[ 0.99886511 0.02459908 -0.04078451 3.47596046] [-0.02476769 0.99968663 -0.00363391 -0.32915393] [ 0.04068234 0.00463992 0.99916136 -0.24154652] [ 0. 0. 0. 1. ]] SLAMing on 30.078241008000003 meters Centerline goodness [0,1] 0.910957093771108 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.33, Z:-0.24 [[ 0.99886183 0.02395102 -0.04124801 3.47807964] [-0.02412655 0.99970183 -0.00376281 -0.33032945] [ 0.04114559 0.0047537 0.99914185 -0.24245824] [ 0. 0. 0. 1. ]] SLAMing on 30.108241008000004 meters Centerline goodness [0,1] 0.9095180758274353 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.33, Z:-0.24 [[ 0.99885982 0.02358048 -0.04150931 3.47946834] [-0.02377701 0.99970826 -0.0042474 -0.32970545] [ 0.04139704 0.00522952 0.99912909 -0.24362332] [ 0. 0. 0. 1. ]] SLAMing on 30.138241008 meters Centerline goodness [0,1] 0.908968347010551 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.33, Z:-0.24 [[ 0.99885656 0.0230339 -0.04189282 3.48123817] [-0.0232658 0.99971653 -0.00505648 -0.32793931] [ 0.04176448 0.00602536 0.99910932 -0.24494626] [ 0. 0. 0. 1. ]] SLAMing on 30.168241008000003 meters Centerline goodness [0,1] 0.9043823529411765 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.33, Z:-0.24 [[ 0.99884498 0.0224879 -0.04246183 3.48293709] [-0.02272634 0.99972851 -0.005141 -0.32826447] [ 0.04233469 0.00610006 0.99908486 -0.24489665] [ 0. 0. 0. 1. ]] SLAMing on 30.198241008000004 meters Centerline goodness [0,1] 0.9059370950642007 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.33, Z:-0.24 [[ 0.99882422 0.02200848 -0.04319496 3.48453024] [-0.02221501 0.99974394 -0.00430703 -0.33043331] [ 0.04308911 0.00526154 0.99905738 -0.24329989] [ 0. 0. 0. 1. ]] SLAMing on 30.228241008 meters Centerline goodness [0,1] 0.9038427535804797 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.33, Z:-0.24 [[ 9.98813789e-01 2.16331269e-02 -4.36236406e-02 3.48533782e+00] [-2.18006362e-02 9.99756666e-01 -3.36774348e-03 -3.32672262e-01] [ 4.35401707e-02 4.31477174e-03 9.99042360e-01 -2.41536444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.258241008000002 meters Centerline goodness [0,1] 0.9016905224715792 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.33, Z:-0.24 [[ 9.98809761e-01 2.10937199e-02 -4.39785834e-02 3.48657205e+00] [-2.12594698e-02 9.99768531e-01 -3.30453018e-03 -3.33022505e-01] [ 4.38986989e-02 4.23555837e-03 9.99027009e-01 -2.41306920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.288241008000004 meters Centerline goodness [0,1] 0.897108192473055 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.33, Z:-0.24 [[ 0.998813 0.02063949 -0.04412036 3.48749742] [-0.02081964 0.99977667 -0.00362747 -0.33204372] [ 0.04403563 0.00454174 0.99901964 -0.24175799] [ 0. 0. 0. 1. ]] SLAMing on 30.318241008 meters Centerline goodness [0,1] 0.890368580772517 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.33, Z:-0.24 [[ 0.99880891 0.01900117 -0.04494123 3.49141764] [-0.01923744 0.99980327 -0.00483067 -0.33009735] [ 0.0448406 0.00568947 0.99897795 -0.24362385] [ 0. 0. 0. 1. ]] SLAMing on 30.348241008000002 meters Centerline goodness [0,1] 0.8837379994715364 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.33, Z:-0.24 [[ 0.99878854 0.01789536 -0.04583898 3.49460218] [-0.0181583 0.99982094 -0.00532611 -0.32979819] [ 0.04573546 0.00615202 0.99893464 -0.24428599] [ 0. 0. 0. 1. ]] SLAMing on 30.378241008000003 meters Centerline goodness [0,1] 0.8759543672434631 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.33, Z:-0.24 [[ 0.99877254 0.017317 -0.04640618 3.49630244] [-0.01758164 0.99983138 -0.00530054 -0.33035345] [ 0.04630657 0.00610993 0.99890859 -0.24413549] [ 0. 0. 0. 1. ]] SLAMing on 30.408241008000005 meters Centerline goodness [0,1] 0.8695895083509763 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.33, Z:-0.24 [[ 0.99875243 0.01644949 -0.04714871 3.498716 ] [-0.01672231 0.9998456 -0.00539773 -0.33070347] [ 0.04705264 0.00617944 0.9988733 -0.24409278] [ 0. 0. 0. 1. ]] SLAMing on 30.438241008000002 meters Centerline goodness [0,1] 0.8595932802829355 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.33, Z:-0.24 [[ 0.99873953 0.0159184 -0.047602 3.50013306] [-0.01618814 0.99985499 -0.00528635 -0.33121665] [ 0.04751094 0.00605028 0.99885239 -0.24378566] [ 0. 0. 0. 1. ]] SLAMing on 30.468241008000003 meters Centerline goodness [0,1] 0.8337468249748952 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.33, Z:-0.24 [[ 0.9987116 0.01473311 -0.04855994 3.50336672] [-0.01501067 0.99987299 -0.00535613 -0.33164271] [ 0.04847486 0.00607815 0.99880591 -0.24367642] [ 0. 0. 0. 1. ]] SLAMing on 30.498241008000004 meters Centerline goodness [0,1] 0.8583426982906488 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.33, Z:-0.24 [[ 0.99869299 0.01409397 -0.04912919 3.50556886] [-0.01438992 0.99988035 -0.00567549 -0.33107132] [ 0.04904333 0.00637504 0.99877631 -0.2443202 ] [ 0. 0. 0. 1. ]] SLAMing on 30.528241008000002 meters Centerline goodness [0,1] 0.8644107973569587 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.33, Z:-0.25 [[ 0.99867885 0.01352519 -0.04957451 3.50760715] [-0.01385601 0.99988393 -0.00633551 -0.32940634] [ 0.04948307 0.00701405 0.99875033 -0.24559136] [ 0. 0. 0. 1. ]] SLAMing on 30.558241008000003 meters Centerline goodness [0,1] 0.8594444115382337 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.33, Z:-0.25 [[ 0.99867453 0.01356194 -0.04965134 3.50772525] [-0.01388722 0.99988427 -0.00621209 -0.32907993] [ 0.04956135 0.00689338 0.99874729 -0.2453005 ] [ 0. 0. 0. 1. ]] SLAMing on 30.588241008000004 meters Centerline goodness [0,1] 0.855096483958802 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.33, Z:-0.24 [[ 0.99866908 0.01381368 -0.04969147 3.50720502] [-0.01410595 0.99988518 -0.00553596 -0.32927797] [ 0.0496093 0.00622953 0.99874927 -0.24387842] [ 0. 0. 0. 1. ]] SLAMing on 30.618241008000002 meters Centerline goodness [0,1] 0.8533266278140994 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.33, Z:-0.24 [[ 0.99866524 0.01412574 -0.0496811 3.50647721] [-0.01438739 0.99988443 -0.00491307 -0.3292366 ] [ 0.04960596 0.0056213 0.99875305 -0.24245411] [ 0. 0. 0. 1. ]] SLAMing on 30.648241008000003 meters Centerline goodness [0,1] 0.8558235903507474 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.33, Z:-0.24 [[ 0.99866291 0.01443002 -0.04964039 3.50578892] [-0.01467811 0.99988152 -0.00463693 -0.32870337] [ 0.04956759 0.00535935 0.99875639 -0.2415939 ] [ 0. 0. 0. 1. ]] SLAMing on 30.678241008000004 meters Centerline goodness [0,1] 0.8598792113209781 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.33, Z:-0.24 [[ 0.99866654 0.01570225 -0.04917915 3.50284208] [-0.01591848 0.99986526 -0.00400814 -0.32753769] [ 0.04910958 0.00478565 0.99878193 -0.23979909] [ 0. 0. 0. 1. ]] SLAMing on 30.708241008 meters Centerline goodness [0,1] 0.8612313897621449 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.33, Z:-0.24 [[ 0.99866321 0.0160942 -0.04912004 3.50218571] [-0.01630863 0.99985913 -0.00396781 -0.32673463] [ 0.04904926 0.00476358 0.998785 -0.23946938] [ 0. 0. 0. 1. ]] SLAMing on 30.738241008000003 meters Centerline goodness [0,1] 0.8587664259500414 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.33, Z:-0.24 [[ 0.99864972 0.01611927 -0.0493853 3.5027664 ] [-0.01634528 0.99985769 -0.00417584 -0.32552903] [ 0.04931096 0.00497742 0.99877107 -0.23958811] [ 0. 0. 0. 1. ]] SLAMing on 30.768241008000004 meters Centerline goodness [0,1] 0.8596496419482749 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.32, Z:-0.24 [[ 0.99864887 0.01633914 -0.04933028 3.50282554] [-0.01658064 0.99985245 -0.00449039 -0.32422239] [ 0.04924963 0.00530225 0.99877243 -0.24034015] [ 0. 0. 0. 1. ]] SLAMing on 30.798241008 meters Centerline goodness [0,1] 0.860695195062166 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.32, Z:-0.24 [[ 0.99864959 0.01704433 -0.04907625 3.50190776] [-0.01729726 0.99983919 -0.00473361 -0.32234011] [ 0.04898768 0.0055761 0.99878382 -0.2409559 ] [ 0. 0. 0. 1. ]] SLAMing on 30.828241008000003 meters Centerline goodness [0,1] 0.8543034605146407 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.32, Z:-0.24 [[ 0.99864533 0.01730341 -0.0490724 3.50157729] [-0.01754075 0.99983642 -0.00440992 -0.32213581] [ 0.04898806 0.00526471 0.99878549 -0.24035488] [ 0. 0. 0. 1. ]] SLAMing on 30.858241008000004 meters Centerline goodness [0,1] 0.8541963437796771 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.32, Z:-0.24 [[ 0.99863928 0.01755667 -0.04910544 3.50128816] [-0.01777821 0.99983364 -0.00407836 -0.32244143] [ 0.04902566 0.00494582 0.99878527 -0.23984133] [ 0. 0. 0. 1. ]] SLAMing on 30.888241008 meters Centerline goodness [0,1] 0.8497976672220899 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.32, Z:-0.24 [[ 0.99863725 0.01755182 -0.04914855 3.50153066] [-0.01776948 0.99983413 -0.0039951 -0.32286019] [ 0.04907028 0.004863 0.99878349 -0.23991161] [ 0. 0. 0. 1. ]] SLAMing on 30.918241008000003 meters Centerline goodness [0,1] 0.8479448374675382 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.32, Z:-0.24 [[ 9.98631830e-01 1.77219013e-02 -4.91975879e-02 3.50136215e+00] [-1.78966214e-02 9.99834996e-01 -3.11313439e-03 -3.24692564e-01] [ 4.91342995e-02 3.98934570e-03 9.98784214e-01 -2.38671560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.948241008000004 meters Centerline goodness [0,1] 0.845513856467349 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.33, Z:-0.24 [[ 9.98626870e-01 1.76925878e-02 -4.93086969e-02 3.50156279e+00] [-1.78494203e-02 9.99836926e-01 -2.74207461e-03 -3.25666261e-01] [ 4.92521416e-02 3.61844104e-03 9.98779822e-01 -2.38119791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.978241008 meters Centerline goodness [0,1] 0.8474611708482676 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.33, Z:-0.24 [[ 9.98615399e-01 1.75588414e-02 -4.95880193e-02 3.50245609e+00] [-1.77226944e-02 9.99838832e-01 -2.86650030e-03 -3.25298663e-01] [ 4.95296949e-02 3.74136466e-03 9.98765644e-01 -2.38317318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.008241008000002 meters Centerline goodness [0,1] 0.8527464662730363 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.32, Z:-0.24 [[ 9.98616264e-01 1.79103157e-02 -4.94446898e-02 3.50197755e+00] [-1.80873567e-02 9.99831494e-01 -3.13544200e-03 -3.24061002e-01] [ 4.93802014e-02 4.02542712e-03 9.98771942e-01 -2.38755894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.038241008000004 meters Centerline goodness [0,1] 0.8529272057950362 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.33, Z:-0.24 [[ 9.98513751e-01 2.12420317e-02 -5.01902909e-02 3.50481362e+00] [-2.12147988e-02 9.99774363e-01 1.07531459e-03 -3.25220363e-01] [ 5.02018080e-02 -8.93948267e-06 9.98739094e-01 -2.38537745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.068241008 meters Centerline goodness [0,1] 0.849768050434162 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.32, Z:-0.24 [[ 9.98520749e-01 2.10830171e-02 -5.01180593e-02 3.50544863e+00] [-2.10784033e-02 9.99777633e-01 6.20652125e-04 -3.24687523e-01] [ 5.01199999e-02 4.36674640e-04 9.98743108e-01 -2.39889567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.098241008000002 meters Centerline goodness [0,1] 0.8510828442908636 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.32, Z:-0.24 [[ 9.98517269e-01 2.08471759e-02 -5.02857636e-02 3.50649470e+00] [-2.08544607e-02 9.99782450e-01 3.79859269e-04 -3.24819580e-01] [ 5.02827429e-02 6.69386438e-04 9.98734798e-01 -2.40804103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.128241008000003 meters Centerline goodness [0,1] 0.8490830058354174 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.32, Z:-0.24 [[ 9.98507923e-01 2.05789120e-02 -5.05809880e-02 3.50769023e+00] [-2.06146778e-02 9.99787478e-01 -1.85455687e-04 -3.23995238e-01] [ 5.05664220e-02 1.22788974e-03 9.98719945e-01 -2.41784759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.158241008000005 meters Centerline goodness [0,1] 0.8485129555382682 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.32, Z:-0.24 [[ 9.98502725e-01 2.07634115e-02 -5.06081977e-02 3.50752848e+00] [-2.08018991e-02 9.99783590e-01 -2.33852413e-04 -3.24017439e-01] [ 5.05923900e-02 1.28624890e-03 9.98718557e-01 -2.41794430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.188241008000002 meters Centerline goodness [0,1] 0.8485129555382682 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.32, Z:-0.24 [[ 9.98502725e-01 2.07634115e-02 -5.06081977e-02 3.50752848e+00] [-2.08018991e-02 9.99783590e-01 -2.33852413e-04 -3.24017439e-01] [ 5.05923900e-02 1.28624890e-03 9.98718557e-01 -2.41794430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.218241008000003 meters Centerline goodness [0,1] 0.852847816973109 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.32, Z:-0.24 [[ 9.98494155e-01 2.05708212e-02 -5.08553271e-02 3.50831094e+00] [-2.06093557e-02 9.99787577e-01 -2.33401399e-04 -3.24465469e-01] [ 5.08397230e-02 1.28114545e-03 9.98706003e-01 -2.41873951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.248241008000004 meters Centerline goodness [0,1] 0.8555382960927231 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.32, Z:-0.24 [[ 9.98484395e-01 2.00209769e-02 -5.12647412e-02 3.51000992e+00] [-2.00829050e-02 9.99798078e-01 -6.93126668e-04 -3.24113688e-01] [ 5.12405126e-02 1.72162109e-03 9.98684858e-01 -2.42716080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.278241008000002 meters Centerline goodness [0,1] 0.8504882200125414 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.32, Z:-0.24 [[ 9.98490113e-01 1.97140592e-02 -5.12723170e-02 3.51083002e+00] [-1.98025888e-02 9.99803166e-01 -1.21918176e-03 -3.22648985e-01] [ 5.12381898e-02 2.23266554e-03 9.98683966e-01 -2.43835498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.308241008000003 meters Centerline goodness [0,1] 0.8548040152963672 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.32, Z:-0.24 [[ 9.98491958e-01 1.94383375e-02 -5.13416174e-02 3.51149066e+00] [-1.95335762e-02 9.99808285e-01 -1.35383170e-03 -3.22456873e-01] [ 5.13054582e-02 2.35467546e-03 9.98680232e-01 -2.44262108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.338241008000004 meters Centerline goodness [0,1] 0.8490611028315946 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.32, Z:-0.24 [[ 9.98478721e-01 1.88731289e-02 -5.18078070e-02 3.51323513e+00] [-1.89807574e-02 9.99818591e-01 -1.58619316e-03 -3.22303874e-01] [ 5.17684722e-02 2.56713153e-03 9.98655814e-01 -2.44680235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.368241008000002 meters Centerline goodness [0,1] 0.8509463251537406 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.32, Z:-0.24 [[ 9.98469534e-01 1.84581379e-02 -5.21333483e-02 3.51446676e+00] [-1.85688488e-02 9.99826239e-01 -1.64001031e-03 -3.22782429e-01] [ 5.20940180e-02 2.60555660e-03 9.98638786e-01 -2.44881425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.398241008000003 meters Centerline goodness [0,1] 0.8491844567042456 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.32, Z:-0.25 [[ 9.98463959e-01 1.72946036e-02 -5.26366738e-02 3.51710102e+00] [-1.74223784e-02 9.99846279e-01 -1.96957328e-03 -3.23190083e-01] [ 5.25945194e-02 2.88360398e-03 9.98611787e-01 -2.45649845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.428241008000004 meters Centerline goodness [0,1] 0.8487478229535763 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.32, Z:-0.25 [[ 9.98450689e-01 1.67021589e-02 -5.30778637e-02 3.51851827e+00] [-1.68181423e-02 9.99857052e-01 -1.73922466e-03 -3.24135419e-01] [ 5.30412276e-02 2.62920112e-03 9.98588862e-01 -2.45119286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.458241008 meters Centerline goodness [0,1] 0.8517995553686235 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.33, Z:-0.24 [[ 9.98424045e-01 1.59044020e-02 -5.38189132e-02 3.52085001e+00] [-1.59989437e-02 9.99871129e-01 -1.32625547e-03 -3.25872145e-01] [ 5.37908843e-02 2.18521111e-03 9.98549831e-01 -2.44434430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.488241008000003 meters Centerline goodness [0,1] 0.8528561969541926 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.33, Z:-0.25 [[ 9.98414584e-01 1.49497798e-02 -5.42662193e-02 3.52305655e+00] [-1.50643644e-02 9.99885076e-01 -1.70307331e-03 -3.26129753e-01] [ 5.42345222e-02 2.51785934e-03 9.98525051e-01 -2.45151883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.518241008000004 meters Centerline goodness [0,1] 0.8533985829230215 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.32, Z:-0.25 [[ 9.98409263e-01 1.43750963e-02 -5.45188013e-02 3.52442817e+00] [-1.45170005e-02 9.99892186e-01 -2.20770279e-03 -3.24768095e-01] [ 5.44811874e-02 2.99564038e-03 9.98510304e-01 -2.45882745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.548241008 meters Centerline goodness [0,1] 0.8550092598124142 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.32, Z:-0.25 [[ 9.98389013e-01 1.34420172e-02 -5.51243133e-02 3.52694036e+00] [-1.36096905e-02 9.99903826e-01 -2.66744477e-03 -3.23714207e-01] [ 5.50831559e-02 3.41337240e-03 9.98475936e-01 -2.46541644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.578241008000003 meters Centerline goodness [0,1] 0.8494526915579548 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.32, Z:-0.25 [[ 9.98377247e-01 1.29240214e-02 -5.54602722e-02 3.52825899e+00] [-1.30969693e-02 9.99910433e-01 -2.75606838e-03 -3.23766462e-01] [ 5.54196853e-02 3.47795744e-03 9.98457091e-01 -2.46642118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.608241008000004 meters Centerline goodness [0,1] 0.8528086512466206 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.32, Z:-0.25 [[ 9.98363030e-01 1.24907085e-02 -5.58143569e-02 3.52936750e+00] [-1.26489748e-02 9.99916915e-01 -2.48319727e-03 -3.24787658e-01] [ 5.57787027e-02 3.18512674e-03 9.98438076e-01 -2.46134929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.638241008 meters Centerline goodness [0,1] 0.8490679857634071 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.33, Z:-0.24 [[ 9.98348269e-01 1.18746250e-02 -5.62114439e-02 3.53020410e+00] [-1.19726501e-02 9.99927335e-01 -1.40740632e-03 -3.27561624e-01] [ 5.61906469e-02 2.07808161e-03 9.98417895e-01 -2.43811252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.668241008000003 meters Centerline goodness [0,1] 0.8483029114496907 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.33, Z:-0.24 [[ 9.98329927e-01 1.15573319e-02 -5.66019806e-02 3.53107303e+00] [-1.16400441e-02 9.99931612e-01 -1.13181287e-03 -3.28106751e-01] [ 5.65850290e-02 1.78877221e-03 9.98396181e-01 -2.43040034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.698241008000004 meters Centerline goodness [0,1] 0.8423227752639517 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.33, Z:-0.24 [[ 9.98320962e-01 1.10931436e-02 -5.68524340e-02 3.53213895e+00] [-1.11795070e-02 9.99936786e-01 -1.20124619e-03 -3.28115741e-01] [ 5.68355146e-02 1.83481143e-03 9.98381870e-01 -2.43055300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.728241008 meters Centerline goodness [0,1] 0.8390045248868778 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.33, Z:-0.24 [[ 9.98321775e-01 1.11496988e-02 -5.68270872e-02 3.53192593e+00] [-1.12208144e-02 9.99936610e-01 -9.32501447e-04 -3.28281452e-01] [ 5.68130879e-02 1.56858270e-03 9.98383600e-01 -2.42532175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.758241008000002 meters Centerline goodness [0,1] 0.8448700986288189 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.33, Z:-0.24 [[ 9.98319342e-01 1.10987153e-02 -5.68797805e-02 3.53214400e+00] [-1.11741982e-02 9.99937057e-01 -1.00917049e-03 -3.27746842e-01] [ 5.68649999e-02 1.64306036e-03 9.98380525e-01 -2.42614991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.788241008000004 meters Centerline goodness [0,1] 0.846447119570112 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.33, Z:-0.24 [[ 9.98342072e-01 1.17711678e-02 -5.63431178e-02 3.53061346e+00] [-1.18592905e-02 9.99928920e-01 -1.22991938e-03 -3.25575070e-01] [ 5.63246354e-02 1.89606966e-03 9.98410707e-01 -2.43234302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.818241008000005 meters Centerline goodness [0,1] 0.8453771945592905 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.32, Z:-0.24 [[ 9.98349390e-01 1.22872657e-02 -5.61027556e-02 3.52971990e+00] [-1.23816979e-02 9.99922451e-01 -1.33590126e-03 -3.23788265e-01] [ 5.60819903e-02 2.02834358e-03 9.98424106e-01 -2.43383186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.848241008000002 meters Centerline goodness [0,1] 0.8435559821241114 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.32, Z:-0.24 [[ 9.98367738e-01 1.33424868e-02 -5.55323133e-02 3.52735902e+00] [-1.34308201e-02 9.99909061e-01 -1.21774312e-03 -3.22268301e-01] [ 5.55110155e-02 1.96159995e-03 9.98456148e-01 -2.43069478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.878241008000003 meters Centerline goodness [0,1] 0.8513328165066492 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.32, Z:-0.25 [[ 0.99855467 0.0193923 -0.05012502 3.53874636] [-0.01977901 0.99977823 -0.00723038 -0.31985884] [ 0.04997369 0.00821135 0.99871678 -0.24661982] [ 0. 0. 0. 1. ]] SLAMing on 31.908241008000005 meters Centerline goodness [0,1] 0.8503033186630189 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.32, Z:-0.25 [[ 9.98444276e-01 2.38872110e-02 -5.03828323e-02 3.53888898e+00] [-2.40456704e-02 9.99707631e-01 -2.54123803e-03 -3.21440877e-01] [ 5.03073989e-02 3.74877354e-03 9.98726746e-01 -2.45384260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.938241008000002 meters Centerline goodness [0,1] 0.8490991659493633 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.32, Z:-0.25 [[ 9.98434443e-01 2.46579891e-02 -5.02060478e-02 3.53802500e+00] [-2.48297294e-02 9.99687774e-01 -2.79979727e-03 -3.19753116e-01] [ 5.01213348e-02 4.04201661e-03 9.98734957e-01 -2.45990424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.968241008000003 meters Centerline goodness [0,1] 0.8507343597624043 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.32, Z:-0.25 [[ 9.98429421e-01 2.51325985e-02 -5.00703958e-02 3.53770528e+00] [-2.53277400e-02 9.99673864e-01 -3.26657833e-03 -3.18090857e-01] [ 4.99719685e-02 4.52961788e-03 9.98740349e-01 -2.47015149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.998241008000004 meters Centerline goodness [0,1] 0.8521151690365213 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.32, Z:-0.25 [[ 9.98427889e-01 2.60803565e-02 -4.96141620e-02 3.53633575e+00] [-2.62848137e-02 9.99648462e-01 -3.47285459e-03 -3.16774049e-01] [ 4.95061474e-02 4.77149388e-03 9.98762421e-01 -2.48070706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.028241008 meters Centerline goodness [0,1] 0.8477220351001595 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.32, Z:-0.25 [[ 0.99842792 0.02601792 -0.04964639 3.53688851] [-0.02622883 0.99964948 -0.00360143 -0.31695497] [ 0.04953529 0.00489794 0.99876036 -0.24879165] [ 0. 0. 0. 1. ]] SLAMing on 32.058241007999996 meters Centerline goodness [0,1] 0.8547428199591824 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.32, Z:-0.25 [[ 0.99842102 0.0256628 -0.04996894 3.53828649] [-0.02587729 0.99965846 -0.00365028 -0.31796702] [ 0.0498582 0.00493757 0.9987441 -0.24938516] [ 0. 0. 0. 1. ]] SLAMing on 32.088241008 meters Centerline goodness [0,1] 0.8509495548961424 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.32, Z:-0.25 [[ 9.98406848e-01 2.53753551e-02 -5.03969968e-02 3.53963418e+00] [-2.55713217e-02 9.99667726e-01 -3.24740061e-03 -3.20027004e-01] [ 5.02978472e-02 4.53094482e-03 9.98723984e-01 -2.49255481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.118241008 meters Centerline goodness [0,1] 0.8517745924844294 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.32, Z:-0.25 [[ 0.99850567 0.02127642 -0.05033624 3.53952809] [-0.02165011 0.99974187 -0.00689025 -0.32186391] [ 0.05017665 0.00796974 0.99870856 -0.24945457] [ 0. 0. 0. 1. ]] SLAMing on 32.148241008 meters Centerline goodness [0,1] 0.854108708008017 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.32, Z:-0.25 [[ 0.99849145 0.02047845 -0.05094554 3.54167192] [-0.0208226 0.99976375 -0.00623382 -0.32452701] [ 0.05080585 0.00728523 0.99868198 -0.24868767] [ 0. 0. 0. 1. ]] SLAMing on 32.178241008 meters Centerline goodness [0,1] 0.8507346092599826 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.33, Z:-0.25 [[ 0.99848322 0.01975069 -0.05139236 3.54349995] [-0.0200726 0.99978196 -0.00575521 -0.32696212] [ 0.05126749 0.00677806 0.99866196 -0.24836291] [ 0. 0. 0. 1. ]] SLAMing on 32.208241008 meters Centerline goodness [0,1] 0.84709562915501 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.33, Z:-0.25 [[ 0.99847551 0.01943829 -0.05166057 3.544442 ] [-0.01974338 0.99979049 -0.00540199 -0.32831725] [ 0.05154474 0.00641371 0.99865009 -0.24805778] [ 0. 0. 0. 1. ]] SLAMing on 32.238241008 meters Centerline goodness [0,1] 0.8463968707687679 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.33, Z:-0.25 [[ 0.99846686 0.01875979 -0.05207694 3.54586465] [-0.0190608 0.99980434 -0.0052893 -0.32866404] [ 0.05196752 0.00627382 0.99862907 -0.24754394] [ 0. 0. 0. 1. ]] SLAMing on 32.268241008 meters Centerline goodness [0,1] 0.8498318116290245 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.33, Z:-0.25 [[ 0.99846255 0.01849989 -0.05225227 3.54655601] [-0.01879691 0.99980981 -0.00519871 -0.32879401] [ 0.05214615 0.0061729 0.99862039 -0.24741295] [ 0. 0. 0. 1. ]] SLAMing on 32.298241008 meters Centerline goodness [0,1] 0.8477765108323831 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.33, Z:-0.25 [[ 0.99846347 0.01814176 -0.05236006 3.54745147] [-0.01845358 0.99981471 -0.00547801 -0.32825543] [ 0.05225098 0.00643582 0.99861325 -0.2480469 ] [ 0. 0. 0. 1. ]] SLAMing on 32.328241008 meters Centerline goodness [0,1] 0.8427804921914811 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.33, Z:-0.25 [[ 0.9984566 0.01753555 -0.0526965 3.54909067] [-0.01786864 0.99982319 -0.00585634 -0.32745267] [ 0.05258449 0.00678891 0.9985934 -0.24877924] [ 0. 0. 0. 1. ]] SLAMing on 32.358241008 meters Centerline goodness [0,1] 0.8381902301267801 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.33, Z:-0.25 [[ 0.99845868 0.01651119 -0.05298717 3.55099182] [-0.01685443 0.99983973 -0.00603733 -0.32764392] [ 0.05287899 0.00692109 0.99857694 -0.2491287 ] [ 0. 0. 0. 1. ]] SLAMing on 32.388241008 meters Centerline goodness [0,1] 0.838221182679621 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.33, Z:-0.25 [[ 0.99842934 0.0157204 -0.05377471 3.55345855] [-0.01606146 0.9998535 -0.00591616 -0.32851903] [ 0.05367382 0.00677057 0.99853557 -0.24888002] [ 0. 0. 0. 1. ]] SLAMing on 32.418241008 meters Centerline goodness [0,1] 0.8330481764970734 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.33, Z:-0.25 [[ 0.99841228 0.01499213 -0.054297 3.55553877] [-0.01534978 0.99986311 -0.00617588 -0.32875667] [ 0.05419698 0.00699952 0.99850573 -0.24943743] [ 0. 0. 0. 1. ]] SLAMing on 32.448241008 meters Centerline goodness [0,1] 0.8300771285375589 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.33, Z:-0.25 [[ 0.99839767 0.01428501 -0.05475431 3.55760597] [-0.01467111 0.99987022 -0.00665604 -0.3282083 ] [ 0.05465212 0.00744868 0.99847767 -0.25040266] [ 0. 0. 0. 1. ]] SLAMing on 32.478241008 meters Centerline goodness [0,1] 0.8233620792909331 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.33, Z:-0.25 [[ 0.99837311 0.01270379 -0.05558541 3.561369 ] [-0.0131436 0.99988508 -0.007554 -0.32719959] [ 0.05548306 0.00827231 0.99842536 -0.25175161] [ 0. 0. 0. 1. ]] SLAMing on 32.508241008 meters Centerline goodness [0,1] 0.8267891450528339 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.33, Z:-0.25 [[ 0.998358 0.01239965 -0.0559246 3.56206382] [-0.01282393 0.9998916 -0.00723422 -0.32796828] [ 0.05582883 0.00793952 0.99840879 -0.25091173] [ 0. 0. 0. 1. ]] SLAMing on 32.538241008 meters Centerline goodness [0,1] 0.8249526614769619 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.33, Z:-0.25 [[ 0.99834439 0.01213301 -0.05622524 3.56260248] [-0.01253586 0.99989818 -0.00681774 -0.32862854] [ 0.0561368 0.00751128 0.99839483 -0.24982568] [ 0. 0. 0. 1. ]] SLAMing on 32.568241008 meters Centerline goodness [0,1] 0.8290483039673978 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.33, Z:-0.25 [[ 0.99833682 0.0117096 -0.05644888 3.56287237] [-0.01209886 0.99990529 -0.00655897 -0.32714181] [ 0.05636673 0.00723103 0.99838395 -0.24825605] [ 0. 0. 0. 1. ]] SLAMing on 32.598241008 meters Centerline goodness [0,1] 0.8248930633244593 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.33, Z:-0.25 [[ 0.99833223 0.01173223 -0.05652532 3.56280285] [-0.01212439 0.99990472 -0.00659982 -0.32604166] [ 0.0564425 0.00727415 0.99837935 -0.24787318] [ 0. 0. 0. 1. ]] SLAMing on 32.628241007999996 meters Centerline goodness [0,1] 0.8247336536452894 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.32, Z:-0.25 [[ 0.99832422 0.01184917 -0.05664229 3.5626595 ] [-0.01224194 0.99990333 -0.00659231 -0.32486962] [ 0.0565587 0.00727467 0.99837277 -0.24734216] [ 0. 0. 0. 1. ]] SLAMing on 32.658241008 meters Centerline goodness [0,1] 0.8208750596089652 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.32, Z:-0.25 [[ 0.99833 0.01229184 -0.0564457 3.56165447] [-0.01268362 0.99989786 -0.00658786 -0.32362347] [ 0.05635895 0.00729279 0.99838394 -0.24700782] [ 0. 0. 0. 1. ]] SLAMing on 32.688241008 meters Centerline goodness [0,1] 0.8321489903476047 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.32, Z:-0.25 [[ 9.98256788e-01 1.70217426e-02 -5.65123452e-02 3.56078842e+00] [-1.71567232e-02 9.99850999e-01 -1.90416916e-03 -3.23082926e-01] [ 5.64715125e-02 2.87041646e-03 9.98400085e-01 -2.45090855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.718241008 meters Centerline goodness [0,1] 0.8367473435655254 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.32, Z:-0.25 [[ 9.98259131e-01 1.75616555e-02 -5.63053713e-02 3.55994417e+00] [-1.77207890e-02 9.99840264e-01 -2.32818375e-03 -3.20500532e-01] [ 5.62554906e-02 3.32190630e-03 9.98410880e-01 -2.45596231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.748241008 meters Centerline goodness [0,1] 0.8370652971386647 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.32, Z:-0.24 [[ 9.98155656e-01 2.14306564e-02 -5.67979991e-02 3.56131711e+00] [-2.13537565e-02 9.99770060e-01 1.96055808e-03 -3.21031744e-01] [ 5.68269550e-02 -7.44091493e-04 9.98383766e-01 -2.44823891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.778241008 meters Centerline goodness [0,1] 0.8381416370733425 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.32, Z:-0.25 [[ 9.98156985e-01 2.20467534e-02 -5.65382556e-02 3.56033265e+00] [-2.19975351e-02 9.99756910e-01 1.49280713e-03 -3.18473917e-01] [ 5.65574233e-02 -2.46353603e-04 9.98399317e-01 -2.45408925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.808241007999996 meters Centerline goodness [0,1] 0.83722491389878 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.32, Z:-0.24 [[ 9.98116893e-01 2.43044804e-02 -5.63201526e-02 3.55772374e+00] [-2.42333093e-02 9.99704435e-01 1.94639825e-03 -3.15526232e-01] [ 5.63508125e-02 -5.77909300e-04 9.98410863e-01 -2.44934380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.838241008 meters Centerline goodness [0,1] 0.8402394374382519 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.31, Z:-0.25 [[ 9.98110580e-01 2.44238360e-02 -5.63803670e-02 3.55782187e+00] [-2.43843413e-02 9.99701694e-01 1.38844717e-03 -3.13854459e-01] [ 5.63974596e-02 -1.10256965e-05 9.98408397e-01 -2.45538364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.868241008 meters Centerline goodness [0,1] 0.8387509077705156 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.31, Z:-0.25 [[ 9.98107300e-01 2.47313259e-02 -5.63043417e-02 3.55738060e+00] [-2.46975483e-02 9.99694129e-01 1.29578103e-03 -3.13019601e-01] [ 5.63191663e-02 9.72506934e-05 9.98412811e-01 -2.45554712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.898241008 meters Centerline goodness [0,1] 0.8464375962124953 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.31, Z:-0.25 [[ 9.98112596e-01 2.52183877e-02 -5.59935661e-02 3.55630073e+00] [-2.51836178e-02 9.99681962e-01 1.32660237e-03 -3.12615331e-01] [ 5.60092128e-02 8.60220284e-05 9.98430248e-01 -2.45560547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.928241008 meters Centerline goodness [0,1] 0.8405926609207 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.31, Z:-0.25 [[ 0.99828377 0.02815854 -0.05134792 3.57348571] [-0.02848774 0.99957794 -0.00569051 -0.31020653] [ 0.05116601 0.00714353 0.99866461 -0.25113596] [ 0. 0. 0. 1. ]] SLAMing on 32.958241008 meters Centerline goodness [0,1] 0.8415406413555793 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.31, Z:-0.25 [[ 0.99828624 0.02874044 -0.05097625 3.57227364] [-0.0290559 0.99956289 -0.005458 -0.3098746 ] [ 0.0507971 0.0069298 0.99868495 -0.25099828] [ 0. 0. 0. 1. ]] SLAMing on 32.988241008 meters Centerline goodness [0,1] 0.8376357126357126 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.31, Z:-0.25 [[ 9.98161586e-01 3.35553104e-02 -5.04726631e-02 3.57134214e+00] [-3.36326519e-02 9.99434029e-01 -6.83578937e-04 -3.11417533e-01] [ 5.04211594e-02 2.37985174e-03 9.98725209e-01 -2.50683225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.018241008 meters Centerline goodness [0,1] 0.8346386409444284 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.31, Z:-0.25 [[ 9.98163101e-01 3.41367005e-02 -5.00510717e-02 3.57038434e+00] [-3.42226478e-02 9.99413863e-01 -8.60971903e-04 -3.10150465e-01] [ 4.99923441e-02 2.57227058e-03 9.98746289e-01 -2.51371707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.048241008 meters Centerline goodness [0,1] 0.8346386409444284 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.31, Z:-0.25 [[ 9.98163101e-01 3.41367005e-02 -5.00510717e-02 3.57038434e+00] [-3.42226478e-02 9.99413863e-01 -8.60971903e-04 -3.10150465e-01] [ 4.99923441e-02 2.57227058e-03 9.98746289e-01 -2.51371707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.078241008 meters Centerline goodness [0,1] 0.8393797289910527 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.31, Z:-0.25 [[ 9.98159847e-01 3.45238964e-02 -4.98499793e-02 3.56994920e+00] [-3.46210441e-02 9.99399921e-01 -1.08639336e-03 -3.09284261e-01] [ 4.97825589e-02 2.81025256e-03 9.98756126e-01 -2.51995338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.108241008 meters Centerline goodness [0,1] 0.8368210471776862 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.31, Z:-0.25 [[ 9.98153640e-01 3.50154520e-02 -4.96309347e-02 3.56930490e+00] [-3.51094153e-02 9.99382951e-01 -1.02244470e-03 -3.09441427e-01] [ 4.95645087e-02 2.76307000e-03 9.98767102e-01 -2.52292249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.138241008 meters Centerline goodness [0,1] 0.8366300999107426 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.31, Z:-0.25 [[ 9.98141539e-01 3.52736063e-02 -4.96914582e-02 3.56943127e+00] [-3.53659485e-02 9.99373949e-01 -9.80027264e-04 -3.09833517e-01] [ 4.96257797e-02 2.73559147e-03 9.98764136e-01 -2.52582157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.168241008 meters Centerline goodness [0,1] 0.8401268377053905 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.31, Z:-0.25 [[ 9.98137965e-01 3.59055599e-02 -4.93091640e-02 3.56906718e+00] [-3.60080111e-02 9.99350792e-01 -1.19071449e-03 -3.10364323e-01] [ 4.92343988e-02 2.96402226e-03 9.98782854e-01 -2.54347462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.198241008 meters Centerline goodness [0,1] 0.8379986711731231 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.31, Z:-0.26 [[ 9.98136076e-01 3.60928783e-02 -4.92105483e-02 3.56928491e+00] [-3.61961301e-02 9.99343975e-01 -1.20833438e-03 -3.10929135e-01] [ 4.91346526e-02 2.98731354e-03 9.98787696e-01 -2.55226202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.228241008 meters Centerline goodness [0,1] 0.8429559204840104 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.31, Z:-0.26 [[ 9.98132681e-01 3.59418269e-02 -4.93896275e-02 3.57023444e+00] [-3.60399719e-02 9.99349746e-01 -1.09776609e-03 -3.11917056e-01] [ 4.93180560e-02 2.87571700e-03 9.98778984e-01 -2.55621895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.258241008 meters Centerline goodness [0,1] 0.8403543820029532 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.32, Z:-0.26 [[ 9.98126622e-01 3.56984896e-02 -4.96876580e-02 3.57184967e+00] [-3.57623172e-02 9.99360245e-01 -3.95864402e-04 -3.16526340e-01] [ 4.96417384e-02 2.17206859e-03 9.98764727e-01 -2.56090342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.288241008 meters Centerline goodness [0,1] 0.843544127463215 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.32, Z:-0.26 [[ 9.98124131e-01 3.51401242e-02 -5.01337248e-02 3.57368509e+00] [-3.51849922e-02 9.99380816e-01 -1.24424398e-05 -3.19439897e-01] [ 5.01022456e-02 1.77637382e-03 9.98742514e-01 -2.56283230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.318241008 meters Centerline goodness [0,1] 0.8460617038681781 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.32, Z:-0.26 [[ 0.9982703 0.03096951 -0.04997287 3.57365344] [-0.03123324 0.99950197 -0.00450503 -0.31875529] [ 0.04980846 0.00605806 0.99874042 -0.25772968] [ 0. 0. 0. 1. ]] SLAMing on 33.348241008 meters Centerline goodness [0,1] 0.844733921373912 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.32, Z:-0.26 [[ 0.99826074 0.03043859 -0.05048744 3.57550472] [-0.03068455 0.9995207 -0.00410346 -0.32064484] [ 0.05033834 0.00564551 0.99871627 -0.25762583] [ 0. 0. 0. 1. ]] SLAMing on 33.378241007999996 meters Centerline goodness [0,1] 0.8469486034497855 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.32, Z:-0.26 [[ 0.99827156 0.02946085 -0.05085227 3.57799172] [-0.02969997 0.99955104 -0.00395294 -0.3222112 ] [ 0.05071298 0.00545642 0.99869836 -0.25821392] [ 0. 0. 0. 1. ]] SLAMing on 33.408241008 meters Centerline goodness [0,1] 0.8479250569077219 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.32, Z:-0.26 [[ 0.99826875 0.02933452 -0.05098034 3.57861821] [-0.02956434 0.99955581 -0.00375955 -0.32300865] [ 0.05084741 0.00526024 0.99869258 -0.25825998] [ 0. 0. 0. 1. ]] SLAMing on 33.438241008 meters Centerline goodness [0,1] 0.8458104796358968 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.32, Z:-0.26 [[ 0.99826828 0.02915454 -0.05109266 3.57924624] [-0.02937613 0.99956198 -0.00359139 -0.32326184] [ 0.05096557 0.00508607 0.99868746 -0.25817117] [ 0. 0. 0. 1. ]] SLAMing on 33.468241008 meters Centerline goodness [0,1] 0.849789029535865 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.32, Z:-0.26 [[ 9.98266634e-01 2.92116017e-02 -5.10921744e-02 3.57935555e+00] [-2.94248410e-02 9.99561123e-01 -3.42627073e-03 -3.23299359e-01] [ 5.09696644e-02 4.92371086e-03 9.98688065e-01 -2.58059553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.498241008 meters Centerline goodness [0,1] 0.8439987172385645 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.32, Z:-0.26 [[ 9.98267711e-01 2.96119296e-02 -5.08400421e-02 3.57862477e+00] [-2.98275921e-02 9.99548971e-01 -3.48835843e-03 -3.22372394e-01] [ 5.07138148e-02 4.99875163e-03 9.98700717e-01 -2.58218515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.528241008 meters Centerline goodness [0,1] 0.8454545454545455 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.32, Z:-0.26 [[ 0.99826596 0.02929366 -0.05105834 3.57975417] [-0.02953644 0.99955567 -0.00400667 -0.32092556] [ 0.05091828 0.0055078 0.99868764 -0.25900187] [ 0. 0. 0. 1. ]] SLAMing on 33.558241007999996 meters Centerline goodness [0,1] 0.842363530778165 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.32, Z:-0.26 [[ 0.99826505 0.0292357 -0.05110942 3.58034655] [-0.02950041 0.99955494 -0.00443257 -0.31948212] [ 0.05095709 0.00593262 0.99868322 -0.25983015] [ 0. 0. 0. 1. ]] SLAMing on 33.588241008 meters Centerline goodness [0,1] 0.8425406374732458 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.32, Z:-0.26 [[ 0.99825853 0.02883316 -0.05146406 3.58215816] [-0.02913988 0.99956172 -0.00521953 -0.31753469] [ 0.05129101 0.0067101 0.99866121 -0.26136321] [ 0. 0. 0. 1. ]] SLAMing on 33.618241008 meters Centerline goodness [0,1] 0.8456734800080951 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.32, Z:-0.26 [[ 0.99825161 0.02816578 -0.05196549 3.5846898 ] [-0.02852166 0.99957444 -0.00611929 -0.31617029] [ 0.05177102 0.00759073 0.99863013 -0.26319724] [ 0. 0. 0. 1. ]] SLAMing on 33.648241008 meters Centerline goodness [0,1] 0.8559019203393278 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.32, Z:-0.26 [[ 0.99823146 0.02729655 -0.05280949 3.58805812] [-0.02768714 0.99959433 -0.0066787 -0.31728332] [ 0.05260576 0.00812903 0.99858227 -0.26472104] [ 0. 0. 0. 1. ]] SLAMing on 33.678241008 meters Centerline goodness [0,1] 0.8562479969699619 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.32, Z:-0.27 [[ 0.99822138 0.02692085 -0.05319159 3.5896691 ] [-0.02731646 0.99960422 -0.00672432 -0.31801548] [ 0.05298951 0.00816536 0.99856168 -0.26528988] [ 0. 0. 0. 1. ]] SLAMing on 33.708241008 meters Centerline goodness [0,1] 0.86465574914919 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.32, Z:-0.27 [[ 0.99820051 0.02635731 -0.05386124 3.59194138] [-0.02675811 0.99961926 -0.00673369 -0.31825032] [ 0.05366325 0.0081628 0.99852573 -0.26549856] [ 0. 0. 0. 1. ]] SLAMing on 33.738241008 meters Centerline goodness [0,1] 0.8614824523081404 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.32, Z:-0.27 [[ 0.99819343 0.02595858 -0.05418515 3.59336088] [-0.02637082 0.99962837 -0.00690665 -0.31813709] [ 0.05398572 0.00832308 0.99850702 -0.26601976] [ 0. 0. 0. 1. ]] SLAMing on 33.768241008 meters Centerline goodness [0,1] 0.8680155823012966 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.32, Z:-0.27 [[ 0.99816697 0.0253559 -0.05495256 3.59552828] [-0.02574887 0.9996476 -0.0064547 -0.31896747] [ 0.05476953 0.00785783 0.9984681 -0.26516234] [ 0. 0. 0. 1. ]] SLAMing on 33.798241008 meters Centerline goodness [0,1] 0.8659733752803752 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.32, Z:-0.26 [[ 0.99815714 0.02552675 -0.05505179 3.59525933] [-0.02588405 0.9996482 -0.00578683 -0.32016678] [ 0.05488471 0.00720113 0.99846673 -0.26395838] [ 0. 0. 0. 1. ]] SLAMing on 33.828241008 meters Centerline goodness [0,1] 0.8677796911940691 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.32, Z:-0.26 [[ 0.99814702 0.0258467 -0.05508614 3.59443676] [-0.02616096 0.99964528 -0.00499134 -0.32140795] [ 0.05493759 0.00642319 0.99846913 -0.26225468] [ 0. 0. 0. 1. ]] SLAMing on 33.858241008 meters Centerline goodness [0,1] 0.8657270680429252 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.32, Z:-0.26 [[ 0.99813116 0.02606376 -0.05527084 3.59394948] [-0.02632968 0.99964495 -0.00408845 -0.32245592] [ 0.05514465 0.00553607 0.99846303 -0.26018165] [ 0. 0. 0. 1. ]] SLAMing on 33.888241008 meters Centerline goodness [0,1] 0.8638090229079008 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.32, Z:-0.26 [[ 9.98116924e-01 2.64939224e-02 -5.53233870e-02 3.59319127e+00] [-2.67125942e-02 9.99637979e-01 -3.21674699e-03 -3.23523965e-01] [ 5.52181346e-02 4.68852080e-03 9.98463307e-01 -2.58411592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.918241008 meters Centerline goodness [0,1] 0.8654598540145986 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.32, Z:-0.26 [[ 9.98118300e-01 2.67344106e-02 -5.51826981e-02 3.59290480e+00] [-2.69551721e-02 9.99631328e-01 -3.26001066e-03 -3.22785025e-01] [ 5.50751993e-02 4.74133542e-03 9.98470952e-01 -2.58660629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.948241008 meters Centerline goodness [0,1] 0.8621281298165004 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.32, Z:-0.26 [[ 9.97981162e-01 3.03624114e-02 -5.57828303e-02 3.59499363e+00] [-3.03355987e-02 9.99538888e-01 1.32755850e-03 -3.23998126e-01] [ 5.57974160e-02 3.67327182e-04 9.98442043e-01 -2.57562853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.978241008 meters Centerline goodness [0,1] 0.8655980986058375 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.32, Z:-0.26 [[ 9.97970151e-01 2.99754670e-02 -5.61876266e-02 3.59633609e+00] [-2.99576965e-02 9.99550496e-01 1.15872558e-03 -3.23689340e-01] [ 5.61971034e-02 5.26878327e-04 9.98419555e-01 -2.57696623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.008241008 meters Centerline goodness [0,1] 0.8679354932442249 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.32, Z:-0.26 [[ 9.97964298e-01 3.00416693e-02 -5.62561804e-02 3.59646302e+00] [-3.00218288e-02 9.99548525e-01 1.19796637e-03 -3.23859514e-01] [ 5.62667711e-02 4.93385748e-04 9.98415648e-01 -2.57703482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.038241008 meters Centerline goodness [0,1] 0.8684134168987929 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.32, Z:-0.26 [[ 9.97957772e-01 2.95938364e-02 -5.66082233e-02 3.59804378e+00] [-2.96043464e-02 9.99561482e-01 6.53109835e-04 -3.23254033e-01] [ 5.66027276e-02 1.02407342e-03 9.98396255e-01 -2.58705419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.068241008 meters Centerline goodness [0,1] 0.874244503489153 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.32, Z:-0.26 [[ 0.99807298 0.02534727 -0.05663777 3.59825951] [-0.025613 0.99966405 -0.00397061 -0.3220829 ] [ 0.05651809 0.00541362 0.9983869 -0.25990095] [ 0. 0. 0. 1. ]] SLAMing on 34.098241008 meters Centerline goodness [0,1] 0.8726958862426122 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.32, Z:-0.26 [[ 0.9980589 0.02523217 -0.05693654 3.59904601] [-0.02549372 0.99966748 -0.00387201 -0.32271143] [ 0.05681991 0.00531602 0.99837029 -0.25983651] [ 0. 0. 0. 1. ]] SLAMing on 34.128241007999996 meters Centerline goodness [0,1] 0.8766201468738114 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.32, Z:-0.26 [[ 0.99804312 0.02492501 -0.05734694 3.60045079] [-0.02519394 0.99967469 -0.00397123 -0.32267493] [ 0.0572293 0.00540826 0.99834641 -0.26007604] [ 0. 0. 0. 1. ]] SLAMing on 34.158241008 meters Centerline goodness [0,1] 0.8740115972588297 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.32, Z:-0.26 [[ 0.99803432 0.02458474 -0.05764627 3.60196232] [-0.0248838 0.99968033 -0.00447562 -0.32200116] [ 0.05751781 0.00590128 0.99832704 -0.26126988] [ 0. 0. 0. 1. ]] SLAMing on 34.188241008 meters Centerline goodness [0,1] 0.8760749788648223 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.32, Z:-0.26 [[ 9.97894703e-01 2.74275594e-02 -5.87698126e-02 3.60693299e+00] [-2.75403244e-02 9.99620078e-01 -1.10949324e-03 -3.22150216e-01] [ 5.87170539e-02 2.72569713e-03 9.98270944e-01 -2.62914856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.218241008 meters Centerline goodness [0,1] 0.8830774619111552 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.32, Z:-0.26 [[ 9.97883453e-01 2.72654328e-02 -5.90356722e-02 3.60783034e+00] [-2.73939040e-02 9.99623781e-01 -1.36779188e-03 -3.21418770e-01] [ 5.89761684e-02 2.98211442e-03 9.98254937e-01 -2.63208969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.248241008 meters Centerline goodness [0,1] 0.8803523868059824 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.32, Z:-0.26 [[ 9.97878075e-01 2.73933677e-02 -5.90673369e-02 3.60766795e+00] [-2.75159057e-02 9.99620569e-01 -1.26203837e-03 -3.21840771e-01] [ 5.90103534e-02 2.88465169e-03 9.98253203e-01 -2.62903555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.278241008 meters Centerline goodness [0,1] 0.8833235466823253 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.32, Z:-0.26 [[ 9.97861542e-01 2.78067659e-02 -5.91534133e-02 3.60689094e+00] [-2.79064289e-02 9.99610170e-01 -8.59227604e-04 -3.22476652e-01] [ 5.91064612e-02 2.50815071e-03 9.98248534e-01 -2.61748751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.308241007999996 meters Centerline goodness [0,1] 0.8877109981893581 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.32, Z:-0.26 [[ 9.97840194e-01 2.77903589e-02 -5.95201046e-02 3.60734789e+00] [-2.78731325e-02 9.99611311e-01 -5.60732191e-04 -3.23162374e-01] [ 5.94813869e-02 2.21853288e-03 9.98226950e-01 -2.60860065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.338241008 meters Centerline goodness [0,1] 0.8858324291034928 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.32, Z:-0.26 [[ 9.97838646e-01 2.74248553e-02 -5.97152716e-02 3.60823026e+00] [-2.74981599e-02 9.99621772e-01 -4.05995645e-04 -3.23784891e-01] [ 5.96815513e-02 2.04717823e-03 9.98215368e-01 -2.60590443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.368241008 meters Centerline goodness [0,1] 0.886950412739301 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.32, Z:-0.26 [[ 9.97833803e-01 2.67301749e-02 -6.01098989e-02 3.61013822e+00] [-2.68164619e-02 9.99640176e-01 -6.29104538e-04 -3.23541582e-01] [ 6.00714539e-02 2.23967659e-03 9.98191567e-01 -2.61073829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.398241008 meters Centerline goodness [0,1] 0.8872827295604846 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.32, Z:-0.26 [[ 9.97827197e-01 2.62060602e-02 -6.04493804e-02 3.61166411e+00] [-2.62945358e-02 9.99654015e-01 -6.68486303e-04 -3.23743215e-01] [ 6.04109475e-02 2.25652221e-03 9.98171040e-01 -2.61285305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.428241008 meters Centerline goodness [0,1] 0.8794653349001175 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.32, Z:-0.26 [[ 9.97819289e-01 2.62753773e-02 -6.05497447e-02 3.61165636e+00] [-2.63281237e-02 9.99653352e-01 -7.33395558e-05 -3.24900380e-01] [ 6.05268283e-02 1.66734079e-03 9.98165178e-01 -2.60369558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.458241008 meters Centerline goodness [0,1] 0.8773656988362525 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.33, Z:-0.26 [[ 9.97805763e-01 2.61794397e-02 -6.08136200e-02 3.61188776e+00] [-2.61771509e-02 9.99656971e-01 8.34474878e-04 -3.26549626e-01] [ 6.08146052e-02 7.59283462e-04 9.98148790e-01 -2.58457101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.488241008 meters Centerline goodness [0,1] 0.8716256041494754 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.33, Z:-0.26 [[ 9.97804871e-01 2.63694929e-02 -6.07461108e-02 3.61122775e+00] [-2.63450385e-02 9.99652185e-01 1.20359109e-03 -3.27171164e-01] [ 6.07567205e-02 3.99409576e-04 9.98152524e-01 -2.57517488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.518241008 meters Centerline goodness [0,1] 0.8763866411652199 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.33, Z:-0.26 [[ 9.97794552e-01 2.62105643e-02 -6.09839155e-02 3.61178646e+00] [-2.61830412e-02 9.99656383e-01 1.25052803e-03 -3.27356602e-01] [ 6.09957374e-02 3.48974315e-04 9.98137966e-01 -2.57163542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.548241008 meters Centerline goodness [0,1] 0.8745465805538353 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.33, Z:-0.26 [[ 9.97792668e-01 2.63069158e-02 -6.09732615e-02 3.61170539e+00] [-2.62792847e-02 9.99653852e-01 1.25517409e-03 -3.27279641e-01] [ 6.09851755e-02 3.49930193e-04 9.98138611e-01 -2.57154342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.578241008 meters Centerline goodness [0,1] 0.8780315931646016 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.32, Z:-0.26 [[ 9.97791795e-01 2.56636760e-02 -6.12609935e-02 3.61404518e+00] [-2.57026296e-02 9.99669621e-01 1.52207000e-04 -3.24971002e-01] [ 6.12446604e-02 1.42269773e-03 9.98121770e-01 -2.59513703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.608241008 meters Centerline goodness [0,1] 0.875955095803456 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.32, Z:-0.26 [[ 9.97789978e-01 2.53865768e-02 -6.14058811e-02 3.61525916e+00] [-2.54591706e-02 9.99675783e-01 -3.99948581e-04 -3.24044325e-01] [ 6.13758189e-02 1.96240749e-03 9.98112798e-01 -2.60800531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.638241008 meters Centerline goodness [0,1] 0.884506051636726 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.32, Z:-0.26 [[ 9.97782174e-01 2.50210399e-02 -6.16820967e-02 3.61676341e+00] [-2.51283175e-02 9.99683769e-01 -9.63970408e-04 -3.23183938e-01] [ 6.16384714e-02 2.51179980e-03 9.98095381e-01 -2.61950640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.668241008 meters Centerline goodness [0,1] 0.8831808585503167 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.32, Z:-0.26 [[ 9.97778318e-01 2.49383552e-02 -6.17778747e-02 3.61744273e+00] [-2.50674629e-02 9.99684896e-01 -1.31558399e-03 -3.22497506e-01] [ 6.17255998e-02 2.86127577e-03 9.98089056e-01 -2.62665636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.698241008 meters Centerline goodness [0,1] 0.8824683118175698 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.32, Z:-0.26 [[ 9.97769484e-01 2.51780377e-02 -6.18233282e-02 3.61767839e+00] [-2.53344515e-02 9.99677504e-01 -1.74731267e-03 -3.21123323e-01] [ 6.17593965e-02 3.30967536e-03 9.98085579e-01 -2.63513524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.728241008 meters Centerline goodness [0,1] 0.8871632885847153 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.32, Z:-0.26 [[ 9.97761969e-01 2.52679942e-02 -6.19078462e-02 3.61792424e+00] [-2.54413736e-02 9.99674287e-01 -2.01381456e-03 -3.20109562e-01] [ 6.18367970e-02 3.58432822e-03 9.98079838e-01 -2.63910636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.758241008 meters Centerline goodness [0,1] 0.8854752674381322 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.32, Z:-0.26 [[ 9.97761037e-01 2.56468426e-02 -6.17669139e-02 3.61783767e+00] [-2.58393323e-02 9.99663418e-01 -2.31950431e-03 -3.17907216e-01] [ 6.16866363e-02 3.91032684e-03 9.98087906e-01 -2.64794386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.788241008 meters Centerline goodness [0,1] 0.8873657556971972 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.32, Z:-0.26 [[ 9.97763134e-01 2.56249011e-02 -6.17421406e-02 3.61800335e+00] [-2.58102694e-02 9.99664424e-01 -2.20648816e-03 -3.17502198e-01] [ 6.16648804e-02 3.79513383e-03 9.98089695e-01 -2.64686480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.818241008 meters Centerline goodness [0,1] 0.8785095775387037 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.32, Z:-0.26 [[ 9.97755474e-01 2.57089044e-02 -6.18309573e-02 3.61785422e+00] [-2.58726093e-02 9.99663539e-01 -1.84831634e-03 -3.17894731e-01] [ 6.17626354e-02 3.44389594e-03 9.98084924e-01 -2.63867538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.848241008 meters Centerline goodness [0,1] 0.8847803881511747 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.32, Z:-0.26 [[ 9.97747347e-01 2.57737301e-02 -6.19350196e-02 3.61778257e+00] [-2.58976837e-02 9.99663879e-01 -1.19929173e-03 -3.19483231e-01] [ 6.18832918e-02 2.80056369e-03 9.98079463e-01 -2.62689311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.878241007999996 meters Centerline goodness [0,1] 0.8804401908274065 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.32, Z:-0.26 [[ 9.97731209e-01 2.55665539e-02 -6.22799046e-02 3.61823448e+00] [-2.56101018e-02 9.99672003e-01 9.90731828e-05 -3.22336515e-01] [ 6.22620099e-02 1.49614629e-03 9.98058718e-01 -2.60240250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.908241008 meters Centerline goodness [0,1] 0.8842738637691319 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.32, Z:-0.26 [[ 9.97726107e-01 2.51822128e-02 -6.25177645e-02 3.61936834e+00] [-2.52332804e-02 9.99681590e-01 -2.73230266e-05 -3.22115363e-01] [ 6.24971702e-02 1.60478918e-03 9.98043851e-01 -2.60504539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.938241008 meters Centerline goodness [0,1] 0.8737707796768907 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.32, Z:-0.26 [[ 9.97723752e-01 2.50945694e-02 -6.25905561e-02 3.61949519e+00] [-2.51322595e-02 9.99684118e-01 1.85174835e-04 -3.22456045e-01] [ 6.25754318e-02 1.38828877e-03 9.98039272e-01 -2.60030665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.968241008 meters Centerline goodness [0,1] 0.8737707796768907 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.32, Z:-0.26 [[ 9.97723752e-01 2.50945694e-02 -6.25905561e-02 3.61949519e+00] [-2.51322595e-02 9.99684118e-01 1.85174835e-04 -3.22456045e-01] [ 6.25754318e-02 1.38828877e-03 9.98039272e-01 -2.60030665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.998241008 meters Centerline goodness [0,1] 0.8732010434680657 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.32, Z:-0.26 [[ 9.97717213e-01 2.50702603e-02 -6.27044259e-02 3.61957995e+00] [-2.50811924e-02 9.99685230e-01 6.12900331e-04 -3.23319034e-01] [ 6.27000539e-02 9.61200561e-04 9.98031953e-01 -2.59224482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.028241008 meters Centerline goodness [0,1] 0.87318554864336 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.32, Z:-0.26 [[ 9.97703456e-01 2.43940782e-02 -6.31881535e-02 3.62155802e+00] [-2.44174112e-02 9.99701769e-01 4.03042888e-04 -3.23148157e-01] [ 6.31791407e-02 1.14077385e-03 9.98001551e-01 -2.59515561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.058241008 meters Centerline goodness [0,1] 0.8749744637385086 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.32, Z:-0.26 [[ 9.97708630e-01 2.43239168e-02 -6.31334900e-02 3.62179796e+00] [-2.43660352e-02 9.99703099e-01 1.02819978e-04 -3.22111211e-01] [ 6.31172466e-02 1.43572846e-03 9.98005086e-01 -2.60059116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.088241008 meters Centerline goodness [0,1] 0.8699452278289244 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.32, Z:-0.26 [[ 9.97707564e-01 2.40154353e-02 -6.32682860e-02 3.62271075e+00] [-2.40811963e-02 9.99709968e-01 -2.76942096e-04 -3.21131254e-01] [ 6.32432853e-02 1.79988324e-03 9.97996517e-01 -2.60702788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.118241008 meters Centerline goodness [0,1] 0.8727103293631149 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.32, Z:-0.26 [[ 9.97704352e-01 2.38561018e-02 -6.33791243e-02 3.62334725e+00] [-2.39286995e-02 9.99713593e-01 -3.86538240e-04 -3.20825345e-01] [ 6.33517508e-02 1.90223091e-03 9.97989447e-01 -2.61024685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.148241008 meters Centerline goodness [0,1] 0.8690208010298119 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.32, Z:-0.26 [[ 9.97700743e-01 2.31088312e-02 -6.37119180e-02 3.62505446e+00] [-2.31909240e-02 9.99730904e-01 -5.49181335e-04 -3.21045727e-01] [ 6.36820824e-02 2.02545687e-03 9.97968181e-01 -2.61306562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.178241008 meters Centerline goodness [0,1] 0.8670963961324348 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.32, Z:-0.26 [[ 9.97694683e-01 2.27338253e-02 -6.39413264e-02 3.62615626e+00] [-2.28249805e-02 9.99739234e-01 -6.95396994e-04 -3.20921866e-01] [ 6.39088437e-02 2.15325341e-03 9.97953417e-01 -2.61641019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.208241008 meters Centerline goodness [0,1] 0.8686532281624306 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.32, Z:-0.26 [[ 9.97692114e-01 2.23617735e-02 -6.41123697e-02 3.62739718e+00] [-2.24784155e-02 9.99746725e-01 -1.09851029e-03 -3.20389144e-01] [ 6.40715670e-02 2.53711954e-03 9.97942081e-01 -2.62603315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.238241008 meters Centerline goodness [0,1] 0.8707469061759456 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.32, Z:-0.26 [[ 9.97684452e-01 2.20313959e-02 -6.43455619e-02 3.62861850e+00] [-2.21698479e-02 9.99753184e-01 -1.43839595e-03 -3.19957812e-01] [ 6.42979905e-02 2.86159659e-03 9.97926640e-01 -2.63389171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.268241008 meters Centerline goodness [0,1] 0.8727299270072992 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.32, Z:-0.26 [[ 9.97682845e-01 2.15691243e-02 -6.45268419e-02 3.63007584e+00] [-2.17414040e-02 9.99761689e-01 -1.96881816e-03 -3.19189996e-01] [ 6.44689987e-02 3.36716024e-03 9.97914030e-01 -2.64667137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.298241008 meters Centerline goodness [0,1] 0.868938554005952 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.32, Z:-0.26 [[ 9.97671244e-01 2.12128702e-02 -6.48236334e-02 3.63128957e+00] [-2.13887785e-02 9.99769192e-01 -2.02079366e-03 -3.19540381e-01] [ 6.47658048e-02 3.40258606e-03 9.97894690e-01 -2.64913735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.328241008 meters Centerline goodness [0,1] 0.8671189612820213 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.32, Z:-0.26 [[ 9.97657661e-01 2.08888871e-02 -6.51371263e-02 3.63248281e+00] [-2.10582897e-02 9.99776415e-01 -1.91515110e-03 -3.20460648e-01] [ 6.50825572e-02 3.28234164e-03 9.97874485e-01 -2.64989889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.358241008 meters Centerline goodness [0,1] 0.8696008908163864 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.32, Z:-0.27 [[ 9.97638583e-01 1.96186317e-02 -6.58207118e-02 3.63586178e+00] [-1.98183388e-02 9.99800759e-01 -2.38248152e-03 -3.21372779e-01] [ 6.57608566e-02 3.68131266e-03 9.97828621e-01 -2.66204376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.388241008 meters Centerline goodness [0,1] 0.8692494655773229 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.32, Z:-0.27 [[ 9.97614113e-01 1.88483360e-02 -6.64140184e-02 3.63817162e+00] [-1.90582343e-02 9.99815179e-01 -2.52824723e-03 -3.21952172e-01] [ 6.63540904e-02 3.78794904e-03 9.97788949e-01 -2.66607617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.418241008 meters Centerline goodness [0,1] 0.8727192725139337 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.32, Z:-0.27 [[ 9.97587816e-01 1.81355696e-02 -6.70048474e-02 3.64039999e+00] [-1.83387627e-02 9.99828905e-01 -2.41862403e-03 -3.23242646e-01] [ 6.69495201e-02 3.64157586e-03 9.97749718e-01 -2.66666962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.448241008 meters Centerline goodness [0,1] 0.8658622719246616 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.33, Z:-0.27 [[ 9.97558387e-01 1.68110988e-02 -6.77838592e-02 3.64356204e+00] [-1.70010695e-02 9.99852992e-01 -2.22666695e-03 -3.25221720e-01] [ 6.77364617e-02 3.37362839e-03 9.97697545e-01 -2.66330610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.478241008 meters Centerline goodness [0,1] 0.868958806357444 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.33, Z:-0.27 [[ 9.97542695e-01 1.66864070e-02 -6.80451051e-02 3.64395302e+00] [-1.68460575e-02 9.99856523e-01 -1.77306944e-03 -3.26128998e-01] [ 6.80057561e-02 2.91500422e-03 9.97680670e-01 -2.65333020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.508241008 meters Centerline goodness [0,1] 0.8698930749064774 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.33, Z:-0.26 [[ 9.97522896e-01 1.62981674e-02 -6.84283628e-02 3.64502751e+00] [-1.64474455e-02 9.99863421e-01 -1.61865717e-03 -3.26401367e-01] [ 6.83926358e-02 2.74011935e-03 9.97654719e-01 -2.64754915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.538241008 meters Centerline goodness [0,1] 0.8716525436239629 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.33, Z:-0.26 [[ 9.97512590e-01 1.63788379e-02 -6.85592124e-02 3.64500668e+00] [-1.65010311e-02 9.99863109e-01 -1.21632742e-03 -3.26852014e-01] [ 6.85299052e-02 2.34459961e-03 9.97646308e-01 -2.63922330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.568241008 meters Centerline goodness [0,1] 0.8667979774223895 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.33, Z:-0.26 [[ 9.97496553e-01 1.61608198e-02 -6.88436927e-02 3.64592688e+00] [-1.62789865e-02 9.99866821e-01 -1.15573948e-03 -3.26862824e-01] [ 6.88158464e-02 2.27355169e-03 9.97626789e-01 -2.63753788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.598241008 meters Centerline goodness [0,1] 0.8714003595956024 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.33, Z:-0.26 [[ 9.97492378e-01 1.61934187e-02 -6.88965068e-02 3.64585429e+00] [-1.63017394e-02 9.99866607e-01 -1.01024325e-03 -3.26688690e-01] [ 6.88709572e-02 2.13084284e-03 9.97623301e-01 -2.63259262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.628241007999996 meters Centerline goodness [0,1] 0.8585837732621583 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.33, Z:-0.26 [[ 9.97495840e-01 1.62160560e-02 -6.88410466e-02 3.64586374e+00] [-1.63227472e-02 9.99866287e-01 -9.87560841e-04 -3.25484580e-01] [ 6.88158273e-02 2.10876283e-03 9.97627152e-01 -2.63075811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.658241008 meters Centerline goodness [0,1] 0.8626363904452964 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.33, Z:-0.26 [[ 9.97482013e-01 1.60984002e-02 -6.90686273e-02 3.64645145e+00] [-1.61975908e-02 9.99868426e-01 -8.76279429e-04 -3.25226637e-01] [ 6.90454330e-02 1.99281833e-03 9.97611526e-01 -2.62686091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.688241008 meters Centerline goodness [0,1] 0.8622056561353686 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.33, Z:-0.26 [[ 9.97475021e-01 1.62274511e-02 -6.91393651e-02 3.64622889e+00] [-1.63129256e-02 9.99866710e-01 -6.71798512e-04 -3.25124446e-01] [ 6.91192479e-02 1.79796755e-03 9.97606785e-01 -2.62015251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.718241008 meters Centerline goodness [0,1] 0.8594082211197732 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.32, Z:-0.26 [[ 9.97469727e-01 1.64447765e-02 -6.91643879e-02 3.64611746e+00] [-1.65393559e-02 9.99862899e-01 -7.94987989e-04 -3.23554948e-01] [ 6.91418320e-02 1.93691088e-03 9.97604960e-01 -2.61930121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.748241008 meters Centerline goodness [0,1] 0.8612158341187559 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.32, Z:-0.26 [[ 9.97453569e-01 1.61433146e-02 -6.94677720e-02 3.64719812e+00] [-1.62681387e-02 9.99866907e-01 -1.23146324e-03 -3.22320490e-01] [ 6.94386464e-02 2.35843875e-03 9.97583436e-01 -2.62357080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.778241008 meters Centerline goodness [0,1] 0.8643798540833137 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.32, Z:-0.26 [[ 9.97437622e-01 1.62804585e-02 -6.96644592e-02 3.64723156e+00] [-1.63954616e-02 9.99865003e-01 -1.07931082e-03 -3.21865910e-01] [ 6.96374830e-02 2.21872618e-03 9.97569896e-01 -2.61653114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.808241008 meters Centerline goodness [0,1] 0.8688529420430773 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.32, Z:-0.26 [[ 9.97417170e-01 1.63734820e-02 -6.99349492e-02 3.64735397e+00] [-1.64759710e-02 9.99863867e-01 -8.88874599e-04 -3.21867143e-01] [ 6.99108747e-02 2.03882498e-03 9.97551158e-01 -2.60787124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.838241008 meters Centerline goodness [0,1] 0.868036569950319 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.32, Z:-0.26 [[ 9.97417994e-01 1.70572142e-02 -6.97595621e-02 3.64614704e+00] [-1.71456303e-02 9.99852779e-01 -6.68828718e-04 -3.20444310e-01] [ 6.97378836e-02 1.86317346e-03 9.97563610e-01 -2.60181916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.868241008 meters Centerline goodness [0,1] 0.8684388309590249 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.32, Z:-0.26 [[ 9.97421410e-01 1.67775388e-02 -6.97785396e-02 3.64711738e+00] [-1.69234178e-02 9.99855664e-01 -1.49991707e-03 -3.17995327e-01] [ 6.97433031e-02 2.67694078e-03 9.97561379e-01 -2.61718151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.898241008 meters Centerline goodness [0,1] 0.8669067908284284 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.32, Z:-0.26 [[ 9.97418867e-01 1.63834291e-02 -6.99084141e-02 3.64860178e+00] [-1.65776552e-02 9.99860163e-01 -2.19899147e-03 -3.16077424e-01] [ 6.98626113e-02 3.35223316e-03 9.97550990e-01 -2.63297420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.928241008 meters Centerline goodness [0,1] 0.8706419601299727 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.31, Z:-0.26 [[ 9.97410735e-01 1.60435878e-02 -7.01029875e-02 3.64992686e+00] [-1.62719610e-02 9.99863990e-01 -2.68780058e-03 -3.14923572e-01] [ 7.00503308e-02 3.82155422e-03 9.97536138e-01 -2.64401264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.958241008 meters Centerline goodness [0,1] 0.8743223840361004 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.31, Z:-0.27 [[ 9.97360171e-01 1.53045228e-02 -7.09821137e-02 3.65300912e+00] [-1.55631751e-02 9.99874105e-01 -3.09225731e-03 -3.14675620e-01] [ 7.09258519e-02 4.18880134e-03 9.97472795e-01 -2.65135385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.988241008 meters Centerline goodness [0,1] 0.8758118075758912 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.32, Z:-0.26 [[ 9.97322054e-01 1.51746928e-02 -7.15433426e-02 3.65405218e+00] [-1.53933699e-02 9.99878374e-01 -2.50617502e-03 -3.16133458e-01] [ 7.14966107e-02 3.60075675e-03 9.97434343e-01 -2.63955309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.018241008 meters Centerline goodness [0,1] 0.8786386291916124 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.32, Z:-0.26 [[ 9.97301298e-01 1.53948498e-02 -7.17852290e-02 3.65398136e+00] [-1.55643581e-02 9.99877243e-01 -1.80252360e-03 -3.17891001e-01] [ 7.17486673e-02 2.91495014e-03 9.97418484e-01 -2.62706243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.048241008 meters Centerline goodness [0,1] 0.882188145089944 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.32, Z:-0.26 [[ 9.97274250e-01 1.50205717e-02 -7.22388605e-02 3.65564009e+00] [-1.51849665e-02 9.99883210e-01 -1.72702800e-03 -3.18767070e-01] [ 7.22044827e-02 2.81926523e-03 9.97385865e-01 -2.62853374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.078241008 meters Centerline goodness [0,1] 0.8801748065906809 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.32, Z:-0.26 [[ 9.97218440e-01 1.36578143e-02 -7.32724172e-02 3.65929618e+00] [-1.38069424e-02 9.99903510e-01 -1.52910377e-03 -3.20399390e-01] [ 7.32444630e-02 2.53651852e-03 9.97310791e-01 -2.62400430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.108241008 meters Centerline goodness [0,1] 0.8801944395044163 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.32, Z:-0.26 [[ 9.97180346e-01 1.28725649e-02 -7.39300593e-02 3.66175454e+00] [-1.30208170e-02 9.99914065e-01 -1.52365731e-03 -3.21326870e-01] [ 7.39040927e-02 2.48199090e-03 9.97262265e-01 -2.62585983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.138241008 meters Centerline goodness [0,1] 0.8800533096401599 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.32, Z:-0.26 [[ 9.97175991e-01 1.27250428e-02 -7.40142959e-02 3.66250150e+00] [-1.28749192e-02 9.99915916e-01 -1.54818123e-03 -3.21571794e-01] [ 7.39883718e-02 2.49673723e-03 9.97255979e-01 -2.63080133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.168241008 meters Centerline goodness [0,1] 0.8761174590018352 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.32, Z:-0.26 [[ 9.97178885e-01 1.29023200e-02 -7.39445852e-02 3.66266491e+00] [-1.30516019e-02 9.99913645e-01 -1.53596028e-03 -3.21112685e-01] [ 7.39183823e-02 2.49672245e-03 9.97261169e-01 -2.63549933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.198241008 meters Centerline goodness [0,1] 0.8753723200330296 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.32, Z:-0.26 [[ 9.97157251e-01 1.26966855e-02 -7.42712049e-02 3.66349096e+00] [-1.28305133e-02 9.99916808e-01 -1.32501052e-03 -3.21249538e-01] [ 7.42482028e-02 2.27418153e-03 9.97237200e-01 -2.63047617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.228241008 meters Centerline goodness [0,1] 0.872034273895701 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.32, Z:-0.26 [[ 9.97158179e-01 1.29522118e-02 -7.42145990e-02 3.66301363e+00] [-1.30547448e-02 9.99914381e-01 -8.96625586e-04 -3.21736333e-01] [ 7.41966315e-02 1.86293019e-03 9.97241891e-01 -2.62395292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.258241008 meters Centerline goodness [0,1] 0.8746312684365782 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.32, Z:-0.26 [[ 9.97148348e-01 1.30042419e-02 -7.43374837e-02 3.66306206e+00] [-1.30844729e-02 9.99914219e-01 -5.92354308e-04 -3.21997601e-01] [ 7.43234039e-02 1.56333191e-03 9.97232966e-01 -2.61648239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.288241008 meters Centerline goodness [0,1] 0.873389289514127 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.32, Z:-0.26 [[ 9.97151476e-01 1.31729915e-02 -7.42657818e-02 3.66274414e+00] [-1.32400021e-02 9.99912263e-01 -4.10039407e-04 -3.22186047e-01] [ 7.42538646e-02 1.39215051e-03 9.97238400e-01 -2.61374013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.318241008 meters Centerline goodness [0,1] 0.8722888718160865 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.32, Z:-0.26 [[ 9.97148858e-01 1.30310981e-02 -7.43259407e-02 3.66356174e+00] [-1.31334111e-02 9.99913359e-01 -8.87937468e-04 -3.20639739e-01] [ 7.43079302e-02 1.86155896e-03 9.97233607e-01 -2.62438281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.348241008 meters Centerline goodness [0,1] 0.8727401213120547 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.32, Z:-0.26 [[ 9.97130222e-01 1.25382192e-02 -7.46599915e-02 3.66515530e+00] [-1.26700912e-02 9.99918895e-01 -1.29290881e-03 -3.19733305e-01] [ 7.46377255e-02 2.23514735e-03 9.97208210e-01 -2.63132995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.378241007999996 meters Centerline goodness [0,1] 0.8707013507933699 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.32, Z:-0.26 [[ 9.97119598e-01 1.24933624e-02 -7.48092509e-02 3.66556859e+00] [-1.26169700e-02 9.99919707e-01 -1.17991737e-03 -3.19695764e-01] [ 7.47885031e-02 2.12038481e-03 9.97197164e-01 -2.62977482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.408241008 meters Centerline goodness [0,1] 0.8722223861657863 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.32, Z:-0.26 [[ 9.97110377e-01 1.23597382e-02 -7.49541997e-02 3.66615832e+00] [-1.24727633e-02 9.99921671e-01 -1.03999075e-03 -3.19952110e-01] [ 7.49354746e-02 1.97187156e-03 9.97186435e-01 -2.62855174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.438241008 meters Centerline goodness [0,1] 0.8725180705118749 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.32, Z:-0.26 [[ 9.97063061e-01 1.17843875e-02 -7.56728479e-02 3.66803528e+00] [-1.18790950e-02 9.99929120e-01 -8.01538370e-04 -3.20667782e-01] [ 7.56580385e-02 1.69810925e-03 9.97132377e-01 -2.62061362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.468241008 meters Centerline goodness [0,1] 0.8781194559432288 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.32, Z:-0.26 [[ 9.97017065e-01 1.06492338e-02 -7.64432166e-02 3.67087194e+00] [-1.07292407e-02 9.99942238e-01 -6.35993413e-04 -3.22162284e-01] [ 7.64320282e-02 1.45427395e-03 9.97073734e-01 -2.61602797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.498241008 meters Centerline goodness [0,1] 0.8756748783006343 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.32, Z:-0.26 [[ 9.97009694e-01 1.04193773e-02 -7.65709252e-02 3.67160772e+00] [-1.05197717e-02 9.99944254e-01 -9.07887913e-04 -3.20926470e-01] [ 7.65571970e-02 1.71068170e-03 9.97063724e-01 -2.61981134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.528241008 meters Centerline goodness [0,1] 0.8761119102838857 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.32, Z:-0.26 [[ 9.96985675e-01 9.36432824e-03 -7.70186547e-02 3.67422036e+00] [-9.56070390e-03 9.99951916e-01 -2.18137891e-03 -3.16979458e-01] [ 7.69945242e-02 2.91115608e-03 9.97027266e-01 -2.63634764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.558241008 meters Centerline goodness [0,1] 0.8800622138748679 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.32, Z:-0.26 [[ 9.96959853e-01 8.86616258e-03 -7.74108644e-02 3.67571446e+00] [-9.07049056e-03 9.99956244e-01 -2.28831321e-03 -3.16951777e-01] [ 7.73871886e-02 2.98351092e-03 9.96996651e-01 -2.63748999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.588241008 meters Centerline goodness [0,1] 0.8813978115072362 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.32, Z:-0.26 [[ 9.96940553e-01 8.56292573e-03 -7.76930452e-02 3.67659029e+00] [-8.75250720e-03 9.99959491e-01 -2.09993731e-03 -3.17728131e-01] [ 7.76719164e-02 2.77352160e-03 9.96975116e-01 -2.63392843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.618241008 meters Centerline goodness [0,1] 0.8832760292691528 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.32, Z:-0.26 [[ 9.96887553e-01 7.88740740e-03 -7.84410351e-02 3.67854393e+00] [-8.05133855e-03 9.99966014e-01 -1.77381441e-03 -3.18758311e-01] [ 7.84243784e-02 2.39984883e-03 9.96917177e-01 -2.62343480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.648241008 meters Centerline goodness [0,1] 0.8923540356161956 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.32, Z:-0.26 [[ 9.96929989e-01 3.62384923e-03 -7.82142244e-02 3.67760854e+00] [-4.08222928e-03 9.99975414e-01 -5.70147773e-03 -3.18298820e-01] [ 7.81916401e-02 6.00326253e-03 9.96920272e-01 -2.61709381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.678241008 meters Centerline goodness [0,1] 0.8916730689675552 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.32, Z:-0.26 [[ 9.96913712e-01 3.61916150e-03 -7.84216270e-02 3.67790625e+00] [-4.01965982e-03 9.99979671e-01 -4.94973237e-03 -3.19534675e-01] [ 7.84021189e-02 5.24968433e-03 9.96907994e-01 -2.60495511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.708241008 meters Centerline goodness [0,1] 0.8891380683997757 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.32, Z:-0.26 [[ 9.96907167e-01 3.30341046e-03 -7.85187066e-02 3.67871323e+00] [-3.71244701e-03 9.99980287e-01 -5.06401230e-03 -3.18787518e-01] [ 7.85004302e-02 5.33984670e-03 9.96899779e-01 -2.60716077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.738241008 meters Centerline goodness [0,1] 0.886003650709533 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.32, Z:-0.26 [[ 9.96912849e-01 3.20177485e-03 -7.84507457e-02 3.67902982e+00] [-3.63571951e-03 9.99978869e-01 -5.38921960e-03 -3.17087154e-01] [ 7.84318328e-02 5.65780717e-03 9.96903424e-01 -2.61336317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.768241008 meters Centerline goodness [0,1] 0.8818795888399412 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.32, Z:-0.26 [[ 9.96876116e-01 7.29840384e-03 -7.86431373e-02 3.68004516e+00] [-7.43343421e-03 9.99971357e-01 -1.42438650e-03 -3.16129298e-01] [ 7.86304890e-02 2.00452547e-03 9.96901815e-01 -2.61449168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.798241008 meters Centerline goodness [0,1] 0.8771611088319756 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.32, Z:-0.26 [[ 9.96788729e-01 1.14144031e-02 -7.92587029e-02 3.68143396e+00] [-1.11975955e-02 9.99932250e-01 3.17937056e-03 -3.17351962e-01] [ 7.92896238e-02 -2.28165385e-03 9.96849010e-01 -2.60185166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.828241008 meters Centerline goodness [0,1] 0.8785284320028052 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.32, Z:-0.26 [[ 0.99668476 0.01547074 -0.07987577 3.68293283] [-0.01489842 0.99985893 0.00775616 -0.31876693] [ 0.0799845 -0.00654043 0.99677465 -0.25893446] [ 0. 0. 0. 1. ]] SLAMing on 36.858241008 meters Centerline goodness [0,1] 0.8785284320028052 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.32, Z:-0.26 [[ 0.99668476 0.01547074 -0.07987577 3.68293283] [-0.01489842 0.99985893 0.00775616 -0.31876693] [ 0.0799845 -0.00654043 0.99677465 -0.25893446] [ 0. 0. 0. 1. ]] SLAMing on 36.888241008 meters Centerline goodness [0,1] 0.8725233100233101 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.32, Z:-0.26 [[ 0.99667247 0.01675162 -0.07977069 3.68130979] [-0.01620553 0.99984064 0.00748827 -0.31710995] [ 0.07988342 -0.00617063 0.99678511 -0.25914561] [ 0. 0. 0. 1. ]] SLAMing on 36.918241008 meters Centerline goodness [0,1] 0.8697899932821217 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.32, Z:-0.26 [[ 0.99667234 0.01696428 -0.07972738 3.68103292] [-0.01643306 0.99983821 0.00731444 -0.31686616] [ 0.07983857 -0.00597993 0.99678987 -0.2593348 ] [ 0. 0. 0. 1. ]] SLAMing on 36.948241008 meters Centerline goodness [0,1] 0.873802570093458 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.32, Z:-0.26 [[ 0.99666499 0.01680642 -0.0798526 3.68181683] [-0.01629212 0.99984215 0.00708778 -0.31699897] [ 0.07995912 -0.00576317 0.99678148 -0.25989879] [ 0. 0. 0. 1. ]] SLAMing on 36.978241008 meters Centerline goodness [0,1] 0.8759499590786859 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.32, Z:-0.26 [[ 0.99665073 0.01622358 -0.08015064 3.68351893] [-0.01572951 0.99985322 0.00679188 -0.31757591] [ 0.08024907 -0.0055084 0.99675962 -0.2607441 ] [ 0. 0. 0. 1. ]] SLAMing on 37.008241008 meters Centerline goodness [0,1] 0.8747690954405513 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.32, Z:-0.26 [[ 0.99662893 0.01479791 -0.08069568 3.68714461] [-0.01434195 0.99987776 0.00622708 -0.31881926] [ 0.08077796 -0.00504876 0.99671933 -0.26248348] [ 0. 0. 0. 1. ]] SLAMing on 37.038241008 meters Centerline goodness [0,1] 0.8845101902773285 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.32, Z:-0.26 [[ 0.99660215 0.01423938 -0.08112576 3.68896159] [-0.01380214 0.99988706 0.00594794 -0.31925164] [ 0.0812013 -0.00480802 0.99668613 -0.26315023] [ 0. 0. 0. 1. ]] SLAMing on 37.068241008 meters Centerline goodness [0,1] 0.8818489621669365 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.32, Z:-0.26 [[ 0.99656771 0.01355795 -0.08166387 3.69126971] [-0.01315622 0.99989857 0.00545532 -0.31923404] [ 0.08172955 -0.00436221 0.996645 -0.26411496] [ 0. 0. 0. 1. ]] SLAMing on 37.098241008 meters Centerline goodness [0,1] 0.8893232994297137 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.32, Z:-0.27 [[ 9.96529203e-01 1.26733019e-02 -8.22735431e-02 3.69412974e+00] [-1.23351418e-02 9.99913259e-01 4.61720233e-03 -3.18469047e-01] [ 8.23249218e-02 -3.58632114e-03 9.96599090e-01 -2.65626637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.128241007999996 meters Centerline goodness [0,1] 0.8906167323181845 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.32, Z:-0.27 [[ 9.96513126e-01 1.21850917e-02 -8.25415875e-02 3.69570436e+00] [-1.19021489e-02 9.99921487e-01 3.91908396e-03 -3.17701299e-01] [ 8.25828613e-02 -2.92299634e-03 9.96579915e-01 -2.66920722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.158241008 meters Centerline goodness [0,1] 0.8906415227352837 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.32, Z:-0.27 [[ 9.96500240e-01 1.18297159e-02 -8.27485920e-02 3.69679717e+00] [-1.15737289e-02 9.99926640e-01 3.57256172e-03 -3.17356151e-01] [ 8.27847839e-02 -2.60234884e-03 9.96564051e-01 -2.67537371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.188241008 meters Centerline goodness [0,1] 0.8971364534489369 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.32, Z:-0.27 [[ 9.96478843e-01 1.16084395e-02 -8.30371032e-02 3.69765612e+00] [-1.13295971e-02 9.99928489e-01 3.82847614e-03 -3.18322128e-01] [ 8.30756077e-02 -2.87421855e-03 9.96539102e-01 -2.67159982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.218241008 meters Centerline goodness [0,1] 0.8916715888954518 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.32, Z:-0.27 [[ 0.99643294 0.01084273 -0.08368886 3.69950906] [-0.01047657 0.99993353 0.00481326 -0.32046868] [ 0.08373549 -0.00391932 0.99648031 -0.26502773] [ 0. 0. 0. 1. ]] SLAMing on 37.248241008 meters Centerline goodness [0,1] 0.8938974056603773 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.32, Z:-0.26 [[ 0.99641023 0.01030179 -0.08402697 3.70078112] [-0.00992698 0.99993883 0.00487714 -0.32061104] [ 0.08407207 -0.0040255 0.99645155 -0.26467144] [ 0. 0. 0. 1. ]] SLAMing on 37.278241008 meters Centerline goodness [0,1] 0.8938537619215825 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.32, Z:-0.27 [[ 0.99638767 0.00954875 -0.08438268 3.70249954] [-0.00919836 0.99994739 0.00454017 -0.31982754] [ 0.08442159 -0.00374759 0.99642308 -0.26506749] [ 0. 0. 0. 1. ]] SLAMing on 37.308241008 meters Centerline goodness [0,1] 0.8949486049926578 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.32, Z:-0.27 [[ 9.96354770e-01 8.49707700e-03 -8.48821016e-02 3.70512096e+00] [-8.20082837e-03 9.99959006e-01 3.83819680e-03 -3.18934189e-01] [ 8.49112355e-02 -3.12810215e-03 9.96383609e-01 -2.66244128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.338241008 meters Centerline goodness [0,1] 0.899195093905711 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.32, Z:-0.27 [[ 9.96383149e-01 3.46180986e-03 -8.49036920e-02 3.70622187e+00] [-3.55607070e-03 9.99993217e-01 -9.58998902e-04 -3.17043499e-01] [ 8.48997962e-02 1.25745388e-03 9.96388701e-01 -2.67489808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.368241008 meters Centerline goodness [0,1] 0.9054997496096857 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.32, Z:-0.27 [[ 9.96337496e-01 2.85983154e-03 -8.54600213e-02 3.70799844e+00] [-2.94128121e-03 9.99995332e-01 -8.27177004e-04 -3.17895928e-01] [ 8.54572568e-02 1.07550942e-03 9.96341257e-01 -2.67079616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.398241008 meters Centerline goodness [0,1] 0.9023943786720203 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.32, Z:-0.27 [[ 9.96292583e-01 2.34759210e-03 -8.59975440e-02 3.70955061e+00] [-2.41722553e-03 9.99996830e-01 -7.05592321e-04 -3.18728388e-01] [ 8.59956149e-02 9.10851855e-04 9.96295099e-01 -2.66633986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.428241008 meters Centerline goodness [0,1] 0.9056503355903137 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.32, Z:-0.27 [[ 9.96261810e-01 2.04882222e-03 -8.63609150e-02 3.71057134e+00] [-2.09225452e-03 9.99997726e-01 -4.12405538e-04 -3.19503790e-01] [ 8.63598737e-02 5.91552903e-04 9.96263832e-01 -2.66058961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.458241008 meters Centerline goodness [0,1] 0.899964683030196 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.32, Z:-0.27 [[ 9.96195274e-01 5.35649052e-03 -8.69843852e-02 3.71274562e+00] [-5.05840756e-03 9.99980556e-01 3.64691508e-03 -3.19225788e-01] [ 8.70022285e-02 -3.19303709e-03 9.96203000e-01 -2.65040325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.488241008 meters Centerline goodness [0,1] 0.904936389752008 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.32, Z:-0.27 [[ 9.96173282e-01 4.85988600e-03 -8.72649607e-02 3.71407282e+00] [-4.61527256e-03 9.99984836e-01 3.00465487e-03 -3.17048656e-01] [ 8.72782397e-02 -2.59040533e-03 9.96180605e-01 -2.65728402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.518241008 meters Centerline goodness [0,1] 0.9008663583679681 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.32, Z:-0.27 [[ 9.96165558e-01 4.75257791e-03 -8.73589957e-02 3.71444552e+00] [-4.53849282e-03 9.99986192e-01 2.64909246e-03 -3.15069428e-01] [ 8.73703795e-02 -2.24245650e-03 9.96173373e-01 -2.65937801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.548241008 meters Centerline goodness [0,1] 0.8984857309260338 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.31, Z:-0.27 [[ 9.96155961e-01 4.95745258e-03 -8.74569915e-02 3.71412018e+00] [-4.77419432e-03 9.99985948e-01 2.30445605e-03 -3.11615614e-01] [ 8.74671868e-02 -1.87806096e-03 9.96165631e-01 -2.65520899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.578241008 meters Centerline goodness [0,1] 0.9036832144416945 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.31, Z:-0.27 [[ 9.96129378e-01 4.70974284e-03 -8.77728940e-02 3.71515063e+00] [-4.57115243e-03 9.99987968e-01 1.77989969e-03 -3.10144017e-01] [ 8.77802208e-02 -1.37178710e-03 9.96138922e-01 -2.65946565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.608241008 meters Centerline goodness [0,1] 0.9025690318070605 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.31, Z:-0.27 [[ 9.96124605e-01 5.02755176e-03 -8.78094234e-02 3.71483381e+00] [-4.90401919e-03 9.99986659e-01 1.62249681e-03 -3.08766160e-01] [ 8.78164092e-02 -1.18558989e-03 9.96135971e-01 -2.65832383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.638241008 meters Centerline goodness [0,1] 0.8993516876471785 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.31, Z:-0.27 [[ 9.96115424e-01 5.32504556e-03 -8.78959942e-02 3.71477867e+00] [-5.24648151e-03 9.99985604e-01 1.12482657e-03 -3.06550827e-01] [ 8.79007186e-02 -6.59312384e-04 9.96129022e-01 -2.66255788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.668241008 meters Centerline goodness [0,1] 0.8924392569265883 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.30, Z:-0.27 [[ 0.99609065 0.01037474 -0.08772565 3.7138246 ] [-0.00999732 0.99993879 0.00474053 -0.30333733] [ 0.08776946 -0.00384498 0.99613339 -0.26636146] [ 0. 0. 0. 1. ]] SLAMing on 37.698241008 meters Centerline goodness [0,1] 0.8972547436415018 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.30, Z:-0.27 [[ 9.96100728e-01 1.12703307e-02 -8.75003938e-02 3.71273746e+00] [-1.09230558e-02 9.99930455e-01 4.44664370e-03 -3.00297463e-01] [ 8.75444237e-02 -3.47353334e-03 9.96154561e-01 -2.66873397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.728241008 meters Centerline goodness [0,1] 0.8910584046402114 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.30, Z:-0.27 [[ 0.996 0.01561383 -0.08797849 3.71354152] [-0.01488002 0.99984887 0.00899051 -0.30101175] [ 0.08810557 -0.00764543 0.9960818 -0.26559578] [ 0. 0. 0. 1. ]] SLAMing on 37.758241008 meters Centerline goodness [0,1] 0.8940585533869116 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.30, Z:-0.26 [[ 0.9958812 0.01978259 -0.08848323 3.71476985] [-0.01864553 0.99973286 0.01365878 -0.30235641] [ 0.0887298 -0.01195271 0.99598401 -0.26436065] [ 0. 0. 0. 1. ]] SLAMing on 37.788241008 meters Centerline goodness [0,1] 0.8862371178166661 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.30, Z:-0.27 [[ 9.96320949e-01 2.16813852e-02 -8.29125031e-02 3.73017668e+00] [-2.13068858e-02 9.99758404e-01 5.39906977e-03 -2.98732533e-01] [ 8.30095311e-02 -3.61259908e-03 9.96542205e-01 -2.69824742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.818241008 meters Centerline goodness [0,1] 0.8859303652968037 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.30, Z:-0.27 [[ 9.96741009e-01 2.33826788e-02 -7.72049995e-02 3.74511623e+00] [-2.36379830e-02 9.99717716e-01 -2.39451834e-03 -2.97127556e-01] [ 7.71272156e-02 4.21168509e-03 9.97012364e-01 -2.73853998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.848241008 meters Centerline goodness [0,1] 0.8864183381088825 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.30, Z:-0.27 [[ 9.96726706e-01 2.39415004e-02 -7.72183852e-02 3.74418152e+00] [-2.41130358e-02 9.99708407e-01 -1.28968649e-03 -2.99469124e-01] [ 7.71649918e-02 3.14743465e-03 9.97013369e-01 -2.72097899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.878241007999996 meters Centerline goodness [0,1] 0.8840981918059052 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.30, Z:-0.27 [[ 9.96712694e-01 2.41313058e-02 -7.73400704e-02 3.74399208e+00] [-2.42394583e-02 9.99706075e-01 -4.59822453e-04 -3.01515017e-01] [ 7.73062421e-02 2.33299228e-03 9.97004665e-01 -2.70780661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.908241008 meters Centerline goodness [0,1] 0.8880498449523372 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.31, Z:-0.27 [[ 9.96705168e-01 2.40012379e-02 -7.74774110e-02 3.74437635e+00] [-2.40174550e-02 9.99711278e-01 7.22618621e-04 -3.06123291e-01] [ 7.74723853e-02 1.14057252e-03 9.96993846e-01 -2.69343820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.938241008 meters Centerline goodness [0,1] 0.8903556810975961 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.31, Z:-0.27 [[ 9.96678440e-01 2.34240020e-02 -7.79961813e-02 3.74637651e+00] [-2.34208005e-02 9.99725238e-01 9.55932757e-04 -3.08627999e-01] [ 7.79971427e-02 8.73975434e-04 9.96953199e-01 -2.69560656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.968241008 meters Centerline goodness [0,1] 0.888200735102596 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.31, Z:-0.27 [[ 9.96664726e-01 2.29910885e-02 -7.82996450e-02 3.74804815e+00] [-2.29664916e-02 9.99735497e-01 1.21475894e-03 -3.10754451e-01] [ 7.83068632e-02 5.87560756e-04 9.96929130e-01 -2.70066889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.998241008 meters Centerline goodness [0,1] 0.8907059538626299 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.31, Z:-0.27 [[ 9.96644401e-01 2.21290760e-02 -7.88050874e-02 3.75074916e+00] [-2.21168892e-02 9.99754864e-01 1.02756791e-03 -3.11855972e-01] [ 7.88085086e-02 7.18803583e-04 9.96889514e-01 -2.71173089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.028241008 meters Centerline goodness [0,1] 0.8919201300208962 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.31, Z:-0.27 [[ 9.96621372e-01 2.13916477e-02 -7.92984081e-02 3.75326930e+00] [-2.13859323e-02 9.99770870e-01 9.21443317e-04 -3.12957692e-01] [ 7.92999497e-02 7.77540286e-04 9.96850497e-01 -2.72228834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.058241008 meters Centerline goodness [0,1] 0.8972594752186589 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.32, Z:-0.27 [[ 9.96601152e-01 1.96889804e-02 -7.99905518e-02 3.75787357e+00] [-1.97241274e-02 9.99805399e-01 3.50801525e-04 -3.15822882e-01] [ 7.99818925e-02 1.22813463e-03 9.96795560e-01 -2.74595887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.088241008 meters Centerline goodness [0,1] 0.8929636778382173 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.32, Z:-0.27 [[ 9.96574682e-01 1.95077564e-02 -8.03638655e-02 3.75905152e+00] [-1.95213893e-02 9.99809250e-01 6.16109840e-04 -3.17916848e-01] [ 8.03605550e-02 9.54814837e-04 9.96765403e-01 -2.74625828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.118241008 meters Centerline goodness [0,1] 0.8944249854057209 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.32, Z:-0.27 [[ 9.96555343e-01 1.93711878e-02 -8.06362594e-02 3.75986635e+00] [-1.93317320e-02 9.99812318e-01 1.27004138e-03 -3.19715225e-01] [ 8.06457276e-02 2.93172035e-04 9.96742786e-01 -2.73658736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.148241008 meters Centerline goodness [0,1] 0.894416095640764 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.32, Z:-0.27 [[ 9.96552903e-01 1.93582130e-02 -8.06695157e-02 3.76003950e+00] [-1.93006249e-02 9.99812610e-01 1.49364613e-03 -3.19957907e-01] [ 8.06833133e-02 6.84746729e-05 9.96739785e-01 -2.73393597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.178241008 meters Centerline goodness [0,1] 0.8964542726451651 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.32, Z:-0.27 [[ 9.96547575e-01 1.92647325e-02 -8.07576732e-02 3.76038952e+00] [-1.91945997e-02 9.99814414e-01 1.64474039e-03 -3.20312305e-01] [ 8.07743712e-02 -8.89508310e-05 9.96732408e-01 -2.73264435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.208241008 meters Centerline goodness [0,1] 0.8910622667910448 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.32, Z:-0.27 [[ 9.96538682e-01 1.89064936e-02 -8.09518345e-02 3.76127755e+00] [-1.88174658e-02 9.99821201e-01 1.86259571e-03 -3.20840311e-01] [ 8.09725755e-02 -3.32840298e-04 9.96716274e-01 -2.72902938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.238241008 meters Centerline goodness [0,1] 0.8922704327273788 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.32, Z:-0.27 [[ 9.96537611e-01 1.82266860e-02 -8.11207546e-02 3.76257227e+00] [-1.81207555e-02 9.99833721e-01 2.04190469e-03 -3.21584342e-01] [ 8.11444830e-02 -5.64865458e-04 9.96702189e-01 -2.72727665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.268241008 meters Centerline goodness [0,1] 0.8933616847746935 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.32, Z:-0.27 [[ 9.96516986e-01 1.75785852e-02 -8.15161989e-02 3.76410543e+00] [-1.75068795e-02 9.99845472e-01 1.59435859e-03 -3.20395673e-01] [ 8.15316289e-02 -1.61711146e-04 9.96670742e-01 -2.72977008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.298241008 meters Centerline goodness [0,1] 0.8903462749213011 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.32, Z:-0.27 [[ 9.96505458e-01 1.73920793e-02 -8.16969266e-02 3.76448668e+00] [-1.73075667e-02 9.99848694e-01 1.74257590e-03 -3.20599437e-01] [ 8.17148724e-02 -3.22511389e-04 9.96655696e-01 -2.72429524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.328241008 meters Centerline goodness [0,1] 0.8921588624377167 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.32, Z:-0.27 [[ 9.96480200e-01 1.68895383e-02 -8.21094027e-02 3.76583081e+00] [-1.68147741e-02 9.99857338e-01 1.60200100e-03 -3.20640389e-01] [ 8.21247459e-02 -2.15711219e-04 9.96622034e-01 -2.72441594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.358241008 meters Centerline goodness [0,1] 0.8975836972343523 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.32, Z:-0.27 [[ 9.96452785e-01 1.54548331e-02 -8.27224007e-02 3.76898231e+00] [-1.54515235e-02 9.99880387e-01 6.80237547e-04 -3.19443971e-01] [ 8.27230190e-02 6.00362518e-04 9.96572397e-01 -2.73619163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.388241008 meters Centerline goodness [0,1] 0.8985330782165014 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.32, Z:-0.27 [[ 9.96399220e-01 1.43366761e-02 -8.35646717e-02 3.77209876e+00] [-1.43939448e-02 9.99896398e-01 -8.28646009e-05 -3.18314396e-01] [ 8.35548263e-02 1.28539150e-03 9.96502353e-01 -2.74476631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.418241008 meters Centerline goodness [0,1] 0.8984677114529119 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.32, Z:-0.28 [[ 9.96360838e-01 1.35300769e-02 -8.41547211e-02 3.77439264e+00] [-1.36267738e-02 9.99906986e-01 -5.74719061e-04 -3.17662409e-01] [ 8.41391175e-02 1.71938491e-03 9.96452534e-01 -2.75106373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.448241008 meters Centerline goodness [0,1] 0.8992230082337933 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.32, Z:-0.28 [[ 9.96312882e-01 1.22805413e-02 -8.49107189e-02 3.77762328e+00] [-1.24658137e-02 9.99920934e-01 -1.65209415e-03 -3.15557496e-01] [ 8.48837168e-02 2.70448389e-03 9.96387194e-01 -2.76412460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.478241008 meters Centerline goodness [0,1] 0.8991723100075244 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.31, Z:-0.28 [[ 9.96285747e-01 1.16869573e-02 -8.53119348e-02 3.77920370e+00] [-1.19214429e-02 9.99926429e-01 -2.23961864e-03 -3.13860525e-01] [ 8.52794839e-02 3.24834149e-03 9.96351774e-01 -2.76979975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.508241008 meters Centerline goodness [0,1] 0.8980553067298523 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.31, Z:-0.28 [[ 9.96267570e-01 1.13947727e-02 -8.55633602e-02 3.78010363e+00] [-1.16614641e-02 9.99928576e-01 -2.61770500e-03 -3.12444415e-01] [ 8.55274208e-02 3.60572865e-03 9.96329292e-01 -2.77288606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.538241008 meters Centerline goodness [0,1] 0.8977374004542449 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.31, Z:-0.28 [[ 9.96153126e-01 1.46577909e-02 -8.63950134e-02 3.78284548e+00] [-1.45472605e-02 9.99892361e-01 1.90883809e-03 -3.14420477e-01] [ 8.64136933e-02 -6.44684261e-04 9.96259132e-01 -2.75987715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.568241008 meters Centerline goodness [0,1] 0.8935344827586207 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.31, Z:-0.28 [[ 9.96177712e-01 1.51119807e-02 -8.60325147e-02 3.78144192e+00] [-1.50226517e-02 9.99885733e-01 1.68567831e-03 -3.10834328e-01] [ 8.60481579e-02 -3.86798665e-04 9.96290904e-01 -2.75603512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.598241008 meters Centerline goodness [0,1] 0.8929412440411234 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.31, Z:-0.27 [[ 9.96191707e-01 1.55329825e-02 -8.57951592e-02 3.78020287e+00] [-1.54379979e-02 9.99879259e-01 1.77051532e-03 -3.08969543e-01] [ 8.58123016e-02 -4.39267192e-04 9.96311224e-01 -2.74914334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.628241008 meters Centerline goodness [0,1] 0.8924362055155052 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.31, Z:-0.27 [[ 9.96197218e-01 1.56924140e-02 -8.57021024e-02 3.77987988e+00] [-1.56228369e-02 9.99876857e-01 1.48251904e-03 -3.06538171e-01] [ 8.57148131e-02 -1.37971383e-04 9.96319704e-01 -2.74957567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.658241008 meters Centerline goodness [0,1] 0.8920454545454546 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.30, Z:-0.27 [[ 0.99613147 0.02051984 -0.08544607 3.77830737] [-0.02009522 0.99978109 0.0058266 -0.30484324] [ 0.08554693 -0.004087 0.99632576 -0.27319238] [ 0. 0. 0. 1. ]] SLAMing on 38.688241008 meters Centerline goodness [0,1] 0.8894191166027553 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.30, Z:-0.28 [[ 9.96497821e-01 2.34022484e-02 -8.02771954e-02 3.79352270e+00] [-2.36032401e-02 9.99720194e-01 -1.55557234e-03 -3.01309900e-01] [ 8.02183295e-02 3.44492636e-03 9.96771364e-01 -2.77604168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.718241008 meters Centerline goodness [0,1] 0.88668667534968 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.30, Z:-0.28 [[ 9.96351147e-01 2.77329167e-02 -8.07172663e-02 3.79402830e+00] [-2.75749359e-02 9.99615020e-01 3.07147449e-03 -3.01946454e-01] [ 8.07713728e-02 -8.34493685e-04 9.96732306e-01 -2.75801122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.748241008 meters Centerline goodness [0,1] 0.8837380011293055 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.30, Z:-0.28 [[ 9.96355740e-01 2.86092721e-02 -8.03538920e-02 3.79240505e+00] [-2.84644537e-02 9.99590460e-01 2.94738220e-03 -2.99219079e-01] [ 8.04053063e-02 -6.49411540e-04 9.96762040e-01 -2.75716070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.778241008 meters Centerline goodness [0,1] 0.8805386864597391 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.30, Z:-0.28 [[ 0.99621248 0.032747 -0.08055014 3.79329644] [-0.03233402 0.99945646 0.00642639 -0.29764306] [ 0.08071681 -0.00379754 0.99672984 -0.27600019] [ 0. 0. 0. 1. ]] SLAMing on 38.808241008 meters Centerline goodness [0,1] 0.8805386864597391 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.30, Z:-0.28 [[ 0.99621248 0.032747 -0.08055014 3.79329644] [-0.03233402 0.99945646 0.00642639 -0.29764306] [ 0.08071681 -0.00379754 0.99672984 -0.27600019] [ 0. 0. 0. 1. ]] SLAMing on 38.838241008 meters Centerline goodness [0,1] 0.8783555630592605 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.30, Z:-0.28 [[ 9.96216726e-01 3.26370201e-02 -8.05422860e-02 3.79377762e+00] [-3.22799855e-02 9.99462433e-01 5.73132461e-03 -2.95878168e-01] [ 8.06860424e-02 -3.10973761e-03 9.96734715e-01 -2.77109060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.868241008 meters Centerline goodness [0,1] 0.8792119832504286 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.29, Z:-0.28 [[ 9.96218323e-01 3.21769446e-02 -8.07074826e-02 3.79515310e+00] [-3.18932021e-02 9.99479744e-01 4.80267770e-03 -2.94137519e-01] [ 8.08200295e-02 -2.21049547e-03 9.96726260e-01 -2.78691357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.898241008 meters Centerline goodness [0,1] 0.8766062510521295 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.29, Z:-0.28 [[ 9.96218228e-01 3.13774395e-02 -8.10228309e-02 3.79730188e+00] [-3.11723323e-02 9.99506818e-01 3.79546234e-03 -2.92316072e-01] [ 8.11019638e-02 -1.25543816e-03 9.96705019e-01 -2.80475914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.928241008 meters Centerline goodness [0,1] 0.8796595409983426 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.29, Z:-0.28 [[ 9.96200519e-01 3.08476024e-02 -8.14429328e-02 3.79893806e+00] [-3.06667902e-02 9.99523639e-01 3.47035031e-03 -2.92358358e-01] [ 8.15111886e-02 -9.59571444e-04 9.96671965e-01 -2.81032233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.958241008 meters Centerline goodness [0,1] 0.8776314308229202 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.29, Z:-0.28 [[ 9.96174503e-01 3.03093136e-02 -8.19616089e-02 3.80082134e+00] [-3.01418603e-02 9.99540250e-01 3.27990374e-03 -2.93228416e-01] [ 8.20233386e-02 -7.96881116e-04 9.96630090e-01 -2.81569988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.988241008 meters Centerline goodness [0,1] 0.8825614765629396 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.29, Z:-0.28 [[ 9.96140108e-01 2.95982636e-02 -8.26367206e-02 3.80324853e+00] [-2.94484894e-02 9.99561704e-01 3.03096904e-03 -2.94155525e-01] [ 8.26902126e-02 -5.85743234e-04 9.96575128e-01 -2.82162101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.018241008 meters Centerline goodness [0,1] 0.8865498728454366 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.30, Z:-0.28 [[ 9.96126561e-01 2.90048592e-02 -8.30095973e-02 3.80531004e+00] [-2.88699291e-02 9.99579183e-01 2.82558028e-03 -2.95178726e-01] [ 8.30566210e-02 -4.18154378e-04 9.96544742e-01 -2.83218110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.048241008 meters Centerline goodness [0,1] 0.8809839862174147 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.29, Z:-0.28 [[ 9.96114580e-01 2.87421281e-02 -8.32444251e-02 3.80649911e+00] [-2.86285069e-02 9.99586846e-01 2.55849129e-03 -2.94922849e-01] [ 8.32835688e-02 -1.65386881e-04 9.96525875e-01 -2.83922670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.078241008 meters Centerline goodness [0,1] 0.8831187248284077 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.29, Z:-0.28 [[ 9.96116680e-01 2.87302505e-02 -8.32233869e-02 3.80669460e+00] [-2.86272689e-02 9.99587200e-01 2.43069412e-03 -2.94404120e-01] [ 8.32588668e-02 -3.87966844e-05 9.96527952e-01 -2.84253140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.108241008 meters Centerline goodness [0,1] 0.8786311744094043 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.29, Z:-0.29 [[ 9.96100073e-01 2.85008682e-02 -8.35005730e-02 3.80799036e+00] [-2.84308576e-02 9.99593705e-01 2.02764033e-03 -2.93715880e-01] [ 8.35244366e-02 3.54260212e-04 9.96505666e-01 -2.85157661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.138241008 meters Centerline goodness [0,1] 0.8772702878287151 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.29, Z:-0.28 [[ 9.96099207e-01 2.94378959e-02 -8.31852133e-02 3.80645555e+00] [-2.93203942e-02 9.99566594e-01 2.63407257e-03 -2.94506869e-01] [ 8.32267019e-02 -1.84774349e-04 9.96530623e-01 -2.84541906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.168241008 meters Centerline goodness [0,1] 0.8753998131846359 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.30, Z:-0.28 [[ 9.96090623e-01 2.97955429e-02 -8.31606654e-02 3.80601575e+00] [-2.96493476e-02 9.99555881e-01 2.99267660e-03 -2.95456481e-01] [ 8.32129006e-02 -5.15317624e-04 9.96531659e-01 -2.84093510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.198241008 meters Centerline goodness [0,1] 0.873839338955618 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.30, Z:-0.28 [[ 9.96098554e-01 3.01727358e-02 -8.29293477e-02 3.80554134e+00] [-3.00191566e-02 9.99544521e-01 3.09847204e-03 -2.95886238e-01] [ 8.29850645e-02 -5.96914448e-04 9.96550612e-01 -2.84491785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.228241008 meters Centerline goodness [0,1] 0.8747209900262763 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.29, Z:-0.29 [[ 9.96084893e-01 2.99168757e-02 -8.31857354e-02 3.80684004e+00] [-2.97947375e-02 9.99552366e-01 2.70955142e-03 -2.94892632e-01] [ 8.32295600e-02 -2.20446089e-04 9.96530377e-01 -2.85343622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.258241008 meters Centerline goodness [0,1] 0.8708892285051225 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.29, Z:-0.29 [[ 9.96099274e-01 3.04275602e-02 -8.28275311e-02 3.80609477e+00] [-3.02924425e-02 9.99536907e-01 2.88780083e-03 -2.94838993e-01] [ 8.28770430e-02 -3.67488083e-04 9.96559713e-01 -2.85696957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.288241008 meters Centerline goodness [0,1] 0.8739838549780484 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.30, Z:-0.29 [[ 9.96080944e-01 3.04826614e-02 -8.30274671e-02 3.80678298e+00] [-3.03310571e-02 9.99535141e-01 3.08696987e-03 -2.96166574e-01] [ 8.30829701e-02 -5.56561016e-04 9.96542478e-01 -2.85890910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.318241008 meters Centerline goodness [0,1] 0.8756607741715455 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.30, Z:-0.29 [[ 9.96054409e-01 3.01921374e-02 -8.34508802e-02 3.80835402e+00] [-3.00245569e-02 9.99543836e-01 3.26266902e-03 -2.97956914e-01] [ 8.35113199e-02 -7.44220167e-04 9.96506551e-01 -2.86212625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.348241008 meters Centerline goodness [0,1] 0.8777913691576822 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.30, Z:-0.29 [[ 9.96031649e-01 2.97719287e-02 -8.38724421e-02 3.81014723e+00] [-2.96063165e-02 9.99556457e-01 3.21792621e-03 -2.99661728e-01] [ 8.39310449e-02 -7.22002288e-04 9.96471303e-01 -2.86933471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.378241008 meters Centerline goodness [0,1] 0.8837654179990864 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.30, Z:-0.29 [[ 9.96138342e-01 2.49643506e-02 -8.41735417e-02 3.81203924e+00] [-2.51869775e-02 9.99681503e-01 -1.58380427e-03 -2.99486906e-01] [ 8.41071940e-02 3.69776526e-03 9.96449851e-01 -2.89201724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.408241008 meters Centerline goodness [0,1] 0.8905476905476906 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.30, Z:-0.29 [[ 9.96093848e-01 2.43591968e-02 -8.48744696e-02 3.81416822e+00] [-2.45420707e-02 9.99698180e-01 -1.11177104e-03 -3.01741035e-01] [ 8.48217710e-02 3.19042353e-03 9.96391032e-01 -2.88690196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.438241008 meters Centerline goodness [0,1] 0.888496236281101 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.30, Z:-0.29 [[ 9.96057540e-01 2.37277799e-02 -8.54772980e-02 3.81615221e+00] [-2.38622529e-02 9.99715104e-01 -5.51690716e-04 -3.04742806e-01] [ 8.54398555e-02 2.58919660e-03 9.96339966e-01 -2.88199332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.468241008 meters Centerline goodness [0,1] 0.8922948747414388 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.31, Z:-0.29 [[ 9.95992561e-01 2.25432103e-02 -8.65483792e-02 3.82012313e+00] [-2.26678628e-02 9.99742946e-01 -4.57630779e-04 -3.07037035e-01] [ 8.65158151e-02 2.41766363e-03 9.96247544e-01 -2.88626165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.498241008 meters Centerline goodness [0,1] 0.9003752886836027 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.31, Z:-0.29 [[ 9.96016765e-01 1.89211183e-02 -8.71354961e-02 3.82627158e+00] [-1.92231296e-02 9.99811764e-01 -2.62812142e-03 -3.09060699e-01] [ 8.70693671e-02 4.29266993e-03 9.96193003e-01 -2.92563652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.528241008 meters Centerline goodness [0,1] 0.9013676402410755 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.31, Z:-0.29 [[ 9.95970828e-01 1.83092846e-02 -8.77888322e-02 3.82877403e+00] [-1.85897667e-02 9.99824366e-01 -2.37839414e-03 -3.11285106e-01] [ 8.77298668e-02 4.00078509e-03 9.96136268e-01 -2.92897348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.558241008 meters Centerline goodness [0,1] 0.8992311040185695 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.31, Z:-0.29 [[ 9.95908253e-01 1.77854686e-02 -8.86026427e-02 3.83117154e+00] [-1.80205433e-02 9.99835898e-01 -1.85387113e-03 -3.13899889e-01] [ 8.85551309e-02 3.44295332e-03 9.96065327e-01 -2.92422064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.588241008 meters Centerline goodness [0,1] 0.8985271001921173 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.32, Z:-0.29 [[ 9.95885419e-01 1.79475833e-02 -8.88263321e-02 3.83134034e+00] [-1.81008390e-02 9.99835743e-01 -9.20069147e-04 -3.16349577e-01] [ 8.87952288e-02 2.52411458e-03 9.96046704e-01 -2.91185685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.618241008 meters Centerline goodness [0,1] 0.8968949160434188 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.32, Z:-0.29 [[ 9.95881634e-01 1.83885806e-02 -8.87785515e-02 3.83096512e+00] [-1.84689295e-02 9.99829431e-01 -8.36198814e-05 -3.17922395e-01] [ 8.87618710e-02 1.72292031e-03 9.96051385e-01 -2.90300581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.648241008 meters Centerline goodness [0,1] 0.8938609252254873 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.32, Z:-0.29 [[ 9.95873453e-01 1.86316179e-02 -8.88196350e-02 3.83086386e+00] [-1.86793949e-02 9.99825482e-01 2.93322489e-04 -3.18269869e-01] [ 8.88095994e-02 1.36698496e-03 9.96047683e-01 -2.89810647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.678241008 meters Centerline goodness [0,1] 0.8970524175983737 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.32, Z:-0.29 [[ 9.95853439e-01 1.89415276e-02 -8.89783512e-02 3.83028348e+00] [-1.89347208e-02 9.99820298e-01 9.20638947e-04 -3.18989821e-01] [ 8.89797999e-02 7.67958773e-04 9.96033135e-01 -2.88160986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.708241008 meters Centerline goodness [0,1] 0.8897393522948015 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.32, Z:-0.29 [[ 0.99624365 0.0221511 -0.08371332 3.8446281 ] [-0.02273849 0.99972302 -0.00606965 -0.31597703] [ 0.08355568 0.00795036 0.99647139 -0.29135305] [ 0. 0. 0. 1. ]] SLAMing on 39.738241008 meters Centerline goodness [0,1] 0.8889663182346109 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.31, Z:-0.29 [[ 0.99625023 0.02233238 -0.08358669 3.84435422] [-0.022971 0.99971377 -0.00668622 -0.3130799 ] [ 0.08341344 0.00858122 0.99647808 -0.29199666] [ 0. 0. 0. 1. ]] SLAMing on 39.768241008 meters Centerline goodness [0,1] 0.8864758714298091 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.31, Z:-0.29 [[ 9.96110404e-01 2.62032881e-02 -8.41275916e-02 3.84611978e+00] [-2.64994520e-02 9.99645934e-01 -2.40550574e-03 -3.12793878e-01] [ 8.40347727e-02 4.62548437e-03 9.96452087e-01 -2.91171729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.798241008 meters Centerline goodness [0,1] 0.881410071942446 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.31, Z:-0.29 [[ 9.95959813e-01 3.00827817e-02 -8.46113273e-02 3.84790145e+00] [-3.00604251e-02 9.99546899e-01 1.53851452e-03 -3.12193121e-01] [ 8.46192726e-02 1.01115384e-03 9.96412844e-01 -2.90944840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.828241008 meters Centerline goodness [0,1] 0.8764729435991305 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.31, Z:-0.29 [[ 9.95810657e-01 3.47559958e-02 -8.45763319e-02 3.84763030e+00] [-3.44666976e-02 9.99393939e-01 4.87875008e-03 -3.09202622e-01] [ 8.46946393e-02 -1.94324446e-03 9.96405059e-01 -2.91271886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.858241008 meters Centerline goodness [0,1] 0.8776150926163769 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.31, Z:-0.29 [[ 9.95799794e-01 3.47135694e-02 -8.47215322e-02 3.84831948e+00] [-3.44970887e-02 9.99396720e-01 4.01826614e-03 -3.06478766e-01] [ 8.48099098e-02 -1.07874239e-03 9.96396565e-01 -2.92438300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.888241008 meters Centerline goodness [0,1] 0.8731831704207395 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.31, Z:-0.29 [[ 0.9955933 0.03798152 -0.0857402 3.85179557] [-0.03741555 0.99926616 0.00819887 -0.30760282] [ 0.08598869 -0.00495472 0.99628379 -0.2917492 ] [ 0. 0. 0. 1. ]] SLAMing on 39.918241008 meters Centerline goodness [0,1] 0.875 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.31, Z:-0.29 [[ 0.99558641 0.03803132 -0.0857981 3.85189111] [-0.03748006 0.99926513 0.00802744 -0.306804 ] [ 0.08604035 -0.00477629 0.9962802 -0.29188439] [ 0. 0. 0. 1. ]] SLAMing on 39.948241008 meters Centerline goodness [0,1] 0.8790675222897382 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.31, Z:-0.29 [[ 0.99557457 0.03780906 -0.08603346 3.85264902] [-0.03725677 0.99927357 0.0080167 -0.3072128 ] [ 0.08627407 -0.00477589 0.99625999 -0.29190143] [ 0. 0. 0. 1. ]] SLAMing on 39.978241008 meters Centerline goodness [0,1] 0.8791549375870795 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.31, Z:-0.29 [[ 0.99555492 0.03731885 -0.08647373 3.85415381] [-0.03677578 0.99929259 0.00786532 -0.30781072] [ 0.08670609 -0.00465022 0.99622308 -0.29214092] [ 0. 0. 0. 1. ]] SLAMing on 40.008241008 meters Centerline goodness [0,1] 0.8808241429426349 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.31, Z:-0.29 [[ 0.99552619 0.03647397 -0.08716224 3.85659291] [-0.03595072 0.99932492 0.00756597 -0.30860214] [ 0.08737936 -0.00439857 0.9961654 -0.29259225] [ 0. 0. 0. 1. ]] SLAMing on 40.038241008 meters Centerline goodness [0,1] 0.8876536488925819 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.31, Z:-0.30 [[ 9.95668428e-01 3.12367443e-02 -8.75708114e-02 3.85903290e+00] [-3.11364625e-02 9.99511988e-01 2.51119900e-03 -3.08232426e-01] [ 8.76065175e-02 2.26323728e-04 9.96155132e-01 -2.95031572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.068241008 meters Centerline goodness [0,1] 0.8911763861371924 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.31, Z:-0.29 [[ 9.95639079e-01 3.05527774e-02 -8.81439340e-02 3.86095432e+00] [-3.04121939e-02 9.99533125e-01 2.93774506e-03 -3.10482675e-01] [ 8.81925381e-02 -2.44283378e-04 9.96103417e-01 -2.94512294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.098241008 meters Centerline goodness [0,1] 0.883483084390258 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.31, Z:-0.29 [[ 9.95767076e-01 2.63368869e-02 -8.80584993e-02 3.86040855e+00] [-2.65380246e-02 9.99647184e-01 -1.11399096e-03 -3.10599901e-01] [ 8.79980918e-02 3.44617414e-03 9.96114682e-01 -2.94689397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.128241008 meters Centerline goodness [0,1] 0.8929450963349268 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.31, Z:-0.29 [[ 9.95734537e-01 2.59760769e-02 -8.85323385e-02 3.86137604e+00] [-2.60650538e-02 9.99660237e-01 1.51096695e-04 -3.14501561e-01] [ 8.85061834e-02 2.15714797e-03 9.96073292e-01 -2.92717590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.158241008 meters Centerline goodness [0,1] 0.8891534084310765 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.32, Z:-0.29 [[ 9.95706532e-01 2.50168561e-02 -8.91215917e-02 3.86354634e+00] [-2.50011197e-02 9.99686587e-01 1.29303414e-03 -3.17538400e-01] [ 8.91260075e-02 9.40657042e-04 9.96019914e-01 -2.90951802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.188241008 meters Centerline goodness [0,1] 0.8878036055880818 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.32, Z:-0.29 [[ 9.95704455e-01 2.48457086e-02 -8.91926567e-02 3.86415415e+00] [-2.48256742e-02 9.99690905e-01 1.33412969e-03 -3.17313305e-01] [ 8.91982352e-02 8.85868964e-04 9.96013499e-01 -2.91082548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.218241008 meters Centerline goodness [0,1] 0.8872818099968052 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.32, Z:-0.29 [[ 9.95705566e-01 2.59184594e-02 -8.88744062e-02 3.86223240e+00] [-2.58845251e-02 9.99663762e-01 1.53451344e-03 -3.16162049e-01] [ 8.88842954e-02 7.72548221e-04 9.96041658e-01 -2.90591274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.248241008 meters Centerline goodness [0,1] 0.8847154753643304 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.32, Z:-0.29 [[ 9.95536804e-01 2.97908574e-02 -8.95487337e-02 3.86432270e+00] [-2.93834597e-02 9.99551009e-01 5.86458277e-03 -3.17441891e-01] [ 8.96832380e-02 -3.20715638e-03 9.95965176e-01 -2.89906459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.278241008 meters Centerline goodness [0,1] 0.884512163449052 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.31, Z:-0.29 [[ 9.95538998e-01 3.02100513e-02 -8.93837618e-02 3.86405101e+00] [-2.98678785e-02 9.99540519e-01 5.16349372e-03 -3.14647054e-01] [ 8.94986810e-02 -2.47075602e-03 9.95983876e-01 -2.91191963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.308241008 meters Centerline goodness [0,1] 0.882478140819144 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.31, Z:-0.29 [[ 9.95505758e-01 3.06543876e-02 -8.96024221e-02 3.86442853e+00] [-3.03748776e-02 9.99528530e-01 4.48168045e-03 -3.11836914e-01] [ 8.96975603e-02 -1.73987609e-03 9.95967530e-01 -2.92305924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.338241008 meters Centerline goodness [0,1] 0.8834200615243079 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.31, Z:-0.29 [[ 9.95494852e-01 3.09336181e-02 -8.96276267e-02 3.86459353e+00] [-3.07237935e-02 9.99520990e-01 3.72008381e-03 -3.09544412e-01] [ 8.96997699e-02 -9.49623584e-04 9.95968398e-01 -2.93563449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.368241008 meters Centerline goodness [0,1] 0.8877454493335244 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.31, Z:-0.29 [[ 9.95451455e-01 3.19387791e-02 -8.97569823e-02 3.86406408e+00] [-3.17555762e-02 9.99489645e-01 3.46874940e-03 -3.08393447e-01] [ 8.98219620e-02 -6.02686944e-04 9.95957656e-01 -2.94213338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.398241008 meters Centerline goodness [0,1] 0.8898351254480287 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.31, Z:-0.30 [[ 9.95435760e-01 3.19936195e-02 -8.99113733e-02 3.86474521e+00] [-3.18450368e-02 9.99488051e-01 3.08695133e-03 -3.07971700e-01] [ 8.99641060e-02 -2.09630757e-04 9.95944986e-01 -2.95129988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.428241008 meters Centerline goodness [0,1] 0.8909497462947568 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.31, Z:-0.30 [[ 9.95431537e-01 3.19986757e-02 -8.99563203e-02 3.86533963e+00] [-3.18779288e-02 9.99487906e-01 2.77905652e-03 -3.07576525e-01] [ 8.99991803e-02 1.01260670e-04 9.95941834e-01 -2.96030914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.458241008 meters Centerline goodness [0,1] 0.8931334899982805 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.31, Z:-0.30 [[ 9.95391648e-01 3.16935993e-02 -9.05040461e-02 3.86740203e+00] [-3.16033796e-02 9.99497534e-01 2.43010383e-03 -3.08387382e-01] [ 9.05355897e-02 4.41328662e-04 9.95893123e-01 -2.97184851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.488241008 meters Centerline goodness [0,1] 0.8932705287646839 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.31, Z:-0.30 [[ 9.95370580e-01 3.13779155e-02 -9.08451151e-02 3.86854987e+00] [-3.12864791e-02 9.99507503e-01 2.43074332e-03 -3.09087694e-01] [ 9.08766458e-02 4.22733407e-04 9.95862067e-01 -2.97213247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.518241008 meters Centerline goodness [0,1] 0.8917351099879387 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.31, Z:-0.30 [[ 9.95361713e-01 3.14954109e-02 -9.09015899e-02 3.86858643e+00] [-3.14062400e-02 9.99503793e-01 2.41155134e-03 -3.08820762e-01] [ 9.09324367e-02 4.54511271e-04 9.95856960e-01 -2.97196289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.548241008 meters Centerline goodness [0,1] 0.8939163824970628 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.31, Z:-0.30 [[ 9.95350781e-01 3.12206157e-02 -9.11158396e-02 3.86930719e+00] [-3.11258626e-02 9.99512443e-01 2.46106717e-03 -3.08625306e-01] [ 9.11482514e-02 3.86433977e-04 9.95837259e-01 -2.96811872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.578241008 meters Centerline goodness [0,1] 0.892446280517543 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.31, Z:-0.30 [[ 9.95335274e-01 3.07681797e-02 -9.14385704e-02 3.87030096e+00] [-3.06363864e-02 9.99526547e-01 2.84493034e-03 -3.09778917e-01] [ 9.14828119e-02 -3.03121375e-05 9.95806655e-01 -2.96049561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.608241008 meters Centerline goodness [0,1] 0.8951967575957918 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.31, Z:-0.30 [[ 9.95317951e-01 3.02275250e-02 -9.18067138e-02 3.87158376e+00] [-3.00585889e-02 9.99542944e-01 3.22259835e-03 -3.11226120e-01] [ 9.18621641e-02 -4.47929715e-04 9.95771632e-01 -2.95444864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.638241008 meters Centerline goodness [0,1] 0.8940536495510016 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.31, Z:-0.29 [[ 9.95300306e-01 2.98084606e-02 -9.21344464e-02 3.87260341e+00] [-2.96133194e-02 9.99555355e-01 3.48469665e-03 -3.11822664e-01] [ 9.21973527e-02 -7.39912857e-04 9.95740479e-01 -2.94901100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.668241008 meters Centerline goodness [0,1] 0.8906532144802086 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.31, Z:-0.30 [[ 9.95306442e-01 2.89855944e-02 -9.23305036e-02 3.87393010e+00] [-2.88861220e-02 9.99579794e-01 2.41384053e-03 -3.07604832e-01] [ 9.23616724e-02 2.64559163e-04 9.95725490e-01 -2.95720006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.698241008 meters Centerline goodness [0,1] 0.8906532144802086 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.31, Z:-0.30 [[ 9.95306442e-01 2.89855944e-02 -9.23305036e-02 3.87393010e+00] [-2.88861220e-02 9.99579794e-01 2.41384053e-03 -3.07604832e-01] [ 9.23616724e-02 2.64559163e-04 9.95725490e-01 -2.95720006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.728241008 meters Centerline goodness [0,1] 0.8940102681118083 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.31, Z:-0.29 [[ 9.95293170e-01 2.83313797e-02 -9.26759914e-02 3.87440154e+00] [-2.82300450e-02 9.99598561e-01 2.40445669e-03 -3.06022201e-01] [ 9.27069092e-02 2.23108091e-04 9.95693416e-01 -2.94100672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.758241008 meters Centerline goodness [0,1] 0.8998606410511647 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.31, Z:-0.29 [[ 9.95262098e-01 2.78065196e-02 -9.31673399e-02 3.87571423e+00] [-2.77093300e-02 9.99613291e-01 2.33687780e-03 -3.06002116e-01] [ 9.31962917e-02 2.55798665e-04 9.95647722e-01 -2.93694479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.788241008 meters Centerline goodness [0,1] 0.8986931818181818 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.30, Z:-0.29 [[ 9.95217713e-01 2.66624702e-02 -9.39724202e-02 3.87885453e+00] [-2.66341955e-02 9.99644037e-01 1.55531026e-03 -3.04932334e-01] [ 9.39804379e-02 9.55007489e-04 9.95573586e-01 -2.94669124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.818241008 meters Centerline goodness [0,1] 0.9006390140925429 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.30, Z:-0.30 [[ 9.95167928e-01 2.38944660e-02 -9.52357553e-02 3.88511579e+00] [-2.40320537e-02 9.99711144e-01 -2.97841746e-04 -3.02900273e-01] [ 9.52011292e-02 2.58511334e-03 9.95454701e-01 -2.97290632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.848241008 meters Centerline goodness [0,1] 0.9018613974799542 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.30, Z:-0.30 [[ 9.95113884e-01 2.30655552e-02 -9.60017571e-02 3.88786714e+00] [-2.32104497e-02 9.99730524e-01 -3.92713520e-04 -3.03761146e-01] [ 9.59668287e-02 2.61903863e-03 9.95381087e-01 -2.97642152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.878241008 meters Centerline goodness [0,1] 0.9077637881091003 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.30, Z:-0.30 [[ 9.95063092e-01 2.22141460e-02 -9.67262873e-02 3.89080473e+00] [-2.23872128e-02 9.99749127e-01 -7.04215671e-04 -3.04656321e-01] [ 9.66863777e-02 2.86617100e-03 9.95310770e-01 -2.98638041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.908241008 meters Centerline goodness [0,1] 0.9064626338606414 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.31, Z:-0.30 [[ 9.95016492e-01 1.98665272e-02 -9.77113180e-02 3.89586539e+00] [-2.01286436e-02 9.99795957e-01 -1.69743675e-03 -3.05658186e-01] [ 9.76576585e-02 3.65577386e-03 9.95213353e-01 -3.00262711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.938241008 meters Centerline goodness [0,1] 0.8932089165370658 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.31, Z:-0.30 [[ 9.94990239e-01 1.90547923e-02 -9.81393817e-02 3.89772008e+00] [-1.93010101e-02 9.99812501e-01 -1.55999691e-03 -3.06978573e-01] [ 9.80912553e-02 3.44637090e-03 9.95171457e-01 -3.00154993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.968241008 meters Centerline goodness [0,1] 0.8911091218850163 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.31, Z:-0.30 [[ 9.94948756e-01 1.83753154e-02 -9.86879963e-02 3.89921806e+00] [-1.85601406e-02 9.99827290e-01 -9.54999214e-04 -3.08865074e-01] [ 9.86534034e-02 2.78183836e-03 9.95117967e-01 -2.98926673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.998241008 meters Centerline goodness [0,1] 0.8922036250108404 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.31, Z:-0.30 [[ 9.94932596e-01 1.78915971e-02 -9.89394775e-02 3.90009147e+00] [-1.80006540e-02 9.99837953e-01 -2.09619449e-04 -3.10813998e-01] [ 9.89196943e-02 1.98953253e-03 9.95093431e-01 -2.97702000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.028241008 meters Centerline goodness [0,1] 0.8896757902069485 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.32, Z:-0.29 [[ 9.94902454e-01 1.79361063e-02 -9.92340814e-02 3.89917853e+00] [-1.77526614e-02 9.99838678e-01 2.73138495e-03 -3.15460757e-01] [ 9.92670632e-02 -9.55792548e-04 9.95060368e-01 -2.91659272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.058241008 meters Centerline goodness [0,1] 0.8979135834711703 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.32, Z:-0.29 [[ 9.94888567e-01 1.84161113e-02 -9.92853758e-02 3.89800851e+00] [-1.81500288e-02 9.99828856e-01 3.58263521e-03 -3.16271023e-01] [ 9.93343619e-02 -1.76229038e-03 9.95052551e-01 -2.89549511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.088241008 meters Centerline goodness [0,1] 0.8923383486874404 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.31, Z:-0.29 [[ 9.94861703e-01 1.88030509e-02 -9.94818457e-02 3.89772894e+00] [-1.85484143e-02 9.99821893e-01 3.48400099e-03 -3.14443896e-01] [ 9.95296372e-02 -1.62086866e-03 9.95033278e-01 -2.89116990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.118241008 meters Centerline goodness [0,1] 0.9040710201970867 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.31, Z:-0.29 [[ 0.99472032 0.02299081 -0.10001457 3.89895521] [-0.02233548 0.99972113 0.0076673 -0.31411551] [ 0.10016295 -0.00539295 0.99495643 -0.28825775] [ 0. 0. 0. 1. ]] SLAMing on 41.148241008 meters Centerline goodness [0,1] 0.9095013573367624 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.31, Z:-0.29 [[ 0.9946145 0.02853588 -0.09963784 3.89685864] [-0.02752644 0.99955502 0.01149144 -0.31127999] [ 0.09992143 -0.00868688 0.99495741 -0.28790311] [ 0. 0. 0. 1. ]] SLAMing on 41.178241008 meters Centerline goodness [0,1] 0.9103746725885434 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.31, Z:-0.29 [[ 0.99458197 0.02901591 -0.09982374 3.89675067] [-0.02804635 0.99954496 0.01110267 -0.309346 ] [ 0.10010047 -0.00824282 0.99494319 -0.28819655] [ 0. 0. 0. 1. ]] SLAMing on 41.208241008 meters Centerline goodness [0,1] 0.9093312110962681 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.31, Z:-0.29 [[ 0.99456629 0.02910255 -0.09995469 3.89711883] [-0.02820665 0.99954837 0.01036489 -0.30719091] [ 0.1002112 -0.00748919 0.994938 -0.2891023 ] [ 0. 0. 0. 1. ]] SLAMing on 41.238241008 meters Centerline goodness [0,1] 0.9085481452137744 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.31, Z:-0.29 [[ 0.99442469 0.03387084 -0.09986138 3.89650822] [-0.03256841 0.99936222 0.01464437 -0.30629554] [ 0.10029371 -0.0113104 0.99489359 -0.28818042] [ 0. 0. 0. 1. ]] SLAMing on 41.268241008 meters Centerline goodness [0,1] 0.9043628436340987 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.30, Z:-0.29 [[ 0.99444612 0.03411895 -0.09956313 3.8956686 ] [-0.03286884 0.99935922 0.01416987 -0.30440517] [ 0.09998279 -0.01081864 0.99493035 -0.28864883] [ 0. 0. 0. 1. ]] SLAMing on 41.298241008 meters Centerline goodness [0,1] 0.904916826977481 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.30, Z:-0.29 [[ 9.94880548e-01 3.53716009e-02 -9.46654383e-02 3.91156680e+00] [-3.50450732e-02 9.99372668e-01 5.11009738e-03 -3.01499171e-01] [ 9.47868039e-02 -1.76637927e-03 9.95496028e-01 -2.93859202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.328241008 meters Centerline goodness [0,1] 0.9050681106692614 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.30, Z:-0.30 [[ 9.95282765e-01 3.79683337e-02 -8.92783454e-02 3.92601391e+00] [-3.82852693e-02 9.99265157e-01 -1.83959202e-03 -3.00764132e-01] [ 8.91428936e-02 5.24895972e-03 9.96005017e-01 -2.96866603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.358241008 meters Centerline goodness [0,1] 0.9052464947987336 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.30, Z:-0.30 [[ 9.95289014e-01 3.87515427e-02 -8.88712329e-02 3.92433133e+00] [-3.90270393e-02 9.99237224e-01 -1.36376487e-03 -3.00812759e-01] [ 8.87505961e-02 4.82572128e-03 9.96042190e-01 -2.96227988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.388241008 meters Centerline goodness [0,1] 0.9043974903637847 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.30, Z:-0.29 [[ 9.95079199e-01 4.28125680e-02 -8.93558767e-02 3.92571970e+00] [-4.26749762e-02 9.99083050e-01 3.45058349e-03 -3.03089106e-01] [ 8.94216701e-02 3.79656057e-04 9.95993786e-01 -2.94787382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.418241008 meters Centerline goodness [0,1] 0.9020643168094369 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.30, Z:-0.30 [[ 9.95076533e-01 4.33784089e-02 -8.91123257e-02 3.92506166e+00] [-4.32597792e-02 9.99058529e-01 3.26305361e-03 -3.01107031e-01] [ 8.91699751e-02 6.07991458e-04 9.96016238e-01 -2.95309339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.448241008 meters Centerline goodness [0,1] 0.9012172939694977 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.30, Z:-0.30 [[ 9.94863562e-01 4.76478684e-02 -8.93094311e-02 3.92651383e+00] [-4.72167850e-02 9.98860595e-01 6.93453407e-03 -3.00573111e-01] [ 8.95380872e-02 -2.68201106e-03 9.95979788e-01 -2.96231309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.478241008 meters Centerline goodness [0,1] 0.900968753499832 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.30, Z:-0.30 [[ 9.94856877e-01 4.76760198e-02 -8.93688507e-02 3.92718152e+00] [-4.72915402e-02 9.98860524e-01 6.41588409e-03 -2.99782626e-01] [ 8.95729009e-02 -2.15649581e-03 9.95977934e-01 -2.97425657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.508241008 meters Centerline goodness [0,1] 0.901259093452714 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.30, Z:-0.30 [[ 9.94850440e-01 4.74965216e-02 -8.95359237e-02 3.92832197e+00] [-4.71607117e-02 9.98870105e-01 5.86357649e-03 -2.99352173e-01] [ 8.97132569e-02 -1.61080377e-03 9.95966333e-01 -2.98776874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.538241008 meters Centerline goodness [0,1] 0.9005015551010115 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.30, Z:-0.30 [[ 9.94837981e-01 4.71631073e-02 -8.98500582e-02 3.92997154e+00] [-4.68632801e-02 9.98886473e-01 5.44483810e-03 -2.99296865e-01] [ 9.00068032e-02 -1.20606330e-03 9.95940420e-01 -3.00023000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.568241008 meters Centerline goodness [0,1] 0.8998453100829701 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.30, Z:-0.30 [[ 9.94822818e-01 4.61797024e-02 -9.05262194e-02 3.93352472e+00] [-4.59355251e-02 9.98932970e-01 4.78003823e-03 -3.00559059e-01] [ 9.06503660e-02 -5.96921678e-04 9.95882601e-01 -3.02260077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.598241008 meters Centerline goodness [0,1] 0.8977802753582467 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.30, Z:-0.30 [[ 9.94800893e-01 4.52802871e-02 -9.12188478e-02 3.93637032e+00] [-4.50466641e-02 9.98974203e-01 4.61940762e-03 -3.02161386e-01] [ 9.13344440e-02 -4.86286028e-04 9.95820156e-01 -3.02997564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.628241008 meters Centerline goodness [0,1] 0.9008556179933922 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.30, Z:-0.30 [[ 9.94995280e-01 4.08877169e-02 -9.11733893e-02 3.93671423e+00] [-4.10538014e-02 9.99156936e-01 5.38233368e-05 -3.01554655e-01] [ 9.10987250e-02 3.68946025e-03 9.95835032e-01 -3.04674216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.658241008 meters Centerline goodness [0,1] 0.9018844328226701 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.31, Z:-0.30 [[ 9.95145050e-01 3.64485163e-02 -9.14212001e-02 3.93733400e+00] [-3.69064183e-02 9.99313202e-01 -3.32259861e-03 -3.05171445e-01] [ 9.12373085e-02 6.68049661e-03 9.95806771e-01 -3.04693817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.688241008 meters Centerline goodness [0,1] 0.903120899184116 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.31, Z:-0.30 [[ 9.95116313e-01 3.63731707e-02 -9.17633732e-02 3.93790939e+00] [-3.67338013e-02 9.99322568e-01 -2.24353813e-03 -3.08566409e-01] [ 9.16196052e-02 5.60339891e-03 9.95778314e-01 -3.03247666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.718241008 meters Centerline goodness [0,1] 0.9034225299934456 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.31, Z:-0.30 [[ 9.95075149e-01 3.62655936e-02 -9.22510416e-02 3.93891008e+00] [-3.65412602e-02 9.99331299e-01 -1.30033386e-03 -3.11269241e-01] [ 9.21421959e-02 4.66489923e-03 9.95734932e-01 -3.02004709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.748241008 meters Centerline goodness [0,1] 0.904166428203514 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.31, Z:-0.30 [[ 9.95067285e-01 3.64447753e-02 -9.22652549e-02 3.93883383e+00] [-3.66677877e-02 9.99327249e-01 -7.22470031e-04 -3.12585630e-01] [ 9.21768531e-02 4.10206906e-03 9.95734202e-01 -3.01480797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.778241008 meters Centerline goodness [0,1] 0.9026485529996005 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.31, Z:-0.30 [[ 9.94865638e-01 4.11010316e-02 -9.24827906e-02 3.93893796e+00] [-4.08658751e-02 9.99154795e-01 4.43582842e-03 -3.14219641e-01] [ 9.25869407e-02 -6.33663103e-04 9.95704402e-01 -2.99412779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.808241008 meters Centerline goodness [0,1] 0.9036817508263992 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.31, Z:-0.30 [[ 9.94861602e-01 4.13737614e-02 -9.24045682e-02 3.93861444e+00] [-4.11549967e-02 9.99143639e-01 4.27256513e-03 -3.13242046e-01] [ 9.25022086e-02 -4.47701288e-04 9.95712379e-01 -2.99619148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.838241008 meters Centerline goodness [0,1] 0.9017010000854774 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.31, Z:-0.30 [[ 9.94855337e-01 4.16533031e-02 -9.23464222e-02 3.93825504e+00] [-4.14355695e-02 9.99132034e-01 4.27468629e-03 -3.12588486e-01] [ 9.24443235e-02 -4.26267867e-04 9.95717764e-01 -2.99501945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.868241008 meters Centerline goodness [0,1] 0.9019836972011629 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.31, Z:-0.30 [[ 9.94863060e-01 4.20586856e-02 -9.20790886e-02 3.93740425e+00] [-4.18446729e-02 9.99115070e-01 4.25446496e-03 -3.11998131e-01] [ 9.21765423e-02 -3.79590682e-04 9.95742608e-01 -2.99577066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.898241008 meters Centerline goodness [0,1] 0.9028784133208309 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.31, Z:-0.30 [[ 9.94874056e-01 4.24647649e-02 -9.17733929e-02 3.93673452e+00] [-4.22493827e-02 9.99097889e-01 4.28928429e-03 -3.11121813e-01] [ 9.18727466e-02 -3.89928466e-04 9.95770680e-01 -2.99876387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.928241008 meters Centerline goodness [0,1] 0.9028797450344317 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.31, Z:-0.30 [[ 9.94872169e-01 4.23048566e-02 -9.18676535e-02 3.93734583e+00] [-4.20999758e-02 9.99104710e-01 4.16781258e-03 -3.11171929e-01] [ 9.19617240e-02 -2.78814750e-04 9.95762504e-01 -3.00312504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.958241008 meters Centerline goodness [0,1] 0.9021966377409285 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.31, Z:-0.30 [[ 9.95055204e-01 3.82533229e-02 -9.16614649e-02 3.93644527e+00] [-3.84033373e-02 9.99262312e-01 1.27242586e-04 -3.10828333e-01] [ 9.15987148e-02 3.39349276e-03 9.95790219e-01 -3.00603676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.988241008 meters Centerline goodness [0,1] 0.9039384931976677 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.31, Z:-0.30 [[ 9.95005911e-01 3.76621462e-02 -9.24380889e-02 3.93840448e+00] [-3.77598663e-02 9.99286602e-01 6.92225016e-04 -3.12864096e-01] [ 9.23982145e-02 2.80168189e-03 9.95718193e-01 -2.99437187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.018241008 meters Centerline goodness [0,1] 0.9050549197768705 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.31, Z:-0.30 [[ 9.95165710e-01 3.35600009e-02 -9.22980861e-02 3.93765068e+00] [-3.40377467e-02 9.99414041e-01 -3.60638361e-03 -3.11600785e-01] [ 9.21229730e-02 6.73056819e-03 9.95724890e-01 -2.99946080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.048241008 meters Centerline goodness [0,1] 0.9055996320570312 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.31, Z:-0.30 [[ 9.95113920e-01 3.28280510e-02 -9.31160849e-02 3.93989058e+00] [-3.32364983e-02 9.99443484e-01 -2.83861200e-03 -3.14061817e-01] [ 9.29710782e-02 5.91959491e-03 9.95651213e-01 -2.98601250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.078241008 meters Centerline goodness [0,1] 0.9074756666474688 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.32, Z:-0.30 [[ 9.95081828e-01 3.23017689e-02 -9.36416086e-02 3.94153799e+00] [-3.26706856e-02 9.99463268e-01 -2.40890922e-03 -3.16044113e-01] [ 9.35135361e-02 5.45639735e-03 9.95603057e-01 -2.98056458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.108241008 meters Centerline goodness [0,1] 0.9101039043732453 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.32, Z:-0.30 [[ 9.95054775e-01 3.01946883e-02 -9.46270290e-02 3.94687817e+00] [-3.06614266e-02 9.99523763e-01 -3.48199118e-03 -3.16388466e-01] [ 9.44768265e-02 6.36617166e-03 9.95506706e-01 -3.00427263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.138241008 meters Centerline goodness [0,1] 0.9107153183368993 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.32, Z:-0.30 [[ 9.95034302e-01 2.93744489e-02 -9.50993128e-02 3.94930515e+00] [-2.98778357e-02 9.99546053e-01 -3.87339267e-03 -3.16190492e-01] [ 9.49423639e-02 6.69552022e-03 9.95460254e-01 -3.01431982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.168241008 meters Centerline goodness [0,1] 0.9100357070281883 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.32, Z:-0.30 [[ 0.99500538 0.02865065 -0.09562129 3.951535 ] [-0.02917041 0.99956628 -0.00404184 -0.31634614] [ 0.09546402 0.00681097 0.99540958 -0.3019345 ] [ 0. 0. 0. 1. ]] SLAMing on 42.198241008000004 meters Centerline goodness [0,1] 0.9074897549917168 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.32, Z:-0.30 [[ 0.99497252 0.02652119 -0.09657285 3.95593741] [-0.02707516 0.99962358 -0.00443015 -0.31824959] [ 0.096419 0.0070226 0.99531606 -0.30228403] [ 0. 0. 0. 1. ]] SLAMing on 42.228241008 meters Centerline goodness [0,1] 0.9114789387945078 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.32, Z:-0.30 [[ 9.94920324e-01 2.65278825e-02 -9.71072632e-02 3.95628463e+00] [-2.69654133e-02 9.99631259e-01 -3.19581731e-03 -3.20429546e-01] [ 9.69866775e-02 5.79812107e-03 9.95268791e-01 -2.99726996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.258241008 meters Centerline goodness [0,1] 0.9108985946702431 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.32, Z:-0.30 [[ 9.94901546e-01 2.68498420e-02 -9.72111077e-02 3.95529528e+00] [-2.71908901e-02 9.99627871e-01 -2.18502036e-03 -3.21638237e-01] [ 9.71162652e-02 4.81713668e-03 9.95261386e-01 -2.97346957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.288241008 meters Centerline goodness [0,1] 0.913072599668016 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.32, Z:-0.29 [[ 9.94884851e-01 2.71028303e-02 -9.73117108e-02 3.95436971e+00] [-2.73589822e-02 9.99624829e-01 -1.29865973e-03 -3.21922196e-01] [ 9.72400050e-02 3.95436625e-03 9.95253106e-01 -2.94966288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.318241008 meters Centerline goodness [0,1] 0.9152762918196802 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.32, Z:-0.29 [[ 9.94746022e-01 3.14886392e-02 -9.74105571e-02 3.95353196e+00] [-3.11059439e-02 9.99501261e-01 5.44520653e-03 -3.22769299e-01] [ 9.75334368e-02 -2.38655021e-03 9.95229387e-01 -2.88632400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.348241008 meters Centerline goodness [0,1] 0.9132189707366296 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.32, Z:-0.29 [[ 9.94768694e-01 3.24706718e-02 -9.68550540e-02 3.95089944e+00] [-3.20563119e-02 9.99469052e-01 5.83155966e-03 -3.20071524e-01] [ 9.69929837e-02 -2.69623716e-03 9.95281413e-01 -2.87389110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.378241008 meters Centerline goodness [0,1] 0.9069553730400322 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.32, Z:-0.28 [[ 0.99458677 0.0368955 -0.09713844 3.95088488] [-0.03600047 0.99929177 0.01095116 -0.32119244] [ 0.09747369 -0.00739485 0.99521063 -0.28464335] [ 0. 0. 0. 1. ]] SLAMing on 42.408241008 meters Centerline goodness [0,1] 0.9026528390534578 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.32, Z:-0.29 [[ 9.95004380e-01 3.94089353e-02 -9.17236059e-02 3.96446974e+00] [-3.93031493e-02 9.99222948e-01 2.96005447e-03 -3.17791771e-01] [ 9.17689846e-02 6.59759414e-04 9.95780105e-01 -2.88140365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.438241008 meters Centerline goodness [0,1] 0.9000141823854773 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.31, Z:-0.29 [[ 9.95214553e-01 4.63485833e-02 -8.60220983e-02 3.97608464e+00] [-4.66171879e-02 9.98912205e-01 -1.11527508e-03 -3.14204930e-01] [ 8.58768325e-02 5.12004630e-03 9.96292605e-01 -2.89759148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.468241008 meters Centerline goodness [0,1] 0.899047026553177 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.31, Z:-0.29 [[ 9.95197349e-01 4.73585055e-02 -8.56703528e-02 3.97405095e+00] [-4.76291252e-02 9.98864465e-01 -1.11649798e-03 -3.11359757e-01] [ 8.55201954e-02 5.19153978e-03 9.96322912e-01 -2.89136977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.498241008 meters Centerline goodness [0,1] 0.897671534081299 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.31, Z:-0.29 [[ 9.95177124e-01 4.80575970e-02 -8.55158397e-02 3.97287157e+00] [-4.83403303e-02 9.98830156e-01 -1.23735874e-03 -3.09078504e-01] [ 8.53563350e-02 5.36525504e-03 9.96336043e-01 -2.88794268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.528241008 meters Centerline goodness [0,1] 0.8954588990929067 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.31, Z:-0.29 [[ 9.95165437e-01 4.84886987e-02 -8.54084261e-02 3.97215134e+00] [-4.87885050e-02 9.98808115e-01 -1.42524712e-03 -3.07619911e-01] [ 8.52375207e-02 5.58530609e-03 9.96345005e-01 -2.88749498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.558241008 meters Centerline goodness [0,1] 0.8964927048260382 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.31, Z:-0.29 [[ 9.94940624e-01 5.16284188e-02 -8.61838785e-02 3.97599913e+00] [-5.16669163e-02 9.98662777e-01 1.78532463e-03 -3.07031683e-01] [ 8.61608050e-02 2.67656324e-03 9.96277648e-01 -2.90114842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.588241008 meters Centerline goodness [0,1] 0.8964927048260382 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.31, Z:-0.29 [[ 9.94940624e-01 5.16284188e-02 -8.61838785e-02 3.97599913e+00] [-5.16669163e-02 9.98662777e-01 1.78532463e-03 -3.07031683e-01] [ 8.61608050e-02 2.67656324e-03 9.96277648e-01 -2.90114842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.618241008 meters Centerline goodness [0,1] 0.8960313024035774 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.30, Z:-0.29 [[ 9.94945726e-01 5.06785408e-02 -8.66872949e-02 3.97909617e+00] [-5.08319795e-02 9.98707123e-01 4.37884286e-04 -3.04303152e-01] [ 8.65974103e-02 3.97081570e-03 9.96235475e-01 -2.92628985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.648241008 meters Centerline goodness [0,1] 0.894695678891651 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.30, Z:-0.29 [[ 9.94944802e-01 4.98626666e-02 -8.71696905e-02 3.98182228e+00] [-5.01035693e-02 9.98743861e-01 -5.76504296e-04 -3.02526359e-01] [ 8.70314473e-02 4.94110258e-03 9.96193311e-01 -2.94654951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.678241008 meters Centerline goodness [0,1] 0.895667030781727 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.30, Z:-0.30 [[ 9.94927802e-01 4.83100432e-02 -8.82315675e-02 3.98611291e+00] [-4.86359178e-02 9.98815377e-01 -1.54607701e-03 -3.01925592e-01] [ 8.80523553e-02 5.82945827e-03 9.96098790e-01 -2.96193347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.708241008 meters Centerline goodness [0,1] 0.8942187020665421 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.30, Z:-0.30 [[ 9.94882827e-01 4.69477546e-02 -8.94654667e-02 3.99015608e+00] [-4.72812012e-02 9.98880321e-01 -1.61030732e-03 -3.03043081e-01] [ 8.92896938e-02 5.83210183e-03 9.95988623e-01 -2.96076169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.738241008 meters Centerline goodness [0,1] 0.8953178850626243 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.30, Z:-0.30 [[ 0.99507548 0.04231483 -0.08963391 3.99066099] [-0.04304213 0.99905405 -0.00619594 -0.30175249] [ 0.08928694 0.01002346 0.99595551 -0.2969577 ] [ 0. 0. 0. 1. ]] SLAMing on 42.768241008 meters Centerline goodness [0,1] 0.8957918082030263 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.30, Z:-0.30 [[ 0.99505466 0.04127358 -0.09034771 3.99299323] [-0.04196765 0.99910216 -0.00579516 -0.30420875] [ 0.09002741 0.00955818 0.99589342 -0.29616263] [ 0. 0. 0. 1. ]] SLAMing on 42.798241008 meters Centerline goodness [0,1] 0.9013542369071701 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.31, Z:-0.29 [[ 0.99502354 0.04054422 -0.09101825 3.99462581] [-0.04113973 0.99914246 -0.00467544 -0.30712131] [ 0.09075063 0.00839664 0.99583825 -0.29408755] [ 0. 0. 0. 1. ]] SLAMing on 42.828241008 meters Centerline goodness [0,1] 0.9018692910268374 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.31, Z:-0.30 [[ 0.99520301 0.03502949 -0.09134492 3.99640717] [-0.03605013 0.99930438 -0.00954714 -0.30559505] [ 0.09094695 0.01279433 0.99577355 -0.29523152] [ 0. 0. 0. 1. ]] SLAMing on 42.858241008 meters Centerline goodness [0,1] 0.9025286057352734 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.31, Z:-0.29 [[ 0.99518369 0.03446025 -0.09177103 3.99789229] [-0.03546568 0.99932718 -0.00934714 -0.30568793] [ 0.09138718 0.01255684 0.99573627 -0.29478729] [ 0. 0. 0. 1. ]] SLAMing on 42.888241008 meters Centerline goodness [0,1] 0.8985973527502611 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.31, Z:-0.29 [[ 0.99516076 0.03419073 -0.09211982 3.9987314 ] [-0.03517327 0.99934013 -0.00906309 -0.30602587] [ 0.09174916 0.01225939 0.99570668 -0.29411032] [ 0. 0. 0. 1. ]] SLAMing on 42.918241008 meters Centerline goodness [0,1] 0.8965419661554135 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.31, Z:-0.29 [[ 0.99514607 0.03456645 -0.0921383 3.99802367] [-0.03550898 0.99933227 -0.00860928 -0.30572489] [ 0.09177918 0.01183923 0.995709 -0.29291581] [ 0. 0. 0. 1. ]] SLAMing on 42.948241008000004 meters Centerline goodness [0,1] 0.9005641748942173 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.31, Z:-0.29 [[ 9.94933563e-01 3.84228366e-02 -9.29025862e-02 4.00002669e+00] [-3.89182880e-02 9.99236174e-01 -3.52651892e-03 -3.07901123e-01] [ 9.26961259e-02 7.12426165e-03 9.95668958e-01 -2.90835566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.978241008 meters Centerline goodness [0,1] 0.899668091809181 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.31, Z:-0.29 [[ 9.94697654e-01 4.22060560e-02 -9.37828705e-02 4.00241716e+00] [-4.22695642e-02 9.99105384e-01 1.31006236e-03 -3.09725122e-01] [ 9.37542633e-02 2.66104511e-03 9.95591812e-01 -2.89020868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.008241008 meters Centerline goodness [0,1] 0.8982559774964838 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.31, Z:-0.29 [[ 9.94691540e-01 4.25772685e-02 -9.36798565e-02 4.00198532e+00] [-4.26666113e-02 9.99088814e-01 1.04990875e-03 -3.07974262e-01] [ 9.36391990e-02 2.95266667e-03 9.95601819e-01 -2.89317917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.038241008 meters Centerline goodness [0,1] 0.8943859255939041 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.31, Z:-0.29 [[ 9.94465673e-01 4.68502682e-02 -9.40376339e-02 4.00303560e+00] [-4.65929049e-02 9.98901786e-01 4.93177093e-03 -3.07378555e-01] [ 9.41654153e-02 -5.22990363e-04 9.95556428e-01 -2.89005478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.068241008 meters Centerline goodness [0,1] 0.8928391326273323 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.31, Z:-0.29 [[ 9.94468290e-01 4.70650611e-02 -9.39026099e-02 4.00289742e+00] [-4.68409017e-02 9.98891812e-01 4.59106235e-03 -3.05436025e-01] [ 9.40146268e-02 -1.67182999e-04 9.95570802e-01 -2.89552685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.098241008 meters Centerline goodness [0,1] 0.8910299374441466 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.30, Z:-0.29 [[ 9.94459530e-01 4.69347861e-02 -9.40604593e-02 4.00371490e+00] [-4.67588400e-02 9.98897896e-01 4.07487964e-03 -3.03642490e-01] [ 9.41480485e-02 3.45855076e-04 9.95558148e-01 -2.90295632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.128241008 meters Centerline goodness [0,1] 0.8916305714684923 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.30, Z:-0.29 [[ 9.94446835e-01 4.68940818e-02 -9.42148460e-02 4.00424686e+00] [-4.67372063e-02 9.98899715e-01 3.87219347e-03 -3.02855744e-01] [ 9.42927658e-02 5.52648148e-04 9.95544358e-01 -2.90599049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.158241008 meters Centerline goodness [0,1] 0.8958350791921562 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.30, Z:-0.29 [[ 9.94429520e-01 4.62657579e-02 -9.47069690e-02 4.00607001e+00] [-4.61225232e-02 9.98928930e-01 3.70200277e-03 -3.02790277e-01] [ 9.47768072e-02 6.86743534e-04 9.95498310e-01 -2.90727206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.188241008 meters Centerline goodness [0,1] 0.8968378560215295 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.30, Z:-0.29 [[ 9.94405346e-01 4.56745697e-02 -9.52462164e-02 4.00765888e+00] [-4.55230795e-02 9.98956196e-01 3.76393650e-03 -3.03361403e-01] [ 9.53187143e-02 5.93022511e-04 9.95446629e-01 -2.90366818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.218241008 meters Centerline goodness [0,1] 0.8973253045791906 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.30, Z:-0.29 [[ 9.94364120e-01 4.48583489e-02 -9.60610503e-02 4.00986020e+00] [-4.46749022e-02 9.98993325e-01 4.06066009e-03 -3.04390981e-01] [ 9.61465025e-02 2.53743331e-04 9.95367161e-01 -2.89369667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.248241008 meters Centerline goodness [0,1] 0.898347014505791 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.30, Z:-0.29 [[ 9.94537373e-01 4.02913943e-02 -9.62913195e-02 4.00986498e+00] [-4.04450767e-02 9.99181700e-01 3.56039756e-04 -3.04503267e-01] [ 9.62268696e-02 3.54041496e-03 9.95353131e-01 -2.88479606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.278241008 meters Centerline goodness [0,1] 0.8996030293645655 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.31, Z:-0.29 [[ 9.94511683e-01 3.97830407e-02 -9.67668488e-02 4.01117099e+00] [-3.99026053e-02 9.99203329e-01 7.00028347e-04 -3.05908018e-01] [ 9.67176067e-02 3.16506301e-03 9.95306831e-01 -2.87799523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.308241008 meters Centerline goodness [0,1] 0.8974351747463359 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.31, Z:-0.29 [[ 9.94478594e-01 3.93462222e-02 -9.72841239e-02 4.01234144e+00] [-3.94122453e-02 9.99222262e-01 1.24364333e-03 -3.07397821e-01] [ 9.72573950e-02 2.59740909e-03 9.95255873e-01 -2.86640242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.338241008 meters Centerline goodness [0,1] 0.8968522592655271 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.31, Z:-0.29 [[ 9.94460402e-01 3.89878216e-02 -9.76138194e-02 4.01303894e+00] [-3.89814743e-02 9.99237986e-01 1.97287369e-03 -3.09371678e-01] [ 9.76163543e-02 1.84318583e-03 9.95222412e-01 -2.85321958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.368241008 meters Centerline goodness [0,1] 0.893444711878805 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.31, Z:-0.29 [[ 9.94643011e-01 3.45782777e-02 -9.74146959e-02 4.01235914e+00] [-3.49442917e-02 9.99387153e-01 -2.05317069e-03 -3.08441846e-01] [ 9.72840005e-02 5.44625943e-03 9.95241760e-01 -2.85264583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.398241008 meters Centerline goodness [0,1] 0.892158520773437 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.31, Z:-0.28 [[ 9.94463888e-01 3.71604440e-02 -9.82887470e-02 4.01601854e+00] [-3.70501413e-02 9.99309060e-01 2.94785356e-03 -3.11809668e-01] [ 9.83303789e-02 7.10078052e-04 9.95153572e-01 -2.83093175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.428241008 meters Centerline goodness [0,1] 0.8964173795206234 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.31, Z:-0.28 [[ 9.94448886e-01 3.69515619e-02 -9.85190141e-02 4.01691573e+00] [-3.68385819e-02 9.99316827e-01 2.96623871e-03 -3.11970086e-01] [ 9.85613157e-02 6.79527984e-04 9.95130748e-01 -2.83216422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.458241008 meters Centerline goodness [0,1] 0.8982318382103717 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.31, Z:-0.28 [[ 9.94432766e-01 3.71594361e-02 -9.86035035e-02 4.01756124e+00] [-3.70912738e-02 9.99308692e-01 2.52495574e-03 -3.11039260e-01] [ 9.86291640e-02 1.14643083e-03 9.95123597e-01 -2.84547065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.488241008 meters Centerline goodness [0,1] 0.8995234200953159 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.31, Z:-0.29 [[ 9.94430150e-01 3.72975386e-02 -9.85777413e-02 4.01783800e+00] [-3.72737682e-02 9.99302920e-01 2.08343545e-03 -3.09221493e-01] [ 9.85867317e-02 1.60253285e-03 9.95127172e-01 -2.85416275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.518241008 meters Centerline goodness [0,1] 0.9017769141956014 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.31, Z:-0.28 [[ 9.94218436e-01 4.13090450e-02 -9.91123816e-02 4.01971032e+00] [-4.08624225e-02 9.99143425e-01 6.53285577e-03 -3.10915746e-01] [ 9.92973505e-02 -2.44511363e-03 9.95054801e-01 -2.84791127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.548241008 meters Centerline goodness [0,1] 0.9006978895148406 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.31, Z:-0.28 [[ 0.99398296 0.04605078 -0.09938416 4.02027728] [-0.0451895 0.99891895 0.01090112 -0.31126044] [ 0.09977872 -0.00634441 0.99498942 -0.28407756] [ 0. 0. 0. 1. ]] SLAMing on 43.578241008 meters Centerline goodness [0,1] 0.901411612830803 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.31, Z:-0.28 [[ 0.99397913 0.04694959 -0.09900109 4.01864265] [-0.04610797 0.99887837 0.01077332 -0.30961089] [ 0.09939585 -0.00614372 0.995029 -0.28420927] [ 0. 0. 0. 1. ]] SLAMing on 43.608241008 meters Centerline goodness [0,1] 0.8996975806451613 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.31, Z:-0.29 [[ 9.94294357e-01 5.03965584e-02 -9.40155260e-02 4.03344579e+00] [-5.02760427e-02 9.98728685e-01 3.65155643e-03 -3.07212120e-01] [ 9.40800285e-02 1.09600664e-03 9.95564035e-01 -2.88288354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.638241008 meters Centerline goodness [0,1] 0.8962836609714493 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.30, Z:-0.29 [[ 9.94243793e-01 5.14875636e-02 -9.39590941e-02 4.03236427e+00] [-5.13631229e-02 9.98673026e-01 3.74391463e-03 -3.04886306e-01] [ 9.40271779e-02 1.10366862e-03 9.95569019e-01 -2.88087360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.668241008 meters Centerline goodness [0,1] 0.895083150559427 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.30, Z:-0.29 [[ 9.93977637e-01 5.65048318e-02 -9.38917530e-02 4.03253352e+00] [-5.60775632e-02 9.98400562e-01 7.18499795e-03 -3.02997135e-01] [ 9.41475661e-02 -1.87650656e-03 9.95556485e-01 -2.89224778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.698241008000004 meters Centerline goodness [0,1] 0.8943934534999447 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.30, Z:-0.29 [[ 0.99370032 0.06076948 -0.09416335 4.03379437] [-0.05995425 0.99813528 0.01146518 -0.30352067] [ 0.0946845 -0.00574746 0.99549074 -0.2888041 ] [ 0. 0. 0. 1. ]] SLAMing on 43.728241008 meters Centerline goodness [0,1] 0.8999917074384277 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.30, Z:-0.29 [[ 0.99368523 0.0616028 -0.09378033 4.03224801] [-0.06080518 0.99808521 0.01134172 -0.30141163] [ 0.09429944 -0.00556777 0.99552831 -0.2888702 ] [ 0. 0. 0. 1. ]] SLAMing on 43.758241008 meters Centerline goodness [0,1] 0.9014111680723224 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.30, Z:-0.29 [[ 0.99361052 0.06275584 -0.09380749 4.03154356] [-0.06199489 0.99801577 0.01100709 -0.29904141] [ 0.09431212 -0.00512118 0.99552951 -0.28970004] [ 0. 0. 0. 1. ]] SLAMing on 43.788241008 meters Centerline goodness [0,1] 0.9037012503105075 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.30, Z:-0.29 [[ 0.9936045 0.06248544 -0.0940514 4.03260957] [-0.06177129 0.99803522 0.01048828 -0.2983297 ] [ 0.09452198 -0.00461153 0.99551209 -0.29049774] [ 0. 0. 0. 1. ]] SLAMing on 43.818241008 meters Centerline goodness [0,1] 0.9033789752650176 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.30, Z:-0.29 [[ 0.99359122 0.06257687 -0.09413092 4.03277286] [-0.06186941 0.99802988 0.01041828 -0.29870456] [ 0.09459741 -0.00452768 0.99550531 -0.29067557] [ 0. 0. 0. 1. ]] SLAMing on 43.848241008 meters Centerline goodness [0,1] 0.9065048516849584 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.30, Z:-0.29 [[ 0.9935691 0.06264439 -0.09431932 4.03323796] [-0.06192022 0.99802494 0.01058788 -0.2999587 ] [ 0.0947963 -0.00467952 0.99548569 -0.29067591] [ 0. 0. 0. 1. ]] SLAMing on 43.878241008 meters Centerline goodness [0,1] 0.9030476296214056 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.30, Z:-0.29 [[ 0.99353692 0.06248077 -0.09476576 4.03467614] [-0.0617454 0.99803484 0.01067523 -0.30189268] [ 0.09524653 -0.00475489 0.99544236 -0.29110816] [ 0. 0. 0. 1. ]] SLAMing on 43.908241008 meters Centerline goodness [0,1] 0.9060285166347035 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.30, Z:-0.29 [[ 0.99353579 0.06236856 -0.09485144 4.03533045] [-0.06163935 0.99804218 0.01060138 -0.30206375] [ 0.09532693 -0.00468627 0.99543499 -0.2916512 ] [ 0. 0. 0. 1. ]] SLAMing on 43.938241008 meters Centerline goodness [0,1] 0.9055932391860336 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.30, Z:-0.29 [[ 0.99354183 0.06211917 -0.09495176 4.03627234] [-0.06140562 0.99805849 0.01042119 -0.30247531] [ 0.09541477 -0.00452331 0.99542733 -0.29245145] [ 0. 0. 0. 1. ]] SLAMing on 43.968241008 meters Centerline goodness [0,1] 0.9052563995198616 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.30, Z:-0.29 [[ 0.99352806 0.06201548 -0.0951634 4.03698027] [-0.06127391 0.99806366 0.01069786 -0.30385229] [ 0.09564256 -0.00479759 0.99540418 -0.2923971 ] [ 0. 0. 0. 1. ]] SLAMing on 43.998241008 meters Centerline goodness [0,1] 0.9075256173357971 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.31, Z:-0.29 [[ 0.99349392 0.06200148 -0.0955283 4.03778783] [-0.06113053 0.99805741 0.01201975 -0.30965427] [ 0.09608797 -0.00610185 0.99535414 -0.291169 ] [ 0. 0. 0. 1. ]] SLAMing on 44.028241008 meters Centerline goodness [0,1] 0.9069402838825276 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.31, Z:-0.29 [[ 0.99346993 0.06170627 -0.09596791 4.03905685] [-0.06079757 0.9980735 0.01236697 -0.31163384] [ 0.09654614 -0.0064516 0.9953076 -0.29084504] [ 0. 0. 0. 1. ]] SLAMing on 44.058241008 meters Centerline goodness [0,1] 0.9101511031370021 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.31, Z:-0.29 [[ 0.99346449 0.06133366 -0.09626259 4.04014517] [-0.06039081 0.99809426 0.01268037 -0.3136439 ] [ 0.09685687 -0.00678412 0.9952752 -0.29064906] [ 0. 0. 0. 1. ]] SLAMing on 44.088241008 meters Centerline goodness [0,1] 0.9080666460622068 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.32, Z:-0.29 [[ 0.99345143 0.06128981 -0.09642513 4.04040432] [-0.06028692 0.99809271 0.01328267 -0.31581655] [ 0.09705532 -0.00738251 0.99525161 -0.28988249] [ 0. 0. 0. 1. ]] SLAMing on 44.118241008 meters Centerline goodness [0,1] 0.9058167061210687 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.32, Z:-0.29 [[ 9.93696488e-01 5.68080535e-02 -9.66443720e-02 4.04095437e+00] [-5.61691556e-02 9.98377758e-01 9.32081641e-03 -3.17959560e-01] [ 9.70170889e-02 -3.83362976e-03 9.95275333e-01 -2.90650940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.148241008 meters Centerline goodness [0,1] 0.9049319727891156 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.32, Z:-0.29 [[ 9.93949175e-01 5.24184992e-02 -9.65263598e-02 4.04116663e+00] [-5.22179494e-02 9.98625098e-01 4.60435021e-03 -3.16929624e-01] [ 9.66349986e-02 4.63918485e-04 9.95319779e-01 -2.92636221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.178241008 meters Centerline goodness [0,1] 0.9050211221683536 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.32, Z:-0.29 [[ 9.93939694e-01 5.15628760e-02 -9.70832385e-02 4.04366781e+00] [-5.13397231e-02 9.98669727e-01 4.79685892e-03 -3.19179991e-01] [ 9.72014311e-02 2.16438097e-04 9.95264706e-01 -2.92930239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.208241008 meters Centerline goodness [0,1] 0.9056630701604156 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.32, Z:-0.29 [[ 9.93929896e-01 5.02414396e-02 -9.78731853e-02 4.04742397e+00] [-5.00449602e-02 9.98736994e-01 4.46294159e-03 -3.21968787e-01] [ 9.79737956e-02 4.62208598e-04 9.95188887e-01 -2.94215512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.238241008 meters Centerline goodness [0,1] 0.9051645338208409 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.32, Z:-0.29 [[ 9.93899009e-01 4.98237934e-02 -9.83989337e-02 4.04903079e+00] [-4.96149809e-02 9.98757966e-01 4.56946251e-03 -3.23119854e-01] [ 9.85043868e-02 3.40476954e-04 9.95136558e-01 -2.94090380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.268241008 meters Centerline goodness [0,1] 0.9052746119924403 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.32, Z:-0.29 [[ 9.93872003e-01 4.95370389e-02 -9.88156014e-02 4.05040769e+00] [-4.93276981e-02 9.98772229e-01 4.56203881e-03 -3.23870174e-01] [ 9.89202684e-02 3.40263501e-04 9.95095304e-01 -2.94310538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.298241008 meters Centerline goodness [0,1] 0.9024041213508872 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.32, Z:-0.30 [[ 9.93867926e-01 4.76981687e-02 -9.97568574e-02 4.05491557e+00] [-4.75547886e-02 9.98861342e-01 3.81605540e-03 -3.24598127e-01] [ 9.98252873e-02 9.51261202e-04 9.95004526e-01 -2.95712913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.328241008 meters Centerline goodness [0,1] 0.9053957349363103 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.33, Z:-0.30 [[ 9.93852665e-01 4.66533835e-02 -1.00400909e-01 4.05765605e+00] [-4.65259733e-02 9.98910552e-01 3.61146637e-03 -3.25434176e-01] [ 1.00460015e-01 1.08198454e-03 9.94940508e-01 -2.96177039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.358241008 meters Centerline goodness [0,1] 0.9046322306942614 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.33, Z:-0.30 [[ 9.93828169e-01 4.57929490e-02 -1.01037498e-01 4.06016076e+00] [-4.56593761e-02 9.98950452e-01 3.63541225e-03 -3.26465707e-01] [ 1.01097930e-01 1.00033401e-03 9.94875976e-01 -2.96363078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.388241008 meters Centerline goodness [0,1] 0.9059390324338276 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.33, Z:-0.30 [[ 9.93813500e-01 4.52452698e-02 -1.01427774e-01 4.06169093e+00] [-4.51045961e-02 9.98975488e-01 3.68103257e-03 -3.26898011e-01] [ 1.01490409e-01 9.16598917e-04 9.94836095e-01 -2.96338140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.418241008 meters Centerline goodness [0,1] 0.9023723153106467 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.33, Z:-0.30 [[ 9.93793012e-01 4.48311642e-02 -1.01811665e-01 4.06274165e+00] [-4.46783295e-02 9.98994265e-01 3.78212282e-03 -3.26852767e-01] [ 1.01878827e-01 7.90127908e-04 9.94796502e-01 -2.95827348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.448241008000004 meters Centerline goodness [0,1] 0.9010018188642204 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.33, Z:-0.29 [[ 9.93994204e-01 4.06897816e-02 -1.01586728e-01 4.06093061e+00] [-4.08679207e-02 9.99164504e-01 3.27888779e-04 -3.26131451e-01] [ 1.01515195e-01 3.82571881e-03 9.94826633e-01 -2.94106344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.478241008 meters Centerline goodness [0,1] 0.9010018188642204 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.33, Z:-0.29 [[ 9.93994204e-01 4.06897816e-02 -1.01586728e-01 4.06093061e+00] [-4.08679207e-02 9.99164504e-01 3.27888779e-04 -3.26131451e-01] [ 1.01515195e-01 3.82571881e-03 9.94826633e-01 -2.94106344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.508241008 meters Centerline goodness [0,1] 0.9038077890536906 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.33, Z:-0.29 [[ 9.93958506e-01 4.03437227e-02 -1.02072876e-01 4.06147880e+00] [-4.03616452e-02 9.99183348e-01 1.89056423e-03 -3.28929397e-01] [ 1.02065791e-01 2.24068682e-03 9.94775127e-01 -2.90942916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.538241008 meters Centerline goodness [0,1] 0.9021325982881184 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.33, Z:-0.29 [[ 9.93942462e-01 4.02138267e-02 -1.02280153e-01 4.06125618e+00] [-4.01318089e-02 9.99190300e-01 2.86034598e-03 -3.30629538e-01] [ 1.02312363e-01 1.26166824e-03 9.94751521e-01 -2.88705945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.568241008 meters Centerline goodness [0,1] 0.9004410655214439 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.33, Z:-0.29 [[ 9.93946440e-01 3.92151278e-02 -1.02628688e-01 4.06267569e+00] [-3.90972761e-02 9.99230411e-01 3.16042094e-03 -3.31173916e-01] [ 1.02673643e-01 8.71213023e-04 9.94714715e-01 -2.87497681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.598241008 meters Centerline goodness [0,1] 0.8984556432884347 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.33, Z:-0.29 [[ 9.93930286e-01 3.86709570e-02 -1.02990993e-01 4.06406564e+00] [-3.85757821e-02 9.99251421e-01 2.91647494e-03 -3.30760762e-01] [ 1.03026679e-01 1.07418532e-03 9.94678013e-01 -2.87708920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.628241008 meters Centerline goodness [0,1] 0.8981910946196661 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.33, Z:-0.29 [[ 9.93925549e-01 3.81283317e-02 -1.03238721e-01 4.06551303e+00] [-3.80775116e-02 9.99271751e-01 2.46373844e-03 -3.29932397e-01] [ 1.03257476e-01 1.48230101e-03 9.94653556e-01 -2.88470942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.658241008 meters Centerline goodness [0,1] 0.897852582704585 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.33, Z:-0.29 [[ 9.93901100e-01 3.76346995e-02 -1.03654396e-01 4.06709219e+00] [-3.76292663e-02 9.99289750e-01 2.00860114e-03 -3.28717386e-01] [ 1.03656368e-01 1.90408798e-03 9.94611347e-01 -2.89038606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.688241008 meters Centerline goodness [0,1] 0.8957315654803443 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.33, Z:-0.29 [[ 9.93898157e-01 3.75453875e-02 -1.03714980e-01 4.06734302e+00] [-3.75405511e-02 9.99293105e-01 1.99934748e-03 -3.28337446e-01] [ 1.03716730e-01 1.90636972e-03 9.94605050e-01 -2.88932466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.718241008 meters Centerline goodness [0,1] 0.896431679721497 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.33, Z:-0.29 [[ 9.93888793e-01 3.74117841e-02 -1.03852908e-01 4.06787527e+00] [-3.74067554e-02 9.99298127e-01 1.99677455e-03 -3.28067974e-01] [ 1.03854719e-01 1.90022847e-03 9.94590663e-01 -2.88930804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.748241008 meters Centerline goodness [0,1] 0.8955379664260241 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.33, Z:-0.29 [[ 9.93890304e-01 3.71263952e-02 -1.03940820e-01 4.06859584e+00] [-3.71383925e-02 9.99308474e-01 1.82058520e-03 -3.27340754e-01] [ 1.03936534e-01 2.05073298e-03 9.94581817e-01 -2.89224776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.778241008 meters Centerline goodness [0,1] 0.8952746586612014 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.32, Z:-0.29 [[ 9.93880797e-01 3.69964808e-02 -1.04077958e-01 4.06931290e+00] [-3.70777635e-02 9.99311717e-01 1.15432296e-03 -3.24158730e-01] [ 1.04049029e-01 2.71171850e-03 9.94568472e-01 -2.90013537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.808241008 meters Centerline goodness [0,1] 0.8940813561276559 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.32, Z:-0.29 [[ 9.93875892e-01 3.70932223e-02 -1.04090362e-01 4.06946821e+00] [-3.72074659e-02 9.99307206e-01 8.44659304e-04 -3.22299219e-01] [ 1.04049580e-01 3.03345206e-03 9.94567485e-01 -2.90444747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.838241008 meters Centerline goodness [0,1] 0.8928118880313328 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.32, Z:-0.29 [[ 9.93881500e-01 3.73748888e-02 -1.03935950e-01 4.06907460e+00] [-3.75008483e-02 9.99296320e-01 7.42663817e-04 -3.20860713e-01] [ 1.03890570e-01 3.15956647e-03 9.94583715e-01 -2.90591120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.868241008 meters Centerline goodness [0,1] 0.8937361785232201 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.32, Z:-0.29 [[ 9.93879668e-01 3.78192178e-02 -1.03792637e-01 4.06813588e+00] [-3.79306260e-02 9.99279969e-01 9.00919820e-04 -3.19563039e-01] [ 1.03751975e-01 3.04151380e-03 9.94598551e-01 -2.89941630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.898241008 meters Centerline goodness [0,1] 0.892296698585108 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.32, Z:-0.29 [[ 9.93680589e-01 4.29033772e-02 -1.03721680e-01 4.06662930e+00] [-4.25344023e-02 9.99078355e-01 5.76760420e-03 -3.19158996e-01] [ 1.03873535e-01 -1.31941667e-03 9.94589638e-01 -2.87304719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.928241008 meters Centerline goodness [0,1] 0.8878682743715163 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.32, Z:-0.29 [[ 0.99346572 0.04705974 -0.10397717 4.06770408] [-0.04628352 0.99887961 0.0098668 -0.3187718 ] [ 0.104325 -0.0049899 0.99453074 -0.28677392] [ 0. 0. 0. 1. ]] SLAMing on 44.958241008 meters Centerline goodness [0,1] 0.8875031814711123 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.32, Z:-0.29 [[ 0.993473 0.04774783 -0.10359315 4.06669169] [-0.04699687 0.99884814 0.00967925 -0.31522241] [ 0.10393599 -0.00474752 0.99457266 -0.28713991] [ 0. 0. 0. 1. ]] SLAMing on 44.988241008 meters Centerline goodness [0,1] 0.8842517025946981 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.31, Z:-0.29 [[ 9.93704750e-01 5.26871131e-02 -9.88682902e-02 4.08269530e+00] [-5.25663869e-02 9.98610097e-01 3.82746340e-03 -3.11240286e-01] [ 9.89325308e-02 1.39378023e-03 9.95093167e-01 -2.91661408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.018241008 meters Centerline goodness [0,1] 0.8822420969737879 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.31, Z:-0.29 [[ 9.93707978e-01 5.34364505e-02 -9.84327142e-02 4.08114045e+00] [-5.33177143e-02 9.98570222e-01 3.83825815e-03 -3.09763919e-01] [ 9.84970802e-02 1.43409959e-03 9.95136307e-01 -2.91567890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.048241008 meters Centerline goodness [0,1] 0.882843548838511 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.31, Z:-0.29 [[ 9.93667480e-01 5.36826361e-02 -9.87072156e-02 4.08138421e+00] [-5.35870665e-02 9.98556615e-01 3.62107397e-03 -3.08322380e-01] [ 9.87591319e-02 1.69128668e-03 9.95109930e-01 -2.91476684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.078241008 meters Centerline goodness [0,1] 0.8806983240223464 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.31, Z:-0.29 [[ 9.93398701e-01 5.84626412e-02 -9.86972155e-02 4.08064792e+00] [-5.79040449e-02 9.98285820e-01 8.51718817e-03 -3.09120972e-01] [ 9.90259681e-02 -2.74599566e-03 9.95081061e-01 -2.89047737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.108241008 meters Centerline goodness [0,1] 0.8806049424130605 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.31, Z:-0.29 [[ 9.93394998e-01 5.89796688e-02 -9.84265084e-02 4.07944675e+00] [-5.84142990e-02 9.98255223e-01 8.61851292e-03 -3.08441755e-01] [ 9.87630931e-02 -2.81207214e-03 9.95107001e-01 -2.88654929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.138241008 meters Centerline goodness [0,1] 0.8807600950118765 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.31, Z:-0.29 [[ 9.93395919e-01 5.91840497e-02 -9.82944414e-02 4.07916434e+00] [-5.86268982e-02 9.98243354e-01 8.54944390e-03 -3.07711199e-01] [ 9.86277636e-02 -2.73028447e-03 9.95120651e-01 -2.88804109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.168241008 meters Centerline goodness [0,1] 0.8806153502526733 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.31, Z:-0.29 [[ 9.93402020e-01 5.92752670e-02 -9.81777446e-02 4.07926241e+00] [-5.87315172e-02 9.98238289e-01 8.42179963e-03 -3.06813353e-01] [ 9.85039883e-02 -2.60010486e-03 9.95133259e-01 -2.89296162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.198241008000004 meters Centerline goodness [0,1] 0.8815111779281161 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.31, Z:-0.29 [[ 9.93422690e-01 5.89718081e-02 -9.81513413e-02 4.08030912e+00] [-5.84865677e-02 9.98257596e-01 7.81621526e-03 -3.05535711e-01] [ 9.84412584e-02 -2.02427051e-03 9.95140805e-01 -2.90703485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.228241008 meters Centerline goodness [0,1] 0.8778100072516316 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.30, Z:-0.29 [[ 9.93438415e-01 5.88236202e-02 -9.80810787e-02 4.08112814e+00] [-5.83652777e-02 9.98266833e-01 7.53825345e-03 -3.04664831e-01] [ 9.83545151e-02 -1.76426116e-03 9.95149877e-01 -2.91830916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.258241008 meters Centerline goodness [0,1] 0.8740639320442607 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.30, Z:-0.29 [[ 9.93441227e-01 5.84788299e-02 -9.82586147e-02 4.08231719e+00] [-5.80414814e-02 9.98287438e-01 7.30603347e-03 -3.04567238e-01] [ 9.85175890e-02 -1.55503929e-03 9.95134095e-01 -2.92601321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.288241008 meters Centerline goodness [0,1] 0.8755281936476843 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.31, Z:-0.29 [[ 9.93446469e-01 5.77591867e-02 -9.86305734e-02 4.08440842e+00] [-5.73560354e-02 9.98329802e-01 6.92043581e-03 -3.05123439e-01] [ 9.88655596e-02 -1.21802385e-03 9.95100054e-01 -2.93563323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.318241008 meters Centerline goodness [0,1] 0.8751298099862471 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.31, Z:-0.29 [[ 9.93427058e-01 5.77169992e-02 -9.88505380e-02 4.08485743e+00] [-5.72953949e-02 9.98332016e-01 7.10094835e-03 -3.05982111e-01] [ 9.90955023e-02 -1.39059362e-03 9.95076956e-01 -2.93284934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.348241008 meters Centerline goodness [0,1] 0.8771974164560516 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.31, Z:-0.29 [[ 9.93396538e-01 5.73184094e-02 -9.93877179e-02 4.08648754e+00] [-5.69030926e-02 9.98355090e-01 7.01083244e-03 -3.06762265e-01] [ 9.96260839e-02 -1.30906816e-03 9.95024085e-01 -2.93418054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.378241008 meters Centerline goodness [0,1] 0.8786865906409752 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.31, Z:-0.29 [[ 9.93377695e-01 5.68329251e-02 -9.98537594e-02 4.08824293e+00] [-5.64462900e-02 9.98383188e-01 6.69530615e-03 -3.07173456e-01] [ 1.00072828e-01 -1.01459353e-03 9.94979598e-01 -2.94039722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.408241008 meters Centerline goodness [0,1] 0.875328269279643 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.31, Z:-0.30 [[ 9.93376062e-01 5.65238650e-02 -1.00045251e-01 4.08973376e+00] [-5.61800817e-02 9.98401074e-01 6.25256242e-03 -3.07054948e-01] [ 1.00238705e-01 -5.90595468e-04 9.94963242e-01 -2.95364598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.438241008 meters Centerline goodness [0,1] 0.8792724196277496 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.31, Z:-0.30 [[ 9.93374427e-01 5.61765565e-02 -1.00256879e-01 4.09107445e+00] [-5.58498266e-02 9.98420760e-01 6.06492747e-03 -3.07060727e-01] [ 1.00439256e-01 -4.25414556e-04 9.94943101e-01 -2.96048081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.468241008 meters Centerline goodness [0,1] 0.8775579232200237 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.31, Z:-0.30 [[ 9.93375874e-01 5.58754808e-02 -1.00410673e-01 4.09236166e+00] [-5.55817619e-02 9.98437740e-01 5.72257321e-03 -3.06964430e-01] [ 1.00573557e-01 -1.03664068e-04 9.94929620e-01 -2.97083917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.498241008 meters Centerline goodness [0,1] 0.8769235121068115 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.31, Z:-0.30 [[ 9.93364808e-01 5.55973529e-02 -1.00674192e-01 4.09384736e+00] [-5.53351477e-02 9.98453249e-01 5.39730493e-03 -3.06620659e-01] [ 1.00818550e-01 2.09328509e-04 9.94904808e-01 -2.98070174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.528241008 meters Centerline goodness [0,1] 0.8805029661377763 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.31, Z:-0.30 [[ 9.93365217e-01 5.54754009e-02 -1.00737411e-01 4.09550714e+00] [-5.52673979e-02 9.98459778e-01 4.85664370e-03 -3.05565360e-01] [ 1.00851677e-01 7.43073633e-04 9.94901195e-01 -3.00038143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.558241008 meters Centerline goodness [0,1] 0.8768386013826851 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.31, Z:-0.30 [[ 9.93352578e-01 5.54399387e-02 -1.00881465e-01 4.09630620e+00] [-5.52140652e-02 9.98461860e-01 5.03194808e-03 -3.06428084e-01] [ 1.01005266e-01 5.71577183e-04 9.94885727e-01 -3.00241105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.588241008 meters Centerline goodness [0,1] 0.8769208797486432 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.31, Z:-0.30 [[ 9.93336834e-01 5.55020395e-02 -1.01002269e-01 4.09681957e+00] [-5.52271650e-02 9.98458569e-01 5.51779408e-03 -3.08233932e-01] [ 1.01152830e-01 9.70408594e-05 9.94870894e-01 -2.99982147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.618241008 meters Centerline goodness [0,1] 0.8749569509815176 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.31, Z:-0.30 [[ 9.93331707e-01 5.57975675e-02 -1.00889802e-01 4.09728795e+00] [-5.54926873e-02 9.98442084e-01 5.82807971e-03 -3.10231565e-01] [ 1.01057817e-01 -1.90570116e-04 9.94880536e-01 -3.00596700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.648241008 meters Centerline goodness [0,1] 0.8780320366132723 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.31, Z:-0.30 [[ 9.93343910e-01 5.58143906e-02 -1.00760261e-01 4.09798518e+00] [-5.55320348e-02 9.98441162e-01 5.60713511e-03 -3.09832986e-01] [ 1.00916151e-01 2.56088269e-05 9.94894934e-01 -3.01854708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.678241008 meters Centerline goodness [0,1] 0.879738151049111 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.31, Z:-0.30 [[ 9.93339502e-01 5.57932767e-02 -1.00815400e-01 4.09888907e+00] [-5.55316813e-02 9.98442315e-01 5.40151325e-03 -3.09591414e-01] [ 1.00959730e-01 2.32912195e-04 9.94890486e-01 -3.02865720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.708241008 meters Centerline goodness [0,1] 0.879723317898588 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.31, Z:-0.30 [[ 9.93322877e-01 5.61609111e-02 -1.00775063e-01 4.09893336e+00] [-5.58643460e-02 9.98421726e-01 5.76472910e-03 -3.10815999e-01] [ 1.00939765e-01 -9.65043025e-05 9.94892534e-01 -3.03016250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.738241008 meters Centerline goodness [0,1] 0.8823140590872514 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.32, Z:-0.30 [[ 9.93362218e-01 5.38930956e-02 -1.01622040e-01 4.10373541e+00] [-5.35859878e-02 9.98546675e-01 5.75146639e-03 -3.16081246e-01] [ 1.01784315e-01 -2.67771991e-04 9.94806454e-01 -3.03448468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.768241008000004 meters Centerline goodness [0,1] 0.8759824318076745 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.32, Z:-0.30 [[ 9.93585854e-01 4.93022245e-02 -1.01766607e-01 4.10433017e+00] [-4.93823438e-02 9.98778444e-01 1.73338614e-03 -3.16579720e-01] [ 1.01727753e-01 3.30320564e-03 9.94806792e-01 -3.04019429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.798241008 meters Centerline goodness [0,1] 0.8762166859791425 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.32, Z:-0.30 [[ 9.93541017e-01 4.88477120e-02 -1.02421429e-01 4.10605627e+00] [-4.88025206e-02 9.98804095e-01 2.94849317e-03 -3.20119079e-01] [ 1.02442970e-01 2.06897499e-03 9.94736728e-01 -3.02258226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.828241008 meters Centerline goodness [0,1] 0.8757771192841788 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.32, Z:-0.30 [[ 9.93523677e-01 4.85790328e-02 -1.02716997e-01 4.10723387e+00] [-4.84688097e-02 9.98818316e-01 3.57017598e-03 -3.22562512e-01] [ 1.02769053e-01 1.43151620e-03 9.94704214e-01 -3.01779009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.858241008 meters Centerline goodness [0,1] 0.8707247557003257 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.32, Z:-0.30 [[ 9.93531066e-01 4.77033325e-02 -1.03055389e-01 4.11088820e+00] [-4.76067470e-02 9.98860376e-01 3.39804226e-03 -3.23689914e-01] [ 1.03100042e-01 1.53007127e-03 9.94669815e-01 -3.03914709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.888241008 meters Centerline goodness [0,1] 0.869683257918552 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.33, Z:-0.30 [[ 9.93524560e-01 4.64495964e-02 -1.03688878e-01 4.11422275e+00] [-4.63250963e-02 9.98919894e-01 3.60988553e-03 -3.26634117e-01] [ 1.03744561e-01 1.21688732e-03 9.94603230e-01 -3.04383418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.918241008 meters Centerline goodness [0,1] 0.8691064277571541 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.33, Z:-0.30 [[ 9.93479124e-01 4.58552076e-02 -1.04386450e-01 4.11649353e+00] [-4.56153610e-02 9.98948091e-01 4.68512131e-03 -3.29989137e-01] [ 1.04491482e-01 1.07055389e-04 9.94525776e-01 -3.02676225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.948241008000004 meters Centerline goodness [0,1] 0.8699868170499487 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.33, Z:-0.30 [[ 9.93478541e-01 4.61059554e-02 -1.04281495e-01 4.11592630e+00] [-4.58242094e-02 9.98936514e-01 5.09729676e-03 -3.29840654e-01] [ 1.04405609e-01 -2.85437879e-04 9.94534759e-01 -3.01742669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.978241008 meters Centerline goodness [0,1] 0.8713120266674464 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.33, Z:-0.30 [[ 9.93474673e-01 4.60766178e-02 -1.04331296e-01 4.11646519e+00] [-4.57821707e-02 9.98937826e-01 5.21654973e-03 -3.29290893e-01] [ 1.04460839e-01 -4.05996806e-04 9.94528918e-01 -3.01767521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.008241008 meters Centerline goodness [0,1] 0.866460262289336 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.33, Z:-0.30 [[ 9.93485741e-01 4.54720266e-02 -1.04491042e-01 4.11847464e+00] [-4.52329925e-02 9.98965607e-01 4.65740991e-03 -3.28009448e-01] [ 1.04594740e-01 9.93722098e-05 9.94514922e-01 -3.03241192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.038241008 meters Centerline goodness [0,1] 0.8653163378150283 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.33, Z:-0.30 [[ 9.93296949e-01 4.69100913e-02 -1.05643808e-01 4.12604715e+00] [-4.62766067e-02 9.98892999e-01 8.44109626e-03 -3.29278325e-01] [ 1.05922832e-01 -3.49567822e-03 9.94368208e-01 -3.03537313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.068241008 meters Centerline goodness [0,1] 0.8637930027451668 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.33, Z:-0.30 [[ 9.93283587e-01 4.65522764e-02 -1.05927341e-01 4.12738563e+00] [-4.59089929e-02 9.98909424e-01 8.50449440e-03 -3.29527150e-01] [ 1.06207723e-01 -3.58435716e-03 9.94337504e-01 -3.03537105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.098241008 meters Centerline goodness [0,1] 0.8689517899481896 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.33, Z:-0.30 [[ 9.93270942e-01 4.64800730e-02 -1.06077512e-01 4.12772901e+00] [-4.58044068e-02 9.98911681e-01 8.79829803e-03 -3.30317120e-01] [ 1.06371011e-01 -3.88027626e-03 9.94318938e-01 -3.02869193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.128241008 meters Centerline goodness [0,1] 0.8657131971513145 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.33, Z:-0.30 [[ 9.93260230e-01 4.60941463e-02 -1.06345877e-01 4.12910007e+00] [-4.54227147e-02 9.98929723e-01 8.72846951e-03 -3.30499072e-01] [ 1.06634389e-01 -3.83912319e-03 9.94290887e-01 -3.03033094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.158241008 meters Centerline goodness [0,1] 0.8666705686108104 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.33, Z:-0.30 [[ 9.93269940e-01 4.49052778e-02 -1.06763021e-01 4.13262271e+00] [-4.42945082e-02 9.98985789e-01 8.08642204e-03 -3.30012069e-01] [ 1.07017864e-01 -3.30298441e-03 9.94251612e-01 -3.04557318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.188241008 meters Centerline goodness [0,1] 0.8676677616142656 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.33, Z:-0.30 [[ 9.93251771e-01 4.42039357e-02 -1.07223748e-01 4.13474425e+00] [-4.35887573e-02 9.99016921e-01 8.07535131e-03 -3.30834203e-01] [ 1.07475301e-01 -3.34710707e-03 9.94202121e-01 -3.04723544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.218241008 meters Centerline goodness [0,1] 0.8682919665149067 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:-0.31 [[ 9.93243145e-01 4.35212648e-02 -1.07582319e-01 4.13687862e+00] [-4.29127098e-02 9.99047064e-01 7.96633762e-03 -3.31227839e-01] [ 1.07826505e-01 -3.29586139e-03 9.94164263e-01 -3.05285629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.248241008 meters Centerline goodness [0,1] 0.870218458733939 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:-0.31 [[ 9.93250135e-01 4.31259310e-02 -1.07676939e-01 4.13835125e+00] [-4.25491577e-02 9.99065092e-01 7.64932200e-03 -3.30769754e-01] [ 1.07906155e-01 -3.01612706e-03 9.94156509e-01 -3.06362420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.278241008 meters Centerline goodness [0,1] 0.8725686078627255 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:-0.31 [[ 0.99307089 0.04573013 -0.10825414 4.14310347] [-0.04476888 0.99893352 0.01129458 -0.3324116 ] [ 0.10865519 -0.0063699 0.99405909 -0.3071161 ] [ 0. 0. 0. 1. ]] SLAMing on 46.308241008 meters Centerline goodness [0,1] 0.8754184038992308 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:-0.31 [[ 0.99306862 0.04531046 -0.1084513 4.14447859] [-0.04436471 0.99895353 0.01111868 -0.33216022] [ 0.10884161 -0.0062302 0.99403958 -0.30742518] [ 0. 0. 0. 1. ]] SLAMing on 46.338241008 meters Centerline goodness [0,1] 0.8745553432309275 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.33, Z:-0.31 [[ 0.99305176 0.04487268 -0.10878718 4.14601743] [-0.04393181 0.99897363 0.01103132 -0.33218458] [ 0.10917053 -0.00617546 0.99400385 -0.30745846] [ 0. 0. 0. 1. ]] SLAMing on 46.368241008 meters Centerline goodness [0,1] 0.8728994985190182 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.33, Z:-0.31 [[ 0.99305751 0.04392724 -0.10912002 4.14876279] [-0.04303204 0.99901803 0.01054633 -0.33093779] [ 0.10947614 -0.00577745 0.99397263 -0.30813275] [ 0. 0. 0. 1. ]] SLAMing on 46.398241008 meters Centerline goodness [0,1] 0.8728994985190182 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.33, Z:-0.31 [[ 0.99305751 0.04392724 -0.10912002 4.14876279] [-0.04303204 0.99901803 0.01054633 -0.33093779] [ 0.10947614 -0.00577745 0.99397263 -0.30813275] [ 0. 0. 0. 1. ]] SLAMing on 46.428241008 meters Centerline goodness [0,1] 0.8723822373438141 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.33, Z:-0.31 [[ 0.99308076 0.04339078 -0.1091231 4.15034955] [-0.04255614 0.99904436 0.00996701 -0.32918465] [ 0.10945129 -0.00525418 0.99397827 -0.30947554] [ 0. 0. 0. 1. ]] SLAMing on 46.458241008 meters Centerline goodness [0,1] 0.8761957861376841 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.33, Z:-0.31 [[ 0.9930776 0.04284205 -0.10936837 4.15215217] [-0.04206878 0.99907079 0.00936906 -0.32775404] [ 0.10966813 -0.00470321 0.99395713 -0.31059838] [ 0. 0. 0. 1. ]] SLAMing on 46.488241008 meters Centerline goodness [0,1] 0.8736255680985192 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.33, Z:-0.31 [[ 9.93052018e-01 4.16666691e-02 -1.10052619e-01 4.15607381e+00] [-4.09864486e-02 9.99124082e-01 8.43684592e-03 -3.26627548e-01] [ 1.10307758e-01 -3.86756083e-03 9.93889954e-01 -3.12035549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.518241008000004 meters Centerline goodness [0,1] 0.8771472886365632 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.33, Z:-0.31 [[ 9.93033134e-01 4.07669318e-02 -1.10558817e-01 4.15907950e+00] [-4.01693575e-02 9.99163769e-01 7.62795995e-03 -3.25177758e-01] [ 1.10777333e-01 -3.13374031e-03 9.93840310e-01 -3.13552862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.548241008 meters Centerline goodness [0,1] 0.8747954651706404 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.32, Z:-0.31 [[ 9.93029041e-01 4.00649307e-02 -1.10851817e-01 4.16134767e+00] [-3.95251458e-02 9.99193610e-01 7.06352973e-03 -3.23793767e-01] [ 1.11045427e-01 -2.63285594e-03 9.93811844e-01 -3.14737624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.578241008 meters Centerline goodness [0,1] 0.8750439264378588 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.32, Z:-0.31 [[ 9.93025241e-01 3.95242658e-02 -1.11079719e-01 4.16287832e+00] [-3.89991530e-02 9.99215441e-01 6.89696883e-03 -3.23209147e-01] [ 1.11265168e-01 -2.51684916e-03 9.93787567e-01 -3.14920912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.608241008 meters Centerline goodness [0,1] 0.8788463788463788 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.32, Z:-0.31 [[ 9.93002742e-01 3.88709124e-02 -1.11510567e-01 4.16475343e+00] [-3.83576205e-02 9.99241308e-01 6.74553969e-03 -3.22844895e-01] [ 1.11688170e-01 -2.42105941e-03 9.93740354e-01 -3.14831506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.638241008 meters Centerline goodness [0,1] 0.8788526269574125 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.32, Z:-0.31 [[ 9.92981971e-01 3.74120132e-02 -1.12192456e-01 4.16842735e+00] [-3.69385172e-02 9.99297701e-01 6.29683337e-03 -3.21543761e-01] [ 1.12349241e-01 -2.10841904e-03 9.93666545e-01 -3.14953820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.668241008 meters Centerline goodness [0,1] 0.8843050114028419 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.32, Z:-0.32 [[ 9.92981177e-01 3.64683297e-02 -1.12509746e-01 4.17096591e+00] [-3.60501543e-02 9.99333442e-01 5.74969555e-03 -3.20063141e-01] [ 1.12644434e-01 -1.65334575e-03 9.93633986e-01 -3.15975992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.698241008000004 meters Centerline goodness [0,1] 0.881488393794471 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.32, Z:-0.32 [[ 9.92941527e-01 3.52850779e-02 -1.13234659e-01 4.17422150e+00] [-3.48922678e-02 9.99376221e-01 5.44962216e-03 -3.19400415e-01] [ 1.13356316e-01 -1.46014211e-03 9.93553327e-01 -3.16183700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.728241008 meters Centerline goodness [0,1] 0.8934304008420314 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.32, Z:-0.31 [[ 9.92900294e-01 3.34207002e-02 -1.14158057e-01 4.17878486e+00] [-3.29661293e-02 9.99439243e-01 5.86800360e-03 -3.20270650e-01] [ 1.14290155e-01 -2.06299323e-03 9.93445270e-01 -3.14719084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.758241008 meters Centerline goodness [0,1] 0.8982625200759236 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.32, Z:-0.31 [[ 9.92870578e-01 3.24134344e-02 -1.14705643e-01 4.18141589e+00] [-3.19734382e-02 9.99472613e-01 5.67412243e-03 -3.19781446e-01] [ 1.14829066e-01 -1.96613543e-03 9.93383320e-01 -3.14735005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.788241008 meters Centerline goodness [0,1] 0.9002590296574405 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.32, Z:-0.31 [[ 9.92826798e-01 3.15835639e-02 -1.15314473e-01 4.18396572e+00] [-3.11602483e-02 9.99499422e-01 5.47220393e-03 -3.19444111e-01] [ 1.15429581e-01 -1.83972310e-03 9.93313962e-01 -3.14904799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.818241008 meters Centerline goodness [0,1] 0.8982561530386096 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.32, Z:-0.32 [[ 9.92799020e-01 3.08959780e-02 -1.15739122e-01 4.18594178e+00] [-3.05100737e-02 9.99521424e-01 5.10476229e-03 -3.18915792e-01] [ 1.15841449e-01 -1.53679386e-03 9.93266529e-01 -3.15380608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.848241008 meters Centerline goodness [0,1] 0.8988029519437504 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.32, Z:-0.32 [[ 0.99263387 0.03223584 -0.11678545 4.19281707] [-0.03150498 0.99947078 0.00809918 -0.31883011] [ 0.11698473 -0.00436019 0.99312414 -0.31604569] [ 0. 0. 0. 1. ]] SLAMing on 46.878241008 meters Centerline goodness [0,1] 0.90276492364646 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:-0.32 [[ 9.92595997e-01 3.15048675e-02 -1.17305714e-01 4.19529447e+00] [-3.08488783e-02 9.99496637e-01 7.40403824e-03 -3.16928873e-01] [ 1.17479930e-01 -3.73046902e-03 9.93068250e-01 -3.16991059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.908241008 meters Centerline goodness [0,1] 0.9052421685354295 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:-0.32 [[ 9.92576038e-01 3.10571635e-02 -1.17593630e-01 4.19695528e+00] [-3.04720526e-02 9.99512687e-01 6.77077287e-03 -3.15028753e-01] [ 1.17746606e-01 -3.13718763e-03 9.93038718e-01 -3.17968346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.938241008 meters Centerline goodness [0,1] 0.9043713488157933 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.31, Z:-0.32 [[ 9.92539433e-01 3.03529305e-02 -1.18085450e-01 4.19931401e+00] [-2.98257483e-02 9.99535702e-01 6.22944108e-03 -3.13345847e-01] [ 1.18219704e-01 -2.66097902e-03 9.92983897e-01 -3.18671844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.968241008 meters Centerline goodness [0,1] 0.9067672623999541 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.31, Z:-0.32 [[ 0.99230072 0.0329169 -0.11939747 4.20486717] [-0.03196349 0.99944009 0.00989199 -0.31312973] [ 0.11965623 -0.00599947 0.99279726 -0.31813299] [ 0. 0. 0. 1. ]] SLAMing on 46.998241008 meters Centerline goodness [0,1] 0.9082889906951598 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:-0.32 [[ 0.9920639 0.03615661 -0.12042388 4.20879318] [-0.03472009 0.99929892 0.01400647 -0.31360825] [ 0.12084588 -0.00971418 0.99262375 -0.31732216] [ 0. 0. 0. 1. ]] SLAMing on 47.028241008 meters Centerline goodness [0,1] 0.9038148771649499 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:-0.32 [[ 0.9920943 0.03637926 -0.12010599 4.20840116] [-0.03501258 0.99929609 0.01347042 -0.31060607] [ 0.12051149 -0.00915871 0.99266968 -0.31811862] [ 0. 0. 0. 1. ]] SLAMing on 47.058241008 meters Centerline goodness [0,1] 0.9048078560481353 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.31, Z:-0.32 [[ 9.92621561e-01 3.84989388e-02 -1.14979430e-01 4.22449469e+00] [-3.80408978e-02 9.99257097e-01 6.17608238e-03 -3.07064131e-01] [ 1.15131784e-01 -1.75659179e-03 9.93348673e-01 -3.21589255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.088241008 meters Centerline goodness [0,1] 0.8952932862190812 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.30, Z:-0.32 [[ 9.92989464e-01 4.26915334e-02 -1.10224125e-01 4.24227602e+00] [-4.28124743e-02 9.99082318e-01 1.27032249e-03 -3.03499533e-01] [ 1.10177207e-01 3.45755069e-03 9.93905945e-01 -3.24159952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.118241008 meters Centerline goodness [0,1] 0.8971825419230987 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.30, Z:-0.32 [[ 9.92751863e-01 4.64788241e-02 -1.10830762e-01 4.24459088e+00] [-4.61468268e-02 9.98919193e-01 5.56019989e-03 -3.04593340e-01] [ 1.10969407e-01 -4.05410807e-04 9.93823740e-01 -3.23161918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.148241008 meters Centerline goodness [0,1] 0.8921803283304706 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.31, Z:-0.32 [[ 0.99249904 0.05051847 -0.1113263 4.24631405] [-0.04968217 0.99871222 0.01027528 -0.30626023] [ 0.11170203 -0.00466728 0.99373079 -0.32143875] [ 0. 0. 0. 1. ]] SLAMing on 47.178241008 meters Centerline goodness [0,1] 0.9017606029924626 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.30, Z:-0.32 [[ 9.92921148e-01 5.37267750e-02 -1.05929348e-01 4.25967412e+00] [-5.36576814e-02 9.98553240e-01 3.50420916e-03 -3.04776308e-01] [ 1.05964364e-01 2.20451983e-03 9.94367484e-01 -3.23147375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.208241008 meters Centerline goodness [0,1] 0.9024252996454898 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.30, Z:-0.32 [[ 9.92909507e-01 5.37869051e-02 -1.06007927e-01 4.26059990e+00] [-5.37336095e-02 9.98549650e-01 3.36091478e-03 -3.04232303e-01] [ 1.06034952e-01 2.35910431e-03 9.94359605e-01 -3.23929944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.238241008 meters Centerline goodness [0,1] 0.8987774786899955 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.30, Z:-0.33 [[ 9.92901247e-01 5.35421461e-02 -1.06209002e-01 4.26245078e+00] [-5.35430926e-02 9.98561488e-01 2.84459554e-03 -3.02723971e-01] [ 1.06208525e-01 2.86235599e-03 9.94339759e-01 -3.25484866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.268241008000004 meters Centerline goodness [0,1] 0.9005467545212393 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.30, Z:-0.33 [[ 9.92902544e-01 5.31313362e-02 -1.06403008e-01 4.26462716e+00] [-5.31844786e-02 9.98581962e-01 2.34006453e-03 -3.01338723e-01] [ 1.06376456e-01 3.33553250e-03 9.94320333e-01 -3.27264747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.298241008 meters Centerline goodness [0,1] 0.9009759380784116 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.30, Z:-0.33 [[ 9.92890287e-01 5.26098634e-02 -1.06775843e-01 4.26717008e+00] [-5.27099840e-02 9.98608081e-01 1.88622868e-03 -3.00916022e-01] [ 1.06726454e-01 3.75533484e-03 9.94281329e-01 -3.28919613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.328241008 meters Centerline goodness [0,1] 0.8996260578626255 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.30, Z:-0.33 [[ 9.92868339e-01 5.17381349e-02 -1.07404035e-01 4.27134579e+00] [-5.18596873e-02 9.98652997e-01 1.66289721e-03 -3.03088971e-01] [ 1.07345397e-01 3.91890168e-03 9.94214066e-01 -3.30887163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.358241008 meters Centerline goodness [0,1] 0.902902225979149 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.30, Z:-0.33 [[ 9.92819769e-01 5.11414338e-02 -1.08136307e-01 4.27409189e+00] [-5.12538981e-02 9.98684138e-01 1.74090852e-03 -3.04470207e-01] [ 1.08083047e-01 3.81399886e-03 9.94134552e-01 -3.31109748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.388241008 meters Centerline goodness [0,1] 0.907196169553584 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.31, Z:-0.33 [[ 9.92774922e-01 5.08671116e-02 -1.08676085e-01 4.27589999e+00] [-5.09353376e-02 9.98699639e-01 2.14987651e-03 -3.06235569e-01] [ 1.08644124e-01 3.40110958e-03 9.94074890e-01 -3.30706205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.418241008 meters Centerline goodness [0,1] 0.9070117620319337 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.31, Z:-0.33 [[ 9.92732338e-01 5.06323676e-02 -1.09173568e-01 4.27799904e+00] [-5.05759485e-02 9.98714807e-01 3.28756816e-03 -3.10951587e-01] [ 1.09199716e-01 2.25788154e-03 9.94017265e-01 -3.29587142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.448241008000004 meters Centerline goodness [0,1] 0.9089615121840128 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.31, Z:-0.33 [[ 9.92708943e-01 5.02708545e-02 -1.09552704e-01 4.27996028e+00] [-5.01860190e-02 9.98733638e-01 3.53330783e-03 -3.12623214e-01] [ 1.09591593e-01 1.99046782e-03 9.93974708e-01 -3.29939882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.478241008 meters Centerline goodness [0,1] 0.9066628701594533 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.31, Z:-0.33 [[ 9.92688257e-01 5.00522623e-02 -1.09839863e-01 4.28142918e+00] [-4.99247913e-02 9.98745318e-01 3.91213754e-03 -3.14178496e-01] [ 1.09897860e-01 1.60019924e-03 9.93941598e-01 -3.30053233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.508241008 meters Centerline goodness [0,1] 0.903121176771844 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.32, Z:-0.33 [[ 9.92772005e-01 4.81232946e-02 -1.09944966e-01 4.29278029e+00] [-4.74792956e-02 9.98836315e-01 8.46949824e-03 -3.17580961e-01] [ 1.10224605e-01 -3.18817120e-03 9.93901591e-01 -3.28110934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.538241008 meters Centerline goodness [0,1] 0.902676120768527 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.32, Z:-0.33 [[ 9.92747094e-01 4.77486744e-02 -1.10332545e-01 4.29456808e+00] [-4.70772310e-02 9.98853503e-01 8.68416831e-03 -3.19309249e-01] [ 1.10620706e-01 -3.42703216e-03 9.93856788e-01 -3.28389593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.568241008 meters Centerline goodness [0,1] 0.9059679683694811 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.32, Z:-0.33 [[ 9.92700817e-01 4.70768683e-02 -1.11035384e-01 4.29731112e+00] [-4.63958153e-02 9.98885153e-01 8.71092597e-03 -3.20840258e-01] [ 1.11321679e-01 -3.49576618e-03 9.93778277e-01 -3.28714578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.598241008 meters Centerline goodness [0,1] 0.9046745053054202 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.32, Z:-0.33 [[ 9.92664006e-01 4.64690153e-02 -1.11619001e-01 4.29985531e+00] [-4.58034111e-02 9.98914126e-01 8.52147295e-03 -3.21803557e-01] [ 1.11893782e-01 -3.34642848e-03 9.93714538e-01 -3.29417999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.628241008 meters Centerline goodness [0,1] 0.9037109600092198 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.32, Z:-0.33 [[ 9.92609599e-01 4.57777693e-02 -1.12385856e-01 4.30332324e+00] [-4.52265798e-02 9.98948972e-01 7.45038939e-03 -3.20671997e-01] [ 1.12608797e-01 -2.31250017e-03 9.93636710e-01 -3.31344199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.658241008 meters Centerline goodness [0,1] 0.9038478117187275 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.32, Z:-0.33 [[ 9.92559179e-01 4.53848366e-02 -1.12988906e-01 4.30552740e+00] [-4.48706243e-02 9.98967638e-01 7.09125432e-03 -3.20472285e-01] [ 1.13194096e-01 -1.96860682e-03 9.93570944e-01 -3.31929950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.688241008 meters Centerline goodness [0,1] 0.9051362834927884 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.32, Z:-0.33 [[ 9.92535323e-01 4.51025585e-02 -1.13311039e-01 4.30696462e+00] [-4.46166503e-02 9.98980889e-01 6.82186465e-03 -3.20492821e-01] [ 1.13503246e-01 -1.71538261e-03 9.93536145e-01 -3.32512422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.718241008 meters Centerline goodness [0,1] 0.907108239095315 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.32, Z:-0.33 [[ 0.99228293 0.04794321 -0.11435046 4.31224677] [-0.04696183 0.99883319 0.01126225 -0.32222839] [ 0.11475699 -0.00580523 0.99337663 -0.33176792] [ 0. 0. 0. 1. ]] SLAMing on 47.748241008 meters Centerline goodness [0,1] 0.904996400287977 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.32, Z:-0.33 [[ 0.99228751 0.04723808 -0.11460394 4.31465063] [-0.04636698 0.99887182 0.01025635 -0.31937729] [ 0.11495913 -0.00486341 0.99335832 -0.33371016] [ 0. 0. 0. 1. ]] SLAMing on 47.778241008 meters Centerline goodness [0,1] 0.9022798493516948 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.32, Z:-0.34 [[ 9.92277101e-01 4.66020671e-02 -1.14953917e-01 4.31708554e+00] [-4.58306986e-02 9.98905505e-01 9.34555882e-03 -3.16862965e-01] [ 1.15263623e-01 -4.00496568e-03 9.93326863e-01 -3.35459978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.808241008 meters Centerline goodness [0,1] 0.9000892060660125 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.32, Z:-0.34 [[ 9.92267796e-01 4.64135668e-02 -1.15110390e-01 4.31807492e+00] [-4.56740111e-02 9.98915354e-01 9.05543088e-03 -3.15925865e-01] [ 1.15405830e-01 -3.72785924e-03 9.93311430e-01 -3.36018265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.838241008 meters Centerline goodness [0,1] 0.9002217294900222 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.32, Z:-0.33 [[ 0.99199312 0.04889975 -0.11644078 4.32395859] [-0.04739717 0.99875367 0.01564 -0.3200056 ] [ 0.11706045 -0.00999581 0.99307449 -0.33071048] [ 0. 0. 0. 1. ]] SLAMing on 47.868241008 meters Centerline goodness [0,1] 0.8963866539781411 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.32, Z:-0.33 [[ 0.99196084 0.04859214 -0.11684393 4.32541335] [-0.0471147 0.99877115 0.01537512 -0.31954892] [ 0.11744746 -0.00974645 0.99303127 -0.33095202] [ 0. 0. 0. 1. ]] SLAMing on 47.898241008 meters Centerline goodness [0,1] 0.8945427303636259 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.32, Z:-0.33 [[ 9.92482670e-01 4.92268421e-02 -1.12048511e-01 4.34225761e+00] [-4.87439475e-02 9.98786449e-01 7.04676634e-03 -3.17496848e-01] [ 1.12259424e-01 -1.53210676e-03 9.93677752e-01 -3.34347898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.928241008 meters Centerline goodness [0,1] 0.8961775372747682 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.32, Z:-0.33 [[ 9.92432789e-01 4.87521277e-02 -1.12696007e-01 4.34432771e+00] [-4.82962793e-02 9.98810089e-01 6.77314026e-03 -3.16940392e-01] [ 1.12892114e-01 -1.27908862e-03 9.93606428e-01 -3.34451637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.958241008 meters Centerline goodness [0,1] 0.8940956221198156 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.32, Z:-0.34 [[ 9.92381778e-01 4.77058073e-02 -1.13589444e-01 4.34832215e+00] [-4.72974409e-02 9.98861052e-01 6.28891541e-03 -3.16445777e-01] [ 1.13760090e-01 -8.68515031e-04 9.93507870e-01 -3.35366605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.988241008 meters Centerline goodness [0,1] 0.8937280221363925 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.32, Z:-0.33 [[ 9.92282935e-01 4.58237504e-02 -1.15216145e-01 4.35392945e+00] [-4.54001833e-02 9.98949020e-01 6.29914633e-03 -3.17928009e-01] [ 1.15383705e-01 -1.01970132e-03 9.93320472e-01 -3.34916309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.018241008000004 meters Centerline goodness [0,1] 0.8966344763777251 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.32, Z:-0.33 [[ 9.92202877e-01 4.47114542e-02 -1.16337172e-01 4.35764907e+00] [-4.42600310e-02 9.98999145e-01 6.46203100e-03 -3.19904349e-01] [ 1.16509663e-01 -1.26255888e-03 9.93188756e-01 -3.34629070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.048241008 meters Centerline goodness [0,1] 0.8983677596417738 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.32, Z:-0.34 [[ 9.92088960e-01 4.19135855e-02 -1.18333201e-01 4.36614190e+00] [-4.14895387e-02 9.99120647e-01 6.04577043e-03 -3.20611039e-01] [ 1.18482545e-01 -1.08835216e-03 9.92955539e-01 -3.35329094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.078241008 meters Centerline goodness [0,1] 0.8978030259115414 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.32, Z:-0.34 [[ 9.92049447e-01 4.12819349e-02 -1.18885224e-01 4.36895207e+00] [-4.09080198e-02 9.99147308e-01 5.58484613e-03 -3.20099901e-01] [ 1.19014404e-01 -6.77084438e-04 9.92892297e-01 -3.36733191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.108241008 meters Centerline goodness [0,1] 0.8956587085958726 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.32, Z:-0.34 [[ 9.92002045e-01 4.05854999e-02 -1.19518866e-01 4.37203444e+00] [-4.02843746e-02 9.99176066e-01 4.93543932e-03 -3.18789859e-01] [ 1.19620697e-01 -8.12231540e-05 9.92819662e-01 -3.38194388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.138241008 meters Centerline goodness [0,1] 0.8968155440713688 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.32, Z:-0.34 [[ 9.91948546e-01 4.03331518e-02 -1.20047157e-01 4.37397545e+00] [-4.00628888e-02 9.99186271e-01 4.66489367e-03 -3.17543650e-01] [ 1.20137621e-01 1.82101417e-04 9.92757231e-01 -3.38706390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.168241008 meters Centerline goodness [0,1] 0.8972683913860384 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.32, Z:-0.34 [[ 9.91869074e-01 4.08584163e-02 -1.20525228e-01 4.37437363e+00] [-4.05397033e-02 9.99164932e-01 5.09618439e-03 -3.17345080e-01] [ 1.20632804e-01 -1.68690694e-04 9.92697184e-01 -3.37582050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.198241008000004 meters Centerline goodness [0,1] 0.8979001561867299 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.32, Z:-0.33 [[ 0.99156149 0.04476392 -0.12166348 4.37693143] [-0.04373453 0.9989813 0.01111953 -0.32112319] [ 0.1220373 -0.0057048 0.99250912 -0.33335914] [ 0. 0. 0. 1. ]] SLAMing on 48.228241008 meters Centerline goodness [0,1] 0.8973146038247426 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.32, Z:-0.33 [[ 0.99150957 0.0447394 -0.12209485 4.3778567 ] [-0.04368282 0.99898134 0.01131814 -0.32099157] [ 0.12247685 -0.0058886 0.9924539 -0.33264217] [ 0. 0. 0. 1. ]] SLAMing on 48.258241008 meters Centerline goodness [0,1] 0.901260684371516 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.32, Z:-0.34 [[ 9.92055369e-01 4.56916195e-02 -1.17211011e-01 4.39386537e+00] [-4.56263272e-02 9.98953317e-01 3.24160701e-03 -3.19200727e-01] [ 1.17236442e-01 2.13205429e-03 9.93101742e-01 -3.35435680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.288241008 meters Centerline goodness [0,1] 0.901260684371516 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.32, Z:-0.34 [[ 9.92055369e-01 4.56916195e-02 -1.17211011e-01 4.39386537e+00] [-4.56263272e-02 9.98953317e-01 3.24160701e-03 -3.19200727e-01] [ 1.17236442e-01 2.13205429e-03 9.93101742e-01 -3.35435680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.318241008 meters Centerline goodness [0,1] 0.8981683509416628 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.32, Z:-0.33 [[ 9.92055245e-01 4.62265345e-02 -1.17002128e-01 4.39333585e+00] [-4.61110415e-02 9.98929486e-01 3.69521296e-03 -3.18254124e-01] [ 1.17047693e-01 1.72923459e-03 9.93124789e-01 -3.34850104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.348241008 meters Centerline goodness [0,1] 0.8965635837321946 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.32, Z:-0.33 [[ 9.92007927e-01 4.57787324e-02 -1.17577975e-01 4.39540188e+00] [-4.56599663e-02 9.98950169e-01 3.70497933e-03 -3.17648026e-01] [ 1.17624148e-01 1.69323752e-03 9.93056742e-01 -3.34794042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.378241008 meters Centerline goodness [0,1] 0.8970512305662326 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.32, Z:-0.33 [[ 9.91960226e-01 4.52331971e-02 -1.18189969e-01 4.39761439e+00] [-4.51110394e-02 9.98975090e-01 3.70996267e-03 -3.17385865e-01] [ 1.18236648e-01 1.65153692e-03 9.92984072e-01 -3.34772948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.408241008 meters Centerline goodness [0,1] 0.894581506633428 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.32, Z:-0.33 [[ 9.91893261e-01 4.44391398e-02 -1.19050080e-01 4.40071741e+00] [-4.42842967e-02 9.99011172e-01 3.94709272e-03 -3.18694859e-01] [ 1.19107765e-01 1.35695440e-03 9.92880405e-01 -3.34485835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.438241008 meters Centerline goodness [0,1] 0.8948727512696181 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.32, Z:-0.33 [[ 9.91782547e-01 4.30096923e-02 -1.20488782e-01 4.40536918e+00] [-4.27996952e-02 9.99074284e-01 4.33141427e-03 -3.20591865e-01] [ 1.20563536e-01 8.61062061e-04 9.92705239e-01 -3.33658760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.468241008 meters Centerline goodness [0,1] 0.8974764768509194 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.32, Z:-0.33 [[ 9.91714311e-01 4.18798155e-02 -1.21444665e-01 4.40864761e+00] [-4.16532486e-02 9.99122417e-01 4.40480253e-03 -3.22412039e-01] [ 1.21522560e-01 6.90259140e-04 9.92588430e-01 -3.33434494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.498241008 meters Centerline goodness [0,1] 0.8984663284132841 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.32, Z:-0.33 [[ 9.91605708e-01 4.07573284e-02 -1.22706802e-01 4.41255944e+00] [-4.04858791e-02 9.99169029e-01 4.70578192e-03 -3.23954851e-01] [ 1.22796632e-01 3.01612550e-04 9.92431809e-01 -3.32759035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.528241008 meters Centerline goodness [0,1] 0.9035726673603884 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.33, Z:-0.33 [[ 9.91524578e-01 3.67956643e-02 -1.24599721e-01 4.42188519e+00] [-3.66361531e-02 9.99322287e-01 3.57208792e-03 -3.25037303e-01] [ 1.24646715e-01 1.02304147e-03 9.92200660e-01 -3.33999370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.558241008 meters Centerline goodness [0,1] 0.9052332985990506 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.32, Z:-0.33 [[ 9.91433433e-01 3.56862928e-02 -1.25643292e-01 4.42583551e+00] [-3.55738340e-02 9.99362120e-01 3.13937097e-03 -3.24870348e-01] [ 1.25675179e-01 1.35713625e-03 9.92070515e-01 -3.34795526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.588241008 meters Centerline goodness [0,1] 0.9049254118937011 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.32, Z:-0.34 [[ 9.91359488e-01 3.46310241e-02 -1.26519003e-01 4.42938240e+00] [-3.45978759e-02 9.99398286e-01 2.46013295e-03 -3.23989926e-01] [ 1.26528072e-01 1.93841263e-03 9.91961133e-01 -3.35885936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.618241008 meters Centerline goodness [0,1] 0.9080403316672926 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.32, Z:-0.34 [[ 9.91283720e-01 3.38179941e-02 -1.27330006e-01 4.43247297e+00] [-3.38389113e-02 9.99425300e-01 1.99950607e-03 -3.23268565e-01] [ 1.27324449e-01 2.32663097e-03 9.91858393e-01 -3.36672702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.648241008 meters Centerline goodness [0,1] 0.909401955146636 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.32, Z:-0.34 [[ 9.91187087e-01 3.30351128e-02 -1.28284215e-01 4.43546411e+00] [-3.30758964e-02 9.99451198e-01 1.81301902e-03 -3.22768940e-01] [ 1.28273705e-01 2.44607435e-03 9.91735788e-01 -3.36597218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.678241008 meters Centerline goodness [0,1] 0.9076201168782566 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.32, Z:-0.34 [[ 9.91128846e-01 3.26667176e-02 -1.28827392e-01 4.43713823e+00] [-3.26934622e-02 9.99463605e-01 1.90768348e-03 -3.22449412e-01] [ 1.28820607e-01 2.32105334e-03 9.91665197e-01 -3.36293398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.708241008 meters Centerline goodness [0,1] 0.9068772433596555 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.32, Z:-0.34 [[ 9.91044560e-01 3.20392108e-02 -1.29630893e-01 4.43955942e+00] [-3.20822996e-02 9.99483687e-01 1.75637174e-03 -3.21943710e-01] [ 1.29620235e-01 2.41821448e-03 9.91560763e-01 -3.36118601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.738241008 meters Centerline goodness [0,1] 0.909840540152277 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.32, Z:-0.34 [[ 9.90929557e-01 3.15655058e-02 -1.30622481e-01 4.44232371e+00] [-3.16475698e-02 9.99498041e-01 1.44805787e-03 -3.20741231e-01] [ 1.30602623e-01 2.69896076e-03 9.91431122e-01 -3.36179529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.768241008000004 meters Centerline goodness [0,1] 0.9116620910546785 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.32, Z:-0.34 [[ 9.90838754e-01 3.27095457e-02 -1.31029189e-01 4.44576284e+00] [-3.25088782e-02 9.99464706e-01 3.67078520e-03 -3.21141232e-01] [ 1.31079120e-01 6.22455728e-04 9.91371715e-01 -3.36368288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.798241008 meters Centerline goodness [0,1] 0.9125032136429857 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.32, Z:-0.34 [[ 9.90766872e-01 3.24573142e-02 -1.31634068e-01 4.44741417e+00] [-3.22744637e-02 9.99472835e-01 3.52290575e-03 -3.20039992e-01] [ 1.31679019e-01 7.58040622e-04 9.91292117e-01 -3.36276768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.828241008 meters Centerline goodness [0,1] 0.9103358145349167 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.32, Z:-0.34 [[ 9.90465021e-01 3.62059119e-02 -1.32921686e-01 4.45110053e+00] [-3.54916689e-02 9.99340002e-01 7.73959140e-03 -3.20415888e-01] [ 1.33114177e-01 -2.94818207e-03 9.91096324e-01 -3.35127700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.858241008 meters Centerline goodness [0,1] 0.9085345023912549 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.32, Z:-0.34 [[ 9.90427008e-01 3.65520861e-02 -1.33110058e-01 4.45144493e+00] [-3.58822394e-02 9.99328416e-01 7.42843401e-03 -3.17914250e-01] [ 1.33292188e-01 -2.58103471e-03 9.91073424e-01 -3.35557442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.888241008 meters Centerline goodness [0,1] 0.905600363512439 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.32, Z:-0.33 [[ 0.99016331 0.04052008 -0.13392065 4.45388017] [-0.03928668 0.99915782 0.01184085 -0.31839933] [ 0.13428766 -0.00646307 0.99092132 -0.33437537] [ 0. 0. 0. 1. ]] SLAMing on 48.918241008 meters Centerline goodness [0,1] 0.9047672906181078 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.32, Z:-0.34 [[ 9.90636018e-01 4.29798187e-02 -1.29587867e-01 4.47193400e+00] [-4.26491370e-02 9.99075909e-01 5.32712081e-03 -3.15513307e-01] [ 1.29697075e-01 2.49572970e-04 9.91553633e-01 -3.37433664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.948241008000004 meters Centerline goodness [0,1] 0.9060831237815388 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.32, Z:-0.34 [[ 9.90358026e-01 4.72622832e-02 -1.30220031e-01 4.47378414e+00] [-4.64054946e-02 9.98876479e-01 9.60780783e-03 -3.15897246e-01] [ 1.30527813e-01 -3.47224466e-03 9.91438568e-01 -3.36456811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.978241008 meters Centerline goodness [0,1] 0.9032067510548523 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.31, Z:-0.34 [[ 9.90923271e-01 4.87033346e-02 -1.25295876e-01 4.49008556e+00] [-4.87666112e-02 9.98806910e-01 2.56398898e-03 -3.14510033e-01] [ 1.25271262e-01 3.56953894e-03 9.92116107e-01 -3.38350281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.008241008 meters Centerline goodness [0,1] 0.9032911962611561 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.32, Z:-0.34 [[ 9.90853896e-01 4.90436644e-02 -1.25711078e-01 4.49001961e+00] [-4.90145543e-02 9.98792525e-01 3.32654273e-03 -3.15182378e-01] [ 1.25722431e-01 2.86555465e-03 9.92061318e-01 -3.36487832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.038241008 meters Centerline goodness [0,1] 0.9068941209643311 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.32, Z:-0.33 [[ 9.90765402e-01 4.93005472e-02 -1.26306671e-01 4.49026523e+00] [-4.91508732e-02 9.98782096e-01 4.30317048e-03 -3.16215153e-01] [ 1.26364990e-01 1.94465073e-03 9.91981909e-01 -3.34145182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.068241008 meters Centerline goodness [0,1] 0.9087447108603667 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.32, Z:-0.33 [[ 9.90675506e-01 4.94913456e-02 -1.26935612e-01 4.49123769e+00] [-4.92503376e-02 9.98773757e-01 5.03841333e-03 -3.17463156e-01] [ 1.27029316e-01 1.26018906e-03 9.91898163e-01 -3.32800019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.098241008 meters Centerline goodness [0,1] 0.9054168789268127 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.32, Z:-0.33 [[ 9.90639206e-01 4.89444493e-02 -1.27429999e-01 4.49340414e+00] [-4.87440120e-02 9.98800280e-01 4.69277505e-03 -3.17205568e-01] [ 1.27506804e-01 1.56260245e-03 9.91836465e-01 -3.33665337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.128241008 meters Centerline goodness [0,1] 0.904838755344149 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.32, Z:-0.33 [[ 9.90594051e-01 4.81302068e-02 -1.28089459e-01 4.49634197e+00] [-4.79888849e-02 9.98839077e-01 4.19103549e-03 -3.16702464e-01] [ 1.28142472e-01 1.99525548e-03 9.91753763e-01 -3.34783232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.158241008 meters Centerline goodness [0,1] 0.9058257677092524 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.32, Z:-0.34 [[ 9.90515401e-01 4.66798230e-02 -1.29229384e-01 4.50111873e+00] [-4.66008027e-02 9.98906972e-01 3.63685002e-03 -3.17644465e-01] [ 1.29257900e-01 2.41983707e-03 9.91608057e-01 -3.36178967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.188241008 meters Centerline goodness [0,1] 0.9075943248699212 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.32, Z:-0.34 [[ 9.90408775e-01 4.57830208e-02 -1.30362466e-01 4.50453513e+00] [-4.56618873e-02 9.98949262e-01 3.91969382e-03 -3.19170188e-01] [ 1.30404944e-01 2.07049706e-03 9.91458654e-01 -3.35556794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.218241008 meters Centerline goodness [0,1] 0.9090156918687589 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.32, Z:-0.33 [[ 9.90317638e-01 4.53632895e-02 -1.31198883e-01 4.50648537e+00] [-4.51577350e-02 9.98969539e-01 4.54304796e-03 -3.21501097e-01] [ 1.31269775e-01 1.42558388e-03 9.91345658e-01 -3.34373081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.248241008 meters Centerline goodness [0,1] 0.9128945929613537 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.32, Z:-0.33 [[ 9.90409775e-01 4.08275725e-02 -1.31990858e-01 4.50780542e+00] [-4.10438187e-02 9.99156761e-01 1.08299847e-03 -3.23858592e-01] [ 1.31923774e-01 4.34479656e-03 9.91250342e-01 -3.33619665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.278241008 meters Centerline goodness [0,1] 0.9138383459730672 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:-0.33 [[ 9.90298096e-01 4.03553034e-02 -1.32970415e-01 4.51017798e+00] [-4.04576131e-02 9.99179385e-01 1.93343793e-03 -3.26562284e-01] [ 1.32939322e-01 3.46498570e-03 9.91118121e-01 -3.32151798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.308241008 meters Centerline goodness [0,1] 0.9112448288830387 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:-0.33 [[ 9.90251201e-01 3.99920923e-02 -1.33428603e-01 4.51205991e+00] [-4.00516806e-02 9.99195102e-01 2.23848452e-03 -3.27782058e-01] [ 1.33410728e-01 3.12737781e-03 9.91055900e-01 -3.32243477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.338241008000004 meters Centerline goodness [0,1] 0.9119484124689144 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:-0.33 [[ 9.90227972e-01 3.93522579e-02 -1.33790745e-01 4.51442594e+00] [-3.94933660e-02 9.99218552e-01 1.60003975e-03 -3.26354860e-01] [ 1.33749159e-01 3.69944272e-03 9.91008313e-01 -3.33778445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.368241008 meters Centerline goodness [0,1] 0.9111673666647488 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.33, Z:-0.33 [[ 9.89944500e-01 4.21872390e-02 -1.35018972e-01 4.51954768e+00] [-4.18130271e-02 9.99109718e-01 5.60739101e-03 -3.26183386e-01] [ 1.35135328e-01 9.45460588e-05 9.90827147e-01 -3.33384326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.398241008 meters Centerline goodness [0,1] 0.9109762411551516 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.33, Z:-0.33 [[ 9.89870690e-01 4.15787811e-02 -1.35746906e-01 4.52181500e+00] [-4.11962331e-02 9.99135228e-01 5.62724613e-03 -3.26117005e-01] [ 1.35863490e-01 2.20151903e-05 9.90727567e-01 -3.33066345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.428241008 meters Centerline goodness [0,1] 0.909705248023005 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.33, Z:-0.33 [[ 9.89776159e-01 4.12022426e-02 -1.36548641e-01 4.52360586e+00] [-4.07527131e-02 9.99150721e-01 6.08710996e-03 -3.27090246e-01] [ 1.36683475e-01 -4.60148742e-04 9.90614666e-01 -3.31898162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.458241008 meters Centerline goodness [0,1] 0.9123312123916736 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.33, Z:-0.33 [[ 9.89622467e-01 4.05140563e-02 -1.37862189e-01 4.52600254e+00] [-3.98863709e-02 9.99177455e-01 7.31370173e-03 -3.30060397e-01] [ 1.38045099e-01 -1.73898114e-03 9.90424417e-01 -3.28635483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.488241008 meters Centerline goodness [0,1] 0.9117647058823529 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.33, Z:-0.33 [[ 9.89519196e-01 3.97963308e-02 -1.38809265e-01 4.52865343e+00] [-3.91617053e-02 9.99206211e-01 7.30125477e-03 -3.30569041e-01] [ 1.38989643e-01 -1.78872423e-03 9.90292219e-01 -3.28209764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.518241008000004 meters Centerline goodness [0,1] 0.9121996037784604 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.33, Z:-0.33 [[ 9.89449316e-01 3.90777142e-02 -1.39509800e-01 4.53106071e+00] [-3.85153754e-02 9.99235348e-01 6.72943052e-03 -3.29058300e-01] [ 1.39666094e-01 -1.28515812e-03 9.90197824e-01 -3.28686879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.548241008 meters Centerline goodness [0,1] 0.9129485448329359 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.33, Z:-0.33 [[ 9.89415389e-01 3.86398026e-02 -1.39871915e-01 4.53263874e+00] [-3.81380266e-02 9.99252828e-01 6.26703137e-03 -3.27417784e-01] [ 1.40009564e-01 -8.66258462e-04 9.90149772e-01 -3.29356299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.578241008 meters Centerline goodness [0,1] 0.9122464786712183 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.32, Z:-0.33 [[ 9.89261596e-01 3.67971080e-02 -1.41447757e-01 4.53897952e+00] [-3.64756885e-02 9.99322697e-01 4.86531164e-03 -3.24915164e-01] [ 1.41530983e-01 3.46338374e-04 9.89933766e-01 -3.31560436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.608241008 meters Centerline goodness [0,1] 0.9102931895117333 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.32, Z:-0.33 [[ 9.89191534e-01 3.62259334e-02 -1.42083743e-01 4.54121436e+00] [-3.59135178e-02 9.99343549e-01 4.76342420e-03 -3.24704018e-01] [ 1.42163031e-01 3.90788125e-04 9.89843179e-01 -3.31731734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.638241008 meters Centerline goodness [0,1] 0.9104652827487473 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.33, Z:-0.33 [[ 9.89100951e-01 3.55941915e-02 -1.42871836e-01 4.54343153e+00] [-3.52525376e-02 9.99366312e-01 4.92271598e-03 -3.25168547e-01] [ 1.42956520e-01 1.67531731e-04 9.89728955e-01 -3.31072035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.668241008 meters Centerline goodness [0,1] 0.911203128594433 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.33, Z:-0.33 [[ 9.89025761e-01 3.55854107e-02 -1.43393595e-01 4.54382002e+00] [-3.50976204e-02 9.99366292e-01 5.93059450e-03 -3.27088636e-01] [ 1.43513768e-01 -8.32736783e-04 9.89647970e-01 -3.28927086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.698241008000004 meters Centerline goodness [0,1] 0.9129217536871879 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.33, Z:-0.32 [[ 9.88851029e-01 3.49889332e-02 -1.44739136e-01 4.54557580e+00] [-3.40829681e-02 9.99380834e-01 8.73496389e-03 -3.31458951e-01] [ 1.44955145e-01 -3.70443867e-03 9.89431293e-01 -3.22599749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.728241008 meters Centerline goodness [0,1] 0.9124114904150595 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.33, Z:-0.32 [[ 9.88767022e-01 3.45393518e-02 -1.45419423e-01 4.54719449e+00] [-3.36154177e-02 9.99396040e-01 8.80676647e-03 -3.31273817e-01] [ 1.45635776e-01 -3.81950560e-03 9.89330901e-01 -3.21821450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.758241008 meters Centerline goodness [0,1] 0.9114247196167857 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.33, Z:-0.32 [[ 0.98853734 0.03758095 -0.1462245 4.55105506] [-0.03624008 0.99927316 0.01182402 -0.3287685 ] [ 0.14656258 -0.0063893 0.98918077 -0.32264476] [ 0. 0. 0. 1. ]] SLAMing on 49.788241008 meters Centerline goodness [0,1] 0.9099780295032385 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.33, Z:-0.32 [[ 0.98851647 0.03720406 -0.14646175 4.55263244] [-0.03599161 0.99929242 0.01092048 -0.32525425] [ 0.1467644 -0.00552368 0.98915605 -0.32403394] [ 0. 0. 0. 1. ]] SLAMing on 49.818241008 meters Centerline goodness [0,1] 0.910709207757493 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.32, Z:-0.32 [[ 0.98848371 0.03706038 -0.14671905 4.55352005] [-0.03593213 0.9993008 0.01033365 -0.32281247] [ 0.14699943 -0.00494272 0.98912423 -0.32465255] [ 0. 0. 0. 1. ]] SLAMing on 49.848241008 meters Centerline goodness [0,1] 0.9114432109308284 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.32, Z:-0.32 [[ 0.98844664 0.03704904 -0.14697148 4.55389163] [-0.03594122 0.99930198 0.01018706 -0.32183862] [ 0.14724631 -0.00478704 0.98908827 -0.32439665] [ 0. 0. 0. 1. ]] SLAMing on 49.878241008 meters Centerline goodness [0,1] 0.9120293899868999 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.32, Z:-0.32 [[ 0.9884171 0.03744795 -0.14706899 4.55321187] [-0.03626771 0.99928483 0.01069941 -0.32204435] [ 0.14736448 -0.00524162 0.98906837 -0.32313918] [ 0. 0. 0. 1. ]] SLAMing on 49.908241008 meters Centerline goodness [0,1] 0.9138486083017577 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.32, Z:-0.32 [[ 0.98834887 0.03773313 -0.14745414 4.55229232] [-0.03639397 0.9992682 0.01177029 -0.32246937] [ 0.14779036 -0.00626671 0.98899886 -0.31980497] [ 0. 0. 0. 1. ]] SLAMing on 49.938241008 meters Centerline goodness [0,1] 0.9142857142857143 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.32, Z:-0.32 [[ 0.98828326 0.03761799 -0.14792257 4.55292933] [-0.03624481 0.99927127 0.01196868 -0.32239304] [ 0.14826502 -0.00646702 0.98892652 -0.31883988] [ 0. 0. 0. 1. ]] SLAMing on 49.968241008 meters Centerline goodness [0,1] 0.9137877196468618 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.32, Z:-0.32 [[ 0.98822428 0.03730462 -0.14839521 4.5542177 ] [-0.03593224 0.99928315 0.01191929 -0.32208068] [ 0.14873348 -0.00644676 0.9888563 -0.31864515] [ 0. 0. 0. 1. ]] SLAMing on 49.998241008 meters Centerline goodness [0,1] 0.9142581066871288 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.32, Z:-0.32 [[ 0.98817846 0.03682323 -0.14881998 4.55602602] [-0.03551504 0.99930367 0.01143923 -0.32119348] [ 0.14913758 -0.00601866 0.98879814 -0.31945934] [ 0. 0. 0. 1. ]] SLAMing on 50.028241008 meters Centerline goodness [0,1] 0.9151950485492022 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.32, Z:-0.32 [[ 0.98809445 0.03542914 -0.14971348 4.56033267] [-0.0343103 0.99936069 0.01005032 -0.31852323] [ 0.14997385 -0.00479395 0.98867834 -0.32166056] [ 0. 0. 0. 1. ]] SLAMing on 50.058241008 meters Centerline goodness [0,1] 0.9164960764244285 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.32, Z:-0.32 [[ 9.88033418e-01 3.48135508e-02 -1.50259711e-01 4.56237207e+00] [-3.37344028e-02 9.99383511e-01 9.72563640e-03 -3.18272314e-01] [ 1.50505661e-01 -4.54033216e-03 9.88598721e-01 -3.22088434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.088241008000004 meters Centerline goodness [0,1] 0.9133797810322763 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.32, Z:-0.32 [[ 0.98788037 0.03331767 -0.15159919 4.56654957] [-0.0322313 0.99943415 0.00961846 -0.31972772] [ 0.15183387 -0.00461565 0.98839525 -0.32148747] [ 0. 0. 0. 1. ]] SLAMing on 50.118241008 meters Centerline goodness [0,1] 0.9119625955068993 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.32, Z:-0.32 [[ 0.9878107 0.03273654 -0.15217866 4.56852249] [-0.03163097 0.99945273 0.00968083 -0.32083749] [ 0.1524123 -0.00474927 0.98830559 -0.32139601] [ 0. 0. 0. 1. ]] SLAMing on 50.148241008 meters Centerline goodness [0,1] 0.9115236327288305 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.32, Z:-0.32 [[ 0.98774007 0.03230006 -0.15272936 4.56999836] [-0.03115122 0.99946556 0.00990967 -0.32205349] [ 0.15296782 -0.00503048 0.98821837 -0.32079781] [ 0. 0. 0. 1. ]] SLAMing on 50.178241008 meters Centerline goodness [0,1] 0.911582846559339 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.32, Z:-0.32 [[ 0.98766234 0.03198071 -0.15329819 4.57130403] [-0.03071826 0.9994719 0.01059734 -0.32348476] [ 0.15355615 -0.00575754 0.98812315 -0.31944399] [ 0. 0. 0. 1. ]] SLAMing on 50.208241008 meters Centerline goodness [0,1] 0.9075862461897843 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.33, Z:-0.32 [[ 0.98759129 0.03147057 -0.15386048 4.57257786] [-0.03003788 0.99948112 0.01162805 -0.32576626] [ 0.15414659 -0.00686212 0.98802416 -0.31733633] [ 0. 0. 0. 1. ]] SLAMing on 50.238241008 meters Centerline goodness [0,1] 0.9075862461897843 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.33, Z:-0.32 [[ 0.98759129 0.03147057 -0.15386048 4.57257786] [-0.03003788 0.99948112 0.01162805 -0.32576626] [ 0.15414659 -0.00686212 0.98802416 -0.31733633] [ 0. 0. 0. 1. ]] SLAMing on 50.268241008000004 meters Centerline goodness [0,1] 0.9124306707073018 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.33, Z:-0.32 [[ 0.98755199 0.03151429 -0.1541036 4.57288422] [-0.03002032 0.9994771 0.01201257 -0.32625405] [ 0.15440159 -0.0072368 0.98798167 -0.31664686] [ 0. 0. 0. 1. ]] SLAMing on 50.298241008 meters Centerline goodness [0,1] 0.9108042704626335 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.33, Z:-0.32 [[ 0.98751145 0.03129254 -0.15440826 4.57390737] [-0.02979089 0.99948376 0.0120301 -0.32583288] [ 0.154705 -0.0072799 0.98793389 -0.31651816] [ 0. 0. 0. 1. ]] SLAMing on 50.328241008 meters Centerline goodness [0,1] 0.9112220162555255 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.33, Z:-0.32 [[ 0.98752282 0.03149784 -0.15429376 4.5737019 ] [-0.0300063 0.99947783 0.01198675 -0.32522301] [ 0.15459075 -0.00720741 0.9879523 -0.31677138] [ 0. 0. 0. 1. ]] SLAMing on 50.358241008 meters Centerline goodness [0,1] 0.9105423141388029 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.32, Z:-0.32 [[ 0.98734438 0.0360811 -0.15443196 4.57426853] [-0.03401971 0.99929354 0.01597105 -0.32421289] [ 0.15489911 -0.0105152 0.98787433 -0.31646318] [ 0. 0. 0. 1. ]] SLAMing on 50.388241008 meters Centerline goodness [0,1] 0.9158250113481616 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.32, Z:-0.32 [[ 0.98736118 0.03653595 -0.15421748 4.5736376 ] [-0.03456031 0.99928283 0.01547321 -0.32187532] [ 0.15467221 -0.00994784 0.98791576 -0.31722902] [ 0. 0. 0. 1. ]] SLAMing on 50.418241008 meters Centerline goodness [0,1] 0.9146072499010349 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.32, Z:-0.32 [[ 0.98733674 0.03694824 -0.15427567 4.57362307] [-0.03505964 0.99927346 0.01494553 -0.3195524 ] [ 0.1547158 -0.00934742 0.9879148 -0.31794972] [ 0. 0. 0. 1. ]] SLAMing on 50.448241008000004 meters Centerline goodness [0,1] 0.9103987884906612 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.32, Z:-0.32 [[ 0.98710882 0.04260889 -0.15427464 4.57253634] [-0.04016889 0.99901414 0.01890015 -0.31821617] [ 0.15492786 -0.01245946 0.98784721 -0.31755441] [ 0. 0. 0. 1. ]] SLAMing on 50.478241008 meters Centerline goodness [0,1] 0.91083391730904 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.32, Z:-0.32 [[ 0.98712292 0.04340438 -0.15396231 4.57122999] [-0.04106446 0.99898803 0.0183473 -0.31571571] [ 0.15460286 -0.01178866 0.98790636 -0.31834438] [ 0. 0. 0. 1. ]] SLAMing on 50.508241008 meters Centerline goodness [0,1] 0.9100056053811659 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.31, Z:-0.32 [[ 0.98714146 0.04405263 -0.15365907 4.57053791] [-0.04183614 0.99896893 0.01763002 -0.31281987] [ 0.15427728 -0.01097482 0.98796664 -0.31977987] [ 0. 0. 0. 1. ]] SLAMing on 50.538241008 meters Centerline goodness [0,1] 0.9081450488145049 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.31, Z:-0.32 [[ 0.98714608 0.04461889 -0.15346588 4.57029408] [-0.04251392 0.9989517 0.01697225 -0.30962711] [ 0.15406228 -0.01022966 0.98800818 -0.32122106] [ 0. 0. 0. 1. ]] SLAMing on 50.568241008 meters Centerline goodness [0,1] 0.9106989381463306 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.31, Z:-0.32 [[ 0.98695539 0.04926806 -0.15327006 4.57090418] [-0.04666744 0.99869967 0.02052138 -0.3077913 ] [ 0.15408181 -0.01310097 0.98797123 -0.32223678] [ 0. 0. 0. 1. ]] SLAMing on 50.598241008 meters Centerline goodness [0,1] 0.9127654842655398 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.31, Z:-0.32 [[ 0.98694355 0.049555 -0.1532538 4.57065848] [-0.04697297 0.99868731 0.0204255 -0.30763688] [ 0.15406482 -0.01296003 0.98797574 -0.32238844] [ 0. 0. 0. 1. ]] SLAMing on 50.628241008 meters Centerline goodness [0,1] 0.9143868055942497 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.31, Z:-0.32 [[ 0.9870966 0.04682302 -0.15312709 4.56852852] [-0.04479861 0.99885734 0.01664604 -0.30594837] [ 0.15373154 -0.00957137 0.98806629 -0.32277693] [ 0. 0. 0. 1. ]] SLAMing on 50.658241008 meters Centerline goodness [0,1] 0.9169103924681764 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.31, Z:-0.32 [[ 0.98704098 0.04712099 -0.15339402 4.56848375] [-0.04506142 0.99884164 0.01687769 -0.30676651] [ 0.15401163 -0.00974682 0.98802096 -0.32213396] [ 0. 0. 0. 1. ]] SLAMing on 50.688241008 meters Centerline goodness [0,1] 0.9167061975053715 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.31, Z:-0.32 [[ 0.98706393 0.04798359 -0.15297832 4.5669895 ] [-0.04591861 0.99880043 0.01700521 -0.30700318] [ 0.15361078 -0.00976068 0.98808322 -0.32241606] [ 0. 0. 0. 1. ]] SLAMing on 50.718241008 meters Centerline goodness [0,1] 0.9185185185185185 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.31, Z:-0.32 [[ 0.98704726 0.04796478 -0.15309174 4.56771974] [-0.04592175 0.99880283 0.01685533 -0.30712044] [ 0.15371692 -0.00960676 0.98806823 -0.32308913] [ 0. 0. 0. 1. ]] SLAMing on 50.748241008 meters Centerline goodness [0,1] 0.9194779060342659 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.31, Z:-0.32 [[ 0.98727271 0.04369893 -0.15291499 4.56738892] [-0.04230213 0.99902819 0.01237761 -0.30590046] [ 0.15330727 -0.00575145 0.98816183 -0.32452075] [ 0. 0. 0. 1. ]] SLAMing on 50.778241008 meters Centerline goodness [0,1] 0.9167974002689376 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.31, Z:-0.32 [[ 0.98721514 0.04342389 -0.15336439 4.56888245] [-0.04193475 0.99903665 0.01293283 -0.30884634] [ 0.15377824 -0.00633619 0.98808507 -0.32418323] [ 0. 0. 0. 1. ]] SLAMing on 50.808241008 meters Centerline goodness [0,1] 0.9155889893781872 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.31, Z:-0.32 [[ 9.87419176e-01 3.90623727e-02 -1.53223697e-01 4.56856530e+00] [-3.80905567e-02 9.99231256e-01 9.27400710e-03 -3.11126859e-01] [ 1.53468172e-01 -3.32095652e-03 9.88148011e-01 -3.24676494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.838241008000004 meters Centerline goodness [0,1] 0.9147516888549705 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.31, Z:-0.32 [[ 9.87390369e-01 3.89775531e-02 -1.53430795e-01 4.56920599e+00] [-3.79115579e-02 9.99232369e-01 9.86845960e-03 -3.13050173e-01] [ 1.53697666e-01 -3.92722149e-03 9.88110118e-01 -3.24127058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.868241008 meters Centerline goodness [0,1] 0.9116246101502694 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.32, Z:-0.32 [[ 0.9873869 0.0383686 -0.15360648 4.57052299] [-0.03715372 0.99925149 0.01077286 -0.31778091] [ 0.15390485 -0.00492993 0.98807337 -0.3233573 ] [ 0. 0. 0. 1. ]] SLAMing on 50.898241008 meters Centerline goodness [0,1] 0.911036389023452 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.32, Z:-0.32 [[ 9.87569859e-01 3.42732335e-02 -1.53398561e-01 4.56964770e+00] [-3.36355417e-02 9.99411363e-01 6.75111879e-03 -3.17897105e-01] [ 1.53539648e-01 -1.50755774e-03 9.88141338e-01 -3.23977327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.928241008 meters Centerline goodness [0,1] 0.910764305722289 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.32, Z:-0.32 [[ 9.87493887e-01 3.41775529e-02 -1.53908148e-01 4.57044796e+00] [-3.33835010e-02 9.99412633e-01 7.74146730e-03 -3.21122497e-01] [ 1.54082332e-01 -2.50665880e-03 9.88054832e-01 -3.22414318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.958241008 meters Centerline goodness [0,1] 0.9119426523297491 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.32, Z:-0.32 [[ 9.87449863e-01 3.39751747e-02 -1.54235068e-01 4.57127042e+00] [-3.30877934e-02 9.99417839e-01 8.31755474e-03 -3.23169551e-01] [ 1.54427868e-01 -3.10987024e-03 9.87999171e-01 -3.21623952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.988241008 meters Centerline goodness [0,1] 0.9110977322897853 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.32, Z:-0.32 [[ 9.87446107e-01 3.21844393e-02 -1.54642647e-01 4.57488417e+00] [-3.13728089e-02 9.99478195e-01 7.68667187e-03 -3.23563774e-01] [ 1.54809345e-01 -2.73859999e-03 9.87940568e-01 -3.22870383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.018241008000004 meters Centerline goodness [0,1] 0.9140799816397958 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.32, Z:-0.32 [[ 9.87414507e-01 3.14556738e-02 -1.54993975e-01 4.57708199e+00] [-3.06951326e-02 9.99502148e-01 7.29831158e-03 -3.23539982e-01] [ 1.55146385e-01 -2.44889810e-03 9.87888456e-01 -3.23903490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.048241008 meters Centerline goodness [0,1] 0.911708143172881 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.32, Z:-0.32 [[ 9.87383732e-01 3.13271303e-02 -1.55215902e-01 4.57785995e+00] [-3.05669579e-02 9.99506192e-01 7.28239655e-03 -3.23526182e-01] [ 1.55367391e-01 -2.44604195e-03 9.87853729e-01 -3.24020003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.078241008 meters Centerline goodness [0,1] 0.9112534834946994 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.32, Z:-0.32 [[ 9.87347933e-01 3.14986594e-02 -1.55408794e-01 4.57777334e+00] [-3.06836190e-02 9.99499939e-01 7.64113993e-03 -3.23914222e-01] [ 1.55571765e-01 -2.77595951e-03 9.87820692e-01 -3.23162152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.108241008 meters Centerline goodness [0,1] 0.9120355759575384 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.32, Z:-0.32 [[ 9.87294945e-01 3.17359154e-02 -1.55696898e-01 4.57767204e+00] [-3.08466863e-02 9.99491106e-01 8.12468181e-03 -3.24550941e-01] [ 1.55875509e-01 -3.21872390e-03 9.87771464e-01 -3.21922851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.138241008 meters Centerline goodness [0,1] 0.910139769824642 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.32, Z:-0.32 [[ 9.87268629e-01 3.15752506e-02 -1.55896303e-01 4.57849723e+00] [-3.07001707e-02 9.99496476e-01 8.01838260e-03 -3.24512693e-01] [ 1.56070988e-01 -3.13025449e-03 9.87740881e-01 -3.22192147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.168241008 meters Centerline goodness [0,1] 0.9098772882719774 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.32, Z:-0.32 [[ 9.87217436e-01 3.10251849e-02 -1.56330330e-01 4.58037954e+00] [-3.02081044e-02 9.99514735e-01 7.60033006e-03 -3.24215835e-01] [ 1.56490270e-01 -2.78073541e-03 9.87675586e-01 -3.22901783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.198241008000004 meters Centerline goodness [0,1] 0.9037562053430515 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.32, Z:-0.33 [[ 9.87149912e-01 2.95895505e-02 -1.57033468e-01 4.58478286e+00] [-2.89724481e-02 9.99560872e-01 6.21782873e-03 -3.22441329e-01] [ 1.57148493e-01 -1.58828508e-03 9.87573708e-01 -3.25585132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.228241008 meters Centerline goodness [0,1] 0.906267014356535 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.32, Z:-0.33 [[ 9.87127550e-01 2.91658448e-02 -1.57253150e-01 4.58603440e+00] [-2.85963447e-02 9.99573727e-01 5.88333178e-03 -3.21559773e-01] [ 1.57357710e-01 -1.31073359e-03 9.87540801e-01 -3.26125915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.258241008 meters Centerline goodness [0,1] 0.9100985221674877 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.32, Z:-0.33 [[ 9.87116603e-01 2.89664378e-02 -1.57358691e-01 4.58618695e+00] [-2.83647466e-02 9.99579218e-01 6.06853610e-03 -3.21367943e-01] [ 1.57468262e-01 -1.52691333e-03 9.87522868e-01 -3.25420635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.288241008 meters Centerline goodness [0,1] 0.9087102417758912 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.32, Z:-0.32 [[ 9.87091262e-01 2.89073363e-02 -1.57528430e-01 4.58605246e+00] [-2.81962430e-02 9.99579633e-01 6.74747732e-03 -3.22729188e-01] [ 1.57657262e-01 -2.21866601e-03 9.87491400e-01 -3.23909105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.318241008 meters Centerline goodness [0,1] 0.9145525830258303 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.32, Z:-0.32 [[ 9.87244743e-01 2.44178196e-02 -1.57326374e-01 4.58411169e+00] [-2.41334580e-02 9.99701833e-01 3.71780965e-03 -3.24058734e-01] [ 1.57370246e-01 1.26441408e-04 9.87539665e-01 -3.21374273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.348241008 meters Centerline goodness [0,1] 0.9206920375381427 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.33, Z:-0.32 [[ 9.87214955e-01 2.39125156e-02 -1.57590686e-01 4.58478899e+00] [-2.35013660e-02 9.99713802e-01 4.47216752e-03 -3.25675923e-01] [ 1.57652524e-01 -7.11394282e-04 9.87494393e-01 -3.19789401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.378241008 meters Centerline goodness [0,1] 0.9144485050789906 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.33, Z:-0.32 [[ 9.87165641e-01 2.32123340e-02 -1.58003746e-01 4.58607971e+00] [-2.27591812e-02 9.99730036e-01 4.67701410e-03 -3.26135581e-01] [ 1.58069656e-01 -1.02095173e-03 9.87427436e-01 -3.18915076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.408241008 meters Centerline goodness [0,1] 0.9132016632016632 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.33, Z:-0.32 [[ 9.87130635e-01 2.25545989e-02 -1.58317401e-01 4.58738843e+00] [-2.21094216e-02 9.99745099e-01 4.57285361e-03 -3.26193399e-01] [ 1.58380185e-01 -1.01369771e-03 9.87377683e-01 -3.18758510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.438241008 meters Centerline goodness [0,1] 0.8859054620642123 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.32, Z:-0.32 [[ 9.87058858e-01 2.11359458e-02 -1.58959376e-01 4.59076575e+00] [-2.08251138e-02 9.99776576e-01 3.62111650e-03 -3.24485490e-01] [ 1.59000396e-01 -2.63908020e-04 9.87278484e-01 -3.19915100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.468241008 meters Centerline goodness [0,1] 0.9116340393820401 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.32, Z:-0.32 [[ 9.87033497e-01 2.06623421e-02 -1.59178969e-01 4.59214426e+00] [-2.04408234e-02 9.99786476e-01 3.02899809e-03 -3.22938794e-01] [ 1.59207566e-01 2.64026619e-04 9.87245097e-01 -3.20803155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.498241008 meters Centerline goodness [0,1] 0.8836326262597425 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.32, Z:-0.32 [[ 9.86996955e-01 2.03905654e-02 -1.59440385e-01 4.59310134e+00] [-2.02423263e-02 9.99791841e-01 2.55397344e-03 -3.21168835e-01] [ 1.59459273e-01 7.06680280e-04 9.87204255e-01 -3.21197897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.528241008 meters Centerline goodness [0,1] 0.9125167088535593 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.32, Z:-0.32 [[ 9.86866970e-01 2.54038296e-02 -1.59525013e-01 4.59210876e+00] [-2.45886312e-02 9.99672567e-01 7.08229760e-03 -3.20306649e-01] [ 1.59652697e-01 -3.06678386e-03 9.87168482e-01 -3.19124300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.558241008 meters Centerline goodness [0,1] 0.915898192548875 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.32, Z:-0.32 [[ 9.86882782e-01 2.61361167e-02 -1.59308748e-01 4.59055147e+00] [-2.53467981e-02 9.99654315e-01 6.98494770e-03 -3.17474073e-01] [ 1.59436237e-01 -2.85535795e-03 9.87204099e-01 -3.18751060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.588241008000004 meters Centerline goodness [0,1] 0.9145842157277989 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.31, Z:-0.32 [[ 9.86915866e-01 2.69959152e-02 -1.58960036e-01 4.58885879e+00] [-2.62062121e-02 9.99631610e-01 7.06242724e-03 -3.14440199e-01] [ 1.59092134e-01 -2.80428107e-03 9.87259758e-01 -3.18429256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.618241008 meters Centerline goodness [0,1] 0.9141950342658128 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.31, Z:-0.32 [[ 0.98681091 0.0319095 -0.15870102 4.58813873] [-0.03059374 0.99947433 0.0107276 -0.31035831] [ 0.15895991 -0.00573086 0.98726841 -0.31829228] [ 0. 0. 0. 1. ]] SLAMing on 51.648241008 meters Centerline goodness [0,1] 0.9101924844703195 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.31, Z:-0.32 [[ 0.98656959 0.0359655 -0.15933276 4.59011315] [-0.03406115 0.99931211 0.01466784 -0.31024615] [ 0.15975069 -0.00904379 0.98711596 -0.31775021] [ 0. 0. 0. 1. ]] SLAMing on 51.678241008 meters Centerline goodness [0,1] 0.9099234516353514 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.31, Z:-0.32 [[ 0.98659057 0.0362285 -0.15914318 4.58964992] [-0.03441492 0.99930762 0.01413807 -0.30829769] [ 0.15954519 -0.00847159 0.98715428 -0.31848024] [ 0. 0. 0. 1. ]] SLAMing on 51.708241008 meters Centerline goodness [0,1] 0.9096847723355757 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.31, Z:-0.32 [[ 0.98657992 0.03649601 -0.15914807 4.58925703] [-0.03472843 0.99930047 0.01387456 -0.30665306] [ 0.15954311 -0.0081614 0.98715723 -0.31846967] [ 0. 0. 0. 1. ]] SLAMing on 51.738241008 meters Centerline goodness [0,1] 0.911310662121338 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.30, Z:-0.32 [[ 0.98654527 0.03749892 -0.15912971 4.58805744] [-0.03579502 0.99926713 0.01356144 -0.30219714] [ 0.15952163 -0.00768292 0.98716454 -0.31841369] [ 0. 0. 0. 1. ]] SLAMing on 51.768241008000004 meters Centerline goodness [0,1] 0.9119300091364656 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.30, Z:-0.32 [[ 0.9865502 0.03772211 -0.15904637 4.58756643] [-0.03605816 0.99926071 0.01333598 -0.300598 ] [ 0.15943185 -0.00742169 0.98718104 -0.31840245] [ 0. 0. 0. 1. ]] SLAMing on 51.798241008 meters Centerline goodness [0,1] 0.9117948150402567 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.30, Z:-0.32 [[ 0.98655655 0.03772561 -0.15900611 4.58760392] [-0.0361095 0.99926274 0.01304184 -0.29947081] [ 0.15938089 -0.00712489 0.98719145 -0.31872364] [ 0. 0. 0. 1. ]] SLAMing on 51.828241008 meters Centerline goodness [0,1] 0.909601549529607 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.30, Z:-0.32 [[ 0.98656768 0.03762314 -0.15896135 4.5877303 ] [-0.03598044 0.99926531 0.01320045 -0.29936328] [ 0.1593412 -0.00730363 0.98719656 -0.31852503] [ 0. 0. 0. 1. ]] SLAMing on 51.858241008 meters Centerline goodness [0,1] 0.9082558623560427 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.30, Z:-0.32 [[ 0.98654367 0.03720007 -0.15920973 4.58892054] [-0.03555069 0.99928074 0.01319647 -0.29957556] [ 0.15958613 -0.00735888 0.98715658 -0.3186543 ] [ 0. 0. 0. 1. ]] SLAMing on 51.888241008 meters Centerline goodness [0,1] 0.9037316120453224 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.30, Z:-0.32 [[ 0.98651193 0.03652045 -0.15956339 4.59067958] [-0.03489502 0.99930672 0.01297778 -0.29986329] [ 0.15992672 -0.00723477 0.98710238 -0.31907244] [ 0. 0. 0. 1. ]] SLAMing on 51.918241008 meters Centerline goodness [0,1] 0.9035903701441146 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.30, Z:-0.32 [[ 0.98645319 0.03598092 -0.16004835 4.59246984] [-0.03434932 0.99932598 0.0129503 -0.30073812] [ 0.16040644 -0.00727731 0.98702422 -0.31922977] [ 0. 0. 0. 1. ]] SLAMing on 51.948241008000004 meters Centerline goodness [0,1] 0.8997018086559094 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.30, Z:-0.32 [[ 0.98642285 0.03522504 -0.16040313 4.59448561] [-0.03356703 0.99935146 0.01303534 -0.30279956] [ 0.16075827 -0.0074741 0.98696551 -0.31954258] [ 0. 0. 0. 1. ]] SLAMing on 51.978241008 meters Centerline goodness [0,1] 0.8977180683182974 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.30, Z:-0.32 [[ 0.98640351 0.03546532 -0.16046907 4.59413331] [-0.03370838 0.99933837 0.01365865 -0.30462394] [ 0.16084731 -0.00806379 0.98694636 -0.31862152] [ 0. 0. 0. 1. ]] SLAMing on 52.008241008 meters Centerline goodness [0,1] 0.9018444400906827 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.31, Z:-0.32 [[ 0.9863705 0.03563129 -0.16063515 4.59397682] [-0.03378081 0.99932786 0.01423689 -0.30663731] [ 0.16103446 -0.00861646 0.98691117 -0.31764471] [ 0. 0. 0. 1. ]] SLAMing on 52.038241008 meters Centerline goodness [0,1] 0.9010441452285642 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.31, Z:-0.32 [[ 0.9863363 0.03568859 -0.16083231 4.59429427] [-0.033793 0.99932356 0.01450695 -0.30760086] [ 0.16124125 -0.00887372 0.98687513 -0.31727591] [ 0. 0. 0. 1. ]] SLAMing on 52.068241008 meters Centerline goodness [0,1] 0.8988020440646729 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.31, Z:-0.32 [[ 0.9863369 0.03560513 -0.16084712 4.59562397] [-0.03380555 0.9993316 0.01391177 -0.30565771] [ 0.16123494 -0.00828416 0.98688128 -0.31904363] [ 0. 0. 0. 1. ]] SLAMing on 52.098241008 meters Centerline goodness [0,1] 0.8987585975507465 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.31, Z:-0.32 [[ 0.98633923 0.03560368 -0.16083316 4.59609153] [-0.03383887 0.9993334 0.01369956 -0.30539783] [ 0.1612137 -0.00807 0.98688653 -0.31976397] [ 0. 0. 0. 1. ]] SLAMing on 52.128241008 meters Centerline goodness [0,1] 0.8987585975507465 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.31, Z:-0.32 [[ 0.98633923 0.03560368 -0.16083316 4.59609153] [-0.03383887 0.9993334 0.01369956 -0.30539783] [ 0.1612137 -0.00807 0.98688653 -0.31976397] [ 0. 0. 0. 1. ]] SLAMing on 52.158241008 meters Centerline goodness [0,1] 0.8958899504104446 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.31, Z:-0.32 [[ 0.98633553 0.03592251 -0.16078491 4.59598503] [-0.0341392 0.99932124 0.01384099 -0.3061597 ] [ 0.16117298 -0.00816279 0.98689242 -0.32000196] [ 0. 0. 0. 1. ]] SLAMing on 52.188241008 meters Centerline goodness [0,1] 0.8964396761814056 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.31, Z:-0.32 [[ 0.98632666 0.03614206 -0.16079013 4.59611743] [-0.03432923 0.99931197 0.01403918 -0.30727473] [ 0.1611869 -0.00832742 0.98688877 -0.32009896] [ 0. 0. 0. 1. ]] SLAMing on 52.218241008 meters Centerline goodness [0,1] 0.897290467499649 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.31, Z:-0.32 [[ 0.98633921 0.0362587 -0.16068684 4.59609892] [-0.03445721 0.99930833 0.01398446 -0.30725295] [ 0.16108276 -0.0082566 0.98690636 -0.32046956] [ 0. 0. 0. 1. ]] SLAMing on 52.248241008 meters Centerline goodness [0,1] 0.8979511647488072 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.31, Z:-0.32 [[ 0.98633746 0.03639576 -0.16066665 4.59634166] [-0.03459601 0.99930351 0.0139859 -0.30797084] [ 0.16106377 -0.00823639 0.98690963 -0.32096061] [ 0. 0. 0. 1. ]] SLAMing on 52.278241008 meters Centerline goodness [0,1] 0.8983571448699523 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.31, Z:-0.32 [[ 0.98627643 0.03676302 -0.16095743 4.59674335] [-0.03488539 0.99928646 0.0144768 -0.3112619 ] [ 0.16137479 -0.00866306 0.98685517 -0.32075582] [ 0. 0. 0. 1. ]] SLAMing on 52.308241008 meters Centerline goodness [0,1] 0.9001938256692603 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.31, Z:-0.32 [[ 0.98620086 0.03612701 -0.16156331 4.59942873] [-0.03431487 0.9993131 0.01399351 -0.31165189] [ 0.16195788 -0.00825639 0.98676313 -0.32187474] [ 0. 0. 0. 1. ]] SLAMing on 52.338241008000004 meters Centerline goodness [0,1] 0.8979828229178438 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.31, Z:-0.32 [[ 0.98616211 0.03562383 -0.16191118 4.60178585] [-0.03388611 0.99933476 0.01348228 -0.31170983] [ 0.16228376 -0.00780917 0.98671323 -0.32349188] [ 0. 0. 0. 1. ]] SLAMing on 52.368241008 meters Centerline goodness [0,1] 0.8975281026134723 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.31, Z:-0.32 [[ 0.98612565 0.03510258 -0.16224678 4.60407073] [-0.03341991 0.99935568 0.01308957 -0.31205106] [ 0.16260172 -0.00748569 0.98666339 -0.32491627] [ 0. 0. 0. 1. ]] SLAMing on 52.398241008 meters Centerline goodness [0,1] 0.89866515194547 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.32, Z:-0.33 [[ 0.98605923 0.03438214 -0.16280377 4.60718706] [-0.03266929 0.99937921 0.01318731 -0.31596535] [ 0.16315611 -0.00768479 0.98657034 -0.32613302] [ 0. 0. 0. 1. ]] SLAMing on 52.428241008 meters Centerline goodness [0,1] 0.9000712758374911 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.32, Z:-0.33 [[ 0.98600099 0.03415666 -0.16320345 4.60853515] [-0.03236027 0.999383 0.01365368 -0.31849536] [ 0.16356911 -0.00818123 0.98649795 -0.32585173] [ 0. 0. 0. 1. ]] SLAMing on 52.458241008 meters Centerline goodness [0,1] 0.9028824200913242 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.32, Z:-0.33 [[ 0.9859646 0.03392987 -0.16347038 4.60969988] [-0.03206602 0.99938731 0.0140278 -0.32078358] [ 0.16384619 -0.00858907 0.98644851 -0.32576103] [ 0. 0. 0. 1. ]] SLAMing on 52.488241008 meters Centerline goodness [0,1] 0.9032941243810996 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.32, Z:-0.33 [[ 0.98590479 0.03376856 -0.16386404 4.61078966] [-0.03179767 0.99938715 0.01463647 -0.32339558] [ 0.16425787 -0.00921967 0.98637435 -0.32513554] [ 0. 0. 0. 1. ]] SLAMing on 52.518241008000004 meters Centerline goodness [0,1] 0.906957347062038 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.32, Z:-0.33 [[ 9.86885519e-01 3.17632098e-02 -1.58265820e-01 4.62425823e+00] [-3.14919542e-02 9.99495088e-01 4.22212791e-03 -3.23616981e-01] [ 1.58320018e-01 8.17343081e-04 9.87387514e-01 -3.26433307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.548241008 meters Centerline goodness [0,1] 0.9063560540696003 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.32, Z:-0.32 [[ 9.86870582e-01 3.22051337e-02 -1.58269654e-01 4.62324871e+00] [-3.17881371e-02 9.99481278e-01 5.16618825e-03 -3.24943669e-01] [ 1.58353934e-01 -6.72617290e-05 9.87382412e-01 -3.24686526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.578241008 meters Centerline goodness [0,1] 0.9074329766425038 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.33, Z:-0.32 [[ 9.86860777e-01 3.22794025e-02 -1.58315657e-01 4.62327333e+00] [-3.18032650e-02 9.99478791e-01 5.54072408e-03 -3.25222027e-01] [ 1.58411993e-01 -4.32968491e-04 9.87373006e-01 -3.24148216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.608241008 meters Centerline goodness [0,1] 0.9075 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.32, Z:-0.33 [[ 9.86823434e-01 3.15376627e-02 -1.58697466e-01 4.62578687e+00] [-3.12178550e-02 9.99502436e-01 4.50832572e-03 -3.22733873e-01] [ 1.58760686e-01 5.05273014e-04 9.87316965e-01 -3.26051642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.638241008 meters Centerline goodness [0,1] 0.9073632840533946 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.32, Z:-0.33 [[ 9.86787727e-01 3.10986217e-02 -1.59005840e-01 4.62751809e+00] [-3.08660573e-02 9.99515793e-01 3.93266676e-03 -3.21359186e-01] [ 1.59051148e-01 1.02717606e-03 9.87269810e-01 -3.27116471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.668241008 meters Centerline goodness [0,1] 0.9046854390090039 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.32, Z:-0.33 [[ 9.86756746e-01 3.08638846e-02 -1.59243666e-01 4.62864773e+00] [-3.06670504e-02 9.99522830e-01 3.69395196e-03 -3.20762902e-01] [ 1.59281689e-01 1.23850150e-03 9.87232399e-01 -3.27624011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.698241008000004 meters Centerline goodness [0,1] 0.9046882607325945 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.32, Z:-0.33 [[ 9.86731017e-01 3.08102446e-02 -1.59413389e-01 4.62917800e+00] [-3.06038556e-02 9.99524557e-01 3.75014044e-03 -3.20313808e-01] [ 1.59453140e-01 1.17828445e-03 9.87204795e-01 -3.27466959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.728241008 meters Centerline goodness [0,1] 0.9049185015727766 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.32, Z:-0.33 [[ 9.86715389e-01 3.08200155e-02 -1.59508209e-01 4.62934968e+00] [-3.05928996e-02 9.99524397e-01 3.87987937e-03 -3.19715126e-01] [ 1.59551924e-01 1.05148194e-03 9.87188978e-01 -3.27069564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.758241008 meters Centerline goodness [0,1] 0.9044622425629291 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.32, Z:-0.33 [[ 9.86696191e-01 3.07423823e-02 -1.59641890e-01 4.62977946e+00] [-3.05175202e-02 9.99526776e-01 3.86059933e-03 -3.19170611e-01] [ 1.59685027e-01 1.06263593e-03 9.87167444e-01 -3.26993265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.788241008 meters Centerline goodness [0,1] 0.902619476104779 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.32, Z:-0.33 [[ 9.86681388e-01 3.09268254e-02 -1.59697745e-01 4.62950638e+00] [-3.06627230e-02 9.99521304e-01 4.11829721e-03 -3.18820040e-01] [ 1.59748664e-01 8.33320517e-04 9.87157368e-01 -3.26365835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.818241008 meters Centerline goodness [0,1] 0.9016407525126707 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.32, Z:-0.33 [[ 9.86679756e-01 3.12488771e-02 -1.59645129e-01 4.62884753e+00] [-3.09220579e-02 9.99511526e-01 4.53157764e-03 -3.19105362e-01] [ 1.59708753e-01 4.65340008e-04 9.87164068e-01 -3.25610859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.848241008 meters Centerline goodness [0,1] 0.9029373835793093 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.32, Z:-0.32 [[ 9.86695176e-01 3.23125905e-02 -1.59337772e-01 4.62633626e+00] [-3.18130735e-02 9.99477666e-01 5.68544670e-03 -3.20272144e-01] [ 1.59438256e-01 -5.40778596e-04 9.87207754e-01 -3.23470578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.878241008 meters Centerline goodness [0,1] 0.9039375035769472 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.32, Z:-0.32 [[ 9.86668950e-01 3.25333185e-02 -1.59455217e-01 4.62626737e+00] [-3.20053355e-02 9.99470408e-01 5.87888125e-03 -3.19950941e-01] [ 1.59562030e-01 -6.97091872e-04 9.87187658e-01 -3.23030501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.908241008000005 meters Centerline goodness [0,1] 0.9024795757488893 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.32, Z:-0.32 [[ 9.86674919e-01 3.29491634e-02 -1.59332850e-01 4.62566879e+00] [-3.23820560e-02 9.99456611e-01 6.15501892e-03 -3.20021109e-01] [ 1.59449073e-01 -9.13477534e-04 9.87205733e-01 -3.22816068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.938241008 meters Centerline goodness [0,1] 0.8999770918045931 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.32, Z:-0.32 [[ 9.86695074e-01 3.35185865e-02 -1.59089078e-01 4.62492389e+00] [-3.29021532e-02 9.99437389e-01 6.50790160e-03 -3.20341029e-01] [ 1.59217709e-01 -1.18694122e-03 9.87242783e-01 -3.22892342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.968241008 meters Centerline goodness [0,1] 0.9018096706056973 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.32, Z:-0.32 [[ 9.86650933e-01 3.32897890e-02 -1.59410562e-01 4.62651502e+00] [-3.27254969e-02 9.99445367e-01 6.16448034e-03 -3.19687226e-01] [ 1.59527362e-01 -8.65400420e-04 9.87193128e-01 -3.23830832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.998241008 meters Centerline goodness [0,1] 0.9018182854537163 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.32, Z:-0.32 [[ 9.86653559e-01 3.32380644e-02 -1.59405099e-01 4.62725459e+00] [-3.27281766e-02 9.99447323e-01 5.82366919e-03 -3.18981094e-01] [ 1.59510567e-01 -5.28905700e-04 9.87196079e-01 -3.24876529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.028241008 meters Centerline goodness [0,1] 0.9008747186369206 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.32, Z:-0.33 [[ 9.86629718e-01 3.32541422e-02 -1.59549243e-01 4.62788004e+00] [-3.27450706e-02 9.99446794e-01 5.81943243e-03 -3.18996821e-01] [ 1.59654499e-01 -5.17173755e-04 9.87172818e-01 -3.25147070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.058241008 meters Centerline goodness [0,1] 0.9027947921711632 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.32, Z:-0.32 [[ 9.86525531e-01 3.31691053e-02 -1.60209819e-01 4.62883776e+00] [-3.25019029e-02 9.99448650e-01 6.78398112e-03 -3.21800806e-01] [ 1.60346506e-01 -1.48544658e-03 9.87059670e-01 -3.23173476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.088241008000004 meters Centerline goodness [0,1] 0.9030843318236542 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.32, Z:-0.32 [[ 9.86453352e-01 3.30273855e-02 -1.60682846e-01 4.62956549e+00] [-3.22248720e-02 9.99451760e-01 7.59848128e-03 -3.24347906e-01] [ 1.60845711e-01 -2.31756320e-03 9.86976842e-01 -3.21680452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.118241008 meters Centerline goodness [0,1] 0.9032378975290488 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.32, Z:-0.32 [[ 9.86632618e-01 2.89160199e-02 -1.60374379e-01 4.62749378e+00] [-2.86347526e-02 9.99581675e-01 4.06513006e-03 -3.24744440e-01] [ 1.60424838e-01 5.81490749e-04 9.87047888e-01 -3.20601082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.148241008 meters Centerline goodness [0,1] 0.9049424156490538 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.32, Z:-0.32 [[ 9.86794649e-01 2.45632166e-02 -1.60102993e-01 4.62588827e+00] [-2.48267746e-02 9.99691705e-01 3.54244379e-04 -3.24768249e-01] [ 1.60062336e-01 3.62527447e-03 9.87100251e-01 -3.19759194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.178241008 meters Centerline goodness [0,1] 0.9052850699664623 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.32, Z:-0.32 [[ 9.86661808e-01 2.17161691e-02 -1.61328502e-01 4.63301819e+00] [-2.22355455e-02 9.99751759e-01 -1.41441402e-03 -3.23231258e-01] [ 1.61257738e-01 4.98277554e-03 9.86899749e-01 -3.22660782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.208241008 meters Centerline goodness [0,1] 0.9045310245310245 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.32, Z:-0.32 [[ 9.86557689e-01 2.06773020e-02 -1.62099895e-01 4.63659202e+00] [-2.12836983e-02 9.99771466e-01 -2.00505772e-03 -3.22232231e-01] [ 1.62021390e-01 5.42819036e-03 9.86772316e-01 -3.23776647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.238241008 meters Centerline goodness [0,1] 0.90499306518724 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.32, Z:-0.33 [[ 9.86469712e-01 1.93322431e-02 -1.62799791e-01 4.64101242e+00] [-2.01209347e-02 9.99792442e-01 -3.19694604e-03 -3.20539862e-01] [ 1.62704197e-01 6.42937441e-03 9.86653945e-01 -3.26363042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.268241008000004 meters Centerline goodness [0,1] 0.9046615064695009 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.32, Z:-0.33 [[ 9.86420184e-01 1.90523560e-02 -1.63132547e-01 4.64245182e+00] [-1.98483014e-02 9.99797719e-01 -3.25050426e-03 -3.20393686e-01] [ 1.63037619e-01 6.44426698e-03 9.86598807e-01 -3.26698646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.298241008 meters Centerline goodness [0,1] 0.9058776004847505 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.32, Z:-0.33 [[ 9.86378055e-01 1.90773608e-02 -1.63384169e-01 4.64290145e+00] [-1.98204618e-02 9.99799294e-01 -2.91911245e-03 -3.20972473e-01] [ 1.63295688e-01 6.11769814e-03 9.86558205e-01 -3.26148544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.328241008 meters Centerline goodness [0,1] 0.9055443257291366 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.32, Z:-0.32 [[ 9.86329979e-01 1.95419465e-02 -1.63619328e-01 4.64237610e+00] [-2.01313424e-02 9.99795453e-01 -1.94474200e-03 -3.22584688e-01] [ 1.63547856e-01 5.21203406e-03 9.86521634e-01 -3.24389001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.358241008 meters Centerline goodness [0,1] 0.9059208241694641 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.33, Z:-0.32 [[ 9.86286425e-01 2.03643590e-02 -1.63781506e-01 4.64111888e+00] [-2.07539975e-02 9.99784389e-01 -6.68071406e-04 -3.25107971e-01] [ 1.63732588e-01 4.05803071e-03 9.86496413e-01 -3.22141673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.388241008 meters Centerline goodness [0,1] 0.9082149367747909 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.32, Z:-0.32 [[ 9.86280028e-01 2.06051074e-02 -1.63789914e-01 4.64092994e+00] [-2.09682742e-02 9.99780022e-01 -4.88523965e-04 -3.24470835e-01] [ 1.63743818e-01 3.91621326e-03 9.86495122e-01 -3.21838097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.418241008 meters Centerline goodness [0,1] 0.9061551360259041 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.32, Z:-0.32 [[ 9.86283742e-01 2.07582820e-02 -1.63748200e-01 4.64073597e+00] [-2.11232550e-02 9.99776760e-01 -4.87791649e-04 -3.23078691e-01] [ 1.63701519e-01 3.93999596e-03 9.86502047e-01 -3.21723243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.448241008000004 meters Centerline goodness [0,1] 0.9053331406272582 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.32, Z:-0.32 [[ 9.86296814e-01 2.10537076e-02 -1.63631706e-01 4.64016598e+00] [-2.13549530e-02 9.99771954e-01 -8.19874600e-05 -3.22803656e-01] [ 1.63592664e-01 3.57521137e-03 9.86521494e-01 -3.21129588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.478241008 meters Centerline goodness [0,1] 0.906484582515302 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.32, Z:-0.32 [[ 9.86340503e-01 2.17659481e-02 -1.63274788e-01 4.63834031e+00] [-2.19302133e-02 9.99759187e-01 7.96503725e-04 -3.23057146e-01] [ 1.63252806e-01 2.79502704e-03 9.86580311e-01 -3.19787576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.508241008 meters Centerline goodness [0,1] 0.9065404375685505 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.32, Z:-0.32 [[ 9.86330875e-01 2.19824174e-02 -1.63303943e-01 4.63818623e+00] [-2.21094496e-02 9.99755016e-01 1.03977416e-03 -3.22733307e-01] [ 1.63286792e-01 2.58499894e-03 9.86575259e-01 -3.19402973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.538241008 meters Centerline goodness [0,1] 0.9036682707546898 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.32, Z:-0.32 [[ 9.86319158e-01 2.23091950e-02 -1.63330394e-01 4.63789406e+00] [-2.24031264e-02 9.99748216e-01 1.26703339e-03 -3.22368239e-01] [ 1.63317537e-01 2.40941216e-03 9.86570614e-01 -3.19075988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.568241008 meters Centerline goodness [0,1] 0.9050985370920738 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.32, Z:-0.32 [[ 9.86317395e-01 2.33121664e-02 -1.63200920e-01 4.63672908e+00] [-2.33476106e-02 9.99725960e-01 1.70111463e-03 -3.22285244e-01] [ 1.63195853e-01 2.13251257e-03 9.86591388e-01 -3.18859697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.598241008 meters Centerline goodness [0,1] 0.9040634005763689 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.32, Z:-0.32 [[ 9.86304649e-01 2.38543834e-02 -1.63199594e-01 4.63616507e+00] [-2.38476798e-02 9.99713602e-01 2.00045923e-03 -3.22034193e-01] [ 1.63200573e-01 1.91886942e-03 9.86591045e-01 -3.18458404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.628241008 meters Centerline goodness [0,1] 0.9041639127561136 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.32, Z:-0.32 [[ 9.86301078e-01 2.44385791e-02 -1.63134727e-01 4.63538289e+00] [-2.43934807e-02 9.99699835e-01 2.27987740e-03 -3.21646481e-01] [ 1.63141477e-01 1.73077828e-03 9.86601167e-01 -3.18060288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.658241008000005 meters Centerline goodness [0,1] 0.9042932780847146 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.32, Z:-0.32 [[ 9.86325358e-01 2.52858330e-02 -1.62858576e-01 4.63374501e+00] [-2.51621592e-02 9.99679399e-01 2.82239109e-03 -3.21651048e-01] [ 1.62877729e-01 1.31407751e-03 9.86645386e-01 -3.17329644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.688241008 meters Centerline goodness [0,1] 0.9047783039173483 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.32, Z:-0.31 [[ 9.86092545e-01 2.96740733e-02 -1.63526580e-01 4.63517772e+00] [-2.87197628e-02 9.99553889e-01 8.19739141e-03 -3.24780790e-01] [ 1.63696879e-01 -3.38694197e-03 9.86504871e-01 -3.14780592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.718241008 meters Centerline goodness [0,1] 0.9022647380856336 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.33, Z:-0.31 [[ 9.86063486e-01 2.95798360e-02 -1.63718770e-01 4.63535799e+00] [-2.84901045e-02 9.99553551e-01 9.00066850e-03 -3.26783960e-01] [ 1.63911916e-01 -4.21086568e-03 9.86465991e-01 -3.13373902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.748241008 meters Centerline goodness [0,1] 0.9044780417566595 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.33, Z:-0.31 [[ 0.98598835 0.02899863 -0.16427435 4.63658171] [-0.02779089 0.99956722 0.00964597 -0.32828302] [ 0.16448297 -0.00494548 0.98636752 -0.3117127 ] [ 0. 0. 0. 1. ]] SLAMing on 53.778241008 meters Centerline goodness [0,1] 0.9075734783614904 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.33, Z:-0.31 [[ 9.86135223e-01 2.38034758e-02 -1.64227638e-01 4.63725574e+00] [-2.32771011e-02 9.99715894e-01 5.12912387e-03 -3.26980215e-01] [ 1.64303070e-01 -1.23526640e-03 9.86409132e-01 -3.12593558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.808241008 meters Centerline goodness [0,1] 0.9104559657447054 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.33, Z:-0.31 [[ 9.86066844e-01 2.31259414e-02 -1.64734242e-01 4.63931096e+00] [-2.26139459e-02 9.99731853e-01 4.98304427e-03 -3.27173553e-01] [ 1.64805307e-01 -1.18832349e-03 9.86325402e-01 -3.12797609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.838241008000004 meters Centerline goodness [0,1] 0.9082459899241415 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.33, Z:-0.31 [[ 9.86018776e-01 2.25595038e-02 -1.65100096e-01 4.64093466e+00] [-2.21091915e-02 9.99745140e-01 4.56496609e-03 -3.26065463e-01] [ 1.65161002e-01 -8.50912639e-04 9.86266252e-01 -3.13234024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.868241008 meters Centerline goodness [0,1] 0.9079830959824013 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.32, Z:-0.31 [[ 9.86008697e-01 2.23604625e-02 -1.65187343e-01 4.64162680e+00] [-2.19602014e-02 9.99749816e-01 4.24922821e-03 -3.24817019e-01] [ 1.65241031e-01 -5.62228645e-04 9.86253054e-01 -3.13713954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.898241008 meters Centerline goodness [0,1] 0.9071911671194867 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.32, Z:-0.31 [[ 9.85992545e-01 2.24144348e-02 -1.65276418e-01 4.64137627e+00] [-2.19789680e-02 9.99748470e-01 4.46342128e-03 -3.23994349e-01] [ 1.65334891e-01 -7.68295000e-04 9.86237184e-01 -3.12842251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.928241008 meters Centerline goodness [0,1] 0.9100599216409311 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.32, Z:-0.31 [[ 9.85910805e-01 2.21675777e-02 -1.65796509e-01 4.64221974e+00] [-2.16387403e-02 9.99753374e-01 4.99553749e-03 -3.24444868e-01] [ 1.65866359e-01 -1.33752678e-03 9.86147333e-01 -3.11292991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.958241008 meters Centerline goodness [0,1] 0.9098654190492693 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.32, Z:-0.31 [[ 9.85884689e-01 2.20296449e-02 -1.65970100e-01 4.64254033e+00] [-2.14453713e-02 9.99755910e-01 5.31182753e-03 -3.24935838e-01] [ 1.66046606e-01 -1.67755902e-03 9.86116479e-01 -3.10553430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.988241008 meters Centerline goodness [0,1] 0.9104115523465703 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.32, Z:-0.31 [[ 9.85807229e-01 2.08726322e-02 -1.66578633e-01 4.64553762e+00] [-2.03771111e-02 9.99781395e-01 4.68346927e-03 -3.23881397e-01] [ 1.66639975e-01 -1.22260655e-03 9.86017051e-01 -3.11376437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.018241008000004 meters Centerline goodness [0,1] 0.9088647147320912 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.32, Z:-0.31 [[ 9.85766493e-01 2.03879780e-02 -1.66879452e-01 4.64696884e+00] [-1.99114701e-02 9.99791493e-01 4.52821974e-03 -3.23645826e-01] [ 1.66936978e-01 -1.14095206e-03 9.85966908e-01 -3.11605228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.048241008 meters Centerline goodness [0,1] 0.9088647147320912 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.32, Z:-0.31 [[ 9.85766493e-01 2.03879780e-02 -1.66879452e-01 4.64696884e+00] [-1.99114701e-02 9.99791493e-01 4.52821974e-03 -3.23645826e-01] [ 1.66936978e-01 -1.14095206e-03 9.85966908e-01 -3.11605228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.078241008 meters Centerline goodness [0,1] 0.9094593029987263 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.32, Z:-0.31 [[ 9.85706286e-01 2.01489293e-02 -1.67263681e-01 4.64790381e+00] [-1.96411674e-02 9.99796095e-01 4.68959332e-03 -3.24023720e-01] [ 1.67324066e-01 -1.33730765e-03 9.85901044e-01 -3.11094935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.108241008 meters Centerline goodness [0,1] 0.9090409532623785 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.32, Z:-0.31 [[ 9.85638767e-01 1.98702375e-02 -1.67694351e-01 4.64891887e+00] [-1.93226997e-02 9.99801310e-01 4.89633439e-03 -3.24508922e-01] [ 1.67758323e-01 -1.58570940e-03 9.85826876e-01 -3.10434795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.138241008 meters Centerline goodness [0,1] 0.9089800185873605 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.33, Z:-0.31 [[ 9.85578666e-01 1.93998059e-02 -1.68102175e-01 4.65013531e+00] [-1.88030437e-02 9.99809989e-01 5.14116454e-03 -3.25383514e-01] [ 1.68169971e-01 -1.90618955e-03 9.85756170e-01 -3.09748175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.168241008 meters Centerline goodness [0,1] 0.9092463272579757 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.33, Z:-0.31 [[ 9.85536141e-01 1.94021673e-02 -1.68351032e-01 4.65036211e+00] [-1.87344807e-02 9.99809070e-01 5.55360431e-03 -3.25750160e-01] [ 1.68426640e-01 -2.31930862e-03 9.85711463e-01 -3.08789217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.198241008000004 meters Centerline goodness [0,1] 0.9087482239684519 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.33, Z:-0.31 [[ 9.85503220e-01 1.94928760e-02 -1.68533178e-01 4.65027238e+00] [-1.86976189e-02 9.99805307e-01 6.30449929e-03 -3.26667886e-01] [ 1.68623258e-01 -3.06193522e-03 9.85675820e-01 -3.07268174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.228241008 meters Centerline goodness [0,1] 0.9098123262279889 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.33, Z:-0.31 [[ 9.85460507e-01 1.97541531e-02 -1.68752373e-01 4.64995820e+00] [-1.88079490e-02 9.99797163e-01 7.20378201e-03 -3.27763711e-01] [ 1.68860448e-01 -3.92515664e-03 9.85632154e-01 -3.05530580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.258241008 meters Centerline goodness [0,1] 0.9112497833246663 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.33, Z:-0.30 [[ 9.85473828e-01 2.02111282e-02 -1.68620416e-01 4.64888643e+00] [-1.91844435e-02 9.99786189e-01 7.71579087e-03 -3.26956929e-01] [ 1.68740308e-01 -4.36882113e-03 9.85650862e-01 -3.04398477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.288241008 meters Centerline goodness [0,1] 0.9085926908765756 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.33, Z:-0.30 [[ 9.85494122e-01 2.06676102e-02 -1.68446385e-01 4.64789952e+00] [-1.96187919e-02 9.99776412e-01 7.88847487e-03 -3.25515060e-01] [ 1.68571758e-01 -4.46933105e-03 9.85679252e-01 -3.03907081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.318241008 meters Centerline goodness [0,1] 0.9074916503512611 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.32, Z:-0.30 [[ 9.85545583e-01 2.14692936e-02 -1.68044559e-01 4.64587427e+00] [-2.03909019e-02 9.99758943e-01 8.14043036e-03 -3.23959776e-01] [ 1.68178820e-01 -4.59618507e-03 9.85745788e-01 -3.03223403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.348241008 meters Centerline goodness [0,1] 0.9035802398301681 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.32, Z:-0.31 [[ 9.86279003e-01 2.61520633e-02 -1.63002449e-01 4.66098046e+00] [-2.60526807e-02 9.99656795e-01 2.74766368e-03 -3.20744747e-01] [ 1.63018363e-01 1.53668776e-03 9.86621838e-01 -3.05659939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.378241008 meters Centerline goodness [0,1] 0.9000285795941698 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.32, Z:-0.30 [[ 9.86095311e-01 3.08369298e-02 -1.63294587e-01 4.66152229e+00] [-3.00148689e-02 9.99521317e-01 7.49961885e-03 -3.22273942e-01] [ 1.63447686e-01 -2.49407335e-03 9.86548850e-01 -3.04296115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.408241008000005 meters Centerline goodness [0,1] 0.8936097407967151 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.32, Z:-0.30 [[ 9.86128143e-01 3.14238144e-02 -1.62984136e-01 4.66074307e+00] [-3.06467542e-02 9.99503763e-01 7.28042575e-03 -3.20036059e-01] [ 1.63132036e-01 -2.18449796e-03 9.86601828e-01 -3.04967862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.438241008 meters Centerline goodness [0,1] 0.8939824820839495 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.32, Z:-0.30 [[ 0.986011 0.03669346 -0.1625912 4.65982972] [-0.03529802 0.99931108 0.01146395 -0.31889758] [ 0.16289984 -0.00556444 0.98662692 -0.30488126] [ 0. 0. 0. 1. ]] SLAMing on 54.468241008 meters Centerline goodness [0,1] 0.8928216909157946 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.32, Z:-0.31 [[ 0.98603895 0.037286 -0.16228659 4.6592119 ] [-0.0359402 0.99929094 0.01122164 -0.31717286] [ 0.16258992 -0.00523236 0.98667986 -0.30576084] [ 0. 0. 0. 1. ]] SLAMing on 54.498241008 meters Centerline goodness [0,1] 0.8922540797824116 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.32, Z:-0.31 [[ 0.98604738 0.03770122 -0.16213938 4.65884788] [-0.03639464 0.99927671 0.01102207 -0.31580042] [ 0.16243765 -0.00496728 0.98670631 -0.30626077] [ 0. 0. 0. 1. ]] SLAMing on 54.528241008 meters Centerline goodness [0,1] 0.8939963271648538 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.31, Z:-0.31 [[ 0.98603888 0.03799516 -0.1621225 4.65884995] [-0.03670596 0.99926621 0.01094095 -0.3148362 ] [ 0.16241924 -0.00483735 0.98670998 -0.3064767 ] [ 0. 0. 0. 1. ]] SLAMing on 54.558241008 meters Centerline goodness [0,1] 0.8980098800282287 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.31, Z:-0.31 [[ 0.98606464 0.03839665 -0.16187101 4.65813484] [-0.03712278 0.9992514 0.01088797 -0.3140546 ] [ 0.1621679 -0.00472714 0.98675186 -0.30667815] [ 0. 0. 0. 1. ]] SLAMing on 54.588241008000004 meters Centerline goodness [0,1] 0.9000563856780378 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.31, Z:-0.31 [[ 0.98604216 0.03935641 -0.16177739 4.6572351 ] [-0.0380791 0.9992143 0.0109897 -0.3131153 ] [ 0.1620828 -0.00467597 0.98676608 -0.3069339 ] [ 0. 0. 0. 1. ]] SLAMing on 54.618241008 meters Centerline goodness [0,1] 0.9016946270686919 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.31, Z:-0.31 [[ 9.86043851e-01 3.92294893e-02 -1.61797936e-01 4.65793595e+00] [-3.80025929e-02 9.99220653e-01 1.06719096e-02 -3.12374623e-01] [ 1.62090492e-01 -4.37422981e-03 9.86766203e-01 -3.07736980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.648241008 meters Centerline goodness [0,1] 0.8974104714415231 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.31, Z:-0.31 [[ 9.86052468e-01 3.90687022e-02 -1.61784320e-01 4.65878687e+00] [-3.78748068e-02 9.99227764e-01 1.04582766e-02 -3.12281475e-01] [ 1.62067976e-01 -4.18485955e-03 9.86770722e-01 -3.08638266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.678241008 meters Centerline goodness [0,1] 0.8989232077075658 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.31, Z:-0.31 [[ 9.86034375e-01 3.88545168e-02 -1.61946093e-01 4.66027255e+00] [-3.76467361e-02 9.99235723e-01 1.05210647e-02 -3.13753141e-01] [ 1.62231112e-01 -4.27738959e-03 9.86743518e-01 -3.09438581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.708241008 meters Centerline goodness [0,1] 0.899447670301657 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.32, Z:-0.31 [[ 9.86001009e-01 3.87602332e-02 -1.62171680e-01 4.66107861e+00] [-3.74988656e-02 9.99237952e-01 1.08328208e-02 -3.15385157e-01] [ 1.62467980e-01 -4.59991826e-03 9.86703094e-01 -3.09212349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.738241008 meters Centerline goodness [0,1] 0.8935352557715848 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.32, Z:-0.31 [[ 0.98596232 0.03883745 -0.16238832 4.66152415] [-0.03749222 0.99923256 0.01134153 -0.31742587] [ 0.16270417 -0.00509402 0.98666175 -0.308711 ] [ 0. 0. 0. 1. ]] SLAMing on 54.768241008000004 meters Centerline goodness [0,1] 0.897306684887826 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.32, Z:-0.31 [[ 0.98592289 0.03859633 -0.16268492 4.66262067] [-0.03717957 0.99923957 0.01174534 -0.31950584] [ 0.16301453 -0.00553145 0.98660816 -0.30832237] [ 0. 0. 0. 1. ]] SLAMing on 54.798241008 meters Centerline goodness [0,1] 0.8972347855956947 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.32, Z:-0.31 [[ 9.86080455e-01 3.37152254e-02 -1.62814681e-01 4.66383171e+00] [-3.28895632e-02 9.99428830e-01 7.76473498e-03 -3.21646435e-01] [ 1.62983476e-01 -2.30174965e-03 9.86626114e-01 -3.09392219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.828241008 meters Centerline goodness [0,1] 0.8953300663015278 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.32, Z:-0.31 [[ 9.86227609e-01 2.82641178e-02 -1.62960865e-01 4.66601588e+00] [-2.81985031e-02 9.99598653e-01 2.71618473e-03 -3.20600940e-01] [ 1.62972231e-01 1.91647607e-03 9.86628795e-01 -3.11876450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.858241008 meters Centerline goodness [0,1] 0.8937991870621811 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.32, Z:-0.31 [[ 9.86137186e-01 2.72762360e-02 -1.63674850e-01 4.66902848e+00] [-2.71403959e-02 9.99626928e-01 3.06648433e-03 -3.22892634e-01] [ 1.63697429e-01 1.41822598e-03 9.86509574e-01 -3.11630123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.888241008 meters Centerline goodness [0,1] 0.8963843515665872 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.32, Z:-0.31 [[ 9.86266139e-01 2.24284755e-02 -1.63633940e-01 4.66956565e+00] [-2.28340703e-02 9.99739090e-01 -5.97960429e-04 -3.24662244e-01] [ 1.63577835e-01 4.32617700e-03 9.86520946e-01 -3.11897422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.918241008 meters Centerline goodness [0,1] 0.8959393076185216 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.33, Z:-0.31 [[ 9.86245572e-01 2.29367078e-02 -1.63687442e-01 4.66866480e+00] [-2.31495598e-02 9.99731829e-01 6.07291219e-04 -3.27050511e-01] [ 1.63657475e-01 3.19035395e-03 9.86512064e-01 -3.09943520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.948241008000004 meters Centerline goodness [0,1] 0.9018969874793016 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.33, Z:-0.31 [[ 9.86231379e-01 2.37394606e-02 -1.63658502e-01 4.66660524e+00] [-2.36549944e-02 9.99717142e-01 2.46518190e-03 -3.29626204e-01] [ 1.63670732e-01 1.44010119e-03 9.86513972e-01 -3.06367563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.978241008 meters Centerline goodness [0,1] 0.8961964904111981 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.33, Z:-0.30 [[ 9.86235014e-01 2.47110873e-02 -1.63492691e-01 4.66349154e+00] [-2.39781584e-02 9.99691642e-01 6.45513924e-03 -3.33888412e-01] [ 1.63601791e-01 -2.44603069e-03 9.86523426e-01 -2.98435108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.008241008 meters Centerline goodness [0,1] 0.896630064369557 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.33, Z:-0.30 [[ 9.86272313e-01 2.46017962e-02 -1.63284037e-01 4.66385757e+00] [-2.39725757e-02 9.99695657e-01 5.82311120e-03 -3.31865153e-01] [ 1.63377602e-01 -1.82883440e-03 9.86561916e-01 -2.99750468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.038241008 meters Centerline goodness [0,1] 0.8956579787542811 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.33, Z:-0.30 [[ 9.86269185e-01 2.39978317e-02 -1.63392775e-01 4.66569682e+00] [-2.35307693e-02 9.99711621e-01 4.79359383e-03 -3.28689499e-01] [ 1.63460691e-01 -8.83016199e-04 9.86549453e-01 -3.01610416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.068241008 meters Centerline goodness [0,1] 0.8950362844702467 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.33, Z:-0.30 [[ 9.86272092e-01 2.32534943e-02 -1.63482831e-01 4.66773896e+00] [-2.29730442e-02 9.99729581e-01 3.60608964e-03 -3.25506818e-01] [ 1.63522476e-01 1.99112712e-04 9.86539589e-01 -3.03772353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.098241008 meters Centerline goodness [0,1] 0.8936630068297744 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.33, Z:-0.30 [[ 9.86067535e-01 2.61024638e-02 -1.64284745e-01 4.67212770e+00] [-2.53310686e-02 9.99656064e-01 6.78907683e-03 -3.25399380e-01] [ 1.64405453e-01 -2.53298009e-03 9.86389594e-01 -3.04662164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.128241008 meters Centerline goodness [0,1] 0.8985402514814279 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.33, Z:-0.31 [[ 9.86019570e-01 2.58508483e-02 -1.64612092e-01 4.67335956e+00] [-2.51232843e-02 9.99663224e-01 6.50069080e-03 -3.25193446e-01] [ 1.64724703e-01 -2.27421196e-03 9.86336961e-01 -3.05094244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.158241008000005 meters Centerline goodness [0,1] 0.8958069346849441 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.33, Z:-0.31 [[ 9.85928926e-01 2.52135238e-02 -1.65252629e-01 4.67588885e+00] [-2.45545293e-02 9.99680307e-01 6.02981328e-03 -3.25118795e-01] [ 1.65351831e-01 -1.88726682e-03 9.86232838e-01 -3.05802292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.188241008 meters Centerline goodness [0,1] 0.8987126197898626 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.32, Z:-0.31 [[ 9.85853236e-01 2.48657437e-02 -1.65756119e-01 4.67772573e+00] [-2.43069090e-02 9.99689962e-01 5.39943540e-03 -3.24398690e-01] [ 1.65838989e-01 -1.29403196e-03 9.86151994e-01 -3.06687688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.218241008 meters Centerline goodness [0,1] 0.8988313374693406 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.32, Z:-0.31 [[ 9.85834723e-01 2.49576975e-02 -1.65852382e-01 4.67798741e+00] [-2.43796487e-02 9.99687529e-01 5.52054057e-03 -3.24071787e-01] [ 1.65938338e-01 -1.39891779e-03 9.86135138e-01 -3.06556136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.248241008 meters Centerline goodness [0,1] 0.8983026467203682 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.32, Z:-0.31 [[ 9.85810149e-01 2.46976460e-02 -1.66037275e-01 4.67907508e+00] [-2.41557956e-02 9.99694250e-01 5.28234533e-03 -3.23312049e-01] [ 1.66116971e-01 -1.19662716e-03 9.86105329e-01 -3.07074846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.278241008 meters Centerline goodness [0,1] 0.8993342747629615 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.32, Z:-0.31 [[ 9.85788269e-01 2.42471905e-02 -1.66233460e-01 4.68047703e+00] [-2.37685484e-02 9.99705634e-01 4.86843501e-03 -3.22304270e-01] [ 1.66302573e-01 -8.48118068e-04 9.86074406e-01 -3.07875868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.308241008 meters Centerline goodness [0,1] 0.8987641487641488 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.32, Z:-0.31 [[ 9.85794326e-01 2.44394732e-02 -1.66169367e-01 4.67984298e+00] [-2.38245266e-02 9.99699944e-01 5.69332868e-03 -3.23097543e-01] [ 1.66258649e-01 -1.65354460e-03 9.86080791e-01 -3.06381869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.338241008000004 meters Centerline goodness [0,1] 0.9005863154550443 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.32, Z:-0.30 [[ 9.85781623e-01 2.48508839e-02 -1.66183711e-01 4.67881784e+00] [-2.40723847e-02 9.99687783e-01 6.69747128e-03 -3.24553129e-01] [ 1.66298264e-01 -2.60180588e-03 9.86072065e-01 -3.04430148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.368241008 meters Centerline goodness [0,1] 0.9011109508007502 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.33, Z:-0.30 [[ 9.85745290e-01 2.52044212e-02 -1.66345903e-01 4.67813982e+00] [-2.42346962e-02 9.99675420e-01 7.85713797e-03 -3.26327905e-01] [ 1.66489945e-01 -3.71379432e-03 9.86036159e-01 -3.02139846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.398241008 meters Centerline goodness [0,1] 0.9019607843137255 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.33, Z:-0.30 [[ 9.85754135e-01 2.57074266e-02 -1.66216467e-01 4.67678735e+00] [-2.46103215e-02 9.99659636e-01 8.65708766e-03 -3.27612581e-01] [ 1.66382444e-01 -4.44311928e-03 9.86051287e-01 -3.00607688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.428241008 meters Centerline goodness [0,1] 0.9023489351878571 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.33, Z:-0.30 [[ 0.98573844 0.02598908 -0.16626574 4.67617355] [-0.0248326 0.99965083 0.00903107 -0.32667403] [ 0.16644239 -0.00477346 0.98603963 -0.29939215] [ 0. 0. 0. 1. ]] SLAMing on 55.458241008 meters Centerline goodness [0,1] 0.9002420470262794 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.32, Z:-0.30 [[ 9.85727601e-01 2.54826207e-02 -1.66408334e-01 4.67767610e+00] [-2.44539966e-02 9.99667098e-01 8.22770157e-03 -3.24194077e-01] [ 1.66562600e-01 -4.04092369e-03 9.86022602e-01 -3.00723514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.488241008 meters Centerline goodness [0,1] 0.8996780499022652 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.32, Z:-0.30 [[ 9.85728242e-01 2.51836685e-02 -1.66450041e-01 4.67889048e+00] [-2.42728238e-02 9.99677204e-01 7.50454246e-03 -3.22207373e-01] [ 1.66585304e-01 -3.35722692e-03 9.86021331e-01 -3.02184769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.518241008000004 meters Centerline goodness [0,1] 0.8966498103666245 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.32, Z:-0.30 [[ 9.85709162e-01 2.49047824e-02 -1.66604919e-01 4.68008198e+00] [-2.40720625e-02 9.99685606e-01 7.01599929e-03 -3.20562182e-01] [ 1.66727272e-01 -2.90521076e-03 9.85998771e-01 -3.03041013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.548241008 meters Centerline goodness [0,1] 0.8998824844506864 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.32, Z:-0.30 [[ 9.85646463e-01 2.49238058e-02 -1.66972616e-01 4.68107987e+00] [-2.41431855e-02 9.99686034e-01 6.70370496e-03 -3.18886050e-01] [ 1.67087275e-01 -2.57623223e-03 9.85938743e-01 -3.03272898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.578241008 meters Centerline goodness [0,1] 0.9000314906530016 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.32, Z:-0.30 [[ 9.85601904e-01 2.51305836e-02 -1.67204490e-01 4.68102072e+00] [-2.42866127e-02 9.99679890e-01 7.09076250e-03 -3.18668277e-01] [ 1.67329161e-01 -2.92783832e-03 9.85896739e-01 -3.02120932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.608241008 meters Centerline goodness [0,1] 0.9011933310494462 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.32, Z:-0.30 [[ 9.85571294e-01 2.52320268e-02 -1.67369558e-01 4.68113836e+00] [-2.43539737e-02 9.99676767e-01 7.29698782e-03 -3.18386528e-01] [ 1.67499576e-01 -3.11558793e-03 9.85867225e-01 -3.01455735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.638241008 meters Centerline goodness [0,1] 0.8999140893470791 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.32, Z:-0.30 [[ 9.85582318e-01 2.56287810e-02 -1.67244311e-01 4.68034650e+00] [-2.46701992e-02 9.99665159e-01 7.80706600e-03 -3.18342037e-01] [ 1.67388397e-01 -3.56855574e-03 9.85884572e-01 -3.00630290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.668241008 meters Centerline goodness [0,1] 0.897698504027618 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.32, Z:-0.30 [[ 9.85577584e-01 2.53745588e-02 -1.67310959e-01 4.68110086e+00] [-2.44040970e-02 9.99671322e-01 7.85416393e-03 -3.18272073e-01] [ 1.67455264e-01 -3.65781504e-03 9.85872890e-01 -3.00760519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.698241008000004 meters Centerline goodness [0,1] 0.8992960781496911 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.32, Z:-0.30 [[ 9.85510767e-01 2.47863473e-02 -1.67792032e-01 4.68280388e+00] [-2.37265898e-02 9.99683880e-01 8.31804790e-03 -3.19563826e-01] [ 1.67945163e-01 -4.21639305e-03 9.85787322e-01 -2.99891562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.728241008 meters Centerline goodness [0,1] 0.9002006305531671 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.32, Z:-0.30 [[ 0.98536504 0.02354072 -0.16882409 4.68606506] [-0.02231858 0.99970919 0.00913329 -0.32209154] [ 0.16899 -0.00523171 0.98560388 -0.29791357] [ 0. 0. 0. 1. ]] SLAMing on 55.758241008 meters Centerline goodness [0,1] 0.9078047218421589 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.32, Z:-0.30 [[ 9.85391936e-01 1.76575964e-02 -1.69384006e-01 4.68859948e+00] [-1.70189385e-02 9.99841532e-01 5.22170629e-03 -3.24943227e-01] [ 1.69449367e-01 -2.26269129e-03 9.85536297e-01 -2.97604148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.788241008 meters Centerline goodness [0,1] 0.9076256146169737 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.33, Z:-0.30 [[ 9.85245383e-01 1.62426390e-02 -1.70375212e-01 4.69257777e+00] [-1.55538898e-02 9.99864575e-01 5.37661043e-03 -3.26708924e-01] [ 1.70439469e-01 -2.64728332e-03 9.85364592e-01 -2.97087165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.818241008 meters Centerline goodness [0,1] 0.9109408806502544 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.33, Z:-0.30 [[ 9.85140345e-01 1.49248369e-02 -1.71101577e-01 4.69627408e+00] [-1.42854093e-02 9.99885618e-01 4.96778984e-03 -3.27382351e-01] [ 1.71156149e-01 -2.44971413e-03 9.85240870e-01 -2.97866884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.848241008 meters Centerline goodness [0,1] 0.9122827515700307 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.33, Z:-0.30 [[ 9.84912602e-01 1.21036913e-02 -1.72628696e-01 4.70386435e+00] [-1.15474261e-02 9.99924395e-01 4.22624210e-03 -3.27366836e-01] [ 1.72666797e-01 -2.16906200e-03 9.84977904e-01 -2.98593325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.878241008 meters Centerline goodness [0,1] 0.9122289121412287 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.33, Z:-0.30 [[ 9.84822225e-01 1.15407136e-02 -1.73181979e-01 4.70572742e+00] [-1.09724866e-02 9.99930819e-01 4.23812293e-03 -3.27844830e-01] [ 1.73218909e-01 -2.27356072e-03 9.84880724e-01 -2.98344694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.908241008000005 meters Centerline goodness [0,1] 0.9146091738825182 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.33, Z:-0.30 [[ 9.84762444e-01 1.11382164e-02 -1.73547889e-01 4.70702051e+00] [-1.05314709e-02 9.99934789e-01 4.41660825e-03 -3.28861847e-01] [ 1.73585765e-01 -2.52159539e-03 9.84815528e-01 -2.97986307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.938241008 meters Centerline goodness [0,1] 0.9146091738825182 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.33, Z:-0.30 [[ 9.84762444e-01 1.11382164e-02 -1.73547889e-01 4.70702051e+00] [-1.05314709e-02 9.99934789e-01 4.41660825e-03 -3.28861847e-01] [ 1.73585765e-01 -2.52159539e-03 9.84815528e-01 -2.97986307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.968241008 meters Centerline goodness [0,1] 0.9134592887225081 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.33, Z:-0.30 [[ 9.84658166e-01 1.05498995e-02 -1.74175189e-01 4.70881235e+00] [-9.91022626e-03 9.99940577e-01 4.54190648e-03 -3.29329285e-01] [ 1.74212756e-01 -2.74610977e-03 9.84704207e-01 -2.97254573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.998241008 meters Centerline goodness [0,1] 0.909053750255467 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.33, Z:-0.30 [[ 9.84594057e-01 9.68142465e-03 -1.74587550e-01 4.71092940e+00] [-9.07210826e-03 9.99949655e-01 4.28778202e-03 -3.28389418e-01] [ 1.74620272e-01 -2.63784754e-03 9.84632318e-01 -2.97191047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.028241008 meters Centerline goodness [0,1] 0.9138369003474553 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.33, Z:-0.30 [[ 9.84558123e-01 9.23248627e-03 -1.74814369e-01 4.71195844e+00] [-8.63697143e-03 9.99954018e-01 4.16705656e-03 -3.27164720e-01] [ 1.74844803e-01 -2.59284268e-03 9.84592592e-01 -2.96993734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.058241008 meters Centerline goodness [0,1] 0.9116765159675119 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.33, Z:-0.30 [[ 9.84478777e-01 8.52238141e-03 -1.75296622e-01 4.71401065e+00] [-7.95877705e-03 9.99960653e-01 3.91792474e-03 -3.26038396e-01] [ 1.75323115e-01 -2.46196702e-03 9.84507869e-01 -2.97050690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.088241008000004 meters Centerline goodness [0,1] 0.9075040593829737 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.32, Z:-0.30 [[ 9.84314202e-01 6.82045670e-03 -1.76292465e-01 4.71798644e+00] [-6.36524503e-03 9.99974788e-01 3.14751777e-03 -3.23393540e-01] [ 1.76309488e-01 -1.97600170e-03 9.84332799e-01 -2.97022442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.118241008 meters Centerline goodness [0,1] 0.9110331632653061 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.32, Z:-0.30 [[ 9.84241990e-01 6.72937143e-03 -1.76698671e-01 4.71850261e+00] [-6.18627962e-03 9.99974297e-01 3.62426210e-03 -3.23200424e-01] [ 1.76718519e-01 -2.47404355e-03 9.84258322e-01 -2.95611175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.148241008 meters Centerline goodness [0,1] 0.914096789096789 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.32, Z:-0.29 [[ 9.84179364e-01 6.77147514e-03 -1.77045550e-01 4.71853812e+00] [-6.11679694e-03 9.99972289e-01 4.24332708e-03 -3.23343016e-01] [ 1.77069377e-01 -3.09324327e-03 9.84193511e-01 -2.93795200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.178241008 meters Centerline goodness [0,1] 0.8966533726374198 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.32, Z:-0.29 [[ 9.84158363e-01 6.88197086e-03 -1.77157996e-01 4.71813985e+00] [-6.17465518e-03 9.99970614e-01 4.54357192e-03 -3.22829358e-01] [ 1.77184059e-01 -3.37770476e-03 9.84171936e-01 -2.92667862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.208241008 meters Centerline goodness [0,1] 0.9143119951708873 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.32, Z:-0.29 [[ 0.98394173 0.01085295 -0.1781597 4.7201668 ] [-0.00918359 0.99990589 0.01019206 -0.32354135] [ 0.17825355 -0.00839225 0.9839488 -0.28824049] [ 0. 0. 0. 1. ]] SLAMing on 56.238241008 meters Centerline goodness [0,1] 0.9044788064138108 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.32, Z:-0.29 [[ 0.98377507 0.01473224 -0.1788004 4.7223256 ] [-0.01234884 0.99981954 0.01443564 -0.32405266] [ 0.1789808 -0.01199344 0.98377946 -0.2872325 ] [ 0. 0. 0. 1. ]] SLAMing on 56.268241008000004 meters Centerline goodness [0,1] 0.9127147177994636 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.32, Z:-0.29 [[ 0.98379817 0.01475373 -0.17867148 4.72269 ] [-0.01248542 0.99982664 0.01381326 -0.32088463] [ 0.1788443 -0.01135867 0.98381182 -0.28836865] [ 0. 0. 0. 1. ]] SLAMing on 56.298241008 meters Centerline goodness [0,1] 0.916178394675465 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.32, Z:-0.29 [[ 0.98381418 0.01504575 -0.17855891 4.72254237] [-0.01286911 0.99982817 0.01334209 -0.31776359] [ 0.17872897 -0.01082825 0.98383876 -0.28913447] [ 0. 0. 0. 1. ]] SLAMing on 56.328241008 meters Centerline goodness [0,1] 0.9158004450829601 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.31, Z:-0.29 [[ 0.98360737 0.01976057 -0.17923742 4.72388912] [-0.01701615 0.99971345 0.0168363 -0.31471078] [ 0.17951875 -0.01351038 0.98366177 -0.28888256] [ 0. 0. 0. 1. ]] SLAMing on 56.358241008 meters Centerline goodness [0,1] 0.9137697516930022 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.31, Z:-0.29 [[ 0.98361734 0.02053368 -0.17909576 4.72298757] [-0.01788374 0.99970559 0.01639833 -0.31157139] [ 0.17937975 -0.01292678 0.98369498 -0.28951193] [ 0. 0. 0. 1. ]] SLAMing on 56.388241008 meters Centerline goodness [0,1] 0.9125379170879676 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.31, Z:-0.29 [[ 0.98361926 0.02137247 -0.17898706 4.72203796] [-0.01876978 0.99969222 0.01622226 -0.30902649] [ 0.17927869 -0.01259698 0.98371768 -0.28973976] [ 0. 0. 0. 1. ]] SLAMing on 56.418241008 meters Centerline goodness [0,1] 0.9093709740659833 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.31, Z:-0.29 [[ 0.9835972 0.02185955 -0.17904946 4.7215306 ] [-0.01932484 0.999687 0.01588859 -0.30665268] [ 0.17934074 -0.01216787 0.98371177 -0.28974806] [ 0. 0. 0. 1. ]] SLAMing on 56.448241008000004 meters Centerline goodness [0,1] 0.9060691621704733 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.30, Z:-0.29 [[ 0.98361124 0.02241121 -0.17890409 4.72063689] [-0.01990639 0.99967725 0.01578402 -0.30472504] [ 0.17920009 -0.011964 0.9837399 -0.28968286] [ 0. 0. 0. 1. ]] SLAMing on 56.478241008000005 meters Centerline goodness [0,1] 0.9058265960412601 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.30, Z:-0.29 [[ 0.98366687 0.02377807 -0.17842111 4.71806255] [-0.02120583 0.99964208 0.0163102 -0.3023221 ] [ 0.17874507 -0.01226024 0.98381903 -0.28886637] [ 0. 0. 0. 1. ]] SLAMing on 56.508241008 meters Centerline goodness [0,1] 0.9030646421793012 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.30, Z:-0.29 [[ 0.98372967 0.02394738 -0.17805186 4.71736747] [-0.02139171 0.99963894 0.01625974 -0.30075115] [ 0.17837695 -0.01218635 0.98388676 -0.28904909] [ 0. 0. 0. 1. ]] SLAMing on 56.538241008 meters Centerline goodness [0,1] 0.9036127811177912 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.30, Z:-0.29 [[ 0.98373459 0.02359761 -0.17807135 4.71826431] [-0.02112213 0.99965229 0.01578489 -0.29893208] [ 0.17838192 -0.0117669 0.98389097 -0.28979568] [ 0. 0. 0. 1. ]] SLAMing on 56.568241008 meters Centerline goodness [0,1] 0.9047566156665648 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.30, Z:-0.29 [[ 0.98372627 0.02350921 -0.17812901 4.71859094] [-0.02102474 0.99965374 0.01582266 -0.29817105] [ 0.17843931 -0.01182005 0.98387992 -0.28942255] [ 0. 0. 0. 1. ]] SLAMing on 56.598241008 meters Centerline goodness [0,1] 0.9027472374537256 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.30, Z:-0.29 [[ 0.98368746 0.02373853 -0.1783128 4.71840183] [-0.02117219 0.99964326 0.01628171 -0.29924249] [ 0.17863569 -0.01224084 0.98383914 -0.28844784] [ 0. 0. 0. 1. ]] SLAMing on 56.628241008 meters Centerline goodness [0,1] 0.9042994295255322 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.30, Z:-0.29 [[ 0.98365089 0.023566 -0.17853732 4.71888527] [-0.02097103 0.99964543 0.0164082 -0.3003086 ] [ 0.1788607 -0.01239583 0.98379632 -0.28793153] [ 0. 0. 0. 1. ]] SLAMing on 56.658241008000005 meters Centerline goodness [0,1] 0.9050966608084359 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.30, Z:-0.29 [[ 0.9835942 0.02325547 -0.17888998 4.71997634] [-0.02064784 0.99965188 0.01642505 -0.30101475] [ 0.17920967 -0.0124619 0.98373197 -0.28768715] [ 0. 0. 0. 1. ]] SLAMing on 56.688241008 meters Centerline goodness [0,1] 0.9083433558023103 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.30, Z:-0.29 [[ 0.98355815 0.0222022 -0.17922172 4.72250915] [-0.01968177 0.99968098 0.01582931 -0.30060687] [ 0.17951599 -0.01204164 0.98368135 -0.28870853] [ 0. 0. 0. 1. ]] SLAMing on 56.718241008 meters Centerline goodness [0,1] 0.9076565214954319 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.30, Z:-0.29 [[ 0.98349739 0.02179034 -0.17960528 4.72407469] [-0.01924343 0.99968822 0.01591095 -0.30142936] [ 0.17989599 -0.01219216 0.98361008 -0.28871177] [ 0. 0. 0. 1. ]] SLAMing on 56.748241008 meters Centerline goodness [0,1] 0.909083253803402 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.30, Z:-0.29 [[ 0.98340959 0.02100116 -0.18017917 4.72661366] [-0.0184467 0.99970434 0.01584138 -0.30296182] [ 0.18045859 -0.01225485 0.98350624 -0.28904624] [ 0. 0. 0. 1. ]] SLAMing on 56.778241008 meters Centerline goodness [0,1] 0.9120225510923186 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.30, Z:-0.29 [[ 0.98338442 0.01487708 -0.1809247 4.73126651] [-0.01316932 0.9998567 0.01063672 -0.30279877] [ 0.18105702 -0.00807733 0.98343943 -0.291872 ] [ 0. 0. 0. 1. ]] SLAMing on 56.808241008 meters Centerline goodness [0,1] 0.9123881565948799 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.30, Z:-0.29 [[ 0.98326009 0.01375667 -0.18168749 4.73467758] [-0.01208055 0.99987368 0.01032877 -0.30398125] [ 0.18180663 -0.00796098 0.98330208 -0.29248706] [ 0. 0. 0. 1. ]] SLAMing on 56.838241008000004 meters Centerline goodness [0,1] 0.9120972541018447 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.31, Z:-0.29 [[ 0.9831285 0.0128147 -0.18246682 4.73743396] [-0.01112151 0.99988511 0.01029969 -0.30528952] [ 0.18257785 -0.00809662 0.98315806 -0.29228072] [ 0. 0. 0. 1. ]] SLAMing on 56.868241008 meters Centerline goodness [0,1] 0.9111930770322032 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.31, Z:-0.29 [[ 0.98302994 0.01231726 -0.18303122 4.7390368 ] [-0.01052848 0.99988688 0.01074165 -0.30725306] [ 0.18314282 -0.00863232 0.98304842 -0.29142031] [ 0. 0. 0. 1. ]] SLAMing on 56.898241008 meters Centerline goodness [0,1] 0.9084388786110715 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.31, Z:-0.29 [[ 0.98294489 0.01159948 -0.18353416 4.74084302] [-0.00965315 0.99988734 0.01149462 -0.31062112] [ 0.18364681 -0.00952689 0.98294613 -0.29001988] [ 0. 0. 0. 1. ]] SLAMing on 56.928241008 meters Centerline goodness [0,1] 0.9129666571672841 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.31, Z:-0.29 [[ 0.98290372 0.01132515 -0.18377167 4.74168289] [-0.00935435 0.99988911 0.01158755 -0.31105135] [ 0.18388252 -0.00967038 0.98290066 -0.28973759] [ 0. 0. 0. 1. ]] SLAMing on 56.958241008 meters Centerline goodness [0,1] 0.9136329972084544 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.31, Z:-0.29 [[ 0.98287569 0.011343 -0.18392039 4.74193954] [-0.00934394 0.99988752 0.0117322 -0.31092943] [ 0.18403279 -0.00981276 0.98287112 -0.28934462] [ 0. 0. 0. 1. ]] SLAMing on 56.988241008 meters Centerline goodness [0,1] 0.9111927336920931 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.31, Z:-0.29 [[ 0.98287993 0.01165491 -0.18387821 4.74149752] [-0.00963747 0.99988321 0.01186151 -0.31009148] [ 0.18399498 -0.00988632 0.98287746 -0.28903601] [ 0. 0. 0. 1. ]] SLAMing on 57.018241008000004 meters Centerline goodness [0,1] 0.9119084142946423 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.31, Z:-0.29 [[ 0.98280924 0.01702476 -0.1838373 4.74051923] [-0.01425746 0.99976444 0.01636435 -0.30938481] [ 0.18407259 -0.01346199 0.98282046 -0.28783278] [ 0. 0. 0. 1. ]] SLAMing on 57.048241008 meters Centerline goodness [0,1] 0.9098655343241331 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.31, Z:-0.29 [[ 0.98261875 0.02163805 -0.1843697 4.74164269] [-0.01811477 0.9996201 0.02077301 -0.30990708] [ 0.18474915 -0.01707213 0.98263742 -0.28663929] [ 0. 0. 0. 1. ]] SLAMing on 57.078241008 meters Centerline goodness [0,1] 0.9086448993402132 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.31, Z:-0.29 [[ 0.98261435 0.02225126 -0.18432017 4.74112879] [-0.0188398 0.99961765 0.02023921 -0.30708051] [ 0.18470004 -0.01641478 0.98265785 -0.28743124] [ 0. 0. 0. 1. ]] SLAMing on 57.108241008 meters Centerline goodness [0,1] 0.9013989169675091 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.31, Z:-0.29 [[ 0.98244556 0.02719391 -0.18455682 4.74144572] [-0.02312696 0.99944072 0.02415368 -0.30622296] [ 0.18511044 -0.01946144 0.982525 -0.28708578] [ 0. 0. 0. 1. ]] SLAMing on 57.138241008 meters Centerline goodness [0,1] 0.9039381153305204 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.30, Z:-0.29 [[ 0.98239756 0.02688278 -0.18485765 4.74240905] [-0.02290814 0.99945889 0.02360374 -0.3048686 ] [ 0.18539216 -0.01895351 0.98248181 -0.28741535] [ 0. 0. 0. 1. ]] SLAMing on 57.168241008 meters Centerline goodness [0,1] 0.9059987631416203 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.30, Z:-0.29 [[ 0.98233789 0.02639084 -0.18524524 4.74374303] [-0.02249951 0.99948047 0.02307752 -0.30421613] [ 0.18575803 -0.01850199 0.98242131 -0.28778941] [ 0. 0. 0. 1. ]] SLAMing on 57.198241008000004 meters Centerline goodness [0,1] 0.9040371360247573 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.30, Z:-0.29 [[ 0.98226373 0.0255878 -0.18575043 4.74579281] [-0.02177823 0.99950914 0.02252095 -0.3036219 ] [ 0.18623551 -0.0180762 0.98233883 -0.28821285] [ 0. 0. 0. 1. ]] SLAMing on 57.228241008000005 meters Centerline goodness [0,1] 0.9056241890900886 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.30, Z:-0.29 [[ 0.9822857 0.01970253 -0.1863508 4.74884783] [-0.01680666 0.9997124 0.01710706 -0.30138849] [ 0.18663425 -0.01367209 0.98233433 -0.29019734] [ 0. 0. 0. 1. ]] SLAMing on 57.258241008 meters Centerline goodness [0,1] 0.9054249496639537 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.30, Z:-0.29 [[ 0.98236992 0.01473394 -0.18636591 4.74977647] [-0.01265944 0.99984401 0.01231655 -0.29936687] [ 0.18651831 -0.00974012 0.9824032 -0.29174044] [ 0. 0. 0. 1. ]] SLAMing on 57.288241008 meters Centerline goodness [0,1] 0.9105737101432859 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.30, Z:-0.29 [[ 0.98224685 0.01364095 -0.18709638 4.75264073] [-0.01157804 0.99985959 0.01211428 -0.30010241] [ 0.18723536 -0.009733 0.98226686 -0.29170747] [ 0. 0. 0. 1. ]] SLAMing on 57.318241008 meters Centerline goodness [0,1] 0.9087008411002501 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.30, Z:-0.29 [[ 0.98216224 0.01289949 -0.18759249 4.75451572] [-0.0108111 0.99986772 0.01215152 -0.30071717] [ 0.18772442 -0.00990668 0.98217178 -0.29137456] [ 0. 0. 0. 1. ]] SLAMing on 57.348241008 meters Centerline goodness [0,1] 0.9149172213688342 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.30, Z:-0.29 [[ 0.98210194 0.01184085 -0.18797757 4.75621445] [-0.00971438 0.99987803 0.01222959 -0.30145567] [ 0.18809945 -0.01018462 0.98209718 -0.29059454] [ 0. 0. 0. 1. ]] SLAMing on 57.378241008 meters Centerline goodness [0,1] 0.9139373316319297 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.30, Z:-0.29 [[ 0.98204314 0.01131028 -0.18831714 4.75744046] [-0.00920561 0.99988506 0.01204706 -0.30106384] [ 0.18843175 -0.01009716 0.98203438 -0.29049238] [ 0. 0. 0. 1. ]] SLAMing on 57.408241008000005 meters Centerline goodness [0,1] 0.9121847548880703 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.30, Z:-0.29 [[ 0.98199277 0.01097807 -0.18859926 4.75831923] [-0.00888298 0.99988913 0.01195037 -0.30063248] [ 0.18870954 -0.01005985 0.98198142 -0.29028471] [ 0. 0. 0. 1. ]] SLAMing on 57.438241008 meters Centerline goodness [0,1] 0.9194223051269007 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.30, Z:-0.29 [[ 0.98195904 0.01108975 -0.18876826 4.75815454] [-0.0089452 0.99988546 0.01220895 -0.3006854 ] [ 0.18888203 -0.01030012 0.98194577 -0.28942435] [ 0. 0. 0. 1. ]] SLAMing on 57.468241008 meters Centerline goodness [0,1] 0.916683141751631 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.30, Z:-0.29 [[ 0.98191808 0.01095756 -0.18898891 4.75873365] [-0.0088304 0.99988788 0.01209383 -0.30013614] [ 0.18910024 -0.0102063 0.98190475 -0.28932854] [ 0. 0. 0. 1. ]] SLAMing on 57.498241008 meters Centerline goodness [0,1] 0.9180803697232711 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.30, Z:-0.29 [[ 0.98187876 0.01073871 -0.18920566 4.75960744] [-0.00864529 0.99989198 0.01188614 -0.29902082] [ 0.18931286 -0.01003501 0.98186554 -0.28945361] [ 0. 0. 0. 1. ]] SLAMing on 57.528241008 meters Centerline goodness [0,1] 0.9169877112567139 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.30, Z:-0.29 [[ 0.98188785 0.01087994 -0.1891504 4.75979507] [-0.00890765 0.99989677 0.01127416 -0.29563424] [ 0.18925353 -0.00938508 0.9818834 -0.29040361] [ 0. 0. 0. 1. ]] SLAMing on 57.558241008 meters Centerline goodness [0,1] 0.9143978690593019 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.29, Z:-0.29 [[ 0.98188763 0.01091628 -0.18914948 4.76010644] [-0.00904103 0.99990108 0.01077416 -0.29350918] [ 0.18924839 -0.0088689 0.98188919 -0.29117292] [ 0. 0. 0. 1. ]] SLAMing on 57.588241008000004 meters Centerline goodness [0,1] 0.9102202618575695 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.29, Z:-0.29 [[ 0.98184686 0.01100709 -0.18935574 4.76063378] [-0.00918676 0.99990279 0.01048836 -0.29160414] [ 0.18945278 -0.0085584 0.98185253 -0.29143021] [ 0. 0. 0. 1. ]] SLAMing on 57.618241008 meters Centerline goodness [0,1] 0.9115636769423908 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.29, Z:-0.29 [[ 0.98185246 0.01138855 -0.18930414 4.7601288 ] [-0.00959736 0.99990011 0.01037599 -0.29020228] [ 0.18940339 -0.00837087 0.98186368 -0.29148439] [ 0. 0. 0. 1. ]] SLAMing on 57.648241008 meters Centerline goodness [0,1] 0.9108494767312403 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.29, Z:-0.29 [[ 0.9818426 0.01202048 -0.1893162 4.75952268] [-0.01023647 0.99989354 0.01039847 -0.28817284] [ 0.18942104 -0.00827173 0.98186111 -0.2912899 ] [ 0. 0. 0. 1. ]] SLAMing on 57.678241008 meters Centerline goodness [0,1] 0.9087429268833906 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.29, Z:-0.29 [[ 0.98182724 0.01223315 -0.1893822 4.75932524] [-0.01043601 0.99989058 0.01048384 -0.28716945] [ 0.18948973 -0.00831692 0.98184748 -0.29086959] [ 0. 0. 0. 1. ]] SLAMing on 57.708241008 meters Centerline goodness [0,1] 0.91166981866726 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.29, Z:-0.29 [[ 0.98181498 0.01254309 -0.18942549 4.75878129] [-0.01070402 0.99988515 0.01072866 -0.28681272] [ 0.1895383 -0.00850595 0.98183648 -0.29018446] [ 0. 0. 0. 1. ]] SLAMing on 57.738241008 meters Centerline goodness [0,1] 0.9056907858174947 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.29, Z:-0.29 [[ 0.98177995 0.01242263 -0.1896149 4.75947369] [-0.01059447 0.99988714 0.01065205 -0.28634023] [ 0.18972583 -0.0084491 0.98180076 -0.2901548 ] [ 0. 0. 0. 1. ]] SLAMing on 57.768241008000004 meters Centerline goodness [0,1] 0.9073178863143857 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.29, Z:-0.29 [[ 0.98173418 0.01206615 -0.18987472 4.76089089] [-0.01026778 0.99989266 0.01045231 -0.28613701] [ 0.18998045 -0.0083118 0.98175269 -0.29065751] [ 0. 0. 0. 1. ]] SLAMing on 57.798241008 meters Centerline goodness [0,1] 0.9067465269112387 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.29, Z:-0.29 [[ 0.98163657 0.01143513 -0.19041768 4.76300511] [-0.00962467 0.99989929 0.01042998 -0.28635889] [ 0.19051777 -0.00840574 0.98164776 -0.2905846 ] [ 0. 0. 0. 1. ]] SLAMing on 57.828241008 meters Centerline goodness [0,1] 0.9067465269112387 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.29, Z:-0.29 [[ 0.98163657 0.01143513 -0.19041768 4.76300511] [-0.00962467 0.99989929 0.01042998 -0.28635889] [ 0.19051777 -0.00840574 0.98164776 -0.2905846 ] [ 0. 0. 0. 1. ]] SLAMing on 57.858241008 meters Centerline goodness [0,1] 0.903509261325597 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.29, Z:-0.29 [[ 0.98157155 0.01130046 -0.19076054 4.76378697] [-0.00938341 0.99989602 0.01094985 -0.288015 ] [ 0.19086444 -0.00895808 0.98157553 -0.28976227] [ 0. 0. 0. 1. ]] SLAMing on 57.888241008 meters Centerline goodness [0,1] 0.9101861687258903 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.29, Z:-0.29 [[ 0.98150571 0.01115529 -0.19110757 4.76443024] [-0.00909766 0.99989085 0.01164092 -0.2901958 ] [ 0.19121657 -0.009687 0.98150007 -0.28859198] [ 0. 0. 0. 1. ]] SLAMing on 57.918241008 meters Centerline goodness [0,1] 0.9150126511104864 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.29, Z:-0.29 [[ 9.81504303e-01 5.97811765e-03 -1.91346714e-01 4.76579187e+00] [-4.55024415e-03 9.99958436e-01 7.90076262e-03 -2.91708213e-01] [ 1.91385992e-01 -6.88395824e-03 9.81490710e-01 -2.88591647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.948241008000004 meters Centerline goodness [0,1] 0.9149740464906342 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.29, Z:-0.29 [[ 9.81361733e-01 5.18499587e-03 -1.92099624e-01 4.76828724e+00] [-3.66764411e-03 9.99959213e-01 8.25352375e-03 -2.93973626e-01] [ 1.92134583e-01 -7.39513932e-03 9.81340723e-01 -2.87956413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.978241008000005 meters Centerline goodness [0,1] 0.915705990652882 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.30, Z:-0.29 [[ 9.81247508e-01 4.40325277e-03 -1.92701685e-01 4.77056664e+00] [-2.82040086e-03 9.99960003e-01 8.48755075e-03 -2.96127854e-01] [ 1.92731350e-01 -7.78489203e-03 9.81220680e-01 -2.87604080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.008241008 meters Centerline goodness [0,1] 0.9122240172320948 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.30, Z:-0.29 [[ 9.81119780e-01 3.60722717e-03 -1.93367436e-01 4.77304938e+00] [-1.96196631e-03 9.99960236e-01 8.69929195e-03 -2.97838577e-01] [ 1.93391128e-01 -8.15566701e-03 9.81087844e-01 -2.87267390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.038241008 meters Centerline goodness [0,1] 0.9081942121821944 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.30, Z:-0.29 [[ 9.80996284e-01 2.06713324e-03 -1.94015507e-01 4.77706582e+00] [-5.58810727e-04 9.99969200e-01 7.82864392e-03 -2.97285469e-01] [ 1.94025714e-01 -7.57145265e-03 9.80967224e-01 -2.88849193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.068241008 meters Centerline goodness [0,1] 0.902161000169712 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.30, Z:-0.29 [[ 9.80949554e-01 1.90182674e-03 -1.94253331e-01 4.77785819e+00] [-3.82820151e-04 9.99969060e-01 7.85695997e-03 -2.96762653e-01] [ 1.94262263e-01 -7.63291728e-03 9.80919931e-01 -2.88688496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.098241008 meters Centerline goodness [0,1] 0.9009225718813675 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.30, Z:-0.29 [[ 9.80922876e-01 2.04451977e-03 -1.94386550e-01 4.77778316e+00] [-4.80213146e-04 9.99967126e-01 8.09418395e-03 -2.96913828e-01] [ 1.94396709e-01 -7.84642322e-03 9.80891611e-01 -2.88085709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.128241008 meters Centerline goodness [0,1] 0.9068472237928304 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.30, Z:-0.29 [[ 9.80868592e-01 2.10213492e-03 -1.94659669e-01 4.77790200e+00] [-4.52271392e-04 9.99963605e-01 8.51968784e-03 -2.96983879e-01] [ 1.94670493e-01 -8.26865522e-03 9.80833843e-01 -2.86897514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.158241008000005 meters Centerline goodness [0,1] 0.9039850982163017 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.30, Z:-0.29 [[ 9.80898243e-01 2.78261723e-03 -1.94501657e-01 4.77630541e+00] [-1.05883460e-03 9.99959244e-01 8.96596385e-03 -2.96119696e-01] [ 1.94518678e-01 -8.58875310e-03 9.80861212e-01 -2.85757829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.188241008 meters Centerline goodness [0,1] 0.9105601933833657 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.30, Z:-0.28 [[ 9.80755900e-01 6.60637328e-03 -1.95126164e-01 4.77827464e+00] [-4.08794851e-03 9.99903108e-01 1.33065371e-02 -2.97746466e-01] [ 1.95195165e-01 -1.22527991e-02 9.80687879e-01 -2.84507492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.218241008 meters Centerline goodness [0,1] 0.9095995950961646 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.30, Z:-0.28 [[ 9.80740925e-01 6.37181351e-03 -1.95209218e-01 4.77874044e+00] [-3.93050768e-03 9.99909184e-01 1.28909133e-02 -2.95638153e-01] [ 1.95273628e-01 -1.18753749e-02 9.80676902e-01 -2.84781468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.248241008 meters Centerline goodness [0,1] 0.9106832576649291 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.29, Z:-0.28 [[ 9.80731236e-01 6.41161535e-03 -1.95256587e-01 4.77886869e+00] [-4.01031124e-03 9.99911423e-01 1.26910440e-02 -2.93816551e-01] [ 1.95320662e-01 -1.16634636e-02 9.80670078e-01 -2.84850344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.278241008 meters Centerline goodness [0,1] 0.9088474841013053 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.29, Z:-0.28 [[ 0.9807497 0.00845664 -0.1950859 4.77894555] [-0.0057175 0.99987707 0.01459951 -0.29168766] [ 0.19518538 -0.01320306 0.98067749 -0.28449452] [ 0. 0. 0. 1. ]] SLAMing on 58.308241008 meters Centerline goodness [0,1] 0.9096603563474388 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.29, Z:-0.28 [[ 0.98072397 0.00849711 -0.19521345 4.77907107] [-0.00579308 0.99987927 0.01441842 -0.29055518] [ 0.1953124 -0.0130096 0.98065479 -0.28441112] [ 0. 0. 0. 1. ]] SLAMing on 58.338241008000004 meters Centerline goodness [0,1] 0.9096596596596597 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.29, Z:-0.28 [[ 0.98071946 0.00863392 -0.1952301 4.77889988] [-0.00596562 0.99988065 0.01425131 -0.28961931] [ 0.19532984 -0.01281186 0.98065392 -0.2844584 ] [ 0. 0. 0. 1. ]] SLAMing on 58.368241008 meters Centerline goodness [0,1] 0.9115179041236257 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.29, Z:-0.28 [[ 0.98068559 0.00840675 -0.19541009 4.77952571] [-0.00582829 0.99988825 0.01376639 -0.28690638] [ 0.19550399 -0.01236159 0.980625 -0.28466833] [ 0. 0. 0. 1. ]] SLAMing on 58.398241008 meters Centerline goodness [0,1] 0.9100993056900224 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.29, Z:-0.29 [[ 0.98066692 0.0080779 -0.19551761 4.78033376] [-0.00556223 0.99989458 0.01341235 -0.28530143] [ 0.19560534 -0.01206554 0.98060847 -0.28500397] [ 0. 0. 0. 1. ]] SLAMing on 58.428241008 meters Centerline goodness [0,1] 0.9109340856913672 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.28, Z:-0.29 [[ 0.98062703 0.00766295 -0.1957343 4.78140647] [-0.00519809 0.99990063 0.01310346 -0.28407605] [ 0.19581526 -0.01183216 0.98056942 -0.28524823] [ 0. 0. 0. 1. ]] SLAMing on 58.458241008 meters Centerline goodness [0,1] 0.9096238938053097 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.28, Z:-0.28 [[ 9.80528491e-01 7.05054799e-03 -1.96250269e-01 4.78301041e+00] [-4.61066707e-03 9.99906334e-01 1.28865921e-02 -2.83465662e-01] [ 1.96322744e-01 -1.17308261e-02 9.80469157e-01 -2.84965441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.488241008 meters Centerline goodness [0,1] 0.908881997895786 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.28, Z:-0.28 [[ 9.80453172e-01 6.41945417e-03 -1.96647829e-01 4.78420266e+00] [-3.96763013e-03 9.99909441e-01 1.28595230e-02 -2.83404186e-01] [ 1.96712572e-01 -1.18279343e-02 9.80389853e-01 -2.84346784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.518241008000004 meters Centerline goodness [0,1] 0.9068546158098397 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.28, Z:-0.28 [[ 9.80440641e-01 6.40264640e-03 -1.96710841e-01 4.78414125e+00] [-3.91311752e-03 9.99907295e-01 1.30418506e-02 -2.83118123e-01] [ 1.96776107e-01 -1.20170077e-02 9.80374803e-01 -2.83795715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.548241008 meters Centerline goodness [0,1] 0.9071854633823042 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.28, Z:-0.28 [[ 9.80407485e-01 6.38925745e-03 -1.96876460e-01 4.78409846e+00] [-3.86073318e-03 9.99905101e-01 1.32243306e-02 -2.82484711e-01] [ 1.96942271e-01 -1.22051453e-02 9.80339113e-01 -2.82950665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.578241008 meters Centerline goodness [0,1] 0.9069780280446064 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.28, Z:-0.28 [[ 9.80385359e-01 6.62756878e-03 -1.96978739e-01 4.78365371e+00] [-4.06835453e-03 9.99902018e-01 1.33941572e-02 -2.81910713e-01] [ 1.97048209e-01 -1.23300562e-02 9.80316262e-01 -2.82215113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.608241008 meters Centerline goodness [0,1] 0.9084032457708706 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.28, Z:-0.28 [[ 0.98032595 0.00829243 -0.19721124 4.78249139] [-0.00571313 0.99989059 0.0136442 -0.27847199] [ 0.19730281 -0.01224907 0.98026607 -0.28195779] [ 0. 0. 0. 1. ]] SLAMing on 58.638241008 meters Centerline goodness [0,1] 0.9057731677357718 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.28, Z:-0.28 [[ 0.98019362 0.01267573 -0.19763549 4.78377768] [-0.00943039 0.99980494 0.01735338 -0.27722291] [ 0.19781691 -0.0151459 0.98012197 -0.28181412] [ 0. 0. 0. 1. ]] SLAMing on 58.668241008 meters Centerline goodness [0,1] 0.8980622048526299 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.27, Z:-0.28 [[ 0.98013835 0.01897291 -0.19740528 4.7819453 ] [-0.01516194 0.9996687 0.020799 -0.27239396] [ 0.1977345 -0.01739285 0.9801013 -0.2826587 ] [ 0. 0. 0. 1. ]] SLAMing on 58.698241008000004 meters Centerline goodness [0,1] 0.8916149320898962 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.27, Z:-0.28 [[ 0.98013726 0.01958372 -0.19735104 4.78133369] [-0.01591296 0.99966994 0.02016897 -0.26943359] [ 0.19768089 -0.01662792 0.98012539 -0.28343352] [ 0. 0. 0. 1. ]] SLAMing on 58.728241008000005 meters Centerline goodness [0,1] 0.8962180230207294 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.27, Z:-0.28 [[ 0.98007006 0.01991887 -0.19765099 4.78198938] [-0.01638784 0.99967584 0.01948477 -0.26675358] [ 0.19797503 -0.01585737 0.98007879 -0.28435448] [ 0. 0. 0. 1. ]] SLAMing on 58.758241008 meters Centerline goodness [0,1] 0.8937807050693732 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.26, Z:-0.29 [[ 0.98011405 0.02038221 -0.19738545 4.7813726 ] [-0.01694684 0.99967436 0.01907813 -0.26421769] [ 0.19771003 -0.01535368 0.9801403 -0.28512824] [ 0. 0. 0. 1. ]] SLAMing on 58.788241008 meters Centerline goodness [0,1] 0.8922241050055139 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.26, Z:-0.29 [[ 0.98015396 0.02123189 -0.19709751 4.7803894 ] [-0.01790835 0.99966606 0.01862965 -0.26071397] [ 0.19742724 -0.01473024 0.98020687 -0.28614546] [ 0. 0. 0. 1. ]] SLAMing on 58.818241008 meters Centerline goodness [0,1] 0.8950696677384781 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.26, Z:-0.29 [[ 0.98009662 0.02079804 -0.19742859 4.78194936] [-0.01756116 0.99968137 0.01813204 -0.25980936] [ 0.19774279 -0.01430408 0.98014957 -0.28680527] [ 0. 0. 0. 1. ]] SLAMing on 58.848241008 meters Centerline goodness [0,1] 0.8956468128451187 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.26, Z:-0.29 [[ 0.98007914 0.0206099 -0.19753511 4.78252265] [-0.01740536 0.99968746 0.01794531 -0.25946688] [ 0.19784322 -0.01414965 0.98013155 -0.28701507] [ 0. 0. 0. 1. ]] SLAMing on 58.878241008 meters Centerline goodness [0,1] 0.8943106869001018 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.26, Z:-0.29 [[ 0.9800611 0.02053741 -0.19763214 4.7830116 ] [-0.01733088 0.99968883 0.01794086 -0.25968429] [ 0.1979391 -0.01415799 0.98011207 -0.28710994] [ 0. 0. 0. 1. ]] SLAMing on 58.908241008000005 meters Centerline goodness [0,1] 0.8951097750818616 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.26, Z:-0.29 [[ 0.97998342 0.02013506 -0.19805827 4.78432061] [-0.01693166 0.99969722 0.01785441 -0.26028229] [ 0.1983578 -0.01414357 0.98002762 -0.2869292 ] [ 0. 0. 0. 1. ]] SLAMing on 58.938241008 meters Centerline goodness [0,1] 0.8932608578073449 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.26, Z:-0.29 [[ 0.98012817 0.01592147 -0.19772525 4.78354461] [-0.01344845 0.99981372 0.01384398 -0.26059991] [ 0.19790883 -0.01090977 0.98015972 -0.28777525] [ 0. 0. 0. 1. ]] SLAMing on 58.968241008 meters Centerline goodness [0,1] 0.8923367512142472 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.26, Z:-0.29 [[ 0.98006614 0.01554056 -0.19806272 4.78490049] [-0.01302037 0.99981693 0.01402026 -0.26165292] [ 0.19824435 -0.01116193 0.98008907 -0.28762639] [ 0. 0. 0. 1. ]] SLAMing on 58.998241008 meters Centerline goodness [0,1] 0.8927532290958532 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.26, Z:-0.29 [[ 0.98018733 0.0108687 -0.19777428 4.78483865] [-0.00909756 0.99990999 0.00986179 -0.26108372] [ 0.19786366 -0.00786714 0.98019798 -0.28855079] [ 0. 0. 0. 1. ]] SLAMing on 59.028241008 meters Centerline goodness [0,1] 0.8920155820098613 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.26, Z:-0.29 [[ 0.98011516 0.01093734 -0.19812787 4.78539952] [-0.00897656 0.99990147 0.01079199 -0.2639706 ] [ 0.19822639 -0.00879888 0.98011677 -0.28731998] [ 0. 0. 0. 1. ]] SLAMing on 59.058241008 meters Centerline goodness [0,1] 0.8895981667894263 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.27, Z:-0.29 [[ 0.98003529 0.01066689 -0.19853727 4.7868156 ] [-0.00859705 0.99989937 0.01128459 -0.26651399] [ 0.19863766 -0.00935246 0.98002837 -0.28689582] [ 0. 0. 0. 1. ]] SLAMing on 59.088241008000004 meters Centerline goodness [0,1] 0.8935599529244328 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.27, Z:-0.29 [[ 0.97996531 0.01035783 -0.19889875 4.78839249] [-0.00821307 0.99989893 0.01160517 -0.26869234] [ 0.19899885 -0.00973909 0.97995133 -0.28690883] [ 0. 0. 0. 1. ]] SLAMing on 59.118241008 meters Centerline goodness [0,1] 0.8963662311999122 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.27, Z:-0.29 [[ 0.97990861 0.0094302 -0.19922394 4.79151716] [-0.00731109 0.99990863 0.0113698 -0.27028639] [ 0.19931296 -0.00968482 0.97988803 -0.28836392] [ 0. 0. 0. 1. ]] SLAMing on 59.148241008 meters Centerline goodness [0,1] 0.892447379281882 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.27, Z:-0.29 [[ 0.97989328 0.00941051 -0.19930026 4.79214628] [-0.00723751 0.99990619 0.01162887 -0.27140753] [ 0.199391 -0.00995261 0.97986947 -0.28844324] [ 0. 0. 0. 1. ]] SLAMing on 59.178241008 meters Centerline goodness [0,1] 0.8968267062640929 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.27, Z:-0.29 [[ 0.97984762 0.0093312 -0.19952839 4.79300887] [-0.00706479 0.99990222 0.01206784 -0.27330021] [ 0.19962149 -0.01041502 0.97981773 -0.28809177] [ 0. 0. 0. 1. ]] SLAMing on 59.208241008 meters Centerline goodness [0,1] 0.8947092718700891 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.28, Z:-0.29 [[ 0.97979863 0.0095573 -0.19975812 4.79296149] [-0.00712924 0.99989175 0.01287077 -0.27583149] [ 0.19985951 -0.01118664 0.9797607 -0.2868454 ] [ 0. 0. 0. 1. ]] SLAMing on 59.238241008 meters Centerline goodness [0,1] 0.8997037898291947 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.28, Z:-0.29 [[ 0.97973984 0.00922795 -0.20006171 4.79416213] [-0.00658565 0.99988213 0.01386895 -0.28024842] [ 0.20016611 -0.01227042 0.97968514 -0.28574984] [ 0. 0. 0. 1. ]] SLAMing on 59.268241008000004 meters Centerline goodness [0,1] 0.8989806405021804 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.28, Z:-0.29 [[ 0.9796581 0.00882242 -0.20047984 4.79578894] [-0.00610361 0.99988089 0.01417557 -0.28189349] [ 0.20058102 -0.01266356 0.97959527 -0.28550685] [ 0. 0. 0. 1. ]] SLAMing on 59.298241008 meters Centerline goodness [0,1] 0.9029312163437517 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.28, Z:-0.29 [[ 0.9795907 0.00833957 -0.20082958 4.79751118] [-0.00554953 0.99988017 0.01445157 -0.28377498] [ 0.20092603 -0.01304211 0.97951959 -0.28542843] [ 0. 0. 0. 1. ]] SLAMing on 59.328241008 meters Centerline goodness [0,1] 0.90657787974595 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.29, Z:-0.29 [[ 9.79640064e-01 3.72630189e-03 -2.00727327e-01 4.79810792e+00] [-1.61153870e-03 9.99941477e-01 1.06978754e-02 -2.85200746e-01] [ 2.00755444e-01 -1.01565875e-02 9.79588738e-01 -2.86188103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.358241008 meters Centerline goodness [0,1] 0.9072524015504747 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.29, Z:-0.29 [[ 9.79553453e-01 3.40305679e-03 -2.01155291e-01 4.79973433e+00] [-1.19053490e-03 9.99937473e-01 1.11190286e-02 -2.87078422e-01] [ 2.01180552e-01 -1.06522005e-02 9.79496256e-01 -2.85885133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.388241008 meters Centerline goodness [0,1] 0.9107288187915696 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.29, Z:-0.29 [[ 9.79465803e-01 3.00610658e-03 -2.01587957e-01 4.80158842e+00] [-6.99455142e-04 9.99933482e-01 1.15126630e-02 -2.88965314e-01] [ 2.01609157e-01 -1.11352580e-02 9.79402754e-01 -2.85650601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.418241008 meters Centerline goodness [0,1] 0.9095174831104955 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.29, Z:-0.29 [[ 9.79447017e-01 -1.46358174e-03 -2.01696303e-01 4.80230805e+00] [ 3.12619013e-03 9.99963711e-01 7.92483028e-03 -2.91275406e-01] [ 2.01677385e-01 -8.39249237e-03 9.79416050e-01 -2.85958142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.448241008000004 meters Centerline goodness [0,1] 0.9132175097939023 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.29, Z:-0.28 [[ 9.79361051e-01 -1.22762800e-03 -2.02114878e-01 4.80267607e+00] [ 3.11364954e-03 9.99954528e-01 9.01375955e-03 -2.94462111e-01] [ 2.02094622e-01 -9.45703993e-03 9.79320340e-01 -2.84314629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.478241008000005 meters Centerline goodness [0,1] 0.9110315226969102 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.30, Z:-0.28 [[ 9.79362488e-01 -5.33518313e-04 -2.02110943e-01 4.80155919e+00] [ 2.66908807e-03 9.99943454e-01 1.02939334e-02 -2.97017469e-01] [ 2.02094022e-01 -1.06209441e-02 9.79308532e-01 -2.82504251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.508241008 meters Centerline goodness [0,1] 0.9148070135489013 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.30, Z:-0.28 [[ 9.79374925e-01 -5.82580630e-05 -2.02051362e-01 4.80090757e+00] [ 2.35069848e-03 9.99935565e-01 1.11058931e-02 -2.97988653e-01] [ 2.02037696e-01 -1.13517951e-02 9.79311955e-01 -2.81486097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.538241008 meters Centerline goodness [0,1] 0.9133130457040471 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.30, Z:-0.28 [[ 9.79387354e-01 1.01064754e-04 -2.01991092e-01 4.80114452e+00] [ 2.23049844e-03 9.99933493e-01 1.13152514e-02 -2.97921477e-01] [ 2.01978801e-01 -1.15325550e-02 9.79321992e-01 -2.81629848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.568241008 meters Centerline goodness [0,1] 0.9121421238736169 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.30, Z:-0.28 [[ 9.79477453e-01 1.26900159e-03 -2.01549769e-01 4.79994755e+00] [ 1.12464963e-03 9.99930201e-01 1.17612736e-02 -2.98161485e-01] [ 2.01550626e-01 -1.17465751e-02 9.79407659e-01 -2.82355990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.598241008 meters Centerline goodness [0,1] 0.9107290508368261 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.30, Z:-0.28 [[ 9.79538671e-01 2.10391032e-03 -2.01245039e-01 4.79880112e+00] [ 3.49139483e-04 9.99926087e-01 1.21530968e-02 -2.98169232e-01] [ 2.01255734e-01 -1.19746909e-02 9.79465536e-01 -2.82419472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.628241008 meters Centerline goodness [0,1] 0.9091841093549765 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.30, Z:-0.28 [[ 9.79554896e-01 2.89591955e-03 -2.01156208e-01 4.79781592e+00] [-3.56101932e-04 9.99919781e-01 1.26611347e-02 -2.97940176e-01] [ 2.01176737e-01 -1.23306444e-02 9.79477348e-01 -2.81844982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.658241008000005 meters Centerline goodness [0,1] 0.9037049684138637 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.30, Z:-0.28 [[ 9.79417871e-01 8.11590030e-03 -2.01679862e-01 4.79771899e+00] [-4.46450444e-03 9.99817907e-01 1.85532010e-02 -3.01472764e-01] [ 2.01793713e-01 -1.72709360e-02 9.79275759e-01 -2.78485028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.688241008 meters Centerline goodness [0,1] 0.902983588839273 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.30, Z:-0.28 [[ 0.98054587 0.01116932 -0.19597204 4.81106967] [-0.00899424 0.99988772 0.01198538 -0.30066875] [ 0.19608391 -0.00998959 0.98053624 -0.28043019] [ 0. 0. 0. 1. ]] SLAMing on 59.718241008 meters Centerline goodness [0,1] 0.902983588839273 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.30, Z:-0.28 [[ 0.98054587 0.01116932 -0.19597204 4.81106967] [-0.00899424 0.99988772 0.01198538 -0.30066875] [ 0.19608391 -0.00998959 0.98053624 -0.28043019] [ 0. 0. 0. 1. ]] SLAMing on 59.748241008 meters Centerline goodness [0,1] 0.9024029574861367 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.30, Z:-0.28 [[ 0.98058879 0.01171729 -0.19572513 4.81050997] [-0.00956944 0.99988321 0.01191588 -0.29975217] [ 0.1958419 -0.0098116 0.9805864 -0.28108908] [ 0. 0. 0. 1. ]] SLAMing on 59.778241008 meters Centerline goodness [0,1] 0.9052434775218833 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.30, Z:-0.28 [[ 0.98058627 0.01216576 -0.19571042 4.81065708] [-0.01007015 0.99988085 0.01169926 -0.29831549] [ 0.19582944 -0.0095013 0.98059194 -0.28190403] [ 0. 0. 0. 1. ]] SLAMing on 59.808241008 meters Centerline goodness [0,1] 0.9068934137185758 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.30, Z:-0.28 [[ 0.9805647 0.01325671 -0.19574763 4.80992444] [-0.01113088 0.99986657 0.01195617 -0.29889774] [ 0.19588001 -0.00954496 0.98058142 -0.28213797] [ 0. 0. 0. 1. ]] SLAMing on 59.838241008000004 meters Centerline goodness [0,1] 0.9106659447753114 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.30, Z:-0.28 [[ 0.98069145 0.00920893 -0.1953445 4.80839732] [-0.00778417 0.99993722 0.00806004 -0.29887512] [ 0.19540646 -0.00638382 0.98070157 -0.2824017 ] [ 0. 0. 0. 1. ]] SLAMing on 59.868241008 meters Centerline goodness [0,1] 0.9092725819344525 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.30, Z:-0.28 [[ 0.98063313 0.0090114 -0.19564627 4.80925086] [-0.00749254 0.99993579 0.00850205 -0.30052813] [ 0.19571032 -0.0068715 0.98063768 -0.28169079] [ 0. 0. 0. 1. ]] SLAMing on 59.898241008 meters Centerline goodness [0,1] 0.9057950328290038 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.30, Z:-0.28 [[ 0.98059761 0.00871154 -0.19583776 4.81058623] [-0.00716567 0.99993734 0.00860079 -0.30110808] [ 0.19590042 -0.0070306 0.98059859 -0.2820106 ] [ 0. 0. 0. 1. ]] SLAMing on 59.928241008 meters Centerline goodness [0,1] 0.9067762744762231 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.30, Z:-0.28 [[ 0.98051486 0.00805128 -0.19627988 4.81307457] [-0.00651741 0.99994298 0.00845932 -0.30165546] [ 0.19633679 -0.00701526 0.98051142 -0.28271182] [ 0. 0. 0. 1. ]] SLAMing on 59.958241008 meters Centerline goodness [0,1] 0.9033991823665628 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.30, Z:-0.29 [[ 9.80369930e-01 5.96360644e-03 -1.97076725e-01 4.81873585e+00] [-4.59699392e-03 9.99962118e-01 7.39116164e-03 -3.02658063e-01] [ 1.97113337e-01 -6.34011212e-03 9.80360207e-01 -2.85004618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.988241008 meters Centerline goodness [0,1] 0.9020824989987986 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.30, Z:-0.29 [[ 9.80285831e-01 5.27016408e-03 -1.97514341e-01 4.82119648e+00] [-3.91742752e-03 9.99966125e-01 7.23890151e-03 -3.03585134e-01] [ 1.97545800e-01 -6.32244447e-03 9.80273270e-01 -2.85642692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.018241008000004 meters Centerline goodness [0,1] 0.9024923103458189 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.31, Z:-0.29 [[ 9.80166000e-01 4.81507909e-03 -1.98119730e-01 4.82321883e+00] [-3.39200247e-03 9.99965959e-01 7.52166224e-03 -3.05183927e-01] [ 1.98149203e-01 -6.70045498e-03 9.80148967e-01 -2.85217922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.048241008000005 meters Centerline goodness [0,1] 0.9047385715109241 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.31, Z:-0.28 [[ 9.80051680e-01 4.55020976e-03 -1.98690714e-01 4.82473772e+00] [-2.98058314e-03 9.99961952e-01 8.19822470e-03 -3.07684815e-01] [ 1.98720458e-01 -7.44246970e-03 9.80027953e-01 -2.84147091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.078241008 meters Centerline goodness [0,1] 0.9037821570159447 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.31, Z:-0.28 [[ 9.79820078e-01 3.59141925e-03 -1.99849234e-01 4.82766169e+00] [-1.61906797e-03 9.99948370e-01 1.00317548e-02 -3.13446491e-01] [ 1.99874944e-01 -9.50574530e-03 9.79775305e-01 -2.80343861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.108241008 meters Centerline goodness [0,1] 0.906038317295113 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.32, Z:-0.28 [[ 9.79713434e-01 3.27040454e-03 -2.00376875e-01 4.82905389e+00] [-1.11089902e-03 9.99940099e-01 1.08887113e-02 -3.16208331e-01] [ 2.00400483e-01 -1.04452183e-02 9.79658381e-01 -2.78890952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.138241008 meters Centerline goodness [0,1] 0.9042080654587961 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.32, Z:-0.28 [[ 9.79621252e-01 2.75061519e-03 -2.00834847e-01 4.83064310e+00] [-4.76560004e-04 9.99935240e-01 1.13704807e-02 -3.18079122e-01] [ 2.00853117e-01 -1.10430547e-02 9.79559123e-01 -2.78054480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.168241008 meters Centerline goodness [0,1] 0.9054010679583321 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.32, Z:-0.28 [[ 9.79561661e-01 2.26531216e-03 -2.01131353e-01 4.83226140e+00] [ 6.92981157e-05 9.99932720e-01 1.15995915e-02 -3.19278854e-01] [ 2.01144098e-01 -1.13764531e-02 9.79495599e-01 -2.77960685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.198241008000004 meters Centerline goodness [0,1] 0.9044870112831278 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.32, Z:-0.28 [[ 9.79510432e-01 1.52521226e-03 -2.01387653e-01 4.83420710e+00] [ 7.39345782e-04 9.99937351e-01 1.11690740e-02 -3.17383240e-01] [ 2.01392072e-01 -1.10891196e-02 9.79447939e-01 -2.78580895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.228241008000005 meters Centerline goodness [0,1] 0.903650821289686 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.32, Z:-0.28 [[ 9.79484581e-01 1.28071861e-03 -2.01515052e-01 4.83493731e+00] [ 9.20817369e-04 9.99940921e-01 1.08308007e-02 -3.15587676e-01] [ 2.01517018e-01 -1.07941608e-02 9.79425535e-01 -2.78869822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.258241008 meters Centerline goodness [0,1] 0.9025432349949135 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.32, Z:-0.28 [[ 9.79508780e-01 1.84603023e-03 -2.01393006e-01 4.83331656e+00] [ 4.72312197e-04 9.99934188e-01 1.14628742e-02 -3.15498016e-01] [ 2.01400913e-01 -1.13231062e-02 9.79443444e-01 -2.77266617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.288241008 meters Centerline goodness [0,1] 0.9027931335466977 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.32, Z:-0.28 [[ 9.79440349e-01 1.91538612e-03 -2.01724896e-01 4.83313100e+00] [ 5.62037577e-04 9.99925136e-01 1.22232063e-02 -3.16110702e-01] [ 2.01733206e-01 -1.20852784e-02 9.79365948e-01 -2.75165067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.318241008 meters Centerline goodness [0,1] 0.9019812910348033 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.32, Z:-0.27 [[ 9.79379287e-01 1.70685432e-03 -2.02023015e-01 4.83370337e+00] [ 8.27501885e-04 9.99922032e-01 1.24597658e-02 -3.16269529e-01] [ 2.02028530e-01 -1.23700109e-02 9.79301514e-01 -2.74227066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.348241008 meters Centerline goodness [0,1] 0.9021834061135371 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.32, Z:-0.27 [[ 9.79322871e-01 1.35100825e-03 -2.02299008e-01 4.83490290e+00] [ 1.16605859e-03 9.99923394e-01 1.23226141e-02 -3.15990321e-01] [ 2.02300158e-01 -1.23037103e-02 9.79246274e-01 -2.74321105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.378241008 meters Centerline goodness [0,1] 0.9017864923747276 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.31, Z:-0.28 [[ 9.79246779e-01 1.87737181e-04 -2.02671437e-01 4.83802200e+00] [ 2.09657975e-03 9.99936679e-01 1.10562904e-02 -3.13306011e-01] [ 2.02660679e-01 -1.12517536e-02 9.79184379e-01 -2.76382155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.408241008000005 meters Centerline goodness [0,1] 0.9010380422175829 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.31, Z:-0.28 [[ 9.79202984e-01 -4.59906996e-04 -2.02882491e-01 4.83986426e+00] [ 2.62093318e-03 9.99942660e-01 1.03830792e-02 -3.11307980e-01] [ 2.02866082e-01 -1.06988836e-02 9.79148041e-01 -2.77453905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.438241008 meters Centerline goodness [0,1] 0.8995999072248637 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.31, Z:-0.28 [[ 9.79172252e-01 -8.52891406e-04 -2.03029487e-01 4.84111843e+00] [ 2.92273397e-03 9.99946770e-01 9.89518335e-03 -3.09811990e-01] [ 2.03010241e-01 -1.02824901e-02 9.79122624e-01 -2.78262365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.468241008 meters Centerline goodness [0,1] 0.8978393544095103 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.31, Z:-0.28 [[ 9.79115983e-01 -1.18274847e-03 -2.03299022e-01 4.84209276e+00] [ 3.21109364e-03 9.99948305e-01 9.64759080e-03 -3.08738949e-01] [ 2.03277102e-01 -1.00989225e-02 9.79069166e-01 -2.78276899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.498241008 meters Centerline goodness [0,1] 0.898757225433526 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.31, Z:-0.28 [[ 9.79079232e-01 -1.27967537e-03 -2.03475353e-01 4.84244313e+00] [ 3.35875017e-03 9.99945622e-01 9.87282601e-03 -3.08389961e-01] [ 2.03451654e-01 -1.03497018e-02 9.79030290e-01 -2.77584030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.528241008 meters Centerline goodness [0,1] 0.8982466309230546 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.31, Z:-0.28 [[ 9.79141272e-01 -3.38031845e-04 -2.03180350e-01 4.83971770e+00] [ 2.62489750e-03 9.99936207e-01 1.09859797e-02 -3.08725640e-01] [ 2.03163674e-01 -1.12901537e-02 9.79079697e-01 -2.75154910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.558241008 meters Centerline goodness [0,1] 0.892910923201668 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.31, Z:-0.27 [[ 9.79121223e-01 2.08457277e-04 -2.03277121e-01 4.83829539e+00] [ 2.29760527e-03 9.99924247e-01 1.20922392e-02 -3.09816363e-01] [ 2.03264243e-01 -1.23068186e-02 9.79046572e-01 -2.72636174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.588241008000004 meters Centerline goodness [0,1] 0.893739512816062 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.31, Z:-0.27 [[ 9.79150716e-01 9.34776028e-04 -2.03132966e-01 4.83595513e+00] [ 1.86946503e-03 9.99905596e-01 1.36126393e-02 -3.10623259e-01] [ 2.03126514e-01 -1.37085755e-02 9.79056533e-01 -2.69270829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.618241008 meters Centerline goodness [0,1] 0.8934234468416948 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.31, Z:-0.27 [[ 9.79140036e-01 6.92373623e-04 -2.03185408e-01 4.83645871e+00] [ 2.09631164e-03 9.99906548e-01 1.35092948e-02 -3.09528129e-01] [ 2.03175773e-01 -1.36534314e-02 9.79047082e-01 -2.69272277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.648241008 meters Centerline goodness [0,1] 0.8895198910555443 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.31, Z:-0.27 [[ 9.79108883e-01 1.47906204e-04 -2.03336602e-01 4.83776686e+00] [ 2.54552807e-03 9.99912457e-01 1.29845900e-02 -3.07988888e-01] [ 2.03320722e-01 -1.32309264e-02 9.79022792e-01 -2.70035086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.678241008 meters Centerline goodness [0,1] 0.8928209435000435 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.31, Z:-0.27 [[ 9.79035759e-01 -6.66526196e-04 -2.03687352e-01 4.84013916e+00] [ 3.23043620e-03 9.99919683e-01 1.22552523e-02 -3.06621093e-01] [ 2.03662824e-01 -1.26563293e-02 9.78959280e-01 -2.71277864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.708241008 meters Centerline goodness [0,1] 0.8866504573347227 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.31, Z:-0.27 [[ 9.78950351e-01 -1.51060895e-03 -2.04092940e-01 4.84247066e+00] [ 3.95489128e-03 9.99925256e-01 1.15689752e-02 -3.05087189e-01] [ 2.04060209e-01 -1.21326177e-02 9.78883155e-01 -2.72222697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.738241008 meters Centerline goodness [0,1] 0.8838070977826666 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.30, Z:-0.27 [[ 9.78860613e-01 -2.40820986e-03 -2.04514304e-01 4.84466415e+00] [ 4.74605100e-03 9.99928877e-01 1.09414538e-02 -3.04408214e-01] [ 2.04473409e-01 -1.16807935e-02 9.78802423e-01 -2.72871329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.768241008000004 meters Centerline goodness [0,1] 0.8846856248369424 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.30, Z:-0.27 [[ 9.78791691e-01 -2.55647034e-03 -2.04842112e-01 4.84522739e+00] [ 4.93257355e-03 9.99926339e-01 1.10899070e-02 -3.04988756e-01] [ 2.04798672e-01 -1.18651076e-02 9.78732202e-01 -2.72230828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.798241008000005 meters Centerline goodness [0,1] 0.8860590590009862 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.31, Z:-0.27 [[ 9.78690503e-01 -2.79151378e-03 -2.05321959e-01 4.84605622e+00] [ 5.21946146e-03 9.99922707e-01 1.12844206e-02 -3.05686993e-01] [ 2.05274588e-01 -1.21156253e-02 9.78629427e-01 -2.71286650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.828241008 meters Centerline goodness [0,1] 0.8894606774240442 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.31, Z:-0.27 [[ 9.78631585e-01 -2.89704202e-03 -2.05601136e-01 4.84647900e+00] [ 5.38352128e-03 9.99918974e-01 1.15353287e-02 -3.06456753e-01] [ 2.05551059e-01 -1.23956951e-02 9.78567887e-01 -2.70559083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.858241008 meters Centerline goodness [0,1] 0.886863644279329 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.31, Z:-0.27 [[ 9.78558733e-01 -3.65036852e-03 -2.05935625e-01 4.84811747e+00] [ 6.09334643e-03 9.99918377e-01 1.12298530e-02 -3.05523280e-01] [ 2.05877823e-01 -1.22439078e-02 9.78501103e-01 -2.70573005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.888241008 meters Centerline goodness [0,1] 0.8852478032653771 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.30, Z:-0.27 [[ 9.78542015e-01 -3.84439966e-03 -2.06011517e-01 4.84883783e+00] [ 6.23306141e-03 9.99920652e-01 1.09470475e-02 -3.04286417e-01] [ 2.05953085e-01 -1.19962284e-02 9.78488333e-01 -2.71069646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.918241008 meters Centerline goodness [0,1] 0.8818991270048435 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.30, Z:-0.27 [[ 9.78524917e-01 -3.95429781e-03 -2.06090637e-01 4.84927231e+00] [ 6.29114530e-03 9.99923125e-01 1.06848552e-02 -3.02575087e-01] [ 2.06032542e-01 -1.17519432e-02 9.78474570e-01 -2.71324525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.948241008000004 meters Centerline goodness [0,1] 0.880754957671344 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.30, Z:-0.27 [[ 9.78542724e-01 -3.74183645e-03 -2.06010039e-01 4.84891718e+00] [ 6.07541790e-03 9.99924339e-01 1.06960935e-02 -3.01395287e-01] [ 2.05954429e-01 -1.17181816e-02 9.78491419e-01 -2.71290853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.978241008000005 meters Centerline goodness [0,1] 0.8758620689655172 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.30, Z:-0.27 [[ 9.78544635e-01 -3.02191223e-03 -2.06012777e-01 4.84797147e+00] [ 5.33679018e-03 9.99928706e-01 1.06818162e-02 -2.99336452e-01] [ 2.05965810e-01 -1.15520809e-02 9.78490999e-01 -2.71110893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.008241008 meters Centerline goodness [0,1] 0.8776876267748479 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.30, Z:-0.27 [[ 9.78523619e-01 -2.87266898e-03 -2.06114712e-01 4.84808297e+00] [ 5.14788095e-03 9.99931589e-01 1.05031350e-02 -2.98180069e-01] [ 2.06070440e-01 -1.13386197e-02 9.78471466e-01 -2.71233017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.038241008 meters Centerline goodness [0,1] 0.8754268186816366 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.30, Z:-0.27 [[ 9.78543632e-01 -2.44308641e-03 -2.06025220e-01 4.84746435e+00] [ 4.70273418e-03 9.99934037e-01 1.04788401e-02 -2.97080782e-01] [ 2.05986029e-01 -1.12228841e-02 9.78490574e-01 -2.71291980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.068241008 meters Centerline goodness [0,1] 0.874230380112733 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.30, Z:-0.27 [[ 9.78560573e-01 -2.10657273e-03 -2.05948460e-01 4.84682293e+00] [ 4.33676863e-03 9.99936742e-01 1.03780884e-02 -2.95470822e-01] [ 2.05913569e-01 -1.10487390e-02 9.78507806e-01 -2.71277941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.098241008 meters Centerline goodness [0,1] 0.8688680880568556 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.30, Z:-0.27 [[ 9.78415417e-01 2.46749931e-03 -2.06632965e-01 4.84785139e+00] [ 6.26908800e-04 9.99888665e-01 1.49085690e-02 -2.96635427e-01] [ 2.06646747e-01 -1.47163138e-02 9.78304938e-01 -2.69558414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.128241008 meters Centerline goodness [0,1] 0.8599843654998697 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.30, Z:-0.27 [[ 9.78422003e-01 2.74654585e-03 -2.06598259e-01 4.84754812e+00] [ 3.32362634e-04 9.99889429e-01 1.48666939e-02 -2.96211897e-01] [ 2.06616247e-01 -1.46145660e-02 9.78312905e-01 -2.69688576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.158241008000005 meters Centerline goodness [0,1] 0.8603877314814815 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.30, Z:-0.27 [[ 9.78456730e-01 2.97479953e-03 -2.06430563e-01 4.84721542e+00] [ 5.43306443e-05 9.99892438e-01 1.46666254e-02 -2.95369625e-01] [ 2.06451990e-01 -1.43618738e-02 9.78351324e-01 -2.70182216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.188241008 meters Centerline goodness [0,1] 0.8538180142293401 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.29, Z:-0.27 [[ 9.78380509e-01 7.53341375e-03 -2.06675656e-01 4.84793560e+00] [-3.76102981e-03 9.99819195e-01 1.86395121e-02 -2.93978521e-01] [ 2.06778708e-01 -1.74592221e-02 9.78231947e-01 -2.69696564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.218241008 meters Centerline goodness [0,1] 0.852211651769034 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.29, Z:-0.27 [[ 9.78404236e-01 7.85936863e-03 -2.06551160e-01 4.84759297e+00] [-4.20589108e-03 9.99826952e-01 1.81211615e-02 -2.91399394e-01] [ 2.06657838e-01 -1.68610895e-02 9.78267980e-01 -2.70489468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.248241008 meters Centerline goodness [0,1] 0.8509302459535741 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.29, Z:-0.27 [[ 0.97847014 0.00853547 -0.20621188 4.84631471] [-0.00495768 0.9998282 0.01786059 -0.28947751] [ 0.2063289 -0.01645372 0.97834435 -0.27109168] [ 0. 0. 0. 1. ]] SLAMing on 61.278241008 meters Centerline goodness [0,1] 0.8528127334367638 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.29, Z:-0.27 [[ 0.97845245 0.00872584 -0.20628784 4.84646469] [-0.00528831 0.99983792 0.0172093 -0.28745654] [ 0.20640457 -0.01574757 0.97834001 -0.27195572] [ 0. 0. 0. 1. ]] SLAMing on 61.308241008 meters Centerline goodness [0,1] 0.8577892325315006 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.29, Z:-0.27 [[ 0.97829001 0.01393497 -0.20677154 4.84680817] [-0.00965784 0.9997183 0.02168035 -0.28842146] [ 0.20701541 -0.0192127 0.97814901 -0.27082538] [ 0. 0. 0. 1. ]] SLAMing on 61.338241008000004 meters Centerline goodness [0,1] 0.862751841343536 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.29, Z:-0.27 [[ 0.97828818 0.01420264 -0.206762 4.84689097] [-0.01002143 0.99972384 0.02125572 -0.2874144 ] [ 0.20700679 -0.01872216 0.97816035 -0.27169488] [ 0. 0. 0. 1. ]] SLAMing on 61.368241008 meters Centerline goodness [0,1] 0.8637419354838709 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.29, Z:-0.27 [[ 0.97831789 0.01466542 -0.20658904 4.84636937] [-0.01055536 0.99972411 0.0209831 -0.28651374] [ 0.20683977 -0.01834752 0.97820278 -0.2724638 ] [ 0. 0. 0. 1. ]] SLAMing on 61.398241008 meters Centerline goodness [0,1] 0.8650718797336305 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.28, Z:-0.27 [[ 0.97831916 0.0147205 -0.20657912 4.84664873] [-0.01073172 0.99973397 0.02041608 -0.28486336] [ 0.2068247 -0.0177565 0.97821687 -0.27338727] [ 0. 0. 0. 1. ]] SLAMing on 61.428241008 meters Centerline goodness [0,1] 0.8664715410190106 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.29, Z:-0.27 [[ 0.97812215 0.01917314 -0.20714599 4.84832365] [-0.01432772 0.9995881 0.02486643 -0.28626542] [ 0.20753743 -0.02135448 0.97799397 -0.27242823] [ 0. 0. 0. 1. ]] SLAMing on 61.458241008 meters Centerline goodness [0,1] 0.8706314620182859 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.29, Z:-0.27 [[ 0.97811196 0.01923447 -0.20718837 4.84867416] [-0.0144274 0.9995911 0.02468761 -0.28607364] [ 0.2075785 -0.02115805 0.97798952 -0.27292417] [ 0. 0. 0. 1. ]] SLAMing on 61.488241008 meters Centerline goodness [0,1] 0.8697098030298724 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.29, Z:-0.27 [[ 0.97807164 0.01898272 -0.20740186 4.84969938] [-0.01424792 0.99960319 0.02429925 -0.28573614] [ 0.20778083 -0.02081136 0.97795399 -0.27352986] [ 0. 0. 0. 1. ]] SLAMing on 61.518241008000004 meters Centerline goodness [0,1] 0.8661594574571152 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.28, Z:-0.27 [[ 0.97825626 0.01516637 -0.20684455 4.84766275] [-0.01123779 0.99973371 0.02015473 -0.28469803] [ 0.20709515 -0.01739201 0.9781662 -0.27441616] [ 0. 0. 0. 1. ]] SLAMing on 61.548241008000005 meters Centerline goodness [0,1] 0.8682380436641395 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.29, Z:-0.27 [[ 0.97815661 0.01498125 -0.20732875 4.84859525] [-0.01092085 0.99972577 0.02071513 -0.2869012 ] [ 0.20758223 -0.01799843 0.97805198 -0.27328799] [ 0. 0. 0. 1. ]] SLAMing on 61.578241008 meters Centerline goodness [0,1] 0.8705077010838562 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.29, Z:-0.27 [[ 0.97801933 0.01438081 -0.20801775 4.85065583] [-0.01025653 0.99972913 0.02089165 -0.28886483] [ 0.20826185 -0.01829889 0.97790191 -0.27271367] [ 0. 0. 0. 1. ]] SLAMing on 61.608241008 meters Centerline goodness [0,1] 0.8607420980302336 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.29, Z:-0.27 [[ 0.9779025 0.01304794 -0.2086539 4.85428188] [-0.00897344 0.99975036 0.02046227 -0.29031507] [ 0.2088688 -0.01813776 0.97777546 -0.27360148] [ 0. 0. 0. 1. ]] SLAMing on 61.638241008 meters Centerline goodness [0,1] 0.8615609086227614 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.29, Z:-0.27 [[ 0.97782039 0.01246895 -0.20907371 4.85621369] [-0.00840839 0.99975859 0.02029926 -0.29088361] [ 0.20927635 -0.01809106 0.97768918 -0.27396409] [ 0. 0. 0. 1. ]] SLAMing on 61.668241008 meters Centerline goodness [0,1] 0.8615609086227614 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.29, Z:-0.27 [[ 0.97782039 0.01246895 -0.20907371 4.85621369] [-0.00840839 0.99975859 0.02029926 -0.29088361] [ 0.20927635 -0.01809106 0.97768918 -0.27396409] [ 0. 0. 0. 1. ]] SLAMing on 61.698241008000004 meters Centerline goodness [0,1] 0.8616572429034758 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.29, Z:-0.27 [[ 0.97773054 0.01206896 -0.20951691 4.85796524] [-0.00799056 0.99976197 0.02030134 -0.29186788] [ 0.20971205 -0.01817508 0.97759425 -0.2741008 ] [ 0. 0. 0. 1. ]] SLAMing on 61.728241008000005 meters Centerline goodness [0,1] 0.863309146184071 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.29, Z:-0.27 [[ 0.97763473 0.01166477 -0.20998636 4.85958308] [-0.00757302 0.99976567 0.02027937 -0.2927581 ] [ 0.2101737 -0.01823559 0.97749398 -0.27405122] [ 0. 0. 0. 1. ]] SLAMing on 61.758241008 meters Centerline goodness [0,1] 0.8653603758450785 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.29, Z:-0.27 [[ 0.97759571 0.01145461 -0.21017951 4.86035505] [-0.00735583 0.99976743 0.02027276 -0.29304968] [ 0.21036284 -0.01827252 0.9774526 -0.27405966] [ 0. 0. 0. 1. ]] SLAMing on 61.788241008 meters Centerline goodness [0,1] 0.8574498567335244 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.29, Z:-0.27 [[ 0.97759502 0.0113764 -0.21018694 4.86030038] [-0.00719338 0.99976078 0.02065527 -0.293572 ] [ 0.21037165 -0.01868054 0.97744299 -0.27333676] [ 0. 0. 0. 1. ]] SLAMing on 61.818241008 meters Centerline goodness [0,1] 0.8604624509326381 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.29, Z:-0.27 [[ 0.97755785 0.01112655 -0.21037311 4.86085992] [-0.00693373 0.99976257 0.02065748 -0.29371599] [ 0.210553 -0.01873521 0.9774029 -0.27310294] [ 0. 0. 0. 1. ]] SLAMing on 61.848241008 meters Centerline goodness [0,1] 0.8613489904052699 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.29, Z:-0.27 [[ 0.97749943 0.01088101 -0.21065724 4.86164931] [-0.00668477 0.999765 0.02062163 -0.29376593] [ 0.21083212 -0.01874943 0.97734246 -0.2728452 ] [ 0. 0. 0. 1. ]] SLAMing on 61.878241008 meters Centerline goodness [0,1] 0.8549402139710509 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.29, Z:-0.27 [[ 0.97744202 0.01015572 -0.21095962 4.86316437] [-0.00604077 0.9997789 0.02014117 -0.29292448] [ 0.21111752 -0.01841247 0.97728725 -0.27324843] [ 0. 0. 0. 1. ]] SLAMing on 61.908241008000005 meters Centerline goodness [0,1] 0.8544251447477254 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.29, Z:-0.27 [[ 0.97732103 0.00913905 -0.2115658 4.86598877] [-0.0051305 0.99979692 0.01948823 -0.29221949] [ 0.21170094 -0.01796082 0.97716944 -0.27394462] [ 0. 0. 0. 1. ]] SLAMing on 61.938241008 meters Centerline goodness [0,1] 0.8541726412388873 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.29, Z:-0.27 [[ 9.77236262e-01 8.56749316e-03 -2.11980861e-01 4.86782656e+00] [-4.58925359e-03 9.99804133e-01 1.92518797e-02 -2.92327469e-01] [ 2.12104282e-01 -1.78408011e-02 9.77084172e-01 -2.74262605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.968241008 meters Centerline goodness [0,1] 0.8568018406672419 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.29, Z:-0.27 [[ 9.77086142e-01 7.52704338e-03 -2.12711106e-01 4.87092359e+00] [-3.63735416e-03 9.99819053e-01 1.86716768e-02 -2.93003494e-01] [ 2.12813159e-01 -1.74701311e-02 9.76936719e-01 -2.74965465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.998241008 meters Centerline goodness [0,1] 0.860505791948618 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.29, Z:-0.28 [[ 9.76946485e-01 6.70121843e-03 -2.13379142e-01 4.87371353e+00] [-2.91116991e-03 9.99832463e-01 1.80713001e-02 -2.92981275e-01] [ 2.13464493e-01 -1.70335102e-02 9.76802319e-01 -2.75726958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.028241008 meters Centerline goodness [0,1] 0.8623948071344458 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.29, Z:-0.28 [[ 9.76881184e-01 6.37453470e-03 -2.13687899e-01 4.87519411e+00] [-2.58711159e-03 9.99834657e-01 1.79990542e-02 -2.93858808e-01] [ 2.13767303e-01 -1.70301030e-02 9.76736155e-01 -2.76081259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.058241008 meters Centerline goodness [0,1] 0.8671191900598252 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.29, Z:-0.28 [[ 9.76810521e-01 6.06500102e-03 -2.14019678e-01 4.87670718e+00] [-2.28306497e-03 9.99836930e-01 1.79137272e-02 -2.94550304e-01] [ 2.14093424e-01 -1.70096963e-02 9.76665079e-01 -2.76441798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.088241008000004 meters Centerline goodness [0,1] 0.8693162196385403 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.30, Z:-0.28 [[ 9.76689446e-01 5.44708702e-03 -2.14588105e-01 4.87881920e+00] [-1.64247230e-03 9.99838358e-01 1.79041666e-02 -2.95754826e-01] [ 2.14650945e-01 -1.71343555e-02 9.76540519e-01 -2.76393480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.118241008 meters Centerline goodness [0,1] 0.868114147493305 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.30, Z:-0.28 [[ 9.76613589e-01 5.16666208e-03 -2.14940001e-01 4.87999688e+00] [-1.25890128e-03 9.99831499e-01 1.83136288e-02 -2.97274286e-01] [ 2.14998403e-01 -1.76147505e-02 9.76455533e-01 -2.75833367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.148241008 meters Centerline goodness [0,1] 0.8693476009665171 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.30, Z:-0.28 [[ 9.76635185e-01 5.27976872e-03 -2.14839103e-01 4.87988699e+00] [-1.38142189e-03 9.99831742e-01 1.82915264e-02 -2.97282363e-01] [ 2.14899530e-01 -1.75673649e-02 9.76478151e-01 -2.76131434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.178241008 meters Centerline goodness [0,1] 0.8662581628836915 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.30, Z:-0.27 [[ 9.76511352e-01 5.28220820e-03 -2.15401201e-01 4.88052900e+00] [-1.21291695e-03 9.99818377e-01 1.90194931e-02 -2.99365679e-01] [ 2.15462544e-01 -1.83114872e-02 9.76340403e-01 -2.74458311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.208241008 meters Centerline goodness [0,1] 0.8676127695097728 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.30, Z:-0.27 [[ 9.76431549e-01 5.19160830e-03 -2.15764866e-01 4.88110502e+00] [-1.06003123e-03 9.99813950e-01 1.92598292e-02 -3.00208766e-01] [ 2.15824712e-01 -1.85771874e-02 9.76255388e-01 -2.73654118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.238241008 meters Centerline goodness [0,1] 0.8667910983488873 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.30, Z:-0.27 [[ 9.76390203e-01 4.99601050e-03 -2.15956505e-01 4.88174985e+00] [-8.74516515e-04 9.99815738e-01 1.91761788e-02 -3.00004399e-01] [ 2.16012517e-01 -1.85345756e-02 9.76214660e-01 -2.73584089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.268241008000004 meters Centerline goodness [0,1] 0.8676877015200368 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.30, Z:-0.27 [[ 9.76395963e-01 4.87018514e-03 -2.15933335e-01 4.88214180e+00] [-8.25927678e-04 9.99822632e-01 1.88154779e-02 -2.98923960e-01] [ 2.15986670e-01 -1.81930113e-02 9.76226804e-01 -2.74214505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.298241008000005 meters Centerline goodness [0,1] 0.8570772322710307 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.30, Z:-0.28 [[ 9.76352083e-01 4.30339302e-03 -2.16143683e-01 4.88408765e+00] [-4.25568334e-04 9.99838179e-01 1.79842967e-02 -2.96986732e-01] [ 2.16186099e-01 -1.74670216e-02 9.76195920e-01 -2.75754336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.328241008 meters Centerline goodness [0,1] 0.8610831777043528 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.30, Z:-0.28 [[ 9.76287963e-01 4.19116864e-03 -2.16435319e-01 4.88487478e+00] [-2.90431794e-04 9.99837020e-01 1.80513075e-02 -2.97631538e-01] [ 2.16475700e-01 -1.75604146e-02 9.76130065e-01 -2.75538605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.358241008 meters Centerline goodness [0,1] 0.8637602179836512 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.30, Z:-0.27 [[ 9.76184437e-01 4.03318909e-03 -2.16904768e-01 4.88590913e+00] [-7.67934258e-05 9.99833533e-01 1.82455793e-02 -2.98617833e-01] [ 2.16942248e-01 -1.77943937e-02 9.76022244e-01 -2.74915175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.388241008 meters Centerline goodness [0,1] 0.8645543075464652 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.30, Z:-0.27 [[ 9.76115860e-01 3.90022726e-03 -2.17215598e-01 4.88652188e+00] [ 1.01711798e-04 9.99830524e-01 1.84095839e-02 -2.99276028e-01] [ 2.17250586e-01 -1.79919802e-02 9.75950035e-01 -2.74330696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.418241008 meters Centerline goodness [0,1] 0.856742789502555 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.30, Z:-0.27 [[ 9.76117381e-01 4.16323390e-03 -2.17203881e-01 4.88607270e+00] [-1.11300788e-04 9.99825809e-01 1.86638750e-02 -2.99380735e-01] [ 2.17243748e-01 -1.81939578e-02 9.75947813e-01 -2.73913475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.448241008000004 meters Centerline goodness [0,1] 0.8557839650735826 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.30, Z:-0.27 [[ 9.76058987e-01 3.62762516e-03 -2.17475733e-01 4.88742651e+00] [ 3.53754042e-04 9.99833109e-01 1.82655072e-02 -2.98858276e-01] [ 2.17505698e-01 -1.79051454e-02 9.75894808e-01 -2.74306290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.478241008000005 meters Centerline goodness [0,1] 0.8527255339496334 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.30, Z:-0.28 [[ 9.76039242e-01 3.26266852e-03 -2.17570110e-01 4.88866783e+00] [ 6.82253273e-04 9.99836778e-01 1.80541433e-02 -2.99078099e-01] [ 2.17593502e-01 -1.77699903e-02 9.75877705e-01 -2.75039327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.508241008 meters Centerline goodness [0,1] 0.852356780275562 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.30, Z:-0.28 [[ 9.75969470e-01 2.58591082e-03 -2.17891960e-01 4.89067614e+00] [ 1.33374437e-03 9.99839965e-01 1.78399918e-02 -2.99336662e-01] [ 2.17903222e-01 -1.77018995e-02 9.75809832e-01 -2.75588661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.538241008 meters Centerline goodness [0,1] 0.8503824786946279 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.30, Z:-0.27 [[ 9.75932717e-01 2.82253574e-03 -2.18053584e-01 4.89050585e+00] [ 1.21531557e-03 9.99830310e-01 1.83813673e-02 -3.00678864e-01] [ 2.18068464e-01 -1.82039817e-02 9.75763680e-01 -2.74665678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.568241008 meters Centerline goodness [0,1] 0.8517535931897029 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.30, Z:-0.27 [[ 9.75824626e-01 2.89118082e-03 -2.18535902e-01 4.89088339e+00] [ 1.27161378e-03 9.99820466e-01 1.89055151e-02 -3.02100795e-01] [ 2.18551327e-01 -1.87263604e-02 9.75645756e-01 -2.73276534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.598241008 meters Centerline goodness [0,1] 0.8517413808228792 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.30, Z:-0.27 [[ 9.75795741e-01 3.42558223e-03 -2.18657121e-01 4.88977553e+00] [ 9.08970421e-04 9.99805132e-01 1.97198433e-02 -3.03816847e-01] [ 2.18682064e-01 -1.94412919e-02 9.75602476e-01 -2.71586607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.628241008 meters Centerline goodness [0,1] 0.8546122020861255 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.30, Z:-0.27 [[ 9.75811933e-01 4.17238391e-03 -2.18571869e-01 4.88850281e+00] [ 2.25496193e-04 9.99798107e-01 2.00921712e-02 -3.04090240e-01] [ 2.18611573e-01 -1.96554675e-02 9.75613982e-01 -2.70970288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.658241008000005 meters Centerline goodness [0,1] 0.8534935702052309 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.30, Z:-0.27 [[ 9.75782098e-01 3.92584934e-03 -2.18709591e-01 4.88928238e+00] [ 3.20691132e-04 9.99812188e-01 1.93774615e-02 -3.02021972e-01] [ 2.18744588e-01 -1.89783182e-02 9.75597575e-01 -2.71831574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.688241008 meters Centerline goodness [0,1] 0.8527434961469378 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.30, Z:-0.27 [[ 9.75811354e-01 3.79010469e-03 -2.18581419e-01 4.88987450e+00] [ 2.64066102e-04 9.99828539e-01 1.85154509e-02 -2.99287853e-01] [ 2.18614116e-01 -1.81253072e-02 9.75643040e-01 -2.73413380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.718241008 meters Centerline goodness [0,1] 0.8541389867714171 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.30, Z:-0.28 [[ 9.75792272e-01 3.28143563e-03 -2.18674813e-01 4.89180432e+00] [ 4.85196078e-04 9.99852486e-01 1.71688824e-02 -2.95580335e-01] [ 2.18698894e-01 -1.68593629e-02 9.75646737e-01 -2.75835788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.748241008 meters Centerline goodness [0,1] 0.8553054662379421 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.29, Z:-0.28 [[ 9.75768093e-01 3.01243044e-03 -2.18786550e-01 4.89267872e+00] [ 6.55508336e-04 9.99860491e-01 1.66903967e-02 -2.94569464e-01] [ 2.18806306e-01 -1.64293729e-02 9.75629989e-01 -2.76582199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.778241008 meters Centerline goodness [0,1] 0.860657635753155 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.29, Z:-0.28 [[ 9.75675177e-01 2.54570544e-03 -2.19206451e-01 4.89419556e+00] [ 1.07967178e-03 9.99864645e-01 1.64172623e-02 -2.94261333e-01] [ 2.19218574e-01 -1.62545863e-02 9.75540366e-01 -2.76686034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.808241008 meters Centerline goodness [0,1] 0.8633762310083375 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.30, Z:-0.28 [[ 9.75629424e-01 2.62501495e-03 -2.19409064e-01 4.89435751e+00] [ 1.07457161e-03 9.99859290e-01 1.67405539e-02 -2.95047001e-01] [ 2.19422135e-01 -1.65683477e-02 9.75489322e-01 -2.76036852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.838241008000004 meters Centerline goodness [0,1] 0.8638612420697283 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.30, Z:-0.28 [[ 9.75539151e-01 2.22503307e-03 -2.19814498e-01 4.89572320e+00] [ 1.51725679e-03 9.99856802e-01 1.68544745e-02 -2.95757872e-01] [ 2.19820522e-01 -1.67757148e-02 9.75396080e-01 -2.75687216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.868241008 meters Centerline goodness [0,1] 0.860865018735295 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.30, Z:-0.28 [[ 9.75451071e-01 1.84369473e-03 -2.20208558e-01 4.89695578e+00] [ 1.95707615e-03 9.99852885e-01 1.70404618e-02 -2.96703986e-01] [ 2.20207580e-01 -1.70531016e-02 9.75303960e-01 -2.75168640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.898241008 meters Centerline goodness [0,1] 0.8590325018896448 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.30, Z:-0.27 [[ 9.75370345e-01 1.76305064e-03 -2.20566501e-01 4.89757333e+00] [ 2.17883126e-03 9.99842257e-01 1.76270644e-02 -2.98549277e-01] [ 2.20562786e-01 -1.76734931e-02 9.75212646e-01 -2.74085198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.928241008 meters Centerline goodness [0,1] 0.8518313953488372 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.30, Z:-0.27 [[ 9.75232943e-01 1.57036362e-03 -2.21174685e-01 4.89860566e+00] [ 2.55541996e-03 9.99828054e-01 1.83665835e-02 -3.00511755e-01] [ 2.21165497e-01 -1.84768915e-02 9.75061243e-01 -2.72411835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.958241008 meters Centerline goodness [0,1] 0.8523648451624191 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.30, Z:-0.27 [[ 9.75220709e-01 2.21637287e-03 -2.21223092e-01 4.89751015e+00] [ 2.18159949e-03 9.99804855e-01 1.96339420e-02 -3.03333313e-01] [ 2.21223437e-01 -1.96300471e-02 9.75025565e-01 -2.70537451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.988241008 meters Centerline goodness [0,1] 0.849718367109924 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.30, Z:-0.27 [[ 9.75150817e-01 1.72854440e-03 -2.21535315e-01 4.89908199e+00] [ 2.57674927e-03 9.99813428e-01 1.91434086e-02 -3.02172352e-01] [ 2.21527073e-01 -1.92385515e-02 9.74964427e-01 -2.71136560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.018241008000004 meters Centerline goodness [0,1] 0.8461941340782123 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.30, Z:-0.27 [[ 9.75137563e-01 1.54883692e-03 -2.21594979e-01 4.89990733e+00] [ 2.67383639e-03 9.99820542e-01 1.87545642e-02 -3.01295052e-01] [ 2.21584260e-01 -1.88807887e-02 9.74958426e-01 -2.71963084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.048241008000005 meters Centerline goodness [0,1] 0.8457056287146021 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.30, Z:-0.27 [[ 9.75074053e-01 1.20842578e-03 -2.21876385e-01 4.90124661e+00] [ 2.97761429e-03 9.99823851e-01 1.85310724e-02 -3.01353347e-01] [ 2.21859695e-01 -1.87298302e-02 9.74898697e-01 -2.72363022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.078241008 meters Centerline goodness [0,1] 0.8522062887227668 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.30, Z:-0.27 [[ 9.74957863e-01 7.42157970e-04 -2.22388430e-01 4.90313924e+00] [ 3.40466022e-03 9.99827425e-01 1.82627763e-02 -3.01727038e-01] [ 2.22363605e-01 -1.85625944e-02 9.74787083e-01 -2.72670726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.108241008 meters Centerline goodness [0,1] 0.8551328361687253 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.30, Z:-0.27 [[ 9.74803200e-01 -1.10590368e-04 -2.23066602e-01 4.90619677e+00] [ 4.19555150e-03 9.99832071e-01 1.78389109e-02 -3.02928689e-01] [ 2.23027170e-01 -1.83253148e-02 9.74639967e-01 -2.73405254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.138241008 meters Centerline goodness [0,1] 0.8527231335006713 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.30, Z:-0.27 [[ 9.74745017e-01 -3.32315827e-04 -2.23320492e-01 4.90729569e+00] [ 4.39761557e-03 9.99833551e-01 1.77068092e-02 -3.02996231e-01] [ 2.23277436e-01 -1.82417017e-02 9.74584233e-01 -2.73689236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.168241008 meters Centerline goodness [0,1] 0.8567274419145657 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.30, Z:-0.27 [[ 9.74641671e-01 -8.46871623e-04 -2.23769738e-01 4.90885293e+00] [ 4.88289637e-03 9.99835224e-01 1.74837860e-02 -3.02599955e-01] [ 2.23718059e-01 -1.81330708e-02 9.74485209e-01 -2.73616349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.198241008000004 meters Centerline goodness [0,1] 0.8539998831297844 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.30, Z:-0.27 [[ 9.74568596e-01 -9.62299733e-04 -2.24087317e-01 4.90931542e+00] [ 5.12921846e-03 9.99824583e-01 1.80137116e-02 -3.04025529e-01] [ 2.24030674e-01 -1.87049904e-02 9.74402576e-01 -2.72465169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.228241008000005 meters Centerline goodness [0,1] 0.8569255966307908 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.30, Z:-0.27 [[ 9.74490713e-01 -1.26666427e-03 -2.24424253e-01 4.91018747e+00] [ 5.44504519e-03 9.99823155e-01 1.80003081e-02 -3.04132247e-01] [ 2.24361765e-01 -1.87631333e-02 9.74325276e-01 -2.72083997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.258241008 meters Centerline goodness [0,1] 0.8548160299976564 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.30, Z:-0.27 [[ 9.74473667e-01 -1.35736106e-03 -2.24497728e-01 4.91032622e+00] [ 5.56372439e-03 9.99820607e-01 1.81052405e-02 -3.04022363e-01] [ 2.24432879e-01 -1.88921236e-02 9.74306405e-01 -2.71729822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.288241008 meters Centerline goodness [0,1] 0.8506721215663355 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.30, Z:-0.27 [[ 9.74459631e-01 -1.41896421e-03 -2.24558265e-01 4.91024706e+00] [ 5.65087690e-03 9.99818326e-01 1.82039392e-02 -3.03333312e-01] [ 2.24491638e-01 -1.90079549e-02 9.74290615e-01 -2.71196946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.318241008 meters Centerline goodness [0,1] 0.8499370958775856 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.30, Z:-0.27 [[ 9.74466605e-01 -1.40049060e-03 -2.24528114e-01 4.90998849e+00] [ 5.66267252e-03 9.99815772e-01 1.83400315e-02 -3.02864835e-01] [ 2.24461064e-01 -1.91431774e-02 9.74295011e-01 -2.70818811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.348241008 meters Centerline goodness [0,1] 0.843726257962714 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.30, Z:-0.27 [[ 9.74467807e-01 -1.58267488e-03 -2.24521690e-01 4.90997895e+00] [ 5.88913673e-03 9.99811290e-01 1.85122334e-02 -3.02614270e-01] [ 2.24450021e-01 -1.93618145e-02 9.74293235e-01 -2.70288160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.378241008 meters Centerline goodness [0,1] 0.8426039656080014 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.30, Z:-0.27 [[ 9.74428554e-01 -1.59092421e-03 -2.24691926e-01 4.91009106e+00] [ 5.99078647e-03 9.99803405e-01 1.89013554e-02 -3.03646698e-01] [ 2.24617682e-01 -1.97641018e-02 9.74246518e-01 -2.69491087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.408241008000005 meters Centerline goodness [0,1] 0.8452715355805244 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.30, Z:-0.27 [[ 9.74348349e-01 -1.65366905e-03 -2.25039021e-01 4.91039935e+00] [ 6.14492947e-03 9.99795649e-01 1.92587523e-02 -3.04716120e-01] [ 2.24961186e-01 -2.01475824e-02 9.74159401e-01 -2.68399920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.438241008 meters Centerline goodness [0,1] 0.8526864099262554 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.31, Z:-0.27 [[ 9.74315798e-01 -1.66790836e-03 -2.25179802e-01 4.91036441e+00] [ 6.15914870e-03 9.99795843e-01 1.92441240e-02 -3.05087712e-01] [ 2.25101733e-01 -2.01367699e-02 9.74127158e-01 -2.67993631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.468241008 meters Centerline goodness [0,1] 0.8430523451443954 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.30, Z:-0.27 [[ 9.74290286e-01 -1.77408037e-03 -2.25289350e-01 4.91098046e+00] [ 6.20013193e-03 9.99801396e-01 1.89400887e-02 -3.04333798e-01] [ 2.25211006e-01 -1.98499681e-02 9.74107788e-01 -2.68455874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.498241008 meters Centerline goodness [0,1] 0.8573021508847091 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.30, Z:-0.27 [[ 9.74295442e-01 -1.92559964e-03 -2.25265808e-01 4.91153582e+00] [ 6.22003332e-03 9.99812172e-01 1.83557025e-02 -3.02817380e-01] [ 2.25188151e-01 -1.92850381e-02 9.74124419e-01 -2.69490589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.528241008 meters Centerline goodness [0,1] 0.8583036184018238 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.30, Z:-0.27 [[ 9.74311907e-01 -2.15626548e-03 -2.25192493e-01 4.91287360e+00] [ 6.18893824e-03 9.99832858e-01 1.72032872e-02 -2.98976447e-01] [ 2.25117759e-01 -1.81550700e-02 9.74162403e-01 -2.71915042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.558241008 meters Centerline goodness [0,1] 0.8583036184018238 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.30, Z:-0.27 [[ 9.74311907e-01 -2.15626548e-03 -2.25192493e-01 4.91287360e+00] [ 6.18893824e-03 9.99832858e-01 1.72032872e-02 -2.98976447e-01] [ 2.25117759e-01 -1.81550700e-02 9.74162403e-01 -2.71915042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.588241008000004 meters Centerline goodness [0,1] 0.8585964912280701 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.30, Z:-0.27 [[ 9.74300322e-01 -2.41635431e-03 -2.25239971e-01 4.91360844e+00] [ 6.35203384e-03 9.99839528e-01 1.67502333e-02 -2.97910284e-01] [ 2.25163352e-01 -1.77504896e-02 9.74159322e-01 -2.72679830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.618241008000005 meters Centerline goodness [0,1] 0.8590605989705195 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.30, Z:-0.27 [[ 9.74263339e-01 -2.63008483e-03 -2.25397493e-01 4.91450285e+00] [ 6.54434733e-03 9.99840450e-01 1.66206484e-02 -2.98300965e-01] [ 2.25317817e-01 -1.76679679e-02 9.74125107e-01 -2.73006726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.648241008 meters Centerline goodness [0,1] 0.8660173729928928 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.30, Z:-0.27 [[ 9.74202008e-01 -2.79603021e-03 -2.25660429e-01 4.91531673e+00] [ 6.71727305e-03 9.99839467e-01 1.66107968e-02 -2.98711007e-01] [ 2.25577759e-01 -1.76980944e-02 9.74064398e-01 -2.72921531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.678241008 meters Centerline goodness [0,1] 0.8653682823253771 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.30, Z:-0.27 [[ 9.74218594e-01 -2.45596186e-03 -2.25592775e-01 4.91414985e+00] [ 6.37544858e-03 9.99841098e-01 1.66472926e-02 -2.97394707e-01] [ 2.25516043e-01 -1.76563572e-02 9.74079446e-01 -2.72307565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.708241008 meters Centerline goodness [0,1] 0.8678746586003347 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.30, Z:-0.27 [[ 9.74137087e-01 -2.72036173e-03 -2.25941444e-01 4.91496059e+00] [ 6.70524035e-03 9.99835187e-01 1.68712293e-02 -2.98407335e-01] [ 2.25858310e-01 -1.79498818e-02 9.73994777e-01 -2.71615153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.738241008 meters Centerline goodness [0,1] 0.8662411013708302 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.30, Z:-0.27 [[ 9.74032724e-01 -3.04139206e-03 -2.26386845e-01 4.91597613e+00] [ 7.13679678e-03 9.99825322e-01 1.72740285e-02 -2.99923710e-01] [ 2.26294763e-01 -1.84411460e-02 9.73884287e-01 -2.70605048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.768241008000004 meters Centerline goodness [0,1] 0.8635801378335395 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.30, Z:-0.27 [[ 0.97387132 -0.00497155 -0.2270461 4.919767 ] [ 0.00904629 0.9998161 0.01690975 -0.30101454] [ 0.22692028 -0.01852185 0.9737372 -0.27052038] [ 0. 0. 0. 1. ]] SLAMing on 63.798241008000005 meters Centerline goodness [0,1] 0.8610585452395032 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.30, Z:-0.27 [[ 0.9739235 -0.00984936 -0.22666278 4.91951483] [ 0.0129939 0.99983887 0.01238534 -0.29918868] [ 0.22650427 -0.01500761 0.97389455 -0.27166536] [ 0. 0. 0. 1. ]] SLAMing on 63.828241008 meters Centerline goodness [0,1] 0.8618535950034041 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.30, Z:-0.27 [[ 0.97378047 -0.0105916 -0.22724307 4.92130178] [ 0.01387348 0.99982119 0.01284975 -0.30099007] [ 0.22706634 -0.01566549 0.97375329 -0.27046221] [ 0. 0. 0. 1. ]] SLAMing on 63.858241008 meters Centerline goodness [0,1] 0.8607328913094956 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.30, Z:-0.27 [[ 0.97364824 -0.01135119 -0.22777238 4.92328931] [ 0.0147206 0.99980583 0.0130995 -0.30255443] [ 0.22757946 -0.01610725 0.97362629 -0.2697851 ] [ 0. 0. 0. 1. ]] SLAMing on 63.888241008 meters Centerline goodness [0,1] 0.8664237468894419 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.30, Z:-0.27 [[ 0.97350654 -0.01260266 -0.2283116 4.92597401] [ 0.01592693 0.9997922 0.01272352 -0.30251181] [ 0.2281038 -0.01602273 0.97350497 -0.26982757] [ 0. 0. 0. 1. ]] SLAMing on 63.918241008 meters Centerline goodness [0,1] 0.8604010544711354 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.30, Z:-0.27 [[ 0.9734658 -0.01266269 -0.22848194 4.92601004] [ 0.01597445 0.99979236 0.01265101 -0.30177616] [ 0.2282743 -0.0159652 0.97346595 -0.2693995 ] [ 0. 0. 0. 1. ]] SLAMing on 63.948241008000004 meters Centerline goodness [0,1] 0.8646747643112569 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.30, Z:-0.27 [[ 0.97342932 -0.01264719 -0.22863814 4.92568939] [ 0.01598754 0.99979073 0.01276335 -0.30099858] [ 0.22842887 -0.01607958 0.97342781 -0.26845414] [ 0. 0. 0. 1. ]] SLAMing on 63.978241008000005 meters Centerline goodness [0,1] 0.8629213483146068 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.30, Z:-0.27 [[ 0.97347361 -0.01250387 -0.22845742 4.92466877] [ 0.01574928 0.99979923 0.01238809 -0.29811755] [ 0.22825665 -0.01565752 0.97347509 -0.26845941] [ 0. 0. 0. 1. ]] SLAMing on 64.008241008 meters Centerline goodness [0,1] 0.8595782332989235 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.30, Z:-0.27 [[ 0.97347621 -0.0127773 -0.22843121 4.92508381] [ 0.0158925 0.99980404 0.01180301 -0.29582321] [ 0.22823563 -0.01512029 0.97348851 -0.26915347] [ 0. 0. 0. 1. ]] SLAMing on 64.03824100800001 meters Centerline goodness [0,1] 0.8548633558624743 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.29, Z:-0.27 [[ 0.97345883 -0.01317719 -0.22848252 4.92594295] [ 0.01612883 0.9998088 0.0110559 -0.29320303] [ 0.22829315 -0.01444762 0.97348524 -0.2700852 ] [ 0. 0. 0. 1. ]] SLAMing on 64.06824100800002 meters Centerline goodness [0,1] 0.8608055384434862 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.29, Z:-0.27 [[ 0.97348617 -0.0130528 -0.22837318 4.92551016] [ 0.01593573 0.99981486 0.01078421 -0.29104153] [ 0.22819013 -0.01413757 0.97351394 -0.2703115 ] [ 0. 0. 0. 1. ]] SLAMing on 64.098241008 meters Centerline goodness [0,1] 0.8507950401167031 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.29, Z:-0.27 [[ 0.97352298 -0.01246364 -0.22824912 4.92406859] [ 0.0152996 0.99982613 0.01065957 -0.28783144] [ 0.22807657 -0.01386946 0.97354441 -0.26997964] [ 0. 0. 0. 1. ]] SLAMing on 64.128241008 meters Centerline goodness [0,1] 0.8513170560952131 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.29, Z:-0.27 [[ 0.97353821 -0.01215357 -0.22820088 4.92331264] [ 0.01500824 0.99982928 0.01077825 -0.28696342] [ 0.22803093 -0.01391793 0.97355441 -0.26951569] [ 0. 0. 0. 1. ]] SLAMing on 64.158241008 meters Centerline goodness [0,1] 0.8506104651162791 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.29, Z:-0.27 [[ 0.97354082 -0.01172436 -0.22821222 4.92237455] [ 0.01463865 0.99983144 0.01108152 -0.28661758] [ 0.22804383 -0.01412903 0.97354835 -0.2687054 ] [ 0. 0. 0. 1. ]] SLAMing on 64.188241008 meters Centerline goodness [0,1] 0.8499811205669638 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.29, Z:-0.27 [[ 0.97360411 -0.01098929 -0.22797867 4.92056299] [ 0.01401867 0.9998336 0.01167291 -0.28654001] [ 0.22781246 -0.01456075 0.97359615 -0.26767917] [ 0. 0. 0. 1. ]] SLAMing on 64.218241008 meters Centerline goodness [0,1] 0.8460691413834072 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.29, Z:-0.27 [[ 0.97373728 -0.01000607 -0.22745456 4.91778404] [ 0.01313087 0.999839 0.01222908 -0.28522161] [ 0.22729558 -0.01489458 0.9737119 -0.26672487] [ 0. 0. 0. 1. ]] SLAMing on 64.24824100800001 meters Centerline goodness [0,1] 0.8455929162567278 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.28, Z:-0.27 [[ 0.97376811 -0.00992134 -0.22732628 4.91748691] [ 0.0129967 0.9998431 0.01203555 -0.28384542] [ 0.22717121 -0.01467433 0.97374427 -0.26702126] [ 0. 0. 0. 1. ]] SLAMing on 64.27824100800001 meters Centerline goodness [0,1] 0.8447867982228376 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.28, Z:-0.27 [[ 0.97380994 -0.00976203 -0.2271539 4.91719893] [ 0.01279991 0.99984721 0.01190445 -0.28252185] [ 0.22700298 -0.01450022 0.97378611 -0.26738696] [ 0. 0. 0. 1. ]] SLAMing on 64.30824100800001 meters Centerline goodness [0,1] 0.8517356513729779 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.28, Z:-0.27 [[ 0.97384415 -0.00890343 -0.22704251 4.91653505] [ 0.01183585 0.99986316 0.01155758 -0.28049226] [ 0.22690854 -0.01394253 0.97381627 -0.26845492] [ 0. 0. 0. 1. ]] SLAMing on 64.33824100800001 meters Centerline goodness [0,1] 0.8556053039435164 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.28, Z:-0.27 [[ 0.9739047 -0.00818916 -0.22680954 4.91520222] [ 0.01115932 0.99986791 0.01181626 -0.28053771] [ 0.22668282 -0.01403895 0.97386745 -0.26823092] [ 0. 0. 0. 1. ]] SLAMing on 64.36824100800001 meters Centerline goodness [0,1] 0.854014177857184 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.28, Z:-0.27 [[ 0.97392435 -0.00747777 -0.22674974 4.91412853] [ 0.01055683 0.99986777 0.01236946 -0.28157039] [ 0.22662726 -0.01444068 0.97387451 -0.26754995] [ 0. 0. 0. 1. ]] SLAMing on 64.39824100800001 meters Centerline goodness [0,1] 0.8573725771715721 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.28, Z:-0.27 [[ 0.97391156 -0.00721188 -0.22681325 4.91402103] [ 0.01031213 0.99986886 0.01248675 -0.28190297] [ 0.22669346 -0.01449991 0.97385822 -0.26739704] [ 0. 0. 0. 1. ]] SLAMing on 64.42824100800001 meters Centerline goodness [0,1] 0.8602939061915854 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.28, Z:-0.27 [[ 0.97396186 -0.00683986 -0.22660873 4.91354187] [ 0.009936 0.99987219 0.01252512 -0.2816985 ] [ 0.22649409 -0.01445057 0.97390534 -0.26783967] [ 0. 0. 0. 1. ]] SLAMing on 64.45824100800002 meters Centerline goodness [0,1] 0.86064046328947 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.28, Z:-0.27 [[ 9.73891067e-01 -2.36689444e-03 -2.27003496e-01 4.91558073e+00] [ 6.29894360e-03 9.99842391e-01 1.65987026e-02 -2.82271544e-01] [ 2.26928431e-01 -1.75952104e-02 9.73752482e-01 -2.68311849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.488241008 meters Centerline goodness [0,1] 0.8644043568998542 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.28, Z:-0.27 [[ 9.73882019e-01 -2.59159307e-03 -2.27039858e-01 4.91673532e+00] [ 6.40620582e-03 9.99850407e-01 1.60662683e-02 -2.81558410e-01] [ 2.26964257e-01 -1.71011139e-02 9.73752935e-01 -2.69624843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.518241008 meters Centerline goodness [0,1] 0.8695801690786645 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.28, Z:-0.27 [[ 9.73888158e-01 -2.50621897e-03 -2.27014479e-01 4.91727619e+00] [ 6.29837156e-03 9.99852448e-01 1.59816252e-02 -2.81984321e-01] [ 2.26940929e-01 -1.69941370e-02 9.73760245e-01 -2.70377478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.548241008 meters Centerline goodness [0,1] 0.8652814051602904 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.28, Z:-0.27 [[ 9.73867667e-01 -2.34772936e-03 -2.27104065e-01 4.91776289e+00] [ 6.17035478e-03 9.99850967e-01 1.61235755e-02 -2.83023912e-01] [ 2.27032365e-01 -1.71035415e-02 9.73737015e-01 -2.70654213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.578241008 meters Centerline goodness [0,1] 0.8753963221306278 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.29, Z:-0.27 [[ 9.73919858e-01 -1.40282006e-03 -2.26887951e-01 4.91594813e+00] [ 5.47106545e-03 9.99835327e-01 1.73027709e-02 -2.85963653e-01] [ 2.26826316e-01 -1.80928310e-02 9.73767155e-01 -2.69235437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.60824100800001 meters Centerline goodness [0,1] 0.8637994906228293 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.29, Z:-0.27 [[ 0.97392683 -0.00648388 -0.22676966 4.91601911] [ 0.0097288 0.99986562 0.0131946 -0.28621255] [ 0.22665364 -0.01505677 0.97385904 -0.26941087] [ 0. 0. 0. 1. ]] SLAMing on 64.63824100800001 meters Centerline goodness [0,1] 0.8579619873679308 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.29, Z:-0.27 [[ 0.97390788 -0.01139148 -0.22665763 4.91573791] [ 0.01389777 0.99985862 0.00946483 -0.28759073] [ 0.22651776 -0.01236791 0.97392851 -0.26896645] [ 0. 0. 0. 1. ]] SLAMing on 64.66824100800001 meters Centerline goodness [0,1] 0.8604942589030716 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.29, Z:-0.27 [[ 0.97386818 -0.01601895 -0.22654835 4.91513104] [ 0.01786562 0.99982177 0.0061032 -0.28928751] [ 0.22641021 -0.00999114 0.9739808 -0.26804843] [ 0. 0. 0. 1. ]] SLAMing on 64.69824100800001 meters Centerline goodness [0,1] 0.8628140850851731 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.29, Z:-0.27 [[ 9.73743731e-01 -2.22818445e-02 -2.26553893e-01 4.91770234e+00] [ 2.32662722e-02 9.99727900e-01 1.67556204e-03 -2.90333041e-01] [ 2.26454913e-01 -6.90263258e-03 9.73997190e-01 -2.69041651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72824100800001 meters Centerline goodness [0,1] 0.8606234955674279 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.29, Z:-0.27 [[ 9.73630182e-01 -2.31512582e-02 -2.26954374e-01 4.92010489e+00] [ 2.41305358e-02 9.99707629e-01 1.54096408e-03 -2.90771289e-01] [ 2.26852343e-01 -6.97685976e-03 9.73904173e-01 -2.69417436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75824100800001 meters Centerline goodness [0,1] 0.8628305553919547 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.29, Z:-0.27 [[ 9.73544131e-01 -2.35683660e-02 -2.27280348e-01 4.92175521e+00] [ 2.45694321e-02 9.99696884e-01 1.57604641e-03 -2.91381246e-01] [ 2.27174311e-01 -7.11849981e-03 9.73828095e-01 -2.69640700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78824100800001 meters Centerline goodness [0,1] 0.8655013853681542 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.29, Z:-0.27 [[ 9.73466397e-01 -2.34665558e-02 -2.27623581e-01 4.92240383e+00] [ 2.46474113e-02 9.99693453e-01 2.34626179e-03 -2.93795979e-01] [ 2.27498745e-01 -7.89433904e-03 9.73746374e-01 -2.68663643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81824100800002 meters Centerline goodness [0,1] 0.8709127264173135 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.29, Z:-0.27 [[ 9.73422721e-01 -2.33749536e-02 -2.27819704e-01 4.92278977e+00] [ 2.46317533e-02 9.99693014e-01 2.67461729e-03 -2.94668293e-01] [ 2.27687248e-01 -8.21513200e-03 9.73699660e-01 -2.68262883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.848241008 meters Centerline goodness [0,1] 0.8719355695194265 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.30, Z:-0.27 [[ 9.73345354e-01 -2.35994490e-02 -2.28126912e-01 4.92389330e+00] [ 2.48788662e-02 9.99686735e-01 2.73388457e-03 -2.95102693e-01] [ 2.27990930e-01 -8.33655276e-03 9.73627566e-01 -2.68174003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.878241008 meters Centerline goodness [0,1] 0.875897586815774 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.30, Z:-0.27 [[ 9.73197053e-01 -2.40559738e-02 -2.28711186e-01 4.92569651e+00] [ 2.53686925e-02 9.99674239e-01 2.80091027e-03 -2.95324695e-01] [ 2.28569302e-01 -8.52794136e-03 9.73490292e-01 -2.67738416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.908241008 meters Centerline goodness [0,1] 0.87892733870254 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.30, Z:-0.27 [[ 9.73073022e-01 -2.44213641e-02 -2.29199673e-01 4.92713814e+00] [ 2.57769369e-02 9.99663449e-01 2.92189265e-03 -2.95943231e-01] [ 2.29051179e-01 -8.75128042e-03 9.73375042e-01 -2.67282018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.938241008 meters Centerline goodness [0,1] 0.881239141317471 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.30, Z:-0.27 [[ 9.72933104e-01 -2.52104952e-02 -2.29707651e-01 4.92909094e+00] [ 2.66084926e-02 9.99641460e-01 2.99000523e-03 -2.96543173e-01] [ 2.29549912e-01 -9.02124942e-03 9.73255082e-01 -2.66746244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.968241008 meters Centerline goodness [0,1] 0.8810288441707669 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.30, Z:-0.27 [[ 9.72807258e-01 -2.57287007e-02 -2.30182696e-01 4.93050972e+00] [ 2.71760383e-02 9.99625797e-01 3.11914993e-03 -2.96932260e-01] [ 2.30016309e-01 -9.28978545e-03 9.73142434e-01 -2.66088708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.99824100800001 meters Centerline goodness [0,1] 0.8815103015297551 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.30, Z:-0.27 [[ 9.72714803e-01 -2.60611638e-02 -2.30535741e-01 4.93152381e+00] [ 2.75823262e-02 9.99613829e-01 3.37751204e-03 -2.97646127e-01] [ 2.30358693e-01 -9.64406796e-03 9.73057997e-01 -2.65395145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02824100800001 meters Centerline goodness [0,1] 0.8807447560688192 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.30, Z:-0.26 [[ 9.72623478e-01 -2.62475018e-02 -2.30899631e-01 4.93223538e+00] [ 2.78592235e-02 9.99604927e-01 3.72197556e-03 -2.97944297e-01] [ 2.30710716e-01 -1.00527652e-02 9.72970456e-01 -2.64474849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05824100800001 meters Centerline goodness [0,1] 0.880317188927866 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.30, Z:-0.26 [[ 9.72603185e-01 -2.61134277e-02 -2.31000290e-01 4.93182726e+00] [ 2.77715395e-02 9.99606576e-01 3.92871237e-03 -2.97292212e-01] [ 2.30806816e-01 -1.02363118e-02 9.72945749e-01 -2.63689923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08824100800001 meters Centerline goodness [0,1] 0.8814296631591323 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.30, Z:-0.26 [[ 0.9726104 -0.02122168 -0.23147061 4.93177422] [ 0.02383859 0.99967956 0.0085142 -0.29686328] [ 0.23121575 -0.01379894 0.97280464 -0.26196235] [ 0. 0. 0. 1. ]] SLAMing on 65.11824100800001 meters Centerline goodness [0,1] 0.8806092320285321 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.29, Z:-0.26 [[ 0.97263023 -0.0211071 -0.23139776 4.93164409] [ 0.02356761 0.99969124 0.00787383 -0.29385566] [ 0.23116012 -0.01311182 0.97282736 -0.26279118] [ 0. 0. 0. 1. ]] SLAMing on 65.14824100800001 meters Centerline goodness [0,1] 0.872905312855186 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.29, Z:-0.26 [[ 0.97267795 -0.02057302 -0.23124524 4.9307311 ] [ 0.02293704 0.99970849 0.00753887 -0.29096295] [ 0.23102273 -0.01263698 0.97286628 -0.26323452] [ 0. 0. 0. 1. ]] SLAMing on 65.17824100800001 meters Centerline goodness [0,1] 0.8794594752016774 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.29, Z:-0.26 [[ 0.97278881 -0.01960771 -0.23086244 4.92867123] [ 0.02193298 0.99973124 0.00750973 -0.28845796] [ 0.23065314 -0.01236889 0.97295742 -0.26330159] [ 0. 0. 0. 1. ]] SLAMing on 65.20824100800002 meters Centerline goodness [0,1] 0.8589116038007486 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.28, Z:-0.26 [[ 9.74147957e-01 -1.34294625e-02 -2.25511435e-01 4.94094647e+00] [ 1.46559309e-02 9.99885507e-01 3.76530889e-03 -2.83869352e-01] [ 2.25435049e-01 -6.97304797e-03 9.74233245e-01 -2.63056376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.238241008 meters Centerline goodness [0,1] 0.857520775225005 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.28, Z:-0.26 [[ 9.74241613e-01 -1.16243454e-02 -2.25206913e-01 4.93758764e+00] [ 1.29594865e-02 9.99906115e-01 4.45109337e-03 -2.81806146e-01] [ 2.25134028e-01 -7.25500633e-03 9.74300792e-01 -2.61838294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.268241008 meters Centerline goodness [0,1] 0.8526567981517926 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.28, Z:-0.26 [[ 0.97420897 -0.00638564 -0.22555733 4.93689413] [ 0.0086893 0.99991972 0.00922193 -0.28212322] [ 0.22548033 -0.01094402 0.97418625 -0.25986759] [ 0. 0. 0. 1. ]] SLAMing on 65.298241008 meters Centerline goodness [0,1] 0.8515520337485392 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.28, Z:-0.26 [[ 9.74307297e-01 -3.69276621e-04 -2.25222454e-01 4.93418273e+00] [ 3.56664405e-03 9.99898555e-01 1.37897803e-02 -2.80927575e-01] [ 2.25194514e-01 -1.42387719e-02 9.74209776e-01 -2.58759356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.328241008 meters Centerline goodness [0,1] 0.851350582883139 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.28, Z:-0.26 [[ 9.74343269e-01 -4.91500514e-05 -2.25067081e-01 4.93361407e+00] [ 3.17434768e-03 9.99903511e-01 1.35237858e-02 -2.79531704e-01] [ 2.25044700e-01 -1.38912508e-02 9.74249412e-01 -2.59160101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.35824100800001 meters Centerline goodness [0,1] 0.8506930580115224 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.28, Z:-0.26 [[ 9.74387872e-01 5.45236389e-04 -2.24873248e-01 4.93246904e+00] [ 2.61742695e-03 9.99901820e-01 1.37658524e-02 -2.79084318e-01] [ 2.24858675e-01 -1.40018689e-02 9.74290780e-01 -2.58893318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.38824100800001 meters Centerline goodness [0,1] 0.853503909026297 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.28, Z:-0.26 [[ 9.74462104e-01 1.39953985e-03 -2.24547653e-01 4.93091264e+00] [ 1.83039520e-03 9.99897849e-01 1.41753771e-02 -2.79248079e-01] [ 2.24544554e-01 -1.42243787e-02 9.74360000e-01 -2.58688900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41824100800001 meters Centerline goodness [0,1] 0.8611703185835677 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.28, Z:-0.26 [[ 9.74487628e-01 1.65103704e-03 -2.24435152e-01 4.93074958e+00] [ 1.57974309e-03 9.99897716e-01 1.42148332e-02 -2.79415414e-01] [ 2.24435665e-01 -1.42067290e-02 9.74385345e-01 -2.59026920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44824100800001 meters Centerline goodness [0,1] 0.8624466571834992 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.28, Z:-0.26 [[ 9.74473563e-01 1.71045558e-03 -2.24495769e-01 4.93127959e+00] [ 1.50390194e-03 9.99898804e-01 1.41463476e-02 -2.79714594e-01] [ 2.24497248e-01 -1.41228613e-02 9.74372378e-01 -2.59524760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47824100800001 meters Centerline goodness [0,1] 0.8624466571834992 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.28, Z:-0.26 [[ 9.74473563e-01 1.71045558e-03 -2.24495769e-01 4.93127959e+00] [ 1.50390194e-03 9.99898804e-01 1.41463476e-02 -2.79714594e-01] [ 2.24497248e-01 -1.41228613e-02 9.74372378e-01 -2.59524760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50824100800001 meters Centerline goodness [0,1] 0.8624555413287808 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.28, Z:-0.26 [[ 9.74426483e-01 1.58833844e-03 -2.24700928e-01 4.93237470e+00] [ 1.60001447e-03 9.99900624e-01 1.40065157e-02 -2.79838465e-01] [ 2.24700845e-01 -1.40078445e-02 9.74327106e-01 -2.60048419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53824100800001 meters Centerline goodness [0,1] 0.8748172147833816 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.28, Z:-0.26 [[ 9.74405680e-01 1.64733655e-03 -2.24790697e-01 4.93324406e+00] [ 1.54075907e-03 9.99900719e-01 1.40063509e-02 -2.80595238e-01] [ 2.24791452e-01 -1.39942162e-02 9.74306402e-01 -2.60715291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56824100800002 meters Centerline goodness [0,1] 0.8796280400572246 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.28, Z:-0.26 [[ 9.74295549e-01 1.71153917e-03 -2.25267073e-01 4.93465623e+00] [ 1.65131804e-03 9.99890011e-01 1.47390504e-02 -2.84359064e-01] [ 2.25267523e-01 -1.47321788e-02 9.74185560e-01 -2.60193516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.598241008 meters Centerline goodness [0,1] 0.863025474969195 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.29, Z:-0.26 [[ 9.74244554e-01 1.96448533e-03 -2.25485454e-01 4.93480232e+00] [ 1.58473928e-03 9.99877707e-01 1.55582927e-02 -2.87161051e-01] [ 2.25488443e-01 -1.55149176e-02 9.74122297e-01 -2.59229107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.628241008 meters Centerline goodness [0,1] 0.8747809096916932 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.29, Z:-0.26 [[ 9.74200203e-01 2.27061129e-03 -2.25674123e-01 4.93492957e+00] [ 1.46690831e-03 9.99864558e-01 1.63925136e-02 -2.89781340e-01] [ 2.25680778e-01 -1.63006333e-02 9.74064924e-01 -2.58385518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.658241008 meters Centerline goodness [0,1] 0.8656995653800765 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.29, Z:-0.26 [[ 9.74160153e-01 2.29837285e-03 -2.25846661e-01 4.93550492e+00] [ 1.55676970e-03 9.99856139e-01 1.68901554e-02 -2.91649303e-01] [ 2.25852990e-01 -1.68053076e-02 9.74016431e-01 -2.58041144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.688241008 meters Centerline goodness [0,1] 0.8633008816518768 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.30, Z:-0.26 [[ 9.74083683e-01 1.95904737e-03 -2.26179445e-01 4.93740037e+00] [ 2.08355557e-03 9.99842350e-01 1.76333265e-02 -2.95479498e-01] [ 2.26178333e-01 -1.76475931e-02 9.73926036e-01 -2.57786009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.718241008 meters Centerline goodness [0,1] 0.8614648763902495 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.30, Z:-0.26 [[ 9.73998521e-01 1.81956313e-03 -2.26547059e-01 4.93858436e+00] [ 2.36441429e-03 9.99831648e-01 1.81957464e-02 -2.98270588e-01] [ 2.26542027e-01 -1.82582812e-02 9.73830244e-01 -2.57260765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.74824100800001 meters Centerline goodness [0,1] 0.8654694301115563 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.30, Z:-0.26 [[ 9.73826369e-01 8.81163779e-04 -2.27291500e-01 4.94123469e+00] [ 3.36594110e-03 9.99826922e-01 1.82974439e-02 -3.00750852e-01] [ 2.27268284e-01 -1.85835832e-02 9.73654856e-01 -2.56722365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77824100800001 meters Centerline goodness [0,1] 0.867422704333198 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.30, Z:-0.26 [[ 9.73980755e-01 -2.79545179e-03 -2.26613493e-01 4.93837763e+00] [ 6.19807551e-03 9.99878469e-01 1.43049479e-02 -2.99462341e-01] [ 2.26545963e-01 -1.53373115e-02 9.73879712e-01 -2.57055320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80824100800001 meters Centerline goodness [0,1] 0.8720896475643035 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.30, Z:-0.26 [[ 9.73907240e-01 -2.94426273e-03 -2.26927344e-01 4.93902828e+00] [ 6.46245742e-03 9.99870148e-01 1.47622300e-02 -3.01278586e-01] [ 2.26854413e-01 -1.58435510e-02 9.73799803e-01 -2.56195111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83824100800001 meters Centerline goodness [0,1] 0.876189649686135 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.30, Z:-0.26 [[ 9.73817400e-01 -3.79932130e-03 -2.27299881e-01 4.94158950e+00] [ 7.19356662e-03 9.99874624e-01 1.41063664e-02 -3.00592882e-01] [ 2.27217788e-01 -1.53721218e-02 9.73722637e-01 -2.57378742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86824100800001 meters Centerline goodness [0,1] 0.8761413374300704 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.30, Z:-0.26 [[ 9.73719846e-01 -4.66647024e-03 -2.27701308e-01 4.94425771e+00] [ 7.91124383e-03 9.99879727e-01 1.33395199e-02 -2.99822697e-01] [ 2.27611673e-01 -1.47903558e-02 9.73639652e-01 -2.58728516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89824100800001 meters Centerline goodness [0,1] 0.8791460935230904 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.26 [[ 0.97357803 -0.00528109 -0.22829353 4.94708539] [ 0.00848765 0.99987861 0.01306628 -0.30094667] [ 0.22819681 -0.01465872 0.97350467 -0.25962952] [ 0. 0. 0. 1. ]] SLAMing on 65.92824100800001 meters Centerline goodness [0,1] 0.8805172163300886 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.26 [[ 0.9735129 -0.00541995 -0.22856784 4.94801457] [ 0.00868548 0.99987405 0.0132834 -0.30225313] [ 0.22846706 -0.01491679 0.97343736 -0.25945427] [ 0. 0. 0. 1. ]] SLAMing on 65.95824100800002 meters Centerline goodness [0,1] 0.8860047777195129 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.26 [[ 0.97340219 -0.00561062 -0.22903428 4.94910395] [ 0.00897492 0.99986655 0.01365007 -0.30370892] [ 0.22892713 -0.01534257 0.97332265 -0.25870845] [ 0. 0. 0. 1. ]] SLAMing on 65.988241008 meters Centerline goodness [0,1] 0.8864616101596179 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.26 [[ 0.97336668 -0.00559624 -0.2291855 4.94939366] [ 0.00900316 0.99986393 0.01382243 -0.30451142] [ 0.22907696 -0.01551769 0.97328462 -0.25842981] [ 0. 0. 0. 1. ]] SLAMing on 66.018241008 meters Centerline goodness [0,1] 0.8913011929294982 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.26 [[ 0.9733847 -0.00529507 -0.22911612 4.94831112] [ 0.00872511 0.99986448 0.01396031 -0.3037363 ] [ 0.22901115 -0.01558781 0.97329898 -0.25772502] [ 0. 0. 0. 1. ]] SLAMing on 66.048241008 meters Centerline goodness [0,1] 0.8855619957475316 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.26 [[ 0.97334068 -0.00549882 -0.22929823 4.94886894] [ 0.00891401 0.9998642 0.01386099 -0.30321613] [ 0.22919087 -0.01553544 0.97325752 -0.25763298] [ 0. 0. 0. 1. ]] SLAMing on 66.078241008 meters Centerline goodness [0,1] 0.8898561695685087 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.26 [[ 0.97328925 -0.00577422 -0.22950968 4.94958157] [ 0.00918457 0.99986268 0.01379379 -0.30292233] [ 0.22939852 -0.0155333 0.97320863 -0.25751477] [ 0. 0. 0. 1. ]] SLAMing on 66.10824100800001 meters Centerline goodness [0,1] 0.891703665012623 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.26 [[ 0.97320953 -0.00606585 -0.22983999 4.95054634] [ 0.00948609 0.99986007 0.01377893 -0.3026225 ] [ 0.22972425 -0.01559007 0.97313088 -0.25724649] [ 0. 0. 0. 1. ]] SLAMing on 66.13824100800001 meters Centerline goodness [0,1] 0.8900511390051139 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.26 [[ 0.97317015 -0.00635127 -0.22999896 4.95120013] [ 0.00975053 0.99985935 0.01364591 -0.30213107] [ 0.22987994 -0.0155224 0.9730952 -0.25727461] [ 0. 0. 0. 1. ]] SLAMing on 66.16824100800001 meters Centerline goodness [0,1] 0.895065674764617 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.26 [[ 0.9731259 -0.00677442 -0.23017404 4.95170298] [ 0.0101907 0.99985481 0.01365661 -0.30190992] [ 0.23004811 -0.01563524 0.97305365 -0.25676354] [ 0. 0. 0. 1. ]] SLAMing on 66.19824100800001 meters Centerline goodness [0,1] 0.8937953029863729 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.26 [[ 0.97304727 -0.006887 -0.2305029 4.95225548] [ 0.01037922 0.99984894 0.01394131 -0.30268566] [ 0.23037207 -0.01595799 0.97297176 -0.2559886 ] [ 0. 0. 0. 1. ]] SLAMing on 66.22824100800001 meters Centerline goodness [0,1] 0.8922453973432767 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.26 [[ 0.97300184 -0.0068857 -0.2306946 4.95247328] [ 0.01044843 0.99984422 0.0142254 -0.30358803] [ 0.23056071 -0.01625173 0.97292222 -0.25537774] [ 0. 0. 0. 1. ]] SLAMing on 66.25824100800001 meters Centerline goodness [0,1] 0.9013650885855359 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.25 [[ 0.97291574 -0.00702514 -0.23105325 4.95298408] [ 0.01067077 0.99983746 0.01453243 -0.30441521] [ 0.23091361 -0.01660434 0.97283257 -0.25439125] [ 0. 0. 0. 1. ]] SLAMing on 66.28824100800001 meters Centerline goodness [0,1] 0.9025524739810454 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.25 [[ 0.97287765 -0.00717914 -0.23120888 4.95343729] [ 0.01079096 0.99983865 0.01436063 -0.30385207] [ 0.23106847 -0.0164661 0.97279814 -0.25441361] [ 0. 0. 0. 1. ]] SLAMing on 66.31824100800002 meters Centerline goodness [0,1] 0.9025260288274702 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.26 [[ 0.97284067 -0.00738711 -0.23135785 4.95431744] [ 0.01089785 0.999844 0.01390018 -0.30270758] [ 0.23121908 -0.01604396 0.97276941 -0.25514152] [ 0. 0. 0. 1. ]] SLAMing on 66.348241008 meters Centerline goodness [0,1] 0.9005659555942533 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.26 [[ 0.97285101 -0.00743294 -0.23131293 4.95463204] [ 0.01083301 0.9998511 0.01343232 -0.30108217] [ 0.23117865 -0.01557347 0.97278667 -0.25594152] [ 0. 0. 0. 1. ]] SLAMing on 66.378241008 meters Centerline goodness [0,1] 0.8966284987277353 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.26 [[ 0.97286552 -0.00747151 -0.23125064 4.95487375] [ 0.01078127 0.99985669 0.01305199 -0.29917961] [ 0.23111998 -0.015191 0.97280666 -0.25659436] [ 0. 0. 0. 1. ]] SLAMing on 66.408241008 meters Centerline goodness [0,1] 0.8932466261905447 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.26 [[ 0.9729093 -0.00690895 -0.23108388 4.95419341] [ 0.01009483 0.99986957 0.01260713 -0.29623835] [ 0.23096664 -0.01459835 0.97285215 -0.25747034] [ 0. 0. 0. 1. ]] SLAMing on 66.438241008 meters Centerline goodness [0,1] 0.8946461397058824 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.26 [[ 0.97292581 -0.00648172 -0.23102675 4.95348019] [ 0.00968969 0.99987172 0.01275374 -0.29572813] [ 0.23091445 -0.01464702 0.9728638 -0.25718954] [ 0. 0. 0. 1. ]] SLAMing on 66.468241008 meters Centerline goodness [0,1] 0.895675908633817 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.26 [[ 0.97301218 -0.00573347 -0.2306825 4.95152151] [ 0.00900982 0.99987292 0.01315196 -0.29559619] [ 0.23057778 -0.01487543 0.97294019 -0.25659212] [ 0. 0. 0. 1. ]] SLAMing on 66.49824100800001 meters Centerline goodness [0,1] 0.890354020352587 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.26 [[ 0.97304063 -0.00518052 -0.23057557 4.95014394] [ 0.00855722 0.99987026 0.01364705 -0.29551542] [ 0.23047495 -0.01525222 0.97295872 -0.25554757] [ 0. 0. 0. 1. ]] SLAMing on 66.52824100800001 meters Centerline goodness [0,1] 0.8879894362154094 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.25 [[ 9.73191670e-01 -4.08422353e-03 -2.29959328e-01 4.94693117e+00] [ 7.62039243e-03 9.99865956e-01 1.44913729e-02 -2.95964097e-01] [ 2.29869317e-01 -1.58552637e-02 9.73092343e-01 -2.54333478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55824100800001 meters Centerline goodness [0,1] 0.8922098843564812 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.25 [[ 9.73247771e-01 -3.54206581e-03 -2.29730777e-01 4.94548710e+00] [ 7.19011427e-03 9.99860973e-01 1.50445202e-02 -2.96952677e-01] [ 2.29645549e-01 -1.62938363e-02 9.73137931e-01 -2.53551077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58824100800001 meters Centerline goodness [0,1] 0.8855618654276373 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.30, Z:-0.25 [[ 9.73196430e-01 -3.25581294e-03 -2.29952403e-01 4.94493905e+00] [ 7.08716126e-03 9.99849461e-01 1.58375263e-02 -2.98213795e-01] [ 2.29866222e-01 -1.70427338e-02 9.73073001e-01 -2.51855898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61824100800001 meters Centerline goodness [0,1] 0.8887038897660399 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.30, Z:-0.25 [[ 9.73201764e-01 -2.86009309e-03 -2.29935090e-01 4.94416027e+00] [ 6.83529454e-03 9.99840605e-01 1.64937135e-02 -2.99630292e-01] [ 2.29851266e-01 -1.76233852e-02 9.73066191e-01 -2.50871711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64824100800001 meters Centerline goodness [0,1] 0.8877726750861079 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.30, Z:-0.25 [[ 9.73220918e-01 -2.43974793e-03 -2.29858855e-01 4.94376927e+00] [ 6.57278650e-03 9.99830175e-01 1.72168251e-02 -3.01763365e-01] [ 2.29777815e-01 -1.82665875e-02 9.73071677e-01 -2.50389107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67824100800001 meters Centerline goodness [0,1] 0.8873469621813803 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.25 [[ 9.73160786e-01 -2.79387690e-03 -2.30109276e-01 4.94528586e+00] [ 6.89487457e-03 9.99831379e-01 1.70198083e-02 -3.02148045e-01] [ 2.30022923e-01 -1.81495846e-02 9.73015954e-01 -2.50990707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70824100800002 meters Centerline goodness [0,1] 0.8913863026218084 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.25 [[ 9.73036440e-01 -3.54316741e-03 -2.30624225e-01 4.94812343e+00] [ 7.54660639e-03 9.99835726e-01 1.64793515e-02 -3.02204031e-01] [ 2.30527950e-01 -1.77754397e-02 9.72903334e-01 -2.52030819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.738241008 meters Centerline goodness [0,1] 0.8946082657929528 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.30, Z:-0.25 [[ 9.72964453e-01 -3.71694949e-03 -2.30925003e-01 4.94943274e+00] [ 7.77186498e-03 9.99831136e-01 1.66522745e-02 -3.03457173e-01] [ 2.30824113e-01 -1.79967891e-02 9.72829042e-01 -2.52104851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.768241008 meters Centerline goodness [0,1] 0.8965557063256056 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.31, Z:-0.25 [[ 9.72817693e-01 -4.22386755e-03 -2.31533788e-01 4.95157132e+00] [ 8.32281508e-03 9.99825412e-01 1.67295309e-02 -3.05063601e-01] [ 2.31422701e-01 -1.82017966e-02 9.72683005e-01 -2.51933731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.798241008 meters Centerline goodness [0,1] 0.8996882397090238 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.31, Z:-0.25 [[ 9.72661729e-01 -4.85146505e-03 -2.32175847e-01 4.95424921e+00] [ 8.85969777e-03 9.99829127e-01 1.62241376e-02 -3.05376181e-01] [ 2.32057464e-01 -1.78376056e-02 9.72538510e-01 -2.52703673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.828241008 meters Centerline goodness [0,1] 0.9002710183369853 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.97263275 -0.00519469 -0.23228979 4.95543049] [ 0.00907458 0.99983655 0.01563735 -0.3042928 ] [ 0.23217059 -0.01731733 0.97252091 -0.25374624] [ 0. 0. 0. 1. ]] SLAMing on 66.85824100800001 meters Centerline goodness [0,1] 0.9010055028955026 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.97260959 -0.00547923 -0.23238019 4.95631412] [ 0.00923786 0.99984348 0.01508931 -0.30287346] [ 0.23226114 -0.01682271 0.97250797 -0.25457884] [ 0. 0. 0. 1. ]] SLAMing on 66.88824100800001 meters Centerline goodness [0,1] 0.9005602643298377 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.26 [[ 0.97257992 -0.00575926 -0.23249757 4.95734122] [ 0.00939979 0.99984991 0.01455348 -0.3014431 ] [ 0.23237886 -0.01633985 0.97248808 -0.25546763] [ 0. 0. 0. 1. ]] SLAMing on 66.91824100800001 meters Centerline goodness [0,1] 0.8989313064350212 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.26 [[ 0.97253046 -0.00606141 -0.23269673 4.95827447] [ 0.00958039 0.99985616 0.01399538 -0.29919147] [ 0.23257843 -0.01584026 0.97244864 -0.25606699] [ 0. 0. 0. 1. ]] SLAMing on 66.94824100800001 meters Centerline goodness [0,1] 0.8996248460723388 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.26 [[ 0.97250552 -0.00608501 -0.23280033 4.9584211 ] [ 0.00963555 0.99985392 0.01411726 -0.29895631] [ 0.23268042 -0.01597228 0.97242208 -0.2556932 ] [ 0. 0. 0. 1. ]] SLAMing on 66.97824100800001 meters Centerline goodness [0,1] 0.900416357725432 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.97244085 -0.00622663 -0.23306657 4.95890875] [ 0.00982838 0.99984951 0.01429561 -0.29857001] [ 0.23294248 -0.0161923 0.9723557 -0.25494339] [ 0. 0. 0. 1. ]] SLAMing on 67.00824100800001 meters Centerline goodness [0,1] 0.9012589979638074 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.972464 -0.0057231 -0.23298286 4.95779099] [ 0.00940913 0.99984749 0.0147127 -0.29884644] [ 0.23286313 -0.01649974 0.97236954 -0.2541849 ] [ 0. 0. 0. 1. ]] SLAMing on 67.03824100800001 meters Centerline goodness [0,1] 0.9004001143183766 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.97247712 -0.0056611 -0.23292962 4.95758393] [ 0.00933829 0.99984853 0.01468697 -0.2984229 ] [ 0.2328112 -0.0164579 0.97238268 -0.25416312] [ 0. 0. 0. 1. ]] SLAMing on 67.06824100800002 meters Centerline goodness [0,1] 0.9002854695974879 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.97246683 -0.00562779 -0.23297336 4.95750427] [ 0.00932199 0.99984763 0.01475873 -0.29837026] [ 0.23285481 -0.01652416 0.97237112 -0.25388532] [ 0. 0. 0. 1. ]] SLAMing on 67.098241008 meters Centerline goodness [0,1] 0.9028884889003171 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.97245881 -0.00543393 -0.23301145 4.95711297] [ 0.00921727 0.99984273 0.01515091 -0.29915702] [ 0.23289247 -0.01688136 0.97235596 -0.25312102] [ 0. 0. 0. 1. ]] SLAMing on 67.128241008 meters Centerline goodness [0,1] 0.9019282010142394 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.97241267 -0.00522274 -0.23320873 4.9569207 ] [ 0.00911025 0.99983688 0.01559564 -0.3005807 ] [ 0.23308924 -0.01728999 0.97230163 -0.25220825] [ 0. 0. 0. 1. ]] SLAMing on 67.158241008 meters Centerline goodness [0,1] 0.9012084073077143 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.97242109 -0.0053976 -0.23316966 4.95738839] [ 0.00916649 0.99984423 0.01508313 -0.29887375] [ 0.23305192 -0.0168045 0.97231909 -0.25301704] [ 0. 0. 0. 1. ]] SLAMing on 67.188241008 meters Centerline goodness [0,1] 0.9000939822857631 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.97246717 -0.00560171 -0.23297259 4.95768231] [ 0.00922231 0.999853 0.01445455 -0.29641816] [ 0.23285737 -0.01620512 0.97237587 -0.25409477] [ 0. 0. 0. 1. ]] SLAMing on 67.218241008 meters Centerline goodness [0,1] 0.8977311595029073 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.29, Z:-0.25 [[ 0.97245479 -0.00588426 -0.2330173 4.9584104 ] [ 0.00941943 0.99985677 0.0140614 -0.29499187] [ 0.23290118 -0.01586897 0.97237093 -0.25467169] [ 0. 0. 0. 1. ]] SLAMing on 67.24824100800001 meters Centerline goodness [0,1] 0.9005797846514152 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.97231293 -0.00605241 -0.23360422 4.95925211] [ 0.00982993 0.99983903 0.01500972 -0.29785199] [ 0.23347577 -0.01689046 0.97221591 -0.2526505 ] [ 0. 0. 0. 1. ]] SLAMing on 67.27824100800001 meters Centerline goodness [0,1] 0.9017488532110092 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.9723727 -0.01043652 -0.23320038 4.95801395] [ 0.01336885 0.99985016 0.01099718 -0.29703684] [ 0.23305066 -0.01381098 0.97236652 -0.25291349] [ 0. 0. 0. 1. ]] SLAMing on 67.30824100800001 meters Centerline goodness [0,1] 0.904681120248433 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.97226663 -0.01061255 -0.23363426 4.95877312] [ 0.01373827 0.99983652 0.01175533 -0.29902904] [ 0.23347131 -0.01463904 0.97225349 -0.25139199] [ 0. 0. 0. 1. ]] SLAMing on 67.33824100800001 meters Centerline goodness [0,1] 0.907868654658278 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.97218558 -0.01076015 -0.23396457 4.95943647] [ 0.01402878 0.9998258 0.01231085 -0.30054844] [ 0.23379135 -0.01525067 0.97216718 -0.25030116] [ 0. 0. 0. 1. ]] SLAMing on 67.36824100800001 meters Centerline goodness [0,1] 0.907868654658278 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.97218558 -0.01076015 -0.23396457 4.95943647] [ 0.01402878 0.9998258 0.01231085 -0.30054844] [ 0.23379135 -0.01525067 0.97216718 -0.25030116] [ 0. 0. 0. 1. ]] SLAMing on 67.39824100800001 meters Centerline goodness [0,1] 0.906865705985561 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.97213661 -0.01073284 -0.23416922 4.95953093] [ 0.01409814 0.99981993 0.01270197 -0.30103455] [ 0.23399072 -0.0156494 0.97211287 -0.24939967] [ 0. 0. 0. 1. ]] SLAMing on 67.42824100800001 meters Centerline goodness [0,1] 0.910159626577537 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.97210882 -0.01083784 -0.23427973 4.95981347] [ 0.01423115 0.99981682 0.01279826 -0.30075248] [ 0.23409811 -0.01577537 0.97208498 -0.24908212] [ 0. 0. 0. 1. ]] SLAMing on 67.45824100800002 meters Centerline goodness [0,1] 0.9102681904324356 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.9720382 -0.01142861 -0.23454451 4.96156754] [ 0.0147414 0.99981475 0.01237598 -0.2999511 ] [ 0.23435962 -0.01548744 0.9720266 -0.24974286] [ 0. 0. 0. 1. ]] SLAMing on 67.488241008 meters Centerline goodness [0,1] 0.9106768213823825 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.97198591 -0.01181209 -0.23474214 4.96292189] [ 0.01508377 0.99981245 0.01214668 -0.29955874] [ 0.23455463 -0.0153472 0.97198178 -0.25022764] [ 0. 0. 0. 1. ]] SLAMing on 67.518241008 meters Centerline goodness [0,1] 0.9115591242562533 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.9719021 -0.01173476 -0.23509275 4.96332263] [ 0.0151808 0.99980214 0.01285368 -0.30154222] [ 0.23489541 -0.01606141 0.97188795 -0.24896849] [ 0. 0. 0. 1. ]] SLAMing on 67.548241008 meters Centerline goodness [0,1] 0.9120508009813826 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.97183443 -0.01167008 -0.23537553 4.96353847] [ 0.01525968 0.9997933 0.01343477 -0.30262573] [ 0.2351701 -0.01664812 0.97181164 -0.24774414] [ 0. 0. 0. 1. ]] SLAMing on 67.578241008 meters Centerline goodness [0,1] 0.915795552988738 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.9718268 -0.01138277 -0.23542114 4.96292058] [ 0.01506834 0.99979037 0.01386208 -0.30310143] [ 0.235214 -0.01701895 0.97179459 -0.24685227] [ 0. 0. 0. 1. ]] SLAMing on 67.60824100800001 meters Centerline goodness [0,1] 0.9102479004934922 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.97179146 -0.01153738 -0.23555943 4.96350802] [ 0.01519399 0.99979051 0.01371384 -0.30245116] [ 0.23535186 -0.01690608 0.97176318 -0.2469325 ] [ 0. 0. 0. 1. ]] SLAMing on 67.63824100800001 meters Centerline goodness [0,1] 0.9094789053262969 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-0.25 [[ 0.97176919 -0.01164206 -0.23564613 4.96411449] [ 0.01521788 0.99979492 0.01336152 -0.30108213] [ 0.23544225 -0.01657035 0.97174707 -0.2474646 ] [ 0. 0. 0. 1. ]] SLAMing on 67.66824100800001 meters Centerline goodness [0,1] 0.9064141196728368 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.30, Z:-0.25 [[ 0.97162697 -0.00773392 -0.23639207 4.96697334] [ 0.01210674 0.9997813 0.01705219 -0.30050018] [ 0.23620849 -0.0194303 0.97150811 -0.24745801] [ 0. 0. 0. 1. ]] SLAMing on 67.69824100800001 meters Centerline goodness [0,1] 0.9087783635113454 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.30, Z:-0.25 [[ 0.97155519 -0.00825213 -0.2366694 4.96836163] [ 0.01256691 0.99978109 0.01672852 -0.29938072] [ 0.23647955 -0.01922688 0.97144622 -0.24762857] [ 0. 0. 0. 1. ]] SLAMing on 67.72824100800001 meters Centerline goodness [0,1] 0.9116946477256421 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.30, Z:-0.25 [[ 0.97151218 -0.00831363 -0.23684374 4.96860075] [ 0.01266868 0.9997774 0.01687184 -0.29937841] [ 0.23665076 -0.0193917 0.97140125 -0.24709983] [ 0. 0. 0. 1. ]] SLAMing on 67.75824100800001 meters Centerline goodness [0,1] 0.9106474820143885 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.30, Z:-0.25 [[ 0.97148161 -0.00812634 -0.23697561 4.96839102] [ 0.01258387 0.99977109 0.01730356 -0.30010995] [ 0.23678075 -0.01979216 0.97136149 -0.24621601] [ 0. 0. 0. 1. ]] SLAMing on 67.78824100800001 meters Centerline goodness [0,1] 0.9102703943969229 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.30, Z:-0.25 [[ 0.9714045 -0.00835981 -0.23728339 4.96873045] [ 0.01288032 0.99976377 0.01750718 -0.30012966] [ 0.23708098 -0.02006284 0.9712827 -0.24516213] [ 0. 0. 0. 1. ]] SLAMing on 67.81824100800002 meters Centerline goodness [0,1] 0.9151203538806227 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.30, Z:-0.24 [[ 0.97131807 -0.00870335 -0.23762463 4.96949179] [ 0.01325632 0.99975777 0.01756915 -0.30004614] [ 0.23741416 -0.02021526 0.97119816 -0.24443442] [ 0. 0. 0. 1. ]] SLAMing on 67.848241008 meters Centerline goodness [0,1] 0.9179800763643671 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.30, Z:-0.24 [[ 0.97123313 -0.00946462 -0.23794247 4.97080142] [ 0.01403703 0.99974781 0.01752943 -0.30040317] [ 0.23771655 -0.02036517 0.97112105 -0.24396647] [ 0. 0. 0. 1. ]] SLAMing on 67.878241008 meters Centerline goodness [0,1] 0.919314561267545 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.30, Z:-0.24 [[ 0.97115239 -0.01001387 -0.23824935 4.9721398 ] [ 0.01461768 0.99973887 0.01756451 -0.30083717] [ 0.23801125 -0.02054047 0.97104518 -0.24367119] [ 0. 0. 0. 1. ]] SLAMing on 67.908241008 meters Centerline goodness [0,1] 0.9236870740507417 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.30, Z:-0.24 [[ 0.9710209 -0.01066995 -0.23875627 4.97396731] [ 0.01531326 0.99972781 0.01760141 -0.30142809] [ 0.23850348 -0.02074747 0.97091999 -0.24322976] [ 0. 0. 0. 1. ]] SLAMing on 67.938241008 meters Centerline goodness [0,1] 0.9227191824079922 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.30, Z:-0.24 [[ 0.97090738 -0.01132754 -0.23918727 4.97539818] [ 0.01600134 0.99971693 0.01760751 -0.30188049] [ 0.23892012 -0.02092258 0.97081379 -0.24263574] [ 0. 0. 0. 1. ]] SLAMing on 67.968241008 meters Centerline goodness [0,1] 0.9246101266549872 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.30, Z:-0.24 [[ 0.97080144 -0.01183333 -0.23959243 4.9767193 ] [ 0.01655061 0.99970659 0.01768626 -0.30229896] [ 0.23931284 -0.02113525 0.97071245 -0.24209417] [ 0. 0. 0. 1. ]] SLAMing on 67.99824100800001 meters Centerline goodness [0,1] 0.9249762856075197 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.30, Z:-0.24 [[ 0.97068871 -0.01264551 -0.24000732 4.97822545] [ 0.01734858 0.99969647 0.0174928 -0.30207235] [ 0.23971327 -0.02114385 0.97061346 -0.24162735] [ 0. 0. 0. 1. ]] SLAMing on 68.02824100800001 meters Centerline goodness [0,1] 0.9244957765902431 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.30, Z:-0.24 [[ 0.9705947 -0.0130382 -0.24036627 4.97933446] [ 0.01774543 0.99969061 0.01742945 -0.3023965 ] [ 0.24006465 -0.02118234 0.97052577 -0.24135414] [ 0. 0. 0. 1. ]] SLAMing on 68.05824100800001 meters Centerline goodness [0,1] 0.9237884576714257 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.30, Z:-0.24 [[ 0.97049513 -0.01343834 -0.24074594 4.98038509] [ 0.01816496 0.99968316 0.0174247 -0.30265117] [ 0.2404355 -0.02128373 0.97043175 -0.2408267 ] [ 0. 0. 0. 1. ]] SLAMing on 68.08824100800001 meters Centerline goodness [0,1] 0.9192147872187992 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.30, Z:-0.24 [[ 0.97041701 -0.0138293 -0.24103853 4.98142689] [ 0.01854918 0.99967786 0.01732336 -0.3025943 ] [ 0.24072131 -0.02128195 0.97036093 -0.24062265] [ 0. 0. 0. 1. ]] SLAMing on 68.11824100800001 meters Centerline goodness [0,1] 0.9223563218390805 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.30, Z:-0.24 [[ 0.97033241 -0.01430048 -0.24135142 4.9826963 ] [ 0.01898432 0.99967367 0.01709248 -0.30210326] [ 0.24102823 -0.02116728 0.97028725 -0.24066449] [ 0. 0. 0. 1. ]] SLAMing on 68.14824100800001 meters Centerline goodness [0,1] 0.9184566541772732 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.30, Z:-0.24 [[ 0.97027071 -0.01501802 -0.24155582 4.98463098] [ 0.01949833 0.99967916 0.01616792 -0.29972973] [ 0.24123551 -0.02039719 0.97025223 -0.24212064] [ 0. 0. 0. 1. ]] SLAMing on 68.17824100800001 meters Centerline goodness [0,1] 0.9214692662257723 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.30, Z:-0.24 [[ 0.97020813 -0.01530678 -0.24178892 4.98567259] [ 0.01970667 0.99968112 0.01578928 -0.29854216] [ 0.24147013 -0.02008374 0.9702004 -0.24254813] [ 0. 0. 0. 1. ]] SLAMing on 68.20824100800002 meters Centerline goodness [0,1] 0.9207395728823277 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.30, Z:-0.24 [[ 0.97013078 -0.01562033 -0.24207905 4.98664963] [ 0.01997365 0.99967974 0.01553922 -0.29748635] [ 0.24175879 -0.01991028 0.97013209 -0.24261421] [ 0. 0. 0. 1. ]] SLAMing on 68.238241008 meters Centerline goodness [0,1] 0.9210707325461424 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.30, Z:-0.24 [[ 0.97006535 -0.01574787 -0.24233285 4.98725822] [ 0.02010903 0.99967712 0.01553353 -0.29712248] [ 0.24200999 -0.01994162 0.97006881 -0.24232034] [ 0. 0. 0. 1. ]] SLAMing on 68.268241008 meters Centerline goodness [0,1] 0.920561817037588 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.30, Z:-0.24 [[ 0.96995533 -0.01565452 -0.2427789 4.98715652] [ 0.0200662 0.99967523 0.01570929 -0.29636725] [ 0.24245413 -0.02010896 0.96995444 -0.24090286] [ 0. 0. 0. 1. ]] SLAMing on 68.298241008 meters Centerline goodness [0,1] 0.9211859313739519 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.30, Z:-0.24 [[ 0.96997116 -0.01542993 -0.24273003 4.98661789] [ 0.01980536 0.99968221 0.01559591 -0.29508468] [ 0.24241225 -0.01993494 0.9699685 -0.24086509] [ 0. 0. 0. 1. ]] SLAMing on 68.328241008 meters Centerline goodness [0,1] 0.9198781806796835 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.29, Z:-0.24 [[ 0.96991556 -0.01055805 -0.24321254 4.98684231] [ 0.01584702 0.99967836 0.01980003 -0.29430774] [ 0.24292526 -0.02305855 0.96977091 -0.23961387] [ 0. 0. 0. 1. ]] SLAMing on 68.35824100800001 meters Centerline goodness [0,1] 0.920020449316936 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.29, Z:-0.24 [[ 0.96990432 -0.01034523 -0.24326648 4.98665748] [ 0.01560165 0.99968438 0.01969093 -0.29293557] [ 0.24298599 -0.02289368 0.9697596 -0.23955506] [ 0. 0. 0. 1. ]] SLAMing on 68.38824100800001 meters Centerline goodness [0,1] 0.9194489511285686 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.29, Z:-0.24 [[ 0.9699659 -0.00989872 -0.24303945 4.98560237] [ 0.01511635 0.99969337 0.0196127 -0.29195102] [ 0.24277079 -0.02269752 0.96981811 -0.23970214] [ 0. 0. 0. 1. ]] SLAMing on 68.41824100800001 meters Centerline goodness [0,1] 0.9169149570103005 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.29, Z:-0.24 [[ 0.96986777 -0.01016647 -0.24341969 4.98691724] [ 0.01526917 0.99970126 0.0190849 -0.29035588] [ 0.24315295 -0.02222665 0.96973327 -0.24017194] [ 0. 0. 0. 1. ]] SLAMing on 68.44824100800001 meters Centerline goodness [0,1] 0.9181671707606637 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.29, Z:-0.24 [[ 9.69894069e-01 -4.91385051e-03 -2.43477613e-01 4.98650908e+00] [ 1.09542250e-02 9.99664736e-01 2.34610269e-02 -2.90158444e-01] [ 2.43280700e-01 -2.54218194e-02 9.69622727e-01 -2.39655469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47824100800001 meters Centerline goodness [0,1] 0.9145667737752974 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.29, Z:-0.24 [[ 9.69952852e-01 -4.90294580e-03 -2.43243554e-01 4.98663275e+00] [ 1.07035973e-02 9.99688841e-01 2.25311809e-02 -2.87839657e-01] [ 2.43057397e-01 -2.44577642e-02 9.69703521e-01 -2.41354339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50824100800001 meters Centerline goodness [0,1] 0.9168707597894322 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.29, Z:-0.24 [[ 9.70074385e-01 -4.20293163e-03 -2.42771543e-01 4.98514481e+00] [ 9.91024111e-03 9.99702371e-01 2.22925235e-02 -2.86286619e-01] [ 2.42605594e-01 -2.40313306e-02 9.69827315e-01 -2.42142449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53824100800001 meters Centerline goodness [0,1] 0.9173943563105433 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.28, Z:-0.24 [[ 9.71400803e-01 -2.62383145e-03 -2.37431244e-01 5.00050764e+00] [ 6.32381580e-03 9.99870134e-01 1.48231083e-02 -2.83055169e-01] [ 2.37361517e-01 -1.59006507e-02 9.71291244e-01 -2.44489461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56824100800002 meters Centerline goodness [0,1] 0.9216177422532437 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.28, Z:-0.24 [[ 9.71511209e-01 -1.39785386e-03 -2.36989488e-01 4.99821248e+00] [ 5.14168061e-03 9.99871555e-01 1.51801080e-02 -2.82439954e-01] [ 2.36937829e-01 -1.59661694e-02 9.71393611e-01 -2.44391276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.598241008 meters Centerline goodness [0,1] 0.9173141891891892 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.28, Z:-0.25 [[ 9.71580657e-01 8.06651678e-05 -2.36708723e-01 4.99649117e+00] [ 3.63367959e-03 9.99877028e-01 1.52553231e-02 -2.81659174e-01] [ 2.36680846e-01 -1.56819005e-02 9.71460887e-01 -2.45131265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.628241008 meters Centerline goodness [0,1] 0.9172287802136031 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.28, Z:-0.25 [[ 9.71492683e-01 -3.38719586e-04 -2.37069298e-01 4.99776522e+00] [ 4.00599364e-03 9.99879654e-01 1.49876628e-02 -2.81504366e-01] [ 2.37035691e-01 -1.55101028e-02 9.71377124e-01 -2.45154045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.658241008 meters Centerline goodness [0,1] 0.9194137137080923 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.28, Z:-0.25 [[ 9.71404288e-01 -1.10432308e-03 -2.37428915e-01 5.00008620e+00] [ 4.65380002e-03 9.99885633e-01 1.43896733e-02 -2.80528555e-01] [ 2.37385870e-01 -1.50831370e-02 9.71298331e-01 -2.46127741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.688241008 meters Centerline goodness [0,1] 0.9179123313795328 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.28, Z:-0.25 [[ 9.71287242e-01 -1.94330749e-03 -2.37901906e-01 5.00263412e+00] [ 5.41720118e-03 9.99888029e-01 1.39493145e-02 -2.80075688e-01] [ 2.37848160e-01 -1.48375537e-02 9.71189013e-01 -2.46743244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.718241008 meters Centerline goodness [0,1] 0.9170035938903863 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.28, Z:-0.25 [[ 9.71171353e-01 -2.70013085e-03 -2.38367179e-01 5.00502646e+00] [ 6.13139148e-03 9.99887973e-01 1.36545787e-02 -2.80133825e-01] [ 2.38303606e-01 -1.47224582e-02 9.71079111e-01 -2.47144689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.74824100800001 meters Centerline goodness [0,1] 0.9172913261567942 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.28, Z:-0.25 [[ 9.71042560e-01 -3.03038419e-03 -2.38887346e-01 5.00659757e+00] [ 6.54701139e-03 9.99881556e-01 1.39287471e-02 -2.81240997e-01] [ 2.38816842e-01 -1.50894044e-02 9.70947386e-01 -2.46536960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77824100800001 meters Centerline goodness [0,1] 0.911611687617762 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.28, Z:-0.25 [[ 9.70779423e-01 -4.14034960e-03 -2.39937845e-01 5.01040618e+00] [ 7.70506614e-03 9.99873416e-01 1.39206641e-02 -2.83156187e-01] [ 2.39849837e-01 -1.53626313e-02 9.70688439e-01 -2.45978600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80824100800001 meters Centerline goodness [0,1] 0.9147264918625678 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.28, Z:-0.25 [[ 9.70715093e-01 -4.32882169e-03 -2.40194649e-01 5.01136117e+00] [ 7.96238157e-03 9.99868051e-01 1.41591558e-02 -2.84331016e-01] [ 2.40101663e-01 -1.56570277e-02 9.70621476e-01 -2.45683762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83824100800001 meters Centerline goodness [0,1] 0.9141296966953373 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.29, Z:-0.25 [[ 9.70616097e-01 -4.64932497e-03 -2.40588397e-01 5.01274219e+00] [ 8.35547369e-03 9.99861595e-01 1.43867112e-02 -2.85529398e-01] [ 2.40488210e-01 -1.59742035e-02 9.70520606e-01 -2.45276367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86824100800001 meters Centerline goodness [0,1] 0.9173869916395069 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.29, Z:-0.24 [[ 9.70521947e-01 -4.96431149e-03 -2.40961627e-01 5.01413858e+00] [ 8.76236390e-03 9.99853656e-01 1.46931340e-02 -2.86832295e-01] [ 2.40853422e-01 -1.63714025e-02 9.70423416e-01 -2.44837993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89824100800001 meters Centerline goodness [0,1] 0.9093669305638319 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.29, Z:-0.24 [[ 0.97038931 -0.00538647 -0.24148616 5.01581428] [ 0.00928107 0.99984452 0.01499305 -0.28781926] [ 0.24136785 -0.01679034 0.97028843 -0.24415873] [ 0. 0. 0. 1. ]] SLAMing on 68.92824100800001 meters Centerline goodness [0,1] 0.9089594966129078 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.29, Z:-0.24 [[ 0.97031428 -0.00576716 -0.24177868 5.01725043] [ 0.00969909 0.99983932 0.01507552 -0.28833956] [ 0.24165289 -0.01697303 0.97021431 -0.24405894] [ 0. 0. 0. 1. ]] SLAMing on 68.95824100800002 meters Centerline goodness [0,1] 0.9092069434989789 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.29, Z:-0.24 [[ 0.97025197 -0.0060675 -0.24202129 5.01827854] [ 0.01015469 0.99982606 0.01564393 -0.29022277] [ 0.24188427 -0.0176362 0.97014482 -0.24324221] [ 0. 0. 0. 1. ]] SLAMing on 68.988241008 meters Centerline goodness [0,1] 0.9121858187925194 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.29, Z:-0.24 [[ 0.97016769 -0.00632309 -0.24235239 5.01942707] [ 0.0105449 0.99981435 0.01612698 -0.29238897] [ 0.24220542 -0.01820145 0.97005425 -0.24252829] [ 0. 0. 0. 1. ]] SLAMing on 69.018241008 meters Centerline goodness [0,1] 0.9136826450062921 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.30, Z:-0.24 [[ 0.97002614 -0.00642606 -0.2429156 5.02060509] [ 0.01087042 0.99979708 0.01695996 -0.29503487] [ 0.24275733 -0.0190922 0.96989915 -0.24100153] [ 0. 0. 0. 1. ]] SLAMing on 69.048241008 meters Centerline goodness [0,1] 0.9117132114462846 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.30, Z:-0.24 [[ 0.96990751 -0.00613916 -0.24339627 5.02006457] [ 0.01091335 0.9997735 0.01827134 -0.29812086] [ 0.24322897 -0.02037778 0.96975482 -0.23795846] [ 0. 0. 0. 1. ]] SLAMing on 69.078241008 meters Centerline goodness [0,1] 0.9110114684832284 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.30, Z:-0.24 [[ 0.96984126 -0.00644548 -0.24365219 5.0212308 ] [ 0.01118376 0.9997742 0.01806857 -0.29797405] [ 0.24348071 -0.02024859 0.96969435 -0.23820508] [ 0. 0. 0. 1. ]] SLAMing on 69.10824100800001 meters Centerline goodness [0,1] 0.9117384929419544 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.30, Z:-0.24 [[ 0.96977414 -0.00698516 -0.24390434 5.02277921] [ 0.01163164 0.99977718 0.01761536 -0.29717649] [ 0.24372695 -0.01991993 0.9696393 -0.23875837] [ 0. 0. 0. 1. ]] SLAMing on 69.13824100800001 meters Centerline goodness [0,1] 0.9095556768245397 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.30, Z:-0.24 [[ 0.96966052 -0.0078959 -0.24432792 5.02540861] [ 0.01242599 0.99977818 0.01700519 -0.2958377 ] [ 0.24413946 -0.01952528 0.96954355 -0.23950567] [ 0. 0. 0. 1. ]] SLAMing on 69.16824100800001 meters Centerline goodness [0,1] 0.9063497082411107 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.29, Z:-0.24 [[ 0.9695407 -0.00894433 -0.24476687 5.02879717] [ 0.01321631 0.99978756 0.01581633 -0.29382332] [ 0.24457341 -0.01856949 0.96945295 -0.2416149 ] [ 0. 0. 0. 1. ]] SLAMing on 69.19824100800001 meters Centerline goodness [0,1] 0.9041536297614605 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.29, Z:-0.24 [[ 0.9693768 -0.00971308 -0.24538596 5.03127785] [ 0.01391387 0.99978473 0.01539126 -0.29298827] [ 0.24518364 -0.0183342 0.96930328 -0.24180387] [ 0. 0. 0. 1. ]] SLAMing on 69.22824100800001 meters Centerline goodness [0,1] 0.9059679181279825 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.29, Z:-0.24 [[ 0.96924676 -0.01012991 -0.2458823 5.0326677 ] [ 0.01436703 0.9997775 0.01544454 -0.29323383] [ 0.24567114 -0.01850216 0.96917664 -0.2411838 ] [ 0. 0. 0. 1. ]] SLAMing on 69.25824100800001 meters Centerline goodness [0,1] 0.9070429010660613 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.29, Z:-0.24 [[ 0.96903166 -0.01078021 -0.24670108 5.03464413] [ 0.01521329 0.99975512 0.01607039 -0.29485551] [ 0.24646743 -0.01932586 0.96895837 -0.23923996] [ 0. 0. 0. 1. ]] SLAMing on 69.28824100800001 meters Centerline goodness [0,1] 0.9070429010660613 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.29, Z:-0.24 [[ 0.96903166 -0.01078021 -0.24670108 5.03464413] [ 0.01521329 0.99975512 0.01607039 -0.29485551] [ 0.24646743 -0.01932586 0.96895837 -0.23923996] [ 0. 0. 0. 1. ]] SLAMing on 69.31824100800002 meters Centerline goodness [0,1] 0.9121609949904992 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.29, Z:-0.24 [[ 0.9690245 -0.01556129 -0.24647385 5.03361593] [ 0.01920098 0.99973911 0.01237045 -0.29455398] [ 0.24621705 -0.01671981 0.96907049 -0.23839257] [ 0. 0. 0. 1. ]] SLAMing on 69.34824100800002 meters Centerline goodness [0,1] 0.9189189189189189 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.29, Z:-0.24 [[ 0.96895728 -0.01591814 -0.24671523 5.03434603] [ 0.01964596 0.9997269 0.01265552 -0.29451237] [ 0.2464464 -0.01710962 0.96900538 -0.23751944] [ 0. 0. 0. 1. ]] SLAMing on 69.378241008 meters Centerline goodness [0,1] 0.9182025323757608 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.29, Z:-0.24 [[ 0.9688553 -0.0163715 -0.24708579 5.03542071] [ 0.02013394 0.99971652 0.01270821 -0.29401457] [ 0.24680769 -0.01728723 0.96891027 -0.23684772] [ 0. 0. 0. 1. ]] SLAMing on 69.408241008 meters Centerline goodness [0,1] 0.9216811861766573 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.29, Z:-0.24 [[ 0.96878237 -0.01663114 -0.24735424 5.03597463] [ 0.02049154 0.99970498 0.01304041 -0.29405172] [ 0.24706439 -0.01770199 0.96883736 -0.23579493] [ 0. 0. 0. 1. ]] SLAMing on 69.438241008 meters Centerline goodness [0,1] 0.9210473715770537 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.29, Z:-0.23 [[ 0.96860815 -0.01720019 -0.2479968 5.03741838] [ 0.02112886 0.99968977 0.01318859 -0.29311076] [ 0.24769302 -0.01801447 0.96867107 -0.23437846] [ 0. 0. 0. 1. ]] SLAMing on 69.468241008 meters Centerline goodness [0,1] 0.9211931557188792 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.29, Z:-0.23 [[ 0.96851944 -0.0176212 -0.24831348 5.03867433] [ 0.02147749 0.99968701 0.01282927 -0.29195807] [ 0.2480097 -0.01775855 0.96859477 -0.23453917] [ 0. 0. 0. 1. ]] SLAMing on 69.49824100800001 meters Centerline goodness [0,1] 0.9230548377835199 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.29, Z:-0.24 [[ 0.96845717 -0.01806374 -0.24852448 5.039923 ] [ 0.02181265 0.99968593 0.01233903 -0.29070262] [ 0.24822353 -0.0173708 0.96854702 -0.23508235] [ 0. 0. 0. 1. ]] SLAMing on 69.52824100800001 meters Centerline goodness [0,1] 0.9212162898002465 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.29, Z:-0.24 [[ 0.96834504 -0.01863291 -0.24891906 5.04168654] [ 0.02227041 0.99968229 0.01180487 -0.28916432] [ 0.24862001 -0.01697472 0.96845235 -0.23551446] [ 0. 0. 0. 1. ]] SLAMing on 69.55824100800001 meters Centerline goodness [0,1] 0.9214167286032817 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.29, Z:-0.24 [[ 0.96826096 -0.01937415 -0.2491894 5.04374214] [ 0.02277916 0.99968232 0.0107877 -0.28630142] [ 0.24890123 -0.01612163 0.96839469 -0.23693377] [ 0. 0. 0. 1. ]] SLAMing on 69.58824100800001 meters Centerline goodness [0,1] 0.9170195231464378 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.28, Z:-0.24 [[ 0.96809127 -0.02015389 -0.24978614 5.04611682] [ 0.02347455 0.99967115 0.0103218 -0.28493444] [ 0.24949598 -0.01585606 0.96824601 -0.23704149] [ 0. 0. 0. 1. ]] SLAMing on 69.61824100800001 meters Centerline goodness [0,1] 0.919634703196347 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.28, Z:-0.24 [[ 0.9680317 -0.0204503 -0.24999284 5.04680276] [ 0.02374078 0.99966658 0.01015368 -0.28405945] [ 0.24970184 -0.01576411 0.96819444 -0.23685972] [ 0. 0. 0. 1. ]] SLAMing on 69.64824100800001 meters Centerline goodness [0,1] 0.9231627747252747 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.28, Z:-0.24 [[ 0.96794923 -0.02063128 -0.25029711 5.04736698] [ 0.0239675 0.9996598 0.01028799 -0.28325604] [ 0.24999971 -0.01595724 0.96811441 -0.23603827] [ 0. 0. 0. 1. ]] SLAMing on 69.67824100800001 meters Centerline goodness [0,1] 0.9199919906175806 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.28, Z:-0.23 [[ 0.96793046 -0.01989471 -0.25042927 5.04520567] [ 0.02354446 0.99965565 0.01158624 -0.28338282] [ 0.25011253 -0.0171109 0.96806556 -0.23275744] [ 0. 0. 0. 1. ]] SLAMing on 69.70824100800002 meters Centerline goodness [0,1] 0.920083490593012 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.28, Z:-0.23 [[ 0.96782942 -0.01957769 -0.25084442 5.044559 ] [ 0.02349821 0.99964393 0.01264344 -0.28421834] [ 0.25050757 -0.01813109 0.96794484 -0.23003637] [ 0. 0. 0. 1. ]] SLAMing on 69.738241008 meters Centerline goodness [0,1] 0.9199255654165474 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.28, Z:-0.23 [[ 0.96771728 -0.01978613 -0.25126038 5.04529436] [ 0.02376252 0.99963567 0.01280139 -0.28374513] [ 0.25091555 -0.01835871 0.96783487 -0.22906608] [ 0. 0. 0. 1. ]] SLAMing on 69.768241008 meters Centerline goodness [0,1] 0.9183615173674589 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.28, Z:-0.23 [[ 0.96766489 -0.0199267 -0.25145098 5.04610193] [ 0.02383483 0.99963769 0.01250597 -0.28208227] [ 0.25111067 -0.01809488 0.96778924 -0.22938511] [ 0. 0. 0. 1. ]] SLAMing on 69.798241008 meters Centerline goodness [0,1] 0.9173071448904071 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.28, Z:-0.23 [[ 0.96759096 -0.01575669 -0.25203068 5.04839467] [ 0.02051959 0.99965688 0.01628092 -0.28154281] [ 0.25168767 -0.02092484 0.96758228 -0.2294116 ] [ 0. 0. 0. 1. ]] SLAMing on 69.828241008 meters Centerline goodness [0,1] 0.9138200745186155 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.28, Z:-0.23 [[ 0.96758223 -0.01553005 -0.25207824 5.04839114] [ 0.02029119 0.99966125 0.01629891 -0.28065753] [ 0.25173973 -0.0208855 0.96756959 -0.2293537 ] [ 0. 0. 0. 1. ]] SLAMing on 69.85824100800001 meters Centerline goodness [0,1] 0.9079670720938844 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.28, Z:-0.23 [[ 0.967612 -0.01526948 -0.25197989 5.04817013] [ 0.01998099 0.99966992 0.01614972 -0.2798252 ] [ 0.25165012 -0.02066147 0.96759771 -0.22975372] [ 0. 0. 0. 1. ]] SLAMing on 69.88824100800001 meters Centerline goodness [0,1] 0.9062295455192236 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.28, Z:-0.23 [[ 0.96757893 -0.01520649 -0.25211064 5.0487358 ] [ 0.01984687 0.99967702 0.01587333 -0.27860949] [ 0.25178784 -0.0203623 0.96756822 -0.23022544] [ 0. 0. 0. 1. ]] SLAMing on 69.91824100800001 meters Centerline goodness [0,1] 0.9029608078042102 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.28, Z:-0.23 [[ 0.96765625 -0.01415753 -0.25187487 5.04700017] [ 0.01880949 0.99969391 0.01607114 -0.27826054] [ 0.25157025 -0.02028898 0.96762636 -0.23019698] [ 0. 0. 0. 1. ]] SLAMing on 69.94824100800001 meters Centerline goodness [0,1] 0.9061188361933586 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.28, Z:-0.23 [[ 0.9676157 -0.01389185 -0.25204539 5.04686588] [ 0.01863971 0.99969078 0.0164594 -0.27912136] [ 0.25173881 -0.02062442 0.96757543 -0.22942708] [ 0. 0. 0. 1. ]] SLAMing on 69.97824100800001 meters Centerline goodness [0,1] 0.9010756983479328 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.28, Z:-0.23 [[ 0.96755039 -0.0138972 -0.25229568 5.04733517] [ 0.01868798 0.99968751 0.01660238 -0.27954009] [ 0.25198612 -0.02077853 0.96750775 -0.22896454] [ 0. 0. 0. 1. ]] SLAMing on 70.00824100800001 meters Centerline goodness [0,1] 0.9055284413619887 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.28, Z:-0.23 [[ 0.96754357 -0.01378978 -0.25232772 5.04758192] [ 0.01858183 0.99968923 0.01661821 -0.2797372 ] [ 0.25202014 -0.02076755 0.96749913 -0.22916205] [ 0. 0. 0. 1. ]] SLAMing on 70.03824100800001 meters Centerline goodness [0,1] 0.9017630082578507 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.28, Z:-0.23 [[ 0.96752711 -0.01393123 -0.25238306 5.0486061 ] [ 0.01866868 0.99969144 0.01638587 -0.27956266] [ 0.25207692 -0.02056543 0.96748865 -0.2299915 ] [ 0. 0. 0. 1. ]] SLAMing on 70.06824100800002 meters Centerline goodness [0,1] 0.9019523645940685 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.28, Z:-0.23 [[ 0.96743952 -0.0141705 -0.25270529 5.04982129] [ 0.01896945 0.99968285 0.0165639 -0.28079242] [ 0.25239042 -0.02081825 0.96740151 -0.22974734] [ 0. 0. 0. 1. ]] SLAMing on 70.09824100800002 meters Centerline goodness [0,1] 0.90407618829064 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.29, Z:-0.23 [[ 0.96717129 -0.01498551 -0.25368312 5.05281909] [ 0.020151 0.99963892 0.01777559 -0.28521924] [ 0.25332515 -0.02230401 0.96712404 -0.22738144] [ 0. 0. 0. 1. ]] SLAMing on 70.128241008 meters Centerline goodness [0,1] 0.9031262617523216 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.28, Z:-0.23 [[ 0.96715977 -0.02000651 -0.25338058 5.0534795 ] [ 0.02410785 0.99962364 0.01309162 -0.2837003 ] [ 0.2530233 -0.01877015 0.96727808 -0.22915584] [ 0. 0. 0. 1. ]] SLAMing on 70.158241008 meters Centerline goodness [0,1] 0.9054194292303257 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.29, Z:-0.23 [[ 0.96688857 -0.02099227 -0.25433409 5.05682017] [ 0.02517745 0.9995957 0.01321099 -0.28504688] [ 0.25395393 -0.01917704 0.96702619 -0.22836162] [ 0. 0. 0. 1. ]] SLAMing on 70.188241008 meters Centerline goodness [0,1] 0.9039951433857539 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.29, Z:-0.23 [[ 0.96672628 -0.0214263 -0.25491415 5.05852867] [ 0.02570777 0.99957867 0.01347553 -0.28651026] [ 0.25451801 -0.01958042 0.96686979 -0.22756779] [ 0. 0. 0. 1. ]] SLAMing on 70.218241008 meters Centerline goodness [0,1] 0.9013703412760757 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.29, Z:-0.23 [[ 0.9665916 -0.02660846 -0.25493659 5.05921048] [ 0.02985778 0.99951468 0.00888353 -0.2850552 ] [ 0.25457648 -0.01619859 0.96691697 -0.22825701] [ 0. 0. 0. 1. ]] SLAMing on 70.24824100800001 meters Centerline goodness [0,1] 0.902334777425639 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.28, Z:-0.23 [[ 0.96639549 -0.02741391 -0.2555939 5.06182295] [ 0.03065507 0.99949212 0.00870496 -0.28465311] [ 0.25522545 -0.01624768 0.96674504 -0.22808896] [ 0. 0. 0. 1. ]] SLAMing on 70.27824100800001 meters Centerline goodness [0,1] 0.904680182669653 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.28, Z:-0.23 [[ 0.96623255 -0.02832133 -0.25611044 5.06441977] [ 0.03146379 0.99947142 0.00817998 -0.28353484] [ 0.25574339 -0.01596197 0.96661292 -0.22856006] [ 0. 0. 0. 1. ]] SLAMing on 70.30824100800001 meters Centerline goodness [0,1] 0.9092575885451529 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.28, Z:-0.23 [[ 0.966052 -0.02931398 -0.25667923 5.06724004] [ 0.03235825 0.99944711 0.00764371 -0.28264241] [ 0.25631324 -0.01568991 0.96646642 -0.22901724] [ 0. 0. 0. 1. ]] SLAMing on 70.33824100800001 meters Centerline goodness [0,1] 0.9070267755908945 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.28, Z:-0.23 [[ 0.96580048 -0.0304626 -0.25749071 5.0693769 ] [ 0.03367667 0.99940011 0.00808039 -0.28351886] [ 0.2570901 -0.01647548 0.96624699 -0.22680205] [ 0. 0. 0. 1. ]] SLAMing on 70.36824100800001 meters Centerline goodness [0,1] 0.9068216241407433 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.28, Z:-0.23 [[ 0.96558531 -0.03097375 -0.25823561 5.07086416] [ 0.03430047 0.99937638 0.00838613 -0.28388391] [ 0.25781482 -0.01695512 0.96604557 -0.22521786] [ 0. 0. 0. 1. ]] SLAMing on 70.39824100800001 meters Centerline goodness [0,1] 0.9060349854227405 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.28, Z:-0.22 [[ 0.96538486 -0.03163265 -0.25890431 5.07289422] [ 0.03500378 0.99935171 0.00842001 -0.28370986] [ 0.25847012 -0.01719119 0.96586627 -0.22443063] [ 0. 0. 0. 1. ]] SLAMing on 70.42824100800001 meters Centerline goodness [0,1] 0.9045193958618282 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.28, Z:-0.22 [[ 0.96519724 -0.03238661 -0.25950992 5.07439757] [ 0.0357021 0.99932988 0.00807162 -0.28172351] [ 0.25907461 -0.01705576 0.96570671 -0.2236372 ] [ 0. 0. 0. 1. ]] SLAMing on 70.45824100800002 meters Centerline goodness [0,1] 0.9009032557869362 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.28, Z:-0.22 [[ 0.96516727 -0.03210093 -0.25965684 5.07406743] [ 0.03549309 0.99933475 0.00838489 -0.28080815] [ 0.25921494 -0.01730884 0.96566455 -0.22280015] [ 0. 0. 0. 1. ]] SLAMing on 70.488241008 meters Centerline goodness [0,1] 0.9027813956180718 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.28, Z:-0.22 [[ 0.96504548 -0.02748414 -0.2606374 5.07529618] [ 0.0320399 0.99939882 0.01324579 -0.28182568] [ 0.26011666 -0.02113359 0.96534589 -0.22023522] [ 0. 0. 0. 1. ]] SLAMing on 70.518241008 meters Centerline goodness [0,1] 0.9015876688163336 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.28, Z:-0.22 [[ 0.96508169 -0.02719186 -0.26053396 5.07481622] [ 0.03163359 0.99941667 0.01286971 -0.27860026] [ 0.26003203 -0.02066195 0.9653789 -0.22073228] [ 0. 0. 0. 1. ]] SLAMing on 70.548241008 meters Centerline goodness [0,1] 0.8881848032720778 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.27, Z:-0.22 [[ 0.96642228 -0.02245387 -0.25597618 5.09184762] [ 0.02566586 0.99962811 0.00921389 -0.27334327] [ 0.2556741 -0.01547436 0.96663918 -0.22044071] [ 0. 0. 0. 1. ]] SLAMing on 70.578241008 meters Centerline goodness [0,1] 0.8793758636573008 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.28, Z:-0.22 [[ 0.96631471 -0.01717258 -0.25678977 5.09191875] [ 0.02164255 0.9996593 0.01459086 -0.27531925] [ 0.25645171 -0.01965695 0.96635714 -0.21726687] [ 0. 0. 0. 1. ]] SLAMing on 70.60824100800001 meters Centerline goodness [0,1] 0.8772722043258169 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.27, Z:-0.22 [[ 0.96632732 -0.01574523 -0.25683378 5.0900724 ] [ 0.02032003 0.99967846 0.01516793 -0.27396471] [ 0.25651237 -0.01987605 0.96633656 -0.21642918] [ 0. 0. 0. 1. ]] SLAMing on 70.63824100800001 meters Centerline goodness [0,1] 0.8716796427753607 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.27, Z:-0.22 [[ 0.96620729 -0.01076848 -0.25754127 5.09107337] [ 0.01634779 0.99967557 0.01953227 -0.27437134] [ 0.25724738 -0.02308246 0.96606986 -0.2152298 ] [ 0. 0. 0. 1. ]] SLAMing on 70.66824100800001 meters Centerline goodness [0,1] 0.8739433401873429 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.27, Z:-0.22 [[ 0.96620714 -0.00945344 -0.25759346 5.09022031] [ 0.01499588 0.99969622 0.01956013 -0.27165458] [ 0.2573303 -0.02276198 0.96605539 -0.21575336] [ 0. 0. 0. 1. ]] SLAMing on 70.69824100800001 meters Centerline goodness [0,1] 0.8754682710863889 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.27, Z:-0.21 [[ 9.66086522e-01 -4.55417047e-03 -2.58178412e-01 5.09135449e+00] [ 1.10869987e-02 9.99653990e-01 2.38532931e-02 -2.72003900e-01] [ 2.57980447e-01 -2.59067687e-02 9.65802738e-01 -2.14849517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72824100800001 meters Centerline goodness [0,1] 0.8755889866590973 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.27, Z:-0.21 [[ 9.66102610e-01 1.24906556e-03 -2.58155352e-01 5.09021148e+00] [ 6.14853877e-03 9.99593306e-01 2.78463215e-02 -2.70787011e-01] [ 2.58085144e-01 -2.84896821e-02 9.65702023e-01 -2.14873940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75824100800001 meters Centerline goodness [0,1] 0.8780799727171967 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.27, Z:-0.22 [[ 9.66092011e-01 1.27908349e-03 -2.58194867e-01 5.09073182e+00] [ 5.94615871e-03 9.99612303e-01 2.72008661e-02 -2.69170445e-01] [ 2.58129558e-01 -2.78138071e-02 9.65709855e-01 -2.15942840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78824100800001 meters Centerline goodness [0,1] 0.8809239686327992 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.27, Z:-0.22 [[ 9.66093006e-01 1.39174634e-03 -2.58190561e-01 5.09106501e+00] [ 5.73554868e-03 9.99623032e-01 2.68495298e-02 -2.68684942e-01] [ 2.58130600e-01 -2.74200075e-02 9.65720838e-01 -2.16749513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81824100800002 meters Centerline goodness [0,1] 0.8829847854578609 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.27, Z:-0.22 [[ 9.65973095e-01 1.26537791e-03 -2.58639476e-01 5.09238315e+00] [ 5.88711020e-03 9.99621388e-01 2.68779113e-02 -2.69848853e-01] [ 2.58575562e-01 -2.74859782e-02 9.65599917e-01 -2.16587279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84824100800002 meters Centerline goodness [0,1] 0.8821884186192528 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.27, Z:-0.22 [[ 9.65812040e-01 8.72043034e-04 -2.59241862e-01 5.09398487e+00] [ 6.37495727e-03 9.99612059e-01 2.71125781e-02 -2.71372576e-01] [ 2.59164934e-01 -2.78383102e-02 9.65431803e-01 -2.15781381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.878241008 meters Centerline goodness [0,1] 0.8813486738801496 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.27, Z:-0.22 [[ 9.65827595e-01 -3.89926859e-03 -2.59156037e-01 5.09429156e+00] [ 1.01199536e-02 9.99691694e-01 2.26738457e-02 -2.70362068e-01] [ 2.58987726e-01 -2.45216729e-02 9.65569286e-01 -2.16937310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.908241008 meters Centerline goodness [0,1] 0.8751538747817125 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.27, Z:-0.22 [[ 9.65670354e-01 -4.57103911e-03 -2.59730385e-01 5.09647505e+00] [ 1.09142214e-02 9.99676225e-01 2.29853004e-02 -2.72585253e-01] [ 2.59541224e-01 -2.50309781e-02 9.65407584e-01 -2.16250235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.938241008 meters Centerline goodness [0,1] 0.8642540450279266 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.28, Z:-0.22 [[ 0.96566602 -0.00981017 -0.25960141 5.09755699] [ 0.01541304 0.99968996 0.01955584 -0.27646681] [ 0.25932908 -0.02288565 0.96551783 -0.21637798] [ 0. 0. 0. 1. ]] SLAMing on 70.968241008 meters Centerline goodness [0,1] 0.8623738837991418 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.28, Z:-0.22 [[ 0.96568972 -0.01448077 -0.25929456 5.09734654] [ 0.01919441 0.99969318 0.015656 -0.27719194] [ 0.2589883 -0.02009585 0.96567138 -0.21700561] [ 0. 0. 0. 1. ]] SLAMing on 70.99824100800001 meters Centerline goodness [0,1] 0.8591487877202163 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.28, Z:-0.22 [[ 0.96554852 -0.01489564 -0.25979641 5.09904226] [ 0.01983791 0.9996685 0.01641192 -0.2804803 ] [ 0.25946582 -0.02100032 0.96552394 -0.21586323] [ 0. 0. 0. 1. ]] SLAMing on 71.02824100800001 meters Centerline goodness [0,1] 0.8601840526530374 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.28, Z:-0.22 [[ 0.96553469 -0.01985097 -0.2595163 5.09942215] [ 0.02397191 0.99963166 0.01272387 -0.28187015] [ 0.25916812 -0.01850644 0.9656549 -0.21621693] [ 0. 0. 0. 1. ]] SLAMing on 71.05824100800001 meters Centerline goodness [0,1] 0.8657233528401316 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.28, Z:-0.21 [[ 0.96539242 -0.02011988 -0.26002436 5.10064955] [ 0.02444163 0.99961148 0.0133976 -0.28412869] [ 0.25965378 -0.01928937 0.96550911 -0.21489726] [ 0. 0. 0. 1. ]] SLAMing on 71.08824100800001 meters Centerline goodness [0,1] 0.8625131748448296 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.29, Z:-0.21 [[ 0.96517548 -0.02086243 -0.26077012 5.10299419] [ 0.02530814 0.99958579 0.01370175 -0.2859275 ] [ 0.26037625 -0.0198242 0.96530369 -0.21384665] [ 0. 0. 0. 1. ]] SLAMing on 71.11824100800001 meters Centerline goodness [0,1] 0.8674582516889422 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.29, Z:-0.21 [[ 0.96505527 -0.0214362 -0.26116816 5.10485584] [ 0.02594211 0.99956795 0.01381724 -0.2870069 ] [ 0.26075914 -0.02010965 0.96519442 -0.21361246] [ 0. 0. 0. 1. ]] SLAMing on 71.14824100800001 meters Centerline goodness [0,1] 0.8721618517536884 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.29, Z:-0.21 [[ 0.96486952 -0.02309172 -0.26171279 5.1083335 ] [ 0.02751546 0.99953355 0.01325069 -0.28693414] [ 0.26128473 -0.01998633 0.96505483 -0.21394615] [ 0. 0. 0. 1. ]] SLAMing on 71.17824100800001 meters Centerline goodness [0,1] 0.8721618517536884 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.29, Z:-0.21 [[ 0.96486952 -0.02309172 -0.26171279 5.1083335 ] [ 0.02751546 0.99953355 0.01325069 -0.28693414] [ 0.26128473 -0.01998633 0.96505483 -0.21394615] [ 0. 0. 0. 1. ]] SLAMing on 71.20824100800002 meters Centerline goodness [0,1] 0.8843140132061629 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.29, Z:-0.21 [[ 0.96462952 -0.02420526 -0.26249571 5.11181933] [ 0.02857846 0.9995089 0.01285454 -0.28683508] [ 0.26205564 -0.01990159 0.96484753 -0.2141399 ] [ 0. 0. 0. 1. ]] SLAMing on 71.238241008 meters Centerline goodness [0,1] 0.8859352486252831 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.29, Z:-0.21 [[ 0.96438015 -0.02526249 -0.26331108 5.11526108] [ 0.02961259 0.99948248 0.01256454 -0.28717642] [ 0.2628574 -0.01991432 0.96462916 -0.21419278] [ 0. 0. 0. 1. ]] SLAMing on 71.268241008 meters Centerline goodness [0,1] 0.8907217705245237 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.29, Z:-0.21 [[ 0.96417376 -0.02615349 -0.26397909 5.11789557] [ 0.0305363 0.99945534 0.01251255 -0.28755713] [ 0.26350807 -0.02012522 0.96444724 -0.2137456 ] [ 0. 0. 0. 1. ]] SLAMing on 71.298241008 meters Centerline goodness [0,1] 0.8950539277632469 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.29, Z:-0.21 [[ 0.9638128 -0.02775651 -0.26513102 5.12116083] [ 0.03245113 0.99938427 0.01334209 -0.28963751] [ 0.26459744 -0.02146308 0.96412008 -0.21048696] [ 0. 0. 0. 1. ]] SLAMing on 71.328241008 meters Centerline goodness [0,1] 0.9028889150388326 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.29, Z:-0.21 [[ 0.96367407 -0.02813315 -0.2655952 5.12224166] [ 0.03299605 0.99935931 0.01386438 -0.29105723] [ 0.26503499 -0.02212433 0.96398494 -0.20907998] [ 0. 0. 0. 1. ]] SLAMing on 71.35824100800001 meters Centerline goodness [0,1] 0.898789003800937 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.29, Z:-0.21 [[ 0.96359432 -0.02835587 -0.26586074 5.12277659] [ 0.03335597 0.99934109 0.0143099 -0.29182888] [ 0.26527979 -0.02265699 0.96390523 -0.20794964] [ 0. 0. 0. 1. ]] SLAMing on 71.38824100800001 meters Centerline goodness [0,1] 0.8974374062196593 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.29, Z:-0.21 [[ 0.96347779 -0.02848757 -0.26626868 5.12327851] [ 0.03365754 0.99932276 0.01487223 -0.29187179] [ 0.26566468 -0.02329101 0.96378411 -0.20644451] [ 0. 0. 0. 1. ]] SLAMing on 71.41824100800001 meters Centerline goodness [0,1] 0.8974509746273484 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.29, Z:-0.21 [[ 0.96334261 -0.02920946 -0.26667926 5.12453406] [ 0.03434203 0.99930346 0.01460193 -0.29007335] [ 0.266067 -0.02322497 0.96367471 -0.20585305] [ 0. 0. 0. 1. ]] SLAMing on 71.44824100800001 meters Centerline goodness [0,1] 0.8931896703168004 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.29, Z:-0.21 [[ 0.96324448 -0.02958525 -0.2669921 5.12585799] [ 0.03467289 0.99929554 0.0143602 -0.28862909] [ 0.26637916 -0.02308977 0.96359172 -0.20593777] [ 0. 0. 0. 1. ]] SLAMing on 71.47824100800001 meters Centerline goodness [0,1] 0.8929916226393064 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.29, Z:-0.21 [[ 0.96314463 -0.02995722 -0.26731065 5.12717126] [ 0.03498076 0.99928922 0.01404962 -0.28697108] [ 0.26669977 -0.02288255 0.96350798 -0.20607458] [ 0. 0. 0. 1. ]] SLAMing on 71.50824100800001 meters Centerline goodness [0,1] 0.8929008924925625 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.28, Z:-0.21 [[ 0.96309517 -0.02971926 -0.26751536 5.12676573] [ 0.03470669 0.99930041 0.0139333 -0.2844647 ] [ 0.26691412 -0.02270367 0.96345285 -0.20551 ] [ 0. 0. 0. 1. ]] SLAMing on 71.53824100800001 meters Centerline goodness [0,1] 0.8991108269890161 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.28, Z:-0.20 [[ 0.96307337 -0.02913073 -0.26765853 5.12584456] [ 0.03422279 0.9993108 0.01437803 -0.28353067] [ 0.26705522 -0.02300712 0.96340655 -0.20434986] [ 0. 0. 0. 1. ]] SLAMing on 71.56824100800002 meters Centerline goodness [0,1] 0.9016593531138299 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.28, Z:-0.20 [[ 0.9631842 -0.02847384 -0.26733021 5.12415167] [ 0.0335813 0.99933004 0.01455212 -0.28218318] [ 0.26673675 -0.02299367 0.96349509 -0.20409412] [ 0. 0. 0. 1. ]] SLAMing on 71.59824100800002 meters Centerline goodness [0,1] 0.8975052337752966 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.28, Z:-0.20 [[ 0.96323157 -0.02811168 -0.26719783 5.12365967] [ 0.03317603 0.99934496 0.01445722 -0.28026819] [ 0.26661639 -0.02279022 0.96353324 -0.20436246] [ 0. 0. 0. 1. ]] SLAMing on 71.628241008 meters Centerline goodness [0,1] 0.900412186896492 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.28, Z:-0.20 [[ 0.96312186 -0.02365157 -0.26802403 5.12554555] [ 0.0297596 0.99938123 0.01874903 -0.2808442 ] [ 0.26741474 -0.02603389 0.96322977 -0.20312917] [ 0. 0. 0. 1. ]] SLAMing on 71.658241008 meters Centerline goodness [0,1] 0.8910284086002935 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.28, Z:-0.20 [[ 0.96332355 -0.01757441 -0.26776645 5.12324021] [ 0.02467662 0.99942668 0.02318153 -0.27928753] [ 0.26720553 -0.02893889 0.96320493 -0.20266753] [ 0. 0. 0. 1. ]] SLAMing on 71.688241008 meters Centerline goodness [0,1] 0.8840052685832093 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.28, Z:-0.20 [[ 0.96327951 -0.01247139 -0.26821084 5.12331846] [ 0.02061278 0.99940761 0.02755991 -0.27954645] [ 0.26770824 -0.03207647 0.96296594 -0.20135287] [ 0. 0. 0. 1. ]] SLAMing on 71.718241008 meters Centerline goodness [0,1] 0.8811983175484277 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.28, Z:-0.20 [[ 0.96339387 -0.0112389 -0.26785433 5.12124377] [ 0.01932173 0.99943341 0.02755941 -0.27737111] [ 0.26739283 -0.03172597 0.96306518 -0.20176261] [ 0. 0. 0. 1. ]] SLAMing on 71.74824100800001 meters Centerline goodness [0,1] 0.8671768320436959 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.27, Z:-0.20 [[ 0.96490044 -0.00889985 -0.26246513 5.13600914] [ 0.01489907 0.99967105 0.02087589 -0.27386903] [ 0.262193 -0.02405364 0.96471563 -0.20345997] [ 0. 0. 0. 1. ]] SLAMing on 71.77824100800001 meters Centerline goodness [0,1] 0.8585824178943484 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.27, Z:-0.20 [[ 0.96652103 -0.00517117 -0.2565353 5.14814529] [ 0.00926869 0.99984802 0.01476598 -0.27112318] [ 0.25641995 -0.01664937 0.96642207 -0.2047966 ] [ 0. 0. 0. 1. ]] SLAMing on 71.80824100800001 meters Centerline goodness [0,1] 0.8606160210818622 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.27, Z:-0.20 [[ 9.66620087e-01 -4.35841904e-03 -2.56176915e-01 5.14644901e+00] [ 8.57262769e-03 9.99845647e-01 1.53359948e-02 -2.71315054e-01] [ 2.56070532e-01 -1.70201899e-02 9.66508249e-01 -2.04256474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83824100800001 meters Centerline goodness [0,1] 0.8567579066799036 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.27, Z:-0.20 [[ 9.66688351e-01 -3.87890549e-03 -2.55926915e-01 5.14565147e+00] [ 8.16250967e-03 9.99843782e-01 1.56775362e-02 -2.71358303e-01] [ 2.55826123e-01 -1.72442976e-02 9.66568999e-01 -2.04203188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86824100800001 meters Centerline goodness [0,1] 0.8545310015898251 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.27, Z:-0.21 [[ 9.66745508e-01 -3.90795083e-03 -2.55710483e-01 5.14659193e+00] [ 8.14812945e-03 9.99846285e-01 1.55246566e-02 -2.71154592e-01] [ 2.55610506e-01 -1.70919541e-02 9.66628747e-01 -2.05546164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89824100800001 meters Centerline goodness [0,1] 0.8557192743377906 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.27, Z:-0.21 [[ 9.66705165e-01 -3.97115586e-03 -2.55861983e-01 5.14728170e+00] [ 8.27118304e-03 9.99842031e-01 1.57321802e-02 -2.72215624e-01] [ 2.55759090e-01 -1.73246611e-02 9.66585301e-01 -2.05418823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92824100800001 meters Centerline goodness [0,1] 0.8611972131380634 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.27, Z:-0.20 [[ 9.66636586e-01 -3.83689770e-03 -2.56122994e-01 5.14781599e+00] [ 8.27493276e-03 9.99833680e-01 1.62523214e-02 -2.74135990e-01] [ 2.56018037e-01 -1.78294890e-02 9.66507565e-01 -2.04776215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95824100800002 meters Centerline goodness [0,1] 0.8597140741584554 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.28, Z:-0.20 [[ 9.66567909e-01 -4.01940608e-03 -2.56379255e-01 5.14905865e+00] [ 8.51021895e-03 9.99829142e-01 1.64092262e-02 -2.75648500e-01] [ 2.56269495e-01 -1.80424751e-02 9.66436969e-01 -2.04808515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.988241008 meters Centerline goodness [0,1] 0.8664608700623107 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.28, Z:-0.21 [[ 9.66508516e-01 -4.33348911e-03 -2.56597954e-01 5.15098154e+00] [ 8.92519474e-03 9.99820163e-01 1.67326624e-02 -2.78683756e-01] [ 2.56479298e-01 -1.84624474e-02 9.66373379e-01 -2.05145946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.018241008 meters Centerline goodness [0,1] 0.8694231926416229 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.28, Z:-0.21 [[ 9.66458987e-01 -4.43358829e-03 -2.56782729e-01 5.15197698e+00] [ 9.10026174e-03 9.99814277e-01 1.69881553e-02 -2.80148966e-01] [ 2.56659720e-01 -1.87551454e-02 9.66319840e-01 -2.05156207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.048241008 meters Centerline goodness [0,1] 0.8635829536010088 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.28, Z:-0.21 [[ 9.66423070e-01 -4.60578353e-03 -2.56914842e-01 5.15296289e+00] [ 9.37379604e-03 9.99805759e-01 1.73371216e-02 -2.82170143e-01] [ 2.56785088e-01 -1.91632616e-02 9.66278525e-01 -2.05058532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.078241008 meters Centerline goodness [0,1] 0.867989918084436 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.28, Z:-0.20 [[ 9.66324540e-01 -4.37009205e-03 -2.57289302e-01 5.15299349e+00] [ 9.45788989e-03 9.99783378e-01 1.85403966e-02 -2.84721041e-01] [ 2.57152544e-01 -2.03494541e-02 9.66156545e-01 -2.02723691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.10824100800001 meters Centerline goodness [0,1] 0.8663944326220739 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.29, Z:-0.20 [[ 9.66329350e-01 -4.14507510e-03 -2.57274962e-01 5.15254452e+00] [ 9.31259845e-03 9.99778567e-01 1.88703942e-02 -2.85156196e-01] [ 2.57139774e-01 -2.06309142e-02 9.66153974e-01 -2.02154543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13824100800001 meters Centerline goodness [0,1] 0.8666742929047387 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.28, Z:-0.20 [[ 9.66287830e-01 -4.57069214e-03 -2.57423656e-01 5.15386508e+00] [ 9.67352591e-03 9.99780955e-01 1.85597528e-02 -2.83880435e-01] [ 2.57282437e-01 -2.04242576e-02 9.66120384e-01 -2.02621319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16824100800001 meters Centerline goodness [0,1] 0.8694483370034605 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.28, Z:-0.20 [[ 9.66303221e-01 -4.85564030e-03 -2.57360658e-01 5.15490110e+00] [ 9.81817123e-03 9.99789764e-01 1.80008515e-02 -2.81977310e-01] [ 2.57219146e-01 -1.99210918e-02 9.66147743e-01 -2.03858483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19824100800001 meters Centerline goodness [0,1] 0.8647982576799633 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.28, Z:-0.21 [[ 0.96624262 -0.00535526 -0.2575782 5.15696039] [ 0.01013709 0.99979999 0.0172402 -0.28043917] [ 0.25743436 -0.01926931 0.96610364 -0.20528251] [ 0. 0. 0. 1. ]] SLAMing on 72.22824100800001 meters Centerline goodness [0,1] 0.8710964408725603 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.28, Z:-0.21 [[ 0.96620409 -0.0054603 -0.25772048 5.15780187] [ 0.01021401 0.99980144 0.01711004 -0.28042253] [ 0.25757588 -0.01916415 0.96606801 -0.20564193] [ 0. 0. 0. 1. ]] SLAMing on 72.25824100800001 meters Centerline goodness [0,1] 0.8762262635534392 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.28, Z:-0.21 [[ 0.96614432 -0.00585597 -0.25793578 5.15927225] [ 0.01048959 0.99980732 0.01659177 -0.2792467 ] [ 0.25778892 -0.01873568 0.96601959 -0.20644213] [ 0. 0. 0. 1. ]] SLAMing on 72.28824100800001 meters Centerline goodness [0,1] 0.8725082460920695 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.28, Z:-0.21 [[ 0.96611244 -0.00603754 -0.25805096 5.1603389 ] [ 0.0105804 0.99981247 0.01621946 -0.27818264] [ 0.25790464 -0.01840011 0.96599515 -0.20723341] [ 0. 0. 0. 1. ]] SLAMing on 72.31824100800002 meters Centerline goodness [0,1] 0.8761575397279067 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.28, Z:-0.21 [[ 0.96598368 -0.00663118 -0.25851799 5.16299348] [ 0.01095055 0.99982341 0.01527183 -0.27629725] [ 0.25837107 -0.01758326 0.96588572 -0.20866644] [ 0. 0. 0. 1. ]] SLAMing on 72.34824100800002 meters Centerline goodness [0,1] 0.8742136566395974 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.28, Z:-0.21 [[ 0.96597371 -0.00660888 -0.25855581 5.16353918] [ 0.01088124 0.99982683 0.01509639 -0.27551027] [ 0.25841126 -0.01739612 0.96587835 -0.20915953] [ 0. 0. 0. 1. ]] SLAMing on 72.378241008 meters Centerline goodness [0,1] 0.8767933695341527 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.27, Z:-0.21 [[ 0.96594876 -0.00669007 -0.25864694 5.16402966] [ 0.01093275 0.99982819 0.0149685 -0.27428995] [ 0.25850236 -0.01728653 0.96585595 -0.20923591] [ 0. 0. 0. 1. ]] SLAMing on 72.408241008 meters Centerline goodness [0,1] 0.8742777445706316 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.27, Z:-0.21 [[ 0.96586478 -0.00680335 -0.2589574 5.16466518] [ 0.01105608 0.99982682 0.0149697 -0.27338853] [ 0.25881071 -0.01732176 0.96577273 -0.2087682 ] [ 0. 0. 0. 1. ]] SLAMing on 72.438241008 meters Centerline goodness [0,1] 0.8757286547033947 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.27, Z:-0.21 [[ 0.96587953 -0.00648526 -0.25891055 5.16348681] [ 0.01097204 0.99981357 0.01588819 -0.27478252] [ 0.25875924 -0.01818686 0.96577062 -0.20697845] [ 0. 0. 0. 1. ]] SLAMing on 72.468241008 meters Centerline goodness [0,1] 0.8753499000285633 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.28, Z:-0.21 [[ 0.965802 -0.0068014 -0.25919152 5.16460656] [ 0.01137353 0.99980498 0.01614442 -0.27593198] [ 0.25903116 -0.01854024 0.965691 -0.20654212] [ 0. 0. 0. 1. ]] SLAMing on 72.49824100800001 meters Centerline goodness [0,1] 0.8803711634546753 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.28, Z:-0.21 [[ 0.96567204 -0.00743271 -0.25965799 5.16668598] [ 0.01205564 0.99979583 0.01621598 -0.27704021] [ 0.25948445 -0.01878966 0.96556448 -0.20631987] [ 0. 0. 0. 1. ]] SLAMing on 72.52824100800001 meters Centerline goodness [0,1] 0.8850758636454553 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.28, Z:-0.21 [[ 0.96550096 -0.00817007 -0.26027131 5.16903925] [ 0.01285501 0.99978446 0.01630306 -0.27829604] [ 0.26008201 -0.01908641 0.96539788 -0.20590505] [ 0. 0. 0. 1. ]] SLAMing on 72.55824100800001 meters Centerline goodness [0,1] 0.893977631201606 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.28, Z:-0.21 [[ 0.9654097 -0.01416872 -0.26035237 5.17160195] [ 0.01775251 0.99977721 0.0114187 -0.27786025] [ 0.26013257 -0.01564564 0.96544614 -0.2075788 ] [ 0. 0. 0. 1. ]] SLAMing on 72.58824100800001 meters Centerline goodness [0,1] 0.8999569398593369 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.28, Z:-0.21 [[ 0.96523505 -0.01485076 -0.26096123 5.17365544] [ 0.01862284 0.99975471 0.01198763 -0.28024473] [ 0.26071919 -0.01643072 0.96527485 -0.20632014] [ 0. 0. 0. 1. ]] SLAMing on 72.61824100800001 meters Centerline goodness [0,1] 0.9050762445591075 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.28, Z:-0.21 [[ 0.96518276 -0.02000714 -0.26081018 5.17411831] [ 0.0227897 0.99971102 0.00764871 -0.27952265] [ 0.26058179 -0.01332619 0.9653598 -0.20696388] [ 0. 0. 0. 1. ]] SLAMing on 72.64824100800001 meters Centerline goodness [0,1] 0.9083920749572129 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.28, Z:-0.21 [[ 9.65128725e-01 -2.50785758e-02 -2.60571696e-01 5.17414554e+00] [ 2.71197119e-02 9.99623200e-01 4.24024073e-03 -2.81102596e-01] [ 2.60367173e-01 -1.11590074e-02 9.65445188e-01 -2.06271942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67824100800001 meters Centerline goodness [0,1] 0.9068884574144377 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.28, Z:-0.20 [[ 9.65067085e-01 -2.50361384e-02 -2.60803975e-01 5.17441673e+00] [ 2.73272503e-02 9.99613215e-01 5.16163517e-03 -2.82950927e-01] [ 2.60573873e-01 -1.21083797e-02 9.65377980e-01 -2.04757029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70824100800002 meters Centerline goodness [0,1] 0.9086254772648386 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.28, Z:-0.20 [[ 0.96502534 -0.0249557 -0.26096609 5.17451402] [ 0.0273732 0.99960942 0.00563246 -0.28310564] [ 0.2607236 -0.01257894 0.96533154 -0.2038272 ] [ 0. 0. 0. 1. ]] SLAMing on 72.738241008 meters Centerline goodness [0,1] 0.9085230066228996 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.28, Z:-0.20 [[ 0.96504163 -0.02459186 -0.26094041 5.17391311] [ 0.027059 0.99961663 0.00586582 -0.28234173] [ 0.26069613 -0.01272154 0.96533709 -0.20336816] [ 0. 0. 0. 1. ]] SLAMing on 72.768241008 meters Centerline goodness [0,1] 0.9094666859372742 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.28, Z:-0.20 [[ 0.96507668 -0.02416983 -0.2608502 5.17340532] [ 0.02666598 0.99962619 0.00603381 -0.28134963] [ 0.26060685 -0.01277892 0.96536043 -0.20329603] [ 0. 0. 0. 1. ]] SLAMing on 72.798241008 meters Centerline goodness [0,1] 0.9061643638041942 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.28, Z:-0.20 [[ 0.9650541 -0.01927353 -0.26134098 5.17433189] [ 0.02279078 0.99968581 0.01043411 -0.28184957] [ 0.26105776 -0.01602564 0.96519015 -0.20240256] [ 0. 0. 0. 1. ]] SLAMing on 72.828241008 meters Centerline goodness [0,1] 0.9029260292890641 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.28, Z:-0.20 [[ 0.96509801 -0.01867889 -0.261222 5.17358628] [ 0.02218421 0.99969901 0.01047643 -0.28044984] [ 0.26094768 -0.01590579 0.9652219 -0.20256983] [ 0. 0. 0. 1. ]] SLAMing on 72.85824100800001 meters Centerline goodness [0,1] 0.9026074498567336 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.28, Z:-0.20 [[ 0.9649836 -0.01387356 -0.26194306 5.17500805] [ 0.0184597 0.99971625 0.01505552 -0.28220834] [ 0.26165986 -0.01936372 0.96496589 -0.2012848 ] [ 0. 0. 0. 1. ]] SLAMing on 72.88824100800001 meters Centerline goodness [0,1] 0.8956509339797519 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.28, Z:-0.20 [[ 0.96488393 -0.00925664 -0.26251345 5.17678171] [ 0.01470436 0.99971522 0.01879522 -0.28168606] [ 0.26226471 -0.0219953 0.96474527 -0.20124047] [ 0. 0. 0. 1. ]] SLAMing on 72.91824100800001 meters Centerline goodness [0,1] 0.8956040823308056 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.28, Z:-0.20 [[ 0.96491797 -0.00900061 -0.26239721 5.17690237] [ 0.01434546 0.99972667 0.01846071 -0.28008707] [ 0.26215933 -0.02157728 0.96478335 -0.20220863] [ 0. 0. 0. 1. ]] SLAMing on 72.94824100800001 meters Centerline goodness [0,1] 0.8949044585987261 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.28, Z:-0.20 [[ 0.96491847 -0.0089871 -0.26239586 5.17750915] [ 0.01421582 0.99973629 0.01803525 -0.27875736] [ 0.26216457 -0.02113271 0.96479176 -0.20308616] [ 0. 0. 0. 1. ]] SLAMing on 72.97824100800001 meters Centerline goodness [0,1] 0.8925683371298405 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.28, Z:-0.20 [[ 0.96497572 -0.00821497 -0.26221056 5.17634289] [ 0.01350705 0.99973971 0.01838657 -0.27852364] [ 0.26199126 -0.02128428 0.96483551 -0.20288041] [ 0. 0. 0. 1. ]] SLAMing on 73.00824100800001 meters Centerline goodness [0,1] 0.8908738638630083 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.28, Z:-0.20 [[ 0.966437 -0.00648 -0.25682199 5.19112134] [ 0.00978364 0.99988499 0.01158788 -0.27656482] [ 0.25671736 -0.01371161 0.96638925 -0.20362089] [ 0. 0. 0. 1. ]] SLAMing on 73.03824100800001 meters Centerline goodness [0,1] 0.8889711324944486 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.28, Z:-0.20 [[ 0.96646452 -0.00608376 -0.2567281 5.19074587] [ 0.00941955 0.99988641 0.01176573 -0.27626091] [ 0.25662736 -0.01378942 0.96641205 -0.20363571] [ 0. 0. 0. 1. ]] SLAMing on 73.06824100800002 meters Centerline goodness [0,1] 0.8896968659993726 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.28, Z:-0.20 [[ 0.96637997 -0.00630722 -0.25704078 5.19194993] [ 0.00971437 0.99988096 0.01198759 -0.27726287] [ 0.25693458 -0.01408156 0.9663262 -0.20334447] [ 0. 0. 0. 1. ]] SLAMing on 73.09824100800002 meters Centerline goodness [0,1] 0.8896968659993726 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.28, Z:-0.20 [[ 0.96637997 -0.00630722 -0.25704078 5.19194993] [ 0.00971437 0.99988096 0.01198759 -0.27726287] [ 0.25693458 -0.01408156 0.9663262 -0.20334447] [ 0. 0. 0. 1. ]] SLAMing on 73.128241008 meters Centerline goodness [0,1] 0.8923335805145172 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.28, Z:-0.20 [[ 0.96623379 -0.00685665 -0.25757573 5.19393513] [ 0.01030199 0.99987458 0.01202885 -0.27792941] [ 0.25746095 -0.01427622 0.96618324 -0.20305399] [ 0. 0. 0. 1. ]] SLAMing on 73.158241008 meters Centerline goodness [0,1] 0.8898007033997656 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.28, Z:-0.20 [[ 0.96608697 -0.00790541 -0.25809584 5.19737241] [ 0.01129431 0.99986834 0.01165039 -0.27947883] [ 0.25796976 -0.01417031 0.96604907 -0.20385572] [ 0. 0. 0. 1. ]] SLAMing on 73.188241008 meters Centerline goodness [0,1] 0.8868895340481187 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.28, Z:-0.20 [[ 0.96602109 -0.00788561 -0.25834294 5.19819809] [ 0.01137951 0.99986286 0.01203174 -0.28073076] [ 0.25821263 -0.01456273 0.96597834 -0.20350851] [ 0. 0. 0. 1. ]] SLAMing on 73.218241008 meters Centerline goodness [0,1] 0.8909743148227867 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.28, Z:-0.20 [[ 0.96590187 -0.00809619 -0.25878182 5.19958512] [ 0.01167738 0.99985611 0.01230449 -0.28163193] [ 0.25864497 -0.01490682 0.96585743 -0.2029766 ] [ 0. 0. 0. 1. ]] SLAMing on 73.24824100800001 meters Centerline goodness [0,1] 0.8905612684552192 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.28, Z:-0.20 [[ 0.96587543 -0.00788484 -0.25888699 5.19962209] [ 0.01162581 0.99984891 0.01292237 -0.28235135] [ 0.25874599 -0.01549117 0.96582117 -0.20195649] [ 0. 0. 0. 1. ]] SLAMing on 73.27824100800001 meters Centerline goodness [0,1] 0.8910381696941826 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.28, Z:-0.20 [[ 0.96581026 -0.00786584 -0.2591306 5.20007382] [ 0.0117008 0.99984362 0.01326028 -0.28293171] [ 0.25898577 -0.01583895 0.96575126 -0.20133914] [ 0. 0. 0. 1. ]] SLAMing on 73.30824100800001 meters Centerline goodness [0,1] 0.8900270472463602 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.28, Z:-0.20 [[ 0.96578713 -0.0078568 -0.25921708 5.2003469 ] [ 0.01175556 0.99983985 0.01349381 -0.28320262] [ 0.25906955 -0.01607939 0.96572482 -0.20099973] [ 0. 0. 0. 1. ]] SLAMing on 73.33824100800001 meters Centerline goodness [0,1] 0.8884349827387802 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.28, Z:-0.20 [[ 0.96576314 -0.00797585 -0.25930281 5.20109816] [ 0.01185352 0.99984003 0.01339409 -0.28235529] [ 0.2591545 -0.01600917 0.96570319 -0.20118048] [ 0. 0. 0. 1. ]] SLAMing on 73.36824100800001 meters Centerline goodness [0,1] 0.8882583395748114 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.28, Z:-0.20 [[ 0.96573962 -0.00802712 -0.25938879 5.20172736] [ 0.01189432 0.99984023 0.01334281 -0.28213901] [ 0.25924024 -0.01597094 0.96568081 -0.20141942] [ 0. 0. 0. 1. ]] SLAMing on 73.39824100800001 meters Centerline goodness [0,1] 0.8877644894204232 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.28, Z:-0.20 [[ 0.96567056 -0.00825712 -0.25963857 5.20290627] [ 0.01214736 0.99983666 0.01338234 -0.28204043] [ 0.25948567 -0.01607686 0.96561313 -0.20132419] [ 0. 0. 0. 1. ]] SLAMing on 73.42824100800001 meters Centerline goodness [0,1] 0.8849132099369584 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.28, Z:-0.20 [[ 0.9656133 -0.00847896 -0.2598443 5.20406124] [ 0.01238205 0.99983371 0.0133877 -0.28253027] [ 0.25968758 -0.01614475 0.96555772 -0.20148491] [ 0. 0. 0. 1. ]] SLAMing on 73.45824100800002 meters Centerline goodness [0,1] 0.887296322999279 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.28, Z:-0.20 [[ 0.9655144 -0.00935212 -0.26018161 5.20649855] [ 0.01327641 0.99982301 0.01332952 -0.28406959] [ 0.26001091 -0.01632412 0.96546769 -0.20157727] [ 0. 0. 0. 1. ]] SLAMing on 73.488241008 meters Centerline goodness [0,1] 0.8906155746416569 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.28, Z:-0.20 [[ 0.96540935 -0.00998828 -0.26054755 5.20830765] [ 0.01391319 0.99981576 0.01322403 -0.28419642] [ 0.26036746 -0.01639165 0.96537045 -0.20150061] [ 0. 0. 0. 1. ]] SLAMing on 73.518241008 meters Centerline goodness [0,1] 0.8919269332718681 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.28, Z:-0.20 [[ 0.96530215 -0.01064005 -0.26091865 5.21013404] [ 0.01460342 0.99980549 0.01325599 -0.28465589] [ 0.26072686 -0.01660634 0.96526977 -0.20125341] [ 0. 0. 0. 1. ]] SLAMing on 73.548241008 meters Centerline goodness [0,1] 0.897256123950489 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.29, Z:-0.20 [[ 0.96513808 -0.0113084 -0.26149685 5.21201946] [ 0.01535404 0.99979188 0.01343315 -0.2854993 ] [ 0.26129052 -0.01697988 0.96511085 -0.20041619] [ 0. 0. 0. 1. ]] SLAMing on 73.578241008 meters Centerline goodness [0,1] 0.9003289663530906 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.29, Z:-0.20 [[ 0.96482069 -0.01250178 -0.26261139 5.21507377] [ 0.01696597 0.99974743 0.0147385 -0.28743956] [ 0.2623608 -0.01867547 0.96478911 -0.19667682] [ 0. 0. 0. 1. ]] SLAMing on 73.60824100800001 meters Centerline goodness [0,1] 0.9042316900799031 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.29, Z:-0.20 [[ 0.96466398 -0.01302521 -0.26316106 5.21664807] [ 0.01757553 0.99973385 0.01494422 -0.28816053] [ 0.26289637 -0.01904135 0.96463616 -0.19572308] [ 0. 0. 0. 1. ]] SLAMing on 73.63824100800001 meters Centerline goodness [0,1] 0.9056975598446647 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.29, Z:-0.19 [[ 0.96455486 -0.0134028 -0.2635418 5.2177363 ] [ 0.0180716 0.99971963 0.0152993 -0.28900806] [ 0.26326286 -0.01951964 0.96452665 -0.19476533] [ 0. 0. 0. 1. ]] SLAMing on 73.66824100800001 meters Centerline goodness [0,1] 0.9053900915298562 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.29, Z:-0.19 [[ 0.96417723 -0.01469917 -0.26485129 5.22148225] [ 0.01974183 0.9996708 0.01638766 -0.29089343] [ 0.26452321 -0.02102926 0.96415001 -0.19148605] [ 0. 0. 0. 1. ]] SLAMing on 73.69824100800001 meters Centerline goodness [0,1] 0.9044115508767848 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.29, Z:-0.19 [[ 0.96408008 -0.01506952 -0.26518391 5.22277283] [ 0.02018806 0.9996586 0.01658673 -0.29168363] [ 0.26484343 -0.02134448 0.96405517 -0.19105073] [ 0. 0. 0. 1. ]] SLAMing on 73.72824100800001 meters Centerline goodness [0,1] 0.8989811024993468 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.29, Z:-0.19 [[ 0.96398201 -0.01572136 -0.26550241 5.22465845] [ 0.02078213 0.99965176 0.01626243 -0.29078102] [ 0.26515428 -0.02119439 0.96397303 -0.19140499] [ 0. 0. 0. 1. ]] SLAMing on 73.75824100800001 meters Centerline goodness [0,1] 0.9022393241522972 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.29, Z:-0.19 [[ 0.96401188 -0.01583121 -0.2653874 5.22497622] [ 0.0208339 0.99965418 0.01604596 -0.28896953] [ 0.26504159 -0.02099755 0.96400833 -0.19185982] [ 0. 0. 0. 1. ]] SLAMing on 73.78824100800001 meters Centerline goodness [0,1] 0.9020432865500447 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.29, Z:-0.19 [[ 0.96400106 -0.01578666 -0.26542933 5.22519321] [ 0.02072081 0.99966046 0.01579923 -0.28600849] [ 0.26508979 -0.02073039 0.96400086 -0.19204077] [ 0. 0. 0. 1. ]] SLAMing on 73.81824100800002 meters Centerline goodness [0,1] 0.9035817446562681 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.29, Z:-0.19 [[ 0.96400444 -0.0155168 -0.26543297 5.22485497] [ 0.02048151 0.99966305 0.01594637 -0.28542438] [ 0.2650961 -0.02080884 0.96399743 -0.19173864] [ 0. 0. 0. 1. ]] SLAMing on 73.84824100800002 meters Centerline goodness [0,1] 0.9062554200150315 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.28, Z:-0.19 [[ 0.96406576 -0.01493518 -0.26524358 5.22372178] [ 0.01995127 0.99966926 0.01622696 -0.28487185] [ 0.2649135 -0.0209358 0.96404488 -0.19139525] [ 0. 0. 0. 1. ]] SLAMing on 73.878241008 meters Centerline goodness [0,1] 0.9053027019216876 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.28, Z:-0.19 [[ 0.96409869 -0.01432889 -0.26515731 5.22281591] [ 0.01938979 0.99967619 0.0164786 -0.28400687] [ 0.26483533 -0.02102835 0.96406434 -0.19099486] [ 0. 0. 0. 1. ]] SLAMing on 73.908241008 meters Centerline goodness [0,1] 0.9068469505178366 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.28, Z:-0.19 [[ 0.96411628 -0.01348263 -0.26513775 5.22178453] [ 0.01861573 0.9996846 0.01685672 -0.28273346] [ 0.26482685 -0.02118757 0.96406318 -0.19051598] [ 0. 0. 0. 1. ]] SLAMing on 73.938241008 meters Centerline goodness [0,1] 0.8975955223028157 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.28, Z:-0.19 [[ 0.96420492 -0.00772908 -0.26504552 5.22139694] [ 0.013691 0.99969294 0.02065391 -0.2804762 ] [ 0.2648045 -0.02354334 0.96401467 -0.19137792] [ 0. 0. 0. 1. ]] SLAMing on 73.968241008 meters Centerline goodness [0,1] 0.8924728113492992 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.28, Z:-0.19 [[ 0.96429072 -0.00675674 -0.2647598 5.22047945] [ 0.01265074 0.99970852 0.02056287 -0.27796654] [ 0.26454369 -0.02317799 0.96409513 -0.19234908] [ 0. 0. 0. 1. ]] SLAMing on 73.99824100800001 meters Centerline goodness [0,1] 0.8881740021636395 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.28, Z:-0.19 [[ 9.64397275e-01 -9.97013019e-04 -2.64455858e-01 5.21968967e+00] [ 7.74659628e-03 9.99670284e-01 2.44808797e-02 -2.77457612e-01] [ 2.64344255e-01 -2.56579265e-02 9.64087022e-01 -1.93233207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02824100800001 meters Centerline goodness [0,1] 0.8868962764440896 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.28, Z:-0.19 [[ 9.64367341e-01 -8.25788272e-04 -2.64565585e-01 5.21985077e+00] [ 7.58139352e-03 9.99670723e-01 2.45146471e-02 -2.77479082e-01] [ 2.64458226e-01 -2.56469008e-02 9.64056058e-01 -1.93099537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05824100800001 meters Centerline goodness [0,1] 0.8882319337332191 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.28, Z:-0.19 [[ 9.64248283e-01 -9.32498132e-04 -2.64998828e-01 5.22065206e+00] [ 7.87829772e-03 9.99652669e-01 2.51490199e-02 -2.79782230e-01] [ 2.64883334e-01 -2.63376389e-02 9.63920717e-01 -1.91754668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08824100800001 meters Centerline goodness [0,1] 0.8875422611884706 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.28, Z:-0.19 [[ 9.64361470e-01 -5.13774136e-03 -2.64538386e-01 5.21925724e+00] [ 1.11279594e-02 9.99714373e-01 2.11504330e-02 -2.78969680e-01] [ 2.64354162e-01 -2.33404351e-02 9.64143195e-01 -1.92382706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11824100800001 meters Centerline goodness [0,1] 0.887435603892387 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.28, Z:-0.19 [[ 0.96426029 -0.0052437 -0.2649049 5.22012354] [ 0.01144052 0.99969569 0.02185515 -0.28116126] [ 0.26470968 -0.0241047 0.96402684 -0.191145 ] [ 0. 0. 0. 1. ]] SLAMing on 74.14824100800001 meters Centerline goodness [0,1] 0.8884620897233768 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.28, Z:-0.19 [[ 0.96409863 -0.00657379 -0.26546302 5.22363604] [ 0.01281043 0.99968095 0.02176883 -0.28342978] [ 0.26523522 -0.02438799 0.96387525 -0.19111893] [ 0. 0. 0. 1. ]] SLAMing on 74.17824100800001 meters Centerline goodness [0,1] 0.889200721670151 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.28, Z:-0.19 [[ 0.96401658 -0.00696404 -0.2657509 5.22537632] [ 0.01321918 0.99967591 0.0217562 -0.28417235] [ 0.26551326 -0.02448634 0.96379621 -0.19140084] [ 0. 0. 0. 1. ]] SLAMing on 74.20824100800002 meters Centerline goodness [0,1] 0.8887964662689307 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.28, Z:-0.19 [[ 0.96393374 -0.00741176 -0.2660391 5.22724054] [ 0.01360934 0.99967708 0.02145977 -0.28440692] [ 0.26579413 -0.02430641 0.96372334 -0.19206428] [ 0. 0. 0. 1. ]] SLAMing on 74.238241008 meters Centerline goodness [0,1] 0.8888377974479825 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.29, Z:-0.19 [[ 0.96381169 -0.00824796 -0.26645638 5.23008019] [ 0.01444019 0.99966909 0.02128827 -0.28600626] [ 0.26619262 -0.02436557 0.96361186 -0.19251404] [ 0. 0. 0. 1. ]] SLAMing on 74.268241008 meters Centerline goodness [0,1] 0.8916798390573358 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.29, Z:-0.19 [[ 0.96376099 -0.0082936 -0.26663828 5.23069766] [ 0.01450953 0.99966676 0.02135057 -0.28652299] [ 0.26637235 -0.02444565 0.96356016 -0.19240923] [ 0. 0. 0. 1. ]] SLAMing on 74.298241008 meters Centerline goodness [0,1] 0.8903837861147046 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.29, Z:-0.19 [[ 0.96370726 -0.00846202 -0.26682714 5.23148144] [ 0.01466478 0.99966637 0.02126228 -0.28679165] [ 0.26655819 -0.02440358 0.96350983 -0.19235853] [ 0. 0. 0. 1. ]] SLAMing on 74.328241008 meters Centerline goodness [0,1] 0.8932674632352942 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.29, Z:-0.19 [[ 0.96365829 -0.008791 -0.2669933 5.23281998] [ 0.01494456 0.99966726 0.0210244 -0.28639059] [ 0.26671964 -0.02425044 0.96346902 -0.19290884] [ 0. 0. 0. 1. ]] SLAMing on 74.35824100800001 meters Centerline goodness [0,1] 0.8959825777981546 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.28, Z:-0.19 [[ 0.96365803 -0.00932339 -0.26697617 5.23415692] [ 0.01531839 0.99967492 0.02038132 -0.28493194] [ 0.26669936 -0.02373027 0.96348759 -0.19410125] [ 0. 0. 0. 1. ]] SLAMing on 74.38824100800001 meters Centerline goodness [0,1] 0.8937573480916469 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.28, Z:-0.19 [[ 0.96360682 -0.00984408 -0.26714226 5.23569602] [ 0.01572307 0.9996788 0.01987682 -0.28362303] [ 0.26686078 -0.02335374 0.96345209 -0.19494172] [ 0. 0. 0. 1. ]] SLAMing on 74.41824100800001 meters Centerline goodness [0,1] 0.8876075731497418 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.28, Z:-0.20 [[ 0.96351808 -0.01067594 -0.26743025 5.23820945] [ 0.01632484 0.99968794 0.01890836 -0.28185843] [ 0.26714493 -0.02258431 0.96339168 -0.1963849 ] [ 0. 0. 0. 1. ]] SLAMing on 74.44824100800001 meters Centerline goodness [0,1] 0.8873784737159081 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.28, Z:-0.20 [[ 0.9634648 -0.01096657 -0.26761036 5.2392499 ] [ 0.01657734 0.99968741 0.01871581 -0.28137789] [ 0.26732146 -0.02246829 0.96334543 -0.19660749] [ 0. 0. 0. 1. ]] SLAMing on 74.47824100800001 meters Centerline goodness [0,1] 0.8894181108688167 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.28, Z:-0.20 [[ 0.963367 -0.01136353 -0.26794569 5.24064176] [ 0.01693737 0.99968539 0.01849984 -0.28111413] [ 0.26765117 -0.02236043 0.96325638 -0.1966766 ] [ 0. 0. 0. 1. ]] SLAMing on 74.50824100800001 meters Centerline goodness [0,1] 0.8895913558250474 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.28, Z:-0.20 [[ 0.96321176 -0.01194331 -0.26847806 5.24247334] [ 0.01752512 0.99967704 0.01840353 -0.28174513] [ 0.26817156 -0.02243161 0.96310998 -0.19633993] [ 0. 0. 0. 1. ]] SLAMing on 74.53824100800001 meters Centerline goodness [0,1] 0.8976618290716425 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.28, Z:-0.20 [[ 0.96307658 -0.01729852 -0.26867131 5.24364312] [ 0.02191371 0.99965918 0.01418818 -0.2819473 ] [ 0.2683343 -0.01955189 0.96312742 -0.19644275] [ 0. 0. 0. 1. ]] SLAMing on 74.56824100800002 meters Centerline goodness [0,1] 0.9024031387935263 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.28, Z:-0.20 [[ 0.96287265 -0.01837179 -0.26933018 5.24673375] [ 0.02297043 0.99963906 0.0139325 -0.28274897] [ 0.268977 -0.01960185 0.96294711 -0.19648617] [ 0. 0. 0. 1. ]] SLAMing on 74.59824100800002 meters Centerline goodness [0,1] 0.9013190175195543 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.28, Z:-0.20 [[ 0.96265015 -0.01962514 -0.27003619 5.25039717] [ 0.02414092 0.9996186 0.01341157 -0.28306433] [ 0.26966999 -0.01942957 0.96275676 -0.19702423] [ 0. 0. 0. 1. ]] SLAMing on 74.628241008 meters Centerline goodness [0,1] 0.9050450242438236 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.28, Z:-0.20 [[ 0.96245335 -0.02079748 -0.27064925 5.25369584] [ 0.02522626 0.9995986 0.0128948 -0.28302877] [ 0.27027243 -0.01923811 0.96259166 -0.19747662] [ 0. 0. 0. 1. ]] SLAMing on 74.658241008 meters Centerline goodness [0,1] 0.9100080943570767 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.28, Z:-0.20 [[ 0.96221695 -0.02236281 -0.27136406 5.25750374] [ 0.02669991 0.99956781 0.01230067 -0.28275516] [ 0.27097171 -0.01908131 0.96239817 -0.19765879] [ 0. 0. 0. 1. ]] SLAMing on 74.688241008 meters Centerline goodness [0,1] 0.9062490996571495 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.28, Z:-0.20 [[ 0.96213488 -0.02253547 -0.27164062 5.25840389] [ 0.02696343 0.99955727 0.01257899 -0.28293617] [ 0.27123689 -0.01942705 0.96231655 -0.19706935] [ 0. 0. 0. 1. ]] SLAMing on 74.718241008 meters Centerline goodness [0,1] 0.9062644341801386 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.28, Z:-0.20 [[ 0.96202656 -0.02275977 -0.27200531 5.25915827] [ 0.02727225 0.99954583 0.01282034 -0.28332893] [ 0.27158998 -0.0197517 0.96221035 -0.1961553 ] [ 0. 0. 0. 1. ]] SLAMing on 74.74824100800001 meters Centerline goodness [0,1] 0.9055563573387213 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.28, Z:-0.19 [[ 0.96188381 -0.02281493 -0.27250508 5.25968691] [ 0.02753118 0.99952984 0.01349548 -0.28418328] [ 0.27206906 -0.02048347 0.96205969 -0.19436329] [ 0. 0. 0. 1. ]] SLAMing on 74.77824100800001 meters Centerline goodness [0,1] 0.9027769742551345 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.28, Z:-0.19 [[ 0.9617888 -0.02282564 -0.2728393 5.25990141] [ 0.02769425 0.99951831 0.01400596 -0.28448196] [ 0.27238819 -0.02102686 0.96195766 -0.19291351] [ 0. 0. 0. 1. ]] SLAMing on 74.80824100800001 meters Centerline goodness [0,1] 0.9022465437788019 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.29, Z:-0.19 [[ 0.96150556 -0.01881089 -0.27414085 5.26251539] [ 0.02541027 0.99946604 0.02054153 -0.28698088] [ 0.27360807 -0.02671679 0.96147014 -0.18649429] [ 0. 0. 0. 1. ]] SLAMing on 74.83824100800001 meters Centerline goodness [0,1] 0.9005853011561861 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.29, Z:-0.19 [[ 0.96152501 -0.01887606 -0.27406816 5.26267116] [ 0.02539266 0.99947246 0.0202489 -0.28523448] [ 0.27354135 -0.02642914 0.96149708 -0.18693063] [ 0. 0. 0. 1. ]] SLAMing on 74.86824100800001 meters Centerline goodness [0,1] 0.8991163687649311 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.28, Z:-0.19 [[ 0.96149741 -0.01905834 -0.27415234 5.263062 ] [ 0.02546286 0.99947924 0.0198213 -0.28292065] [ 0.27363181 -0.02603883 0.96148199 -0.1872303 ] [ 0. 0. 0. 1. ]] SLAMing on 74.89824100800001 meters Centerline goodness [0,1] 0.8986474869620036 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.28, Z:-0.19 [[ 0.96140433 -0.01501206 -0.27472959 5.26517713] [ 0.02225283 0.9994818 0.0232581 -0.28157022] [ 0.27423808 -0.02847395 0.96124019 -0.18702839] [ 0. 0. 0. 1. ]] SLAMing on 74.92824100800001 meters Centerline goodness [0,1] 0.8987653613681286 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.28, Z:-0.19 [[ 0.96136457 -0.01522694 -0.27485688 5.26608705] [ 0.02231731 0.99949348 0.02268761 -0.27943496] [ 0.2743722 -0.02794513 0.96121744 -0.18780151] [ 0. 0. 0. 1. ]] SLAMing on 74.95824100800002 meters Centerline goodness [0,1] 0.8977081371121957 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.28, Z:-0.19 [[ 0.96127109 -0.01539335 -0.27517436 5.26749242] [ 0.02216721 0.99952256 0.02152343 -0.27564875] [ 0.27471166 -0.0267897 0.96115338 -0.18936111] [ 0. 0. 0. 1. ]] SLAMing on 74.988241008 meters Centerline goodness [0,1] 0.8977081371121957 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.28, Z:-0.19 [[ 0.96127109 -0.01539335 -0.27517436 5.26749242] [ 0.02216721 0.99952256 0.02152343 -0.27564875] [ 0.27471166 -0.0267897 0.96115338 -0.18936111] [ 0. 0. 0. 1. ]] SLAMing on 75.018241008 meters Centerline goodness [0,1] 0.9000684072511687 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.27, Z:-0.19 [[ 0.96120144 -0.01555718 -0.27540836 5.26810182] [ 0.0222792 0.99952495 0.02129571 -0.27445623] [ 0.27494623 -0.02660534 0.96109143 -0.18928745] [ 0. 0. 0. 1. ]] SLAMing on 75.048241008 meters Centerline goodness [0,1] 0.8988017118402283 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.27, Z:-0.19 [[ 0.9611471 -0.01578117 -0.27558521 5.26885629] [ 0.02244524 0.99952656 0.02104425 -0.27387687] [ 0.27512263 -0.0264122 0.96104627 -0.18942062] [ 0. 0. 0. 1. ]] SLAMing on 75.078241008 meters Centerline goodness [0,1] 0.8993280914939242 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.27, Z:-0.19 [[ 0.96096165 -0.01664177 -0.27618066 5.27106744] [ 0.02330775 0.99951045 0.02087122 -0.27426592] [ 0.27569813 -0.02649359 0.96087909 -0.18887313] [ 0. 0. 0. 1. ]] SLAMing on 75.10824100800001 meters Centerline goodness [0,1] 0.9043914394004161 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.27, Z:-0.19 [[ 0.96078988 -0.01744947 -0.2767279 5.27337738] [ 0.02409405 0.99949683 0.02062903 -0.27418023] [ 0.27622869 -0.02648765 0.96072687 -0.18874485] [ 0. 0. 0. 1. ]] SLAMing on 75.13824100800001 meters Centerline goodness [0,1] 0.9023545904500329 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.27, Z:-0.19 [[ 0.96066631 -0.01805476 -0.27711778 5.27500641] [ 0.02470901 0.99948368 0.02053883 -0.27410739] [ 0.27660388 -0.02657827 0.96061641 -0.1884962 ] [ 0. 0. 0. 1. ]] SLAMing on 75.16824100800001 meters Centerline goodness [0,1] 0.9014092559243061 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.27, Z:-0.19 [[ 0.96059677 -0.01841484 -0.27733506 5.27619495] [ 0.02509645 0.99947356 0.02056148 -0.27432923] [ 0.27681043 -0.02671142 0.96055322 -0.188419 ] [ 0. 0. 0. 1. ]] SLAMing on 75.19824100800001 meters Centerline goodness [0,1] 0.8975796761457916 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.28, Z:-0.19 [[ 0.96045694 -0.01886168 -0.27778895 5.27752457] [ 0.02567121 0.99945202 0.02089628 -0.27572557] [ 0.27724259 -0.02720115 0.96041483 -0.1873058 ] [ 0. 0. 0. 1. ]] SLAMing on 75.22824100800001 meters Centerline goodness [0,1] 0.8982015415358264 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.28, Z:-0.19 [[ 0.96028135 -0.01924496 -0.27836912 5.27922547] [ 0.026116 0.99943841 0.02099571 -0.2760598 ] [ 0.27780873 -0.02743167 0.96024466 -0.18661371] [ 0. 0. 0. 1. ]] SLAMing on 75.25824100800001 meters Centerline goodness [0,1] 0.8952394526795895 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.28, Z:-0.19 [[ 0.96023145 -0.01922862 -0.27854231 5.2794903 ] [ 0.0261175 0.9994374 0.02104184 -0.27543995] [ 0.277981 -0.02747986 0.96019343 -0.18624227] [ 0. 0. 0. 1. ]] SLAMing on 75.28824100800001 meters Centerline goodness [0,1] 0.8968473215048558 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.27, Z:-0.19 [[ 0.9601502 -0.01964315 -0.27879337 5.28067368] [ 0.02643596 0.9994377 0.02062596 -0.27390795] [ 0.27823145 -0.02717419 0.96012959 -0.1864657 ] [ 0. 0. 0. 1. ]] SLAMing on 75.31824100800002 meters Centerline goodness [0,1] 0.8992433293508563 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.27, Z:-0.19 [[ 0.96011628 -0.01990905 -0.27889132 5.28141008] [ 0.02662432 0.99943915 0.02031097 -0.27261984] [ 0.27833053 -0.02692618 0.96010786 -0.18676172] [ 0. 0. 0. 1. ]] SLAMing on 75.34824100800002 meters Centerline goodness [0,1] 0.8968572812491096 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.27, Z:-0.19 [[ 0.96005689 -0.02008102 -0.27908334 5.28214003] [ 0.02676132 0.99943881 0.02014682 -0.27190642] [ 0.27852216 -0.02681073 0.96005552 -0.18677052] [ 0. 0. 0. 1. ]] SLAMing on 75.378241008 meters Centerline goodness [0,1] 0.8949817309888102 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.27, Z:-0.19 [[ 0.9599924 -0.02025346 -0.27929265 5.28305375] [ 0.02690501 0.99943785 0.02000244 -0.27128609] [ 0.27873053 -0.02671656 0.95999766 -0.18686609] [ 0. 0. 0. 1. ]] SLAMing on 75.408241008 meters Centerline goodness [0,1] 0.8945419325433 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.27, Z:-0.18 [[ 0.95967868 -0.01649681 -0.28061485 5.28685048] [ 0.02436085 0.99940152 0.02455912 -0.27235545] [ 0.28004176 -0.03040488 0.95950621 -0.1844386 ] [ 0. 0. 0. 1. ]] SLAMing on 75.438241008 meters Centerline goodness [0,1] 0.8964320264041428 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.27, Z:-0.18 [[ 0.95966903 -0.01668864 -0.28063648 5.28735048] [ 0.02444943 0.99940871 0.02417571 -0.27141757] [ 0.28006708 -0.03006209 0.95950962 -0.18490898] [ 0. 0. 0. 1. ]] SLAMing on 75.468241008 meters Centerline goodness [0,1] 0.8958690435378813 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.27, Z:-0.18 [[ 0.95960956 -0.01661348 -0.28084425 5.2876293 ] [ 0.0243859 0.9994096 0.024203 -0.27130138] [ 0.28027634 -0.03007407 0.95944813 -0.18461484] [ 0. 0. 0. 1. ]] SLAMing on 75.49824100800001 meters Centerline goodness [0,1] 0.8896991795806746 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.27, Z:-0.18 [[ 0.95948023 -0.01690568 -0.28126834 5.28887683] [ 0.02466719 0.99940574 0.02407681 -0.27094844] [ 0.28069416 -0.03003932 0.95932707 -0.1842562 ] [ 0. 0. 0. 1. ]] SLAMing on 75.52824100800001 meters Centerline goodness [0,1] 0.8878470150313983 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.27, Z:-0.19 [[ 0.95952107 -0.01606027 -0.28117857 5.28851905] [ 0.0237326 0.99943256 0.02390218 -0.26879748] [ 0.28063514 -0.02960775 0.95935775 -0.18526123] [ 0. 0. 0. 1. ]] SLAMing on 75.55824100800001 meters Centerline goodness [0,1] 0.8859200677870357 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.27, Z:-0.18 [[ 0.95929115 -0.01173822 -0.28217497 5.29109147] [ 0.0205553 0.99938791 0.02830683 -0.26987253] [ 0.28166998 -0.03295469 0.95894526 -0.18365899] [ 0. 0. 0. 1. ]] SLAMing on 75.58824100800001 meters Centerline goodness [0,1] 0.8884427226196873 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.27, Z:-0.18 [[ 0.95934443 -0.01114757 -0.28201772 5.29027996] [ 0.0198968 0.99940486 0.02817891 -0.26853759] [ 0.28153575 -0.03264453 0.95899528 -0.18411016] [ 0. 0. 0. 1. ]] SLAMing on 75.61824100800001 meters Centerline goodness [0,1] 0.8832471532310474 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.27, Z:-0.19 [[ 0.959369 -0.01088811 -0.28194426 5.29019682] [ 0.01947097 0.9994278 0.02765783 -0.2667863 ] [ 0.28148179 -0.03202379 0.95903205 -0.18504155] [ 0. 0. 0. 1. ]] SLAMing on 75.64824100800001 meters Centerline goodness [0,1] 0.8851638306848545 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.26, Z:-0.19 [[ 0.96069683 -0.00837398 -0.27747338 5.30722706] [ 0.01477226 0.99967083 0.02097654 -0.26352665] [ 0.27720639 -0.024251 0.9605043 -0.18707993] [ 0. 0. 0. 1. ]] SLAMing on 75.67824100800001 meters Centerline goodness [0,1] 0.8822572045907343 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.26, Z:-0.19 [[ 0.96060995 -0.00862873 -0.27776623 5.30875969] [ 0.01491444 0.9996781 0.02052448 -0.26252813] [ 0.27749972 -0.02385875 0.96042942 -0.18773877] [ 0. 0. 0. 1. ]] SLAMing on 75.70824100800002 meters Centerline goodness [0,1] 0.8830346845199584 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.26, Z:-0.19 [[ 0.96058693 -0.00867217 -0.27784447 5.30964581] [ 0.01487859 0.9996845 0.020237 -0.26182287] [ 0.27758131 -0.02357333 0.96041289 -0.18845243] [ 0. 0. 0. 1. ]] SLAMing on 75.738241008 meters Centerline goodness [0,1] 0.8831256695044258 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.26, Z:-0.19 [[ 0.96056152 -0.00879549 -0.27792842 5.31051901] [ 0.01496563 0.99968623 0.02008674 -0.2614707 ] [ 0.27766454 -0.02345393 0.96039175 -0.1888396 ] [ 0. 0. 0. 1. ]] SLAMing on 75.768241008 meters Centerline goodness [0,1] 0.884742506850476 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.27, Z:-0.19 [[ 0.9602667 -0.00945745 -0.27892368 5.31357689] [ 0.01600763 0.99964677 0.02121542 -0.26555128] [ 0.27862452 -0.02483737 0.9600789 -0.18644518] [ 0. 0. 0. 1. ]] SLAMing on 75.798241008 meters Centerline goodness [0,1] 0.8864365857122568 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.27, Z:-0.19 [[ 0.96007844 -0.00993771 -0.27955436 5.31555194] [ 0.01663586 0.99962833 0.02159765 -0.26774932] [ 0.27923582 -0.02538606 0.95988692 -0.18548417] [ 0. 0. 0. 1. ]] SLAMing on 75.828241008 meters Centerline goodness [0,1] 0.8875557956387001 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.27, Z:-0.19 [[ 0.95988585 -0.01063248 -0.2801894 5.3182004 ] [ 0.0174256 0.99961125 0.02176472 -0.26976572] [ 0.27984906 -0.02577411 0.95969797 -0.18512589] [ 0. 0. 0. 1. ]] SLAMing on 75.85824100800001 meters Centerline goodness [0,1] 0.89086127547666 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.27, Z:-0.19 [[ 0.9597779 -0.01397051 -0.28041256 5.32382118] [ 0.02044954 0.99958695 0.02019265 -0.27258095] [ 0.28001464 -0.02511477 0.95966716 -0.18695589] [ 0. 0. 0. 1. ]] SLAMing on 75.88824100800001 meters Centerline goodness [0,1] 0.893089512453782 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.27, Z:-0.19 [[ 0.95954388 -0.01485615 -0.2811669 5.3271567 ] [ 0.02141622 0.99956508 0.02027306 -0.274533 ] [ 0.28074344 -0.02547442 0.95944472 -0.18671729] [ 0. 0. 0. 1. ]] SLAMing on 75.91824100800001 meters Centerline goodness [0,1] 0.8936695772058824 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.28, Z:-0.19 [[ 0.95939231 -0.01512266 -0.28166948 5.32860891] [ 0.02183231 0.99954737 0.02069779 -0.27617293] [ 0.28122898 -0.0260068 0.95928823 -0.18582648] [ 0. 0. 0. 1. ]] SLAMing on 75.94824100800001 meters Centerline goodness [0,1] 0.8994086254146834 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.27, Z:-0.19 [[ 0.96083557 -0.0173693 -0.27657426 5.34464877] [ 0.02131963 0.99970905 0.01128238 -0.27323568] [ 0.27629782 -0.01673697 0.96092632 -0.18550029] [ 0. 0. 0. 1. ]] SLAMing on 75.97824100800001 meters Centerline goodness [0,1] 0.89943763518385 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.28, Z:-0.18 [[ 0.96065046 -0.01726824 -0.27722283 5.34510208] [ 0.02165433 0.99968399 0.01276755 -0.27595516] [ 0.27691475 -0.01826823 0.96072082 -0.18242436] [ 0. 0. 0. 1. ]] SLAMing on 76.00824100800001 meters Centerline goodness [0,1] 0.8994479609237261 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.28, Z:-0.18 [[ 0.96047036 -0.01805183 -0.27779635 5.34694597] [ 0.02259654 0.99965796 0.01316664 -0.27703441] [ 0.27746365 -0.01892341 0.96054975 -0.18103045] [ 0. 0. 0. 1. ]] SLAMing on 76.03824100800001 meters Centerline goodness [0,1] 0.9021704575012283 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.28, Z:-0.18 [[ 0.96028896 -0.01890467 -0.27836618 5.34886229] [ 0.0235671 0.99963228 0.01341221 -0.27739559] [ 0.27801027 -0.01943988 0.96038137 -0.17977131] [ 0. 0. 0. 1. ]] SLAMing on 76.06824100800002 meters Centerline goodness [0,1] 0.9002743682310469 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.27, Z:-0.18 [[ 0.96011184 -0.0209154 -0.27883293 5.35340349] [ 0.02520847 0.99961234 0.01181947 -0.27326466] [ 0.27847763 -0.01837696 0.96026689 -0.18171775] [ 0. 0. 0. 1. ]] SLAMing on 76.09824100800002 meters Centerline goodness [0,1] 0.9027163613392293 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.27, Z:-0.18 [[ 0.95984236 -0.01731786 -0.28000487 5.35765045] [ 0.02260397 0.99962184 0.0156602 -0.2737746 ] [ 0.27962778 -0.02136054 0.95987084 -0.18105894] [ 0. 0. 0. 1. ]] SLAMing on 76.128241008 meters Centerline goodness [0,1] 0.8995640702076403 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.27, Z:-0.18 [[ 0.95975409 -0.0177844 -0.28027809 5.35920184] [ 0.02287501 0.99962727 0.01490167 -0.27117631] [ 0.2799086 -0.0207133 0.95980317 -0.18195242] [ 0. 0. 0. 1. ]] SLAMing on 76.158241008 meters Centerline goodness [0,1] 0.8963631156930126 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.27, Z:-0.18 [[ 0.95972959 -0.01767156 -0.28036911 5.35938894] [ 0.02271071 0.99963349 0.01473437 -0.2695121 ] [ 0.28000597 -0.0205084 0.95977917 -0.1820444 ] [ 0. 0. 0. 1. ]] SLAMing on 76.188241008 meters Centerline goodness [0,1] 0.8982773940210381 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.27, Z:-0.18 [[ 0.95976038 -0.01692963 -0.28030946 5.35802892] [ 0.02208721 0.99963972 0.01525065 -0.26890202] [ 0.27995028 -0.02082822 0.95978853 -0.18104586] [ 0. 0. 0. 1. ]] SLAMing on 76.218241008 meters Centerline goodness [0,1] 0.8969080994661262 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.27, Z:-0.18 [[ 0.95958232 -0.01157054 -0.28119012 5.3581488 ] [ 0.01821151 0.99961327 0.02101559 -0.27154784] [ 0.28083822 -0.02528709 0.95942194 -0.17675138] [ 0. 0. 0. 1. ]] SLAMing on 76.24824100800001 meters Centerline goodness [0,1] 0.9003272158201736 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.27, Z:-0.18 [[ 0.95957164 -0.01162485 -0.28122435 5.35836347] [ 0.01823178 0.99961557 0.02088835 -0.27027548] [ 0.28087341 -0.02517109 0.95941469 -0.17668691] [ 0. 0. 0. 1. ]] SLAMing on 76.27824100800001 meters Centerline goodness [0,1] 0.8960998262157773 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.27, Z:-0.18 [[ 0.95963229 -0.01100976 -0.28104207 5.357067 ] [ 0.01761889 0.99962421 0.02100055 -0.26871035] [ 0.28070525 -0.02510446 0.95946565 -0.17645428] [ 0. 0. 0. 1. ]] SLAMing on 76.30824100800001 meters Centerline goodness [0,1] 0.8965782281940332 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.27, Z:-0.18 [[ 0.95964256 -0.01097721 -0.2810083 5.3571032 ] [ 0.01751765 0.99963073 0.02077349 -0.26766903] [ 0.2806765 -0.02485773 0.95948048 -0.17679859] [ 0. 0. 0. 1. ]] SLAMing on 76.33824100800001 meters Centerline goodness [0,1] 0.8931055036757402 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.27, Z:-0.18 [[ 0.95960621 -0.01106142 -0.2811291 5.35763853] [ 0.01755401 0.99963395 0.02058684 -0.26629626] [ 0.28079847 -0.0246902 0.95944912 -0.17694261] [ 0. 0. 0. 1. ]] SLAMing on 76.36824100800001 meters Centerline goodness [0,1] 0.8927872479223984 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.26, Z:-0.18 [[ 0.95956406 -0.01136149 -0.28126098 5.35852632] [ 0.01771924 0.99964152 0.0200715 -0.26438594] [ 0.28093211 -0.02424362 0.95942139 -0.17748107] [ 0. 0. 0. 1. ]] SLAMing on 76.39824100800001 meters Centerline goodness [0,1] 0.8924386437792595 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.26, Z:-0.18 [[ 0.95947102 -0.01174908 -0.2815623 5.35981937] [ 0.0180054 0.99964491 0.01964308 -0.26302534] [ 0.28123154 -0.02391661 0.95934187 -0.17777467] [ 0. 0. 0. 1. ]] SLAMing on 76.42824100800001 meters Centerline goodness [0,1] 0.8919187898089171 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.26, Z:-0.18 [[ 0.95934962 -0.01227815 -0.28195312 5.36193994] [ 0.01841113 0.99964781 0.0191127 -0.26306875] [ 0.28161915 -0.02352683 0.95923779 -0.17844221] [ 0. 0. 0. 1. ]] SLAMing on 76.45824100800002 meters Centerline goodness [0,1] 0.8919930793884903 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.26, Z:-0.18 [[ 0.95924686 -0.01280576 -0.28227907 5.36380418] [ 0.01888958 0.99964403 0.01884154 -0.26297757] [ 0.28193731 -0.02340582 0.95914729 -0.17881362] [ 0. 0. 0. 1. ]] SLAMing on 76.48824100800002 meters Centerline goodness [0,1] 0.8928368874773139 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.26, Z:-0.18 [[ 0.95911405 -0.01364961 -0.2826905 5.36618522] [ 0.01962711 0.99963944 0.01832372 -0.26241803] [ 0.28233846 -0.02312294 0.95903614 -0.17932849] [ 0. 0. 0. 1. ]] SLAMing on 76.518241008 meters Centerline goodness [0,1] 0.8919901189698742 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.26, Z:-0.18 [[ 0.95884482 -0.01520272 -0.28352336 5.37010185] [ 0.02122396 0.99960949 0.01817734 -0.26269235] [ 0.2831363 -0.02344674 0.95879304 -0.17857206] [ 0. 0. 0. 1. ]] SLAMing on 76.548241008 meters Centerline goodness [0,1] 0.8930435526653546 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.26, Z:-0.18 [[ 0.95886448 -0.02030036 -0.28313744 5.36987613] [ 0.02521245 0.99958803 0.01371535 -0.26078105] [ 0.28274237 -0.02028975 0.95898127 -0.17945724] [ 0. 0. 0. 1. ]] SLAMing on 76.578241008 meters Centerline goodness [0,1] 0.8968499427262314 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.26, Z:-0.17 [[ 0.95831964 -0.0239616 -0.2846916 5.37765942] [ 0.02953096 0.99944698 0.01528587 -0.26288241] [ 0.28416789 -0.02305597 0.95849728 -0.17378727] [ 0. 0. 0. 1. ]] SLAMing on 76.60824100800001 meters Centerline goodness [0,1] 0.902008538437294 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.26, Z:-0.17 [[ 0.95814799 -0.0247388 -0.28520242 5.37931552] [ 0.03049829 0.99941041 0.01577007 -0.26434225] [ 0.28464413 -0.02380825 0.95833756 -0.17225936] [ 0. 0. 0. 1. ]] SLAMing on 76.63824100800001 meters Centerline goodness [0,1] 0.901090387374462 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.27, Z:-0.17 [[ 0.9578867 -0.02574584 -0.28598989 5.38197484] [ 0.03173169 0.99936326 0.01631497 -0.26617936] [ 0.28538774 -0.02470284 0.95809374 -0.17045242] [ 0. 0. 0. 1. ]] SLAMing on 76.66824100800001 meters Centerline goodness [0,1] 0.8998877083873197 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.27, Z:-0.17 [[ 0.95765546 -0.02651456 -0.28669322 5.38402684] [ 0.0327374 0.99932054 0.01693309 -0.26841719] [ 0.28604945 -0.02560166 0.95787278 -0.1687109 ] [ 0. 0. 0. 1. ]] SLAMing on 76.69824100800001 meters Centerline goodness [0,1] 0.8947429098455153 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.27, Z:-0.17 [[ 0.95707586 -0.03216008 -0.2880478 5.39408906] [ 0.03841062 0.99913277 0.01607265 -0.26857348] [ 0.2872811 -0.02644684 0.95748114 -0.16638266] [ 0. 0. 0. 1. ]] SLAMing on 76.72824100800001 meters Centerline goodness [0,1] 0.8828763967284875 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.27, Z:-0.17 [[ 0.95682468 -0.03351419 -0.28872707 5.39779285] [ 0.03966178 0.99909346 0.01546638 -0.26827867] [ 0.28794698 -0.02625004 0.95728651 -0.16684299] [ 0. 0. 0. 1. ]] SLAMing on 76.75824100800001 meters Centerline goodness [0,1] 0.8774122933348695 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.27, Z:-0.17 [[ 0.9566092 -0.03471025 -0.2892992 5.40086267] [ 0.04073666 0.9990598 0.01483393 -0.26779062] [ 0.28851231 -0.02597536 0.95712378 -0.1672742 ] [ 0. 0. 0. 1. ]] SLAMing on 76.78824100800001 meters Centerline goodness [0,1] 0.8629793127326235 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.27, Z:-0.17 [[ 0.95646985 -0.03528379 -0.28969031 5.4025244 ] [ 0.04133599 0.99903571 0.01479808 -0.26801798] [ 0.28888883 -0.02612855 0.95700603 -0.16695894] [ 0. 0. 0. 1. ]] SLAMing on 76.81824100800002 meters Centerline goodness [0,1] 0.8758842813596365 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.27, Z:-0.16 [[ 0.9560598 -0.03405784 -0.29118673 5.40923097] [ 0.04183325 0.99891393 0.02051687 -0.27019634] [ 0.29017172 -0.03179664 0.95644621 -0.16012146] [ 0. 0. 0. 1. ]] SLAMing on 76.84824100800002 meters Centerline goodness [0,1] 0.8741335174159404 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.27, Z:-0.16 [[ 0.95596298 -0.03406413 -0.29150372 5.40952012] [ 0.04194462 0.99890287 0.02082562 -0.26929131] [ 0.29047449 -0.03213554 0.95634297 -0.15900682] [ 0. 0. 0. 1. ]] SLAMing on 76.878241008 meters Centerline goodness [0,1] 0.871280296713723 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.27, Z:-0.16 [[ 0.95596213 -0.03379638 -0.29153766 5.4092052 ] [ 0.04166022 0.99891517 0.0208065 -0.26765214] [ 0.2905182 -0.03203575 0.95633304 -0.15888488] [ 0. 0. 0. 1. ]] SLAMing on 76.908241008 meters Centerline goodness [0,1] 0.871280296713723 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.27, Z:-0.16 [[ 0.95596213 -0.03379638 -0.29153766 5.4092052 ] [ 0.04166022 0.99891517 0.0208065 -0.26765214] [ 0.2905182 -0.03203575 0.95633304 -0.15888488] [ 0. 0. 0. 1. ]] SLAMing on 76.938241008 meters Centerline goodness [0,1] 0.8918380133280173 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.27, Z:-0.16 [[ 0.95579008 -0.02932006 -0.29258445 5.41170574] [ 0.03805728 0.99898215 0.02421369 -0.26523895] [ 0.2915767 -0.03427817 0.95593307 -0.15843619] [ 0. 0. 0. 1. ]] SLAMing on 76.968241008 meters Centerline goodness [0,1] 0.900094035847605 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.26, Z:-0.16 [[ 0.95580295 -0.02827108 -0.29264564 5.41095072] [ 0.03692318 0.99902788 0.02408267 -0.26178418] [ 0.29168031 -0.0338237 0.95591765 -0.15897038] [ 0. 0. 0. 1. ]] SLAMing on 76.99824100800001 meters Centerline goodness [0,1] 0.9034160170092134 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.26, Z:-0.16 [[ 0.95579156 -0.02310115 -0.2931362 5.41139511] [ 0.03274136 0.99907096 0.02802188 -0.26039872] [ 0.29221652 -0.03638075 0.95565995 -0.1583891 ] [ 0. 0. 0. 1. ]] SLAMing on 77.02824100800001 meters Centerline goodness [0,1] 0.9054669063939769 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.26, Z:-0.16 [[ 0.95741863 -0.0185119 -0.28810914 5.42590043] [ 0.0263578 0.99937921 0.02337668 -0.25658836] [ 0.28749754 -0.02997519 0.9573122 -0.15888099] [ 0. 0. 0. 1. ]] SLAMing on 77.05824100800001 meters Centerline goodness [0,1] 0.9040603866767685 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.26, Z:-0.16 [[ 0.95754006 -0.01271251 -0.28801983 5.42418425] [ 0.02164477 0.99937777 0.02784927 -0.25588301] [ 0.28748658 -0.03290092 0.95721941 -0.15789622] [ 0. 0. 0. 1. ]] SLAMing on 77.08824100800001 meters Centerline goodness [0,1] 0.8951957789502916 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.25, Z:-0.16 [[ 9.59130862e-01 -3.35626597e-03 -2.82942971e-01 5.43828226e+00] [ 1.12850695e-02 9.99587826e-01 2.63974602e-02 -2.50715980e-01] [ 2.82737752e-01 -2.85116499e-02 9.58773409e-01 -1.58840960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11824100800001 meters Centerline goodness [0,1] 0.8956045475920444 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.25, Z:-0.16 [[ 9.59101373e-01 2.03045118e-03 -2.83055533e-01 5.43799743e+00] [ 6.91286281e-03 9.99508012e-01 3.05932491e-02 -2.49977154e-01] [ 2.82978391e-01 -3.12987513e-02 9.58615470e-01 -1.58294171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14824100800001 meters Centerline goodness [0,1] 0.8978380318634895 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.25, Z:-0.16 [[ 9.60424463e-01 4.46283264e-03 -2.78504820e-01 5.45392068e+00] [ 2.06763780e-03 9.99729861e-01 2.31501810e-02 -2.45316136e-01] [ 2.78532900e-01 -2.28098472e-02 9.60155787e-01 -1.60704913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17824100800001 meters Centerline goodness [0,1] 0.9014286107517411 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.24, Z:-0.16 [[ 9.60530559e-01 5.80202767e-03 -2.78113972e-01 5.45199575e+00] [ 6.95412208e-04 9.99729250e-01 2.32581679e-02 -2.42803346e-01] [ 2.78173617e-01 -2.25335849e-02 9.60266461e-01 -1.61126329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20824100800002 meters Centerline goodness [0,1] 0.903175171426211 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.24, Z:-0.16 [[ 9.60654314e-01 6.97848377e-03 -2.77659126e-01 5.44981382e+00] [-4.84598252e-04 9.99724900e-01 2.34497337e-02 -2.41395489e-01] [ 2.77746386e-01 -2.23925347e-02 9.60393419e-01 -1.61211265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23824100800002 meters Centerline goodness [0,1] 0.903248957959533 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.24, Z:-0.16 [[ 9.60760936e-01 8.64778651e-03 -2.77242927e-01 5.44706806e+00] [-2.16206749e-03 9.99716995e-01 2.36908087e-02 -2.40275443e-01] [ 2.77369339e-01 -2.21617856e-02 9.60507733e-01 -1.61180530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.268241008 meters Centerline goodness [0,1] 0.9012155546999615 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.24, Z:-0.16 [[ 9.60792824e-01 8.69676946e-03 -2.77130865e-01 5.44743300e+00] [-2.30812009e-03 9.99724203e-01 2.33707123e-02 -2.39331820e-01] [ 2.77257683e-01 -2.18147613e-02 9.60547913e-01 -1.61955300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.298241008 meters Centerline goodness [0,1] 0.903628399041243 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.24, Z:-0.16 [[ 9.60840472e-01 8.39853978e-03 -2.76974821e-01 5.44896879e+00] [-2.16055520e-03 9.99737270e-01 2.28193463e-02 -2.38113810e-01] [ 2.77093701e-01 -2.13273321e-02 9.60606176e-01 -1.63668076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.328241008 meters Centerline goodness [0,1] 0.9046935790954995 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.24, Z:-0.16 [[ 9.60736505e-01 7.81056595e-03 -2.77352418e-01 5.45140290e+00] [-1.62455646e-03 9.99744924e-01 2.25265856e-02 -2.38694368e-01] [ 2.77457617e-01 -2.11915384e-02 9.60504133e-01 -1.64438754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.35824100800001 meters Centerline goodness [0,1] 0.9056515000553526 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.24, Z:-0.16 [[ 9.60570001e-01 7.00460533e-03 -2.77950012e-01 5.45449124e+00] [-7.89059861e-04 9.99747259e-01 2.24676650e-02 -2.40302127e-01] [ 2.78037140e-01 -2.13624457e-02 9.60332752e-01 -1.64777095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38824100800001 meters Centerline goodness [0,1] 0.904872840225199 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.24, Z:-0.17 [[ 9.60381448e-01 5.87980208e-03 -2.78626816e-01 5.45809503e+00] [ 3.54227252e-04 9.99750849e-01 2.23184921e-02 -2.42649627e-01] [ 2.78688624e-01 -2.15329630e-02 9.60140085e-01 -1.65018969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41824100800001 meters Centerline goodness [0,1] 0.8988295250896057 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.25, Z:-0.17 [[ 9.60291821e-01 -4.76246390e-04 -2.78997117e-01 5.46161458e+00] [ 5.77817196e-03 9.99818007e-01 1.81814479e-02 -2.45794228e-01] [ 2.78937683e-01 -1.90715890e-02 9.60119807e-01 -1.65571861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44824100800001 meters Centerline goodness [0,1] 0.8948374760994264 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.25, Z:-0.17 [[ 0.96031792 -0.00563992 -0.27885066 5.46238133] [ 0.01001729 0.99984792 0.01427546 -0.24675536] [ 0.27872774 -0.01650231 0.96022837 -0.16610553] [ 0. 0. 0. 1. ]] SLAMing on 77.47824100800001 meters Centerline goodness [0,1] 0.895075371188938 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.25, Z:-0.16 [[ 0.96008168 -0.0118284 -0.27946961 5.46556548] [ 0.01574476 0.99980673 0.01177284 -0.25256793] [ 0.27927634 -0.01570307 0.96008236 -0.16353069] [ 0. 0. 0. 1. ]] SLAMing on 77.50824100800001 meters Centerline goodness [0,1] 0.8951868000341968 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.25, Z:-0.16 [[ 0.96006863 -0.01689016 -0.27925428 5.4661065 ] [ 0.01991354 0.99976975 0.00799305 -0.25387804] [ 0.27905498 -0.01323482 0.96018392 -0.16391578] [ 0. 0. 0. 1. ]] SLAMing on 77.53824100800001 meters Centerline goodness [0,1] 0.8986007995431182 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.26, Z:-0.16 [[ 0.95989614 -0.01759607 -0.27980312 5.46850069] [ 0.02088483 0.99974337 0.00877655 -0.2574078 ] [ 0.27957688 -0.01426822 0.96001729 -0.16274746] [ 0. 0. 0. 1. ]] SLAMing on 77.56824100800002 meters Centerline goodness [0,1] 0.9038935718791214 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.26, Z:-0.16 [[ 0.95972953 -0.01825344 -0.28033201 5.47107775] [ 0.02169593 0.99972246 0.00918145 -0.25980676] [ 0.28008661 -0.01489377 0.95985919 -0.16232038] [ 0. 0. 0. 1. ]] SLAMing on 77.59824100800002 meters Centerline goodness [0,1] 0.902884117206839 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.26, Z:-0.16 [[ 0.95958075 -0.01879259 -0.28080531 5.47318774] [ 0.02234365 0.99970569 0.00944954 -0.26142915] [ 0.28054509 -0.01534181 0.95971823 -0.16196348] [ 0. 0. 0. 1. ]] SLAMing on 77.628241008 meters Centerline goodness [0,1] 0.9066084896119282 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.27, Z:-0.16 [[ 0.95937929 -0.01949707 -0.2814449 5.47618399] [ 0.02335368 0.99967364 0.01035487 -0.2654622 ] [ 0.28115116 -0.01650702 0.95952152 -0.16067033] [ 0. 0. 0. 1. ]] SLAMing on 77.658241008 meters Centerline goodness [0,1] 0.9049670405921129 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.27, Z:-0.16 [[ 0.9592649 -0.0194002 -0.28184124 5.4770327 ] [ 0.02347212 0.99966311 0.0110783 -0.26780597] [ 0.28153137 -0.01724244 0.9593971 -0.1595748 ] [ 0. 0. 0. 1. ]] SLAMing on 77.688241008 meters Centerline goodness [0,1] 0.9065290502145424 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.27, Z:-0.16 [[ 0.95915001 -0.01953229 -0.28222286 5.47823549] [ 0.02376501 0.99965048 0.01158215 -0.2694167 ] [ 0.28189799 -0.01781605 0.95927895 -0.15881867] [ 0. 0. 0. 1. ]] SLAMing on 77.718241008 meters Centerline goodness [0,1] 0.9083282533600394 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.27, Z:-0.16 [[ 0.95906116 -0.01995772 -0.28249491 5.47986456] [ 0.02421336 0.99963973 0.01158096 -0.26997782] [ 0.28216201 -0.017947 0.95919889 -0.15894967] [ 0. 0. 0. 1. ]] SLAMing on 77.74824100800001 meters Centerline goodness [0,1] 0.9053300592228802 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.27, Z:-0.16 [[ 0.95870542 -0.01814986 -0.28382125 5.4870157 ] [ 0.02358455 0.99959789 0.01574254 -0.27088704] [ 0.28342139 -0.02178626 0.95874797 -0.15678031] [ 0. 0. 0. 1. ]] SLAMing on 77.77824100800001 meters Centerline goodness [0,1] 0.9034287693373355 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.27, Z:-0.16 [[ 0.95865886 -0.01848831 -0.28395663 5.48818797] [ 0.02388172 0.99959395 0.01554328 -0.27006449] [ 0.28355396 -0.02168208 0.95871113 -0.15712396] [ 0. 0. 0. 1. ]] SLAMing on 77.80824100800001 meters Centerline goodness [0,1] 0.9031791489484798 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.27, Z:-0.16 [[ 0.95859043 -0.01863733 -0.28417784 5.48896006] [ 0.024059 0.99958882 0.01559961 -0.27002707] [ 0.28377026 -0.02179067 0.95864467 -0.15684981] [ 0. 0. 0. 1. ]] SLAMing on 77.83824100800001 meters Centerline goodness [0,1] 0.9023000144654998 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.27, Z:-0.16 [[ 0.95852466 -0.01848959 -0.28440924 5.48905518] [ 0.02405643 0.99958107 0.01609241 -0.27086308] [ 0.28399255 -0.02226684 0.9585679 -0.15579715] [ 0. 0. 0. 1. ]] SLAMing on 77.86824100800001 meters Centerline goodness [0,1] 0.9007104487957026 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.27, Z:-0.15 [[ 0.95841403 -0.01883489 -0.28475918 5.48959125] [ 0.02450246 0.999566 0.0163534 -0.2707403 ] [ 0.28432758 -0.02265062 0.95845959 -0.15440309] [ 0. 0. 0. 1. ]] SLAMing on 77.89824100800001 meters Centerline goodness [0,1] 0.8961309351685848 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.27, Z:-0.15 [[ 0.9583721 -0.01922463 -0.28487425 5.49063992] [ 0.02484408 0.99956128 0.01612528 -0.2694012 ] [ 0.28443927 -0.02253146 0.95842925 -0.15460498] [ 0. 0. 0. 1. ]] SLAMing on 77.92824100800001 meters Centerline goodness [0,1] 0.8939524962527384 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.27, Z:-0.16 [[ 0.95829875 -0.01991578 -0.28507343 5.49232687] [ 0.02543772 0.99955342 0.01568034 -0.26753452] [ 0.28463384 -0.02227807 0.95837741 -0.15502989] [ 0. 0. 0. 1. ]] SLAMing on 77.95824100800002 meters Centerline goodness [0,1] 0.8881145062350604 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.27, Z:-0.15 [[ 0.95824658 -0.02015747 -0.28523177 5.49305105] [ 0.02568908 0.99954724 0.01566489 -0.26654645] [ 0.28478687 -0.02233817 0.95833055 -0.1548188 ] [ 0. 0. 0. 1. ]] SLAMing on 77.98824100800002 meters Centerline goodness [0,1] 0.885653511167323 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.27, Z:-0.15 [[ 0.95822082 -0.02020294 -0.28531511 5.49321848] [ 0.02580045 0.99954108 0.01587319 -0.265931 ] [ 0.28486349 -0.02257128 0.95830232 -0.15423428] [ 0. 0. 0. 1. ]] SLAMing on 78.018241008 meters Centerline goodness [0,1] 0.8851554233749893 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.26, Z:-0.15 [[ 0.95812789 -0.02044073 -0.28561007 5.49389017] [ 0.02596479 0.99954164 0.0155675 -0.26280212] [ 0.28516095 -0.02233146 0.95821946 -0.15396103] [ 0. 0. 0. 1. ]] SLAMing on 78.048241008 meters Centerline goodness [0,1] 0.8858439667722874 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.26, Z:-0.15 [[ 0.95812439 -0.0204596 -0.28562049 5.49397226] [ 0.02589119 0.99954839 0.01525318 -0.26033293] [ 0.28517943 -0.0220095 0.95822141 -0.1541439 ] [ 0. 0. 0. 1. ]] SLAMing on 78.078241008 meters Centerline goodness [0,1] 0.894623350829905 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.26, Z:-0.15 [[ 0.95801973 -0.01565223 -0.28627469 5.49481036] [ 0.02229278 0.99955238 0.01995184 -0.26139808] [ 0.28583425 -0.02549612 0.95793983 -0.15209713] [ 0. 0. 0. 1. ]] SLAMing on 78.10824100800001 meters Centerline goodness [0,1] 0.9000226513392604 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.26, Z:-0.15 [[ 0.95815763 -0.0096693 -0.28607771 5.49167794] [ 0.0174784 0.99954071 0.02475623 -0.25976568] [ 0.28570694 -0.02872056 0.95788657 -0.14975621] [ 0. 0. 0. 1. ]] SLAMing on 78.13824100800001 meters Centerline goodness [0,1] 0.9004288697026127 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.26, Z:-0.15 [[ 9.58080600e-01 -4.82339477e-03 -2.86458196e-01 5.49228777e+00] [ 1.36368528e-02 9.99492746e-01 2.87799622e-02 -2.58946730e-01] [ 2.86174071e-01 -3.14799118e-02 9.57660387e-01 -1.48991915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16824100800001 meters Centerline goodness [0,1] 0.8963253856942497 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.26, Z:-0.15 [[ 9.58001261e-01 -5.29967640e-05 -2.86763980e-01 5.49308640e+00] [ 9.77189883e-03 9.99425245e-01 3.24605800e-02 -2.57080005e-01] [ 2.86597441e-01 -3.38995052e-02 9.57451164e-01 -1.48855554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19824100800001 meters Centerline goodness [0,1] 0.8918888888888888 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.25, Z:-0.15 [[ 9.59062625e-01 7.06444425e-03 -2.83105944e-01 5.51045009e+00] [ 1.07996196e-03 9.99590305e-01 2.86016642e-02 -2.49913820e-01] [ 2.83192012e-01 -2.77365307e-02 9.58662073e-01 -1.50707071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22824100800001 meters Centerline goodness [0,1] 0.8907295757508712 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.25, Z:-0.15 [[ 9.58987406e-01 8.04553345e-03 -2.83334476e-01 5.51001762e+00] [-9.15268673e-06 9.99597959e-01 2.83534910e-02 -2.47154303e-01] [ 2.83448683e-01 -2.71880475e-02 9.58601927e-01 -1.50977929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25824100800001 meters Centerline goodness [0,1] 0.8905531539965308 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.24, Z:-0.15 [[ 9.59066013e-01 8.95402753e-03 -2.83041001e-01 5.50850026e+00] [-1.04534267e-03 9.99605118e-01 2.80805222e-02 -2.44512191e-01] [ 2.83180667e-01 -2.66351996e-02 9.58696655e-01 -1.51511045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28824100800001 meters Centerline goodness [0,1] 0.8943582704186686 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.24, Z:-0.15 [[ 9.59102087e-01 9.81404110e-03 -2.82890211e-01 5.50768322e+00] [-1.97903325e-03 9.99606839e-01 2.79687574e-02 -2.41796216e-01] [ 2.83053476e-01 -2.62650445e-02 9.58744427e-01 -1.52042682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31824100800002 meters Centerline goodness [0,1] 0.8958510201287142 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.24, Z:-0.15 [[ 9.59148027e-01 1.02892413e-02 -2.82717515e-01 5.50737759e+00] [-2.62075745e-03 9.99618670e-01 2.74890058e-02 -2.38358742e-01] [ 2.82892547e-01 -2.56250917e-02 9.58809241e-01 -1.53076927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34824100800002 meters Centerline goodness [0,1] 0.9001196822979001 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.24, Z:-0.15 [[ 0.95906427 0.01505741 -0.28278792 5.50829895] [-0.00655663 0.99949841 0.03098303 -0.23624252] [ 0.2831126 -0.02786058 0.95868193 -0.15352795] [ 0. 0. 0. 1. ]] SLAMing on 78.378241008 meters Centerline goodness [0,1] 0.8953253695521737 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.24, Z:-0.15 [[ 0.95905595 0.01501706 -0.28281825 5.5085781 ] [-0.00656515 0.99950374 0.03080868 -0.23617474] [ 0.28314056 -0.02769051 0.9586786 -0.15367594] [ 0. 0. 0. 1. ]] SLAMing on 78.408241008 meters Centerline goodness [0,1] 0.899040421888167 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.23, Z:-0.15 [[ 0.96062776 0.01314911 -0.2775273 5.5240734 ] [-0.00753642 0.99974513 0.02128104 -0.23409978] [ 0.27773639 -0.0183516 0.96048202 -0.15479855] [ 0. 0. 0. 1. ]] SLAMing on 78.438241008 meters Centerline goodness [0,1] 0.900402001804906 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.24, Z:-0.15 [[ 0.96055171 0.01332745 -0.27778192 5.52436899] [-0.00751402 0.99973012 0.0219822 -0.23613734] [ 0.27799992 -0.01902778 0.96039262 -0.15380255] [ 0. 0. 0. 1. ]] SLAMing on 78.468241008 meters Centerline goodness [0,1] 0.9001533574323584 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.24, Z:-0.15 [[ 0.96039499 0.01208956 -0.27837979 5.52834101] [-0.00635304 0.99974867 0.02149975 -0.23762522] [ 0.27856975 -0.01887969 0.96023042 -0.15487887] [ 0. 0. 0. 1. ]] SLAMing on 78.49824100800001 meters Centerline goodness [0,1] 0.9017945340796839 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.24, Z:-0.16 [[ 0.96029755 0.01161321 -0.27873599 5.53052633] [-0.00591597 0.99975622 0.02127204 -0.23824587] [ 0.27891508 -0.01877849 0.96013215 -0.1555783 ] [ 0. 0. 0. 1. ]] SLAMing on 78.52824100800001 meters Centerline goodness [0,1] 0.8997504730044695 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.24, Z:-0.16 [[ 9.60187257e-01 1.12425215e-02 -2.79130861e-01 5.53251448e+00] [-5.51174589e-03 9.99757783e-01 2.13071755e-02 -2.39486192e-01] [ 2.79302797e-01 -1.89203801e-02 9.60016649e-01 -1.55820803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55824100800001 meters Centerline goodness [0,1] 0.9010554818744474 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.24, Z:-0.16 [[ 9.60029210e-01 1.04998735e-02 -2.79702821e-01 5.53587302e+00] [-4.72791571e-03 9.99761892e-01 2.13027392e-02 -2.43584608e-01] [ 2.79859898e-01 -1.91288405e-02 9.59850262e-01 -1.56498058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58824100800001 meters Centerline goodness [0,1] 0.9049507696574678 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.25, Z:-0.16 [[ 9.59890854e-01 1.01794037e-02 -2.80189095e-01 5.53810238e+00] [-4.36004387e-03 9.99761810e-01 2.13848894e-02 -2.45348312e-01] [ 2.80340042e-01 -1.93055230e-02 9.59706600e-01 -1.56753344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61824100800001 meters Centerline goodness [0,1] 0.90120542161982 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.25, Z:-0.16 [[ 9.59820534e-01 9.80551112e-03 -2.80443211e-01 5.54007500e+00] [-4.02182294e-03 9.99767346e-01 2.11914618e-02 -2.45964590e-01] [ 2.80585757e-01 -1.92121073e-02 9.59636664e-01 -1.57581795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64824100800001 meters Centerline goodness [0,1] 0.8995505992010653 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.25, Z:-0.16 [[ 9.59752137e-01 9.47271103e-03 -2.80688624e-01 5.54178328e+00] [-3.74193639e-03 9.99773611e-01 2.09457547e-02 -2.46005892e-01] [ 2.80823492e-01 -1.90524139e-02 9.59570306e-01 -1.58280751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67824100800001 meters Centerline goodness [0,1] 0.9031854569713142 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.25, Z:-0.16 [[ 9.59676049e-01 9.32349315e-03 -2.80953651e-01 5.54311429e+00] [-3.56846853e-03 9.99773348e-01 2.09885374e-02 -2.46866542e-01] [ 2.81085658e-01 -1.91396223e-02 9.59491807e-01 -1.58519052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70824100800002 meters Centerline goodness [0,1] 0.901305876443998 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.25, Z:-0.16 [[ 9.59555055e-01 9.19496724e-03 -2.81370839e-01 5.54469552e+00] [-3.32138763e-03 9.99766660e-01 2.13446689e-02 -2.48923487e-01] [ 2.81501447e-01 -1.95468433e-02 9.59361692e-01 -1.58277256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73824100800002 meters Centerline goodness [0,1] 0.902038188028445 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.25, Z:-0.16 [[ 9.59597448e-01 5.84679960e-03 -2.81315754e-01 5.54747972e+00] [-4.29938307e-04 9.99813388e-01 1.93133187e-02 -2.52658750e-01] [ 2.81376178e-01 -1.84120629e-02 9.59420889e-01 -1.59445611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.768241008 meters Centerline goodness [0,1] 0.9010656197420078 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.25, Z:-0.16 [[ 9.59440534e-01 5.37506278e-03 -2.81859843e-01 5.54963546e+00] [ 1.47948402e-04 9.99808479e-01 1.95699429e-02 -2.54668684e-01] [ 2.81911050e-01 -1.88178972e-02 9.59255986e-01 -1.59112190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.798241008 meters Centerline goodness [0,1] 0.9010656197420078 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.25, Z:-0.16 [[ 9.59440534e-01 5.37506278e-03 -2.81859843e-01 5.54963546e+00] [ 1.47948402e-04 9.99808479e-01 1.95699429e-02 -2.54668684e-01] [ 2.81911050e-01 -1.88178972e-02 9.59255986e-01 -1.59112190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.828241008 meters Centerline goodness [0,1] 0.896977365387319 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.26, Z:-0.16 [[ 9.59303456e-01 4.98928726e-03 -2.82333112e-01 5.55155148e+00] [ 6.44552771e-04 9.99802599e-01 1.98581882e-02 -2.56376847e-01] [ 2.82376457e-01 -1.92320072e-02 9.59110873e-01 -1.58811025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.85824100800001 meters Centerline goodness [0,1] 0.900883856210996 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.26, Z:-0.16 [[ 9.59165559e-01 4.09772028e-03 -2.82815558e-01 5.55426236e+00] [ 1.73042142e-03 9.99791324e-01 2.03546999e-02 -2.60413918e-01] [ 2.82839949e-01 -2.00129172e-02 9.58958313e-01 -1.58180616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88824100800001 meters Centerline goodness [0,1] 0.8970513184009072 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.26, Z:-0.16 [[ 9.59088157e-01 3.98703718e-03 -2.83079514e-01 5.55546520e+00] [ 1.96467418e-03 9.99783017e-01 2.07378758e-02 -2.62365384e-01] [ 2.83100774e-01 -2.04456100e-02 9.58872217e-01 -1.57953666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91824100800001 meters Centerline goodness [0,1] 0.8990622335890878 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.26, Z:-0.16 [[ 9.59009204e-01 3.76332525e-03 -2.83349932e-01 5.55694207e+00] [ 2.21478052e-03 9.99781730e-01 2.07746609e-02 -2.63479827e-01] [ 2.83366267e-01 -2.05506489e-02 9.58791547e-01 -1.58235828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94824100800001 meters Centerline goodness [0,1] 0.8990929705215419 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.26, Z:-0.16 [[ 9.58959921e-01 3.73696083e-03 -2.83517029e-01 5.55773733e+00] [ 2.27850103e-03 9.99779298e-01 2.08845559e-02 -2.63907085e-01] [ 2.83532501e-01 -2.06734459e-02 9.58739761e-01 -1.58287983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97824100800001 meters Centerline goodness [0,1] 0.9004564656516685 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.26, Z:-0.16 [[ 9.58923485e-01 3.96810660e-03 -2.83637098e-01 5.55790354e+00] [ 2.12586846e-03 9.99773544e-01 2.11740750e-02 -2.64324475e-01] [ 2.83656888e-01 -2.09072929e-02 9.58697896e-01 -1.57980171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00824100800001 meters Centerline goodness [0,1] 0.9019099201824401 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.27, Z:-0.16 [[ 9.58957241e-01 4.73835154e-03 -2.83511123e-01 5.55646654e+00] [ 1.54496141e-03 9.99758210e-01 2.19347929e-02 -2.65310325e-01] [ 2.83546508e-01 -2.14725422e-02 9.58718054e-01 -1.56998715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03824100800001 meters Centerline goodness [0,1] 0.9025072021449556 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.27, Z:-0.16 [[ 9.58922599e-01 5.35975052e-03 -2.83617211e-01 5.55624985e+00] [ 1.00011416e-03 9.99751391e-01 2.22745653e-02 -2.66689929e-01] [ 2.83666088e-01 -2.16432337e-02 9.58678841e-01 -1.56833454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06824100800002 meters Centerline goodness [0,1] 0.9029466192170819 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.27, Z:-0.16 [[ 9.58929276e-01 5.58687397e-03 -2.83590251e-01 5.55645491e+00] [ 7.31635557e-04 9.99753956e-01 2.21696130e-02 -2.66083372e-01] [ 2.83644334e-01 -2.14665756e-02 9.58689250e-01 -1.57407965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09824100800002 meters Centerline goodness [0,1] 0.9048801369863013 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.27, Z:-0.16 [[ 9.58759817e-01 5.21494487e-03 -2.84169698e-01 5.55806733e+00] [ 1.19125593e-03 9.99749138e-01 2.23660897e-02 -2.67085822e-01] [ 2.84215048e-01 -2.17822269e-02 9.58513089e-01 -1.56689318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.128241008 meters Centerline goodness [0,1] 0.9017227094820444 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.27, Z:-0.16 [[ 9.58593073e-01 4.78734020e-03 -2.84739183e-01 5.55952382e+00] [ 1.72017973e-03 9.99743111e-01 2.25998497e-02 -2.68684128e-01] [ 2.84774230e-01 -2.21538620e-02 9.58338585e-01 -1.55753544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.158241008 meters Centerline goodness [0,1] 0.9004342608993772 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.27, Z:-0.15 [[ 9.58405422e-01 4.02633665e-03 -2.85381913e-01 5.56149633e+00] [ 2.61703365e-03 9.99734480e-01 2.28936962e-02 -2.70499458e-01] [ 2.85398316e-01 -2.26882966e-02 9.58140408e-01 -1.54427397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.188241008 meters Centerline goodness [0,1] 0.9011199360036569 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.27, Z:-0.15 [[ 9.58317073e-01 3.73226078e-03 -2.85682443e-01 5.56266180e+00] [ 2.94698728e-03 9.99732351e-01 2.29464926e-02 -2.70574487e-01] [ 2.85691623e-01 -2.28319181e-02 9.58049581e-01 -1.54206806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.218241008 meters Centerline goodness [0,1] 0.9000628715134888 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.27, Z:-0.15 [[ 9.58250767e-01 3.41873765e-03 -2.85908692e-01 5.56368580e+00] [ 3.27178759e-03 9.99731950e-01 2.29199546e-02 -2.70362153e-01] [ 2.85910411e-01 -2.28984965e-02 9.57982722e-01 -1.54130453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.24824100800001 meters Centerline goodness [0,1] 0.9015181896304784 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.27, Z:-0.15 [[ 9.58222901e-01 3.35429498e-03 -2.86002832e-01 5.56353379e+00] [ 3.54728232e-03 9.99714960e-01 2.36096475e-02 -2.71455997e-01] [ 2.86000503e-01 -2.36378377e-02 9.57937871e-01 -1.52575988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27824100800001 meters Centerline goodness [0,1] 0.9011820465966195 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.27, Z:-0.15 [[ 9.58065693e-01 2.82518186e-03 -2.86534721e-01 5.56522632e+00] [ 4.11254878e-03 9.99712837e-01 2.36078282e-02 -2.71584138e-01] [ 2.86519135e-01 -2.37962383e-02 9.57778954e-01 -1.52020057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30824100800001 meters Centerline goodness [0,1] 0.9004333974340576 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.27, Z:-0.15 [[ 9.57997048e-01 2.63421737e-03 -2.86765962e-01 5.56586903e+00] [ 4.35108630e-03 9.99709198e-01 2.37189209e-02 -2.71902621e-01] [ 2.86745051e-01 -2.39703996e-02 9.57706999e-01 -1.51596292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33824100800001 meters Centerline goodness [0,1] 0.9030183501972218 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.27, Z:-0.15 [[ 9.57900139e-01 2.43002557e-03 -2.87091307e-01 5.56666570e+00] [ 4.59450376e-03 9.99706380e-01 2.37916916e-02 -2.72266803e-01] [ 2.87064826e-01 -2.41091068e-02 9.57607715e-01 -1.51086915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36824100800001 meters Centerline goodness [0,1] 0.8978894472361809 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.27, Z:-0.15 [[ 9.57813881e-01 2.47272521e-03 -2.87378591e-01 5.56670545e+00] [ 4.65477780e-03 9.99698333e-01 2.41158885e-02 -2.72577276e-01] [ 2.87351530e-01 -2.44362163e-02 9.57513430e-01 -1.50014846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39824100800001 meters Centerline goodness [0,1] 0.9032461393003467 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.27, Z:-0.15 [[ 9.57766273e-01 2.57104900e-03 -2.87536355e-01 5.56621324e+00] [ 4.72015971e-03 9.99684718e-01 2.46613968e-02 -2.73118521e-01] [ 2.87509106e-01 -2.49770717e-02 9.57452171e-01 -1.48433457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42824100800001 meters Centerline goodness [0,1] 0.9001258077428947 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.27, Z:-0.15 [[ 9.57704118e-01 2.42805729e-03 -2.87744552e-01 5.56681817e+00] [ 4.87786318e-03 9.99683733e-01 2.46706287e-02 -2.73087500e-01] [ 2.87713450e-01 -2.50307413e-02 9.57389384e-01 -1.48218755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45824100800002 meters Centerline goodness [0,1] 0.901652467265138 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.27, Z:-0.15 [[ 9.57622228e-01 2.04926810e-03 -2.88019911e-01 5.56817189e+00] [ 5.17607382e-03 9.99690765e-01 2.43224773e-02 -2.72217787e-01] [ 2.87980688e-01 -2.47825572e-02 9.57315490e-01 -1.48653227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48824100800002 meters Centerline goodness [0,1] 0.896901038694213 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.27, Z:-0.15 [[ 9.57526708e-01 1.33139021e-03 -2.88341518e-01 5.57044278e+00] [ 5.62726679e-03 9.99712607e-01 2.33031506e-02 -2.69042219e-01] [ 2.88289677e-01 -2.39359637e-02 9.57244029e-01 -1.50066380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.518241008 meters Centerline goodness [0,1] 0.8975112734745134 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.27, Z:-0.15 [[ 9.57467694e-01 1.29423184e-03 -2.88537589e-01 5.57080960e+00] [ 5.65549859e-03 9.99713660e-01 2.32511073e-02 -2.68419996e-01] [ 2.88485062e-01 -2.38940080e-02 9.57186213e-01 -1.49837632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.548241008 meters Centerline goodness [0,1] 0.8983881073076265 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.27, Z:-0.15 [[ 9.57325725e-01 1.17011826e-03 -2.89008801e-01 5.57173677e+00] [ 5.81995576e-03 9.99710975e-01 2.33258413e-02 -2.68345550e-01] [ 2.88952564e-01 -2.40124464e-02 9.57042224e-01 -1.49137310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.578241008 meters Centerline goodness [0,1] 0.9011255164553356 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.27, Z:-0.15 [[ 9.57278931e-01 1.35037160e-03 -2.89162974e-01 5.57138772e+00] [ 5.59640619e-03 9.99715282e-01 2.31956007e-02 -2.66970956e-01] [ 2.89111966e-01 -2.38229332e-02 9.56998819e-01 -1.48683618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.60824100800001 meters Centerline goodness [0,1] 0.8993798361401911 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.27, Z:-0.15 [[ 9.57245110e-01 1.42500864e-03 -2.89274555e-01 5.57117150e+00] [ 5.51466893e-03 9.99716249e-01 2.31734664e-02 -2.65686787e-01] [ 2.89225495e-01 -2.37779408e-02 9.56965633e-01 -1.48269680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63824100800001 meters Centerline goodness [0,1] 0.8984972017840402 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.26, Z:-0.15 [[ 9.57202634e-01 1.33735707e-03 -2.89415494e-01 5.57154308e+00] [ 5.55750043e-03 9.99720012e-01 2.30002775e-02 -2.64610531e-01] [ 2.89365221e-01 -2.36243530e-02 9.56927196e-01 -1.48286256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66824100800001 meters Centerline goodness [0,1] 0.8983675320258474 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.26, Z:-0.15 [[ 9.57186652e-01 1.21511696e-03 -2.89468888e-01 5.57185426e+00] [ 5.65553169e-03 9.99721816e-01 2.28977229e-02 -2.63792924e-01] [ 2.89416186e-01 -2.35544952e-02 9.56913506e-01 -1.48293410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69824100800001 meters Centerline goodness [0,1] 0.8984074994352835 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.26, Z:-0.15 [[ 9.57143404e-01 1.09192117e-03 -2.89612346e-01 5.57241499e+00] [ 5.72837912e-03 9.99725887e-01 2.27010424e-02 -2.62781972e-01] [ 2.89557747e-01 -2.33871623e-02 9.56874784e-01 -1.48401193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72824100800001 meters Centerline goodness [0,1] 0.8994448045542937 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.26, Z:-0.15 [[ 9.57134641e-01 1.08692268e-03 -2.89641327e-01 5.57260350e+00] [ 5.71582041e-03 9.99727346e-01 2.26398494e-02 -2.61695012e-01] [ 2.89586963e-01 -2.33249219e-02 9.56867461e-01 -1.48431646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75824100800001 meters Centerline goodness [0,1] 0.8973103758721584 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.26, Z:-0.15 [[ 9.57117409e-01 1.39555042e-03 -2.89696940e-01 5.57175287e+00] [ 5.41605117e-03 9.99727428e-01 2.27098253e-02 -2.60346015e-01] [ 2.89649669e-01 -2.33049826e-02 9.56848968e-01 -1.47701146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78824100800001 meters Centerline goodness [0,1] 0.9007889546351084 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.26, Z:-0.15 [[ 9.57041287e-01 1.65777374e-03 -2.89946937e-01 5.57144801e+00] [ 5.23357607e-03 9.99721982e-01 2.29906248e-02 -2.60455438e-01] [ 2.89904439e-01 -2.35204365e-02 9.56766536e-01 -1.46787358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81824100800002 meters Centerline goodness [0,1] 0.8981824301581959 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.26, Z:-0.15 [[ 9.56932993e-01 1.42466023e-03 -2.90305388e-01 5.57226411e+00] [ 5.44812271e-03 9.99723723e-01 2.28647324e-02 -2.59685597e-01] [ 2.90257757e-01 -2.34616362e-02 9.56660852e-01 -1.46369401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84824100800002 meters Centerline goodness [0,1] 0.8994970638644602 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.26, Z:-0.15 [[ 9.56871360e-01 1.21295537e-03 -2.90509431e-01 5.57308316e+00] [ 5.59595864e-03 9.99728792e-01 2.26059407e-02 -2.58539542e-01] [ 2.90458062e-01 -2.32566559e-02 9.56605061e-01 -1.46541508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.878241008 meters Centerline goodness [0,1] 0.8992549854358055 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.26, Z:-0.15 [[ 9.56779546e-01 6.60661604e-04 -2.90813452e-01 5.57496998e+00] [ 5.93646014e-03 9.99744678e-01 2.18022120e-02 -2.56163205e-01] [ 2.90753605e-01 -2.25863130e-02 9.56531337e-01 -1.47587613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.908241008 meters Centerline goodness [0,1] 0.9000056097834623 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.26, Z:-0.15 [[ 9.56725091e-01 3.54499711e-04 -2.90993083e-01 5.57615800e+00] [ 6.14835328e-03 9.99751393e-01 2.14324525e-02 -2.55221176e-01] [ 2.90928338e-01 -2.22940934e-02 9.56485063e-01 -1.48121792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.938241008 meters Centerline goodness [0,1] 0.9002129090094129 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.25, Z:-0.15 [[ 9.56752994e-01 8.01520078e-04 -2.90900439e-01 5.57553989e+00] [ 5.65388202e-03 9.99756078e-01 2.13498926e-02 -2.53162414e-01] [ 2.90846594e-01 -2.20712904e-02 9.56515090e-01 -1.48290993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.968241008 meters Centerline goodness [0,1] 0.8961600714405313 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.25, Z:-0.15 [[ 9.56719136e-01 1.01265175e-03 -2.91011116e-01 5.57545126e+00] [ 5.46637482e-03 9.99754978e-01 2.14500020e-02 -2.52193079e-01] [ 2.90961533e-01 -2.21124032e-02 9.56479183e-01 -1.47964178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.99824100800001 meters Centerline goodness [0,1] 0.8944061217080459 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.25, Z:-0.15 [[ 9.56751730e-01 1.67149256e-03 -2.90900901e-01 5.57411108e+00] [ 4.94417347e-03 9.99745625e-01 2.20054798e-02 -2.52599922e-01] [ 2.90863685e-01 -2.24920454e-02 9.56500091e-01 -1.47141673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02824100800001 meters Centerline goodness [0,1] 0.8965131560551408 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.25, Z:-0.15 [[ 9.56749328e-01 2.21830714e-03 -2.90905145e-01 5.57285920e+00] [ 4.53676631e-03 9.99735550e-01 2.25443542e-02 -2.53161503e-01] [ 2.90878225e-01 -2.28890644e-02 9.56486251e-01 -1.46021294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05824100800001 meters Centerline goodness [0,1] 0.8970789275451274 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.25, Z:-0.15 [[ 9.56763808e-01 2.77245877e-03 -2.90852762e-01 5.57190522e+00] [ 4.10025404e-03 9.99726656e-01 2.30174042e-02 -2.53604825e-01] [ 2.90837074e-01 -2.32147895e-02 9.56490915e-01 -1.45376378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08824100800001 meters Centerline goodness [0,1] 0.8995497248318417 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.25, Z:-0.14 [[ 9.56589240e-01 7.27697147e-03 -2.91348712e-01 5.57385823e+00] [ 6.58819451e-04 9.99631676e-01 2.71307559e-02 -2.54833197e-01] [ 2.91438831e-01 -2.61449354e-02 9.56232111e-01 -1.44920739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11824100800001 meters Centerline goodness [0,1] 0.8986843207910835 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.25, Z:-0.15 [[ 9.56591503e-01 7.37591095e-03 -2.91338792e-01 5.57428468e+00] [ 4.65628025e-04 9.99639713e-01 2.68370348e-02 -2.53642785e-01] [ 2.91431775e-01 -2.58077350e-02 9.56243422e-01 -1.45676964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14824100800001 meters Centerline goodness [0,1] 0.898909314067338 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.25, Z:-0.15 [[ 9.56569549e-01 7.40805937e-03 -2.91410054e-01 5.57499229e+00] [ 3.04449016e-04 9.99651098e-01 2.64119279e-02 -2.52261832e-01] [ 2.91504041e-01 -2.53535655e-02 9.56233544e-01 -1.46561415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17824100800001 meters Centerline goodness [0,1] 0.901541215630332 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.25, Z:-0.15 [[ 9.56527938e-01 8.18389354e-03 -2.91525862e-01 5.57541464e+00] [-5.90452644e-04 9.99658492e-01 2.61256898e-02 -2.51079710e-01] [ 2.91640113e-01 -2.48178199e-02 9.56206108e-01 -1.47914587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20824100800002 meters Centerline goodness [0,1] 0.901541215630332 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.25, Z:-0.15 [[ 9.56527938e-01 8.18389354e-03 -2.91525862e-01 5.57541464e+00] [-5.90452644e-04 9.99658492e-01 2.61256898e-02 -2.51079710e-01] [ 2.91640113e-01 -2.48178199e-02 9.56206108e-01 -1.47914587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23824100800002 meters Centerline goodness [0,1] 0.9023339116807523 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.25, Z:-0.15 [[ 9.56494496e-01 7.83468909e-03 -2.91645156e-01 5.57645990e+00] [-3.31178934e-04 9.99667877e-01 2.57686988e-02 -2.50733647e-01] [ 2.91750183e-01 -2.45510319e-02 9.56179417e-01 -1.48435417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.268241008 meters Centerline goodness [0,1] 0.8976243233388495 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.25, Z:-0.15 [[ 9.56458101e-01 7.93320692e-03 -2.91761828e-01 5.57607242e+00] [-1.17774841e-04 9.99640947e-01 2.67948409e-02 -2.53496202e-01] [ 2.91869639e-01 -2.55937805e-02 9.56115616e-01 -1.46577799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.298241008 meters Centerline goodness [0,1] 0.8986653207716465 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.25, Z:-0.15 [[ 9.56264450e-01 7.53066451e-03 -2.92406551e-01 5.57765984e+00] [ 4.27439052e-04 9.99631484e-01 2.71424634e-02 -2.54457859e-01] [ 2.92503196e-01 -2.60803588e-02 9.55908832e-01 -1.45339246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.328241008 meters Centerline goodness [0,1] 0.8920483281820736 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.26, Z:-0.14 [[ 9.56164897e-01 7.20693091e-03 -2.92740073e-01 5.57882400e+00] [ 8.29334124e-04 9.99626436e-01 2.73184971e-02 -2.55822856e-01] [ 2.92827598e-01 -2.63637673e-02 9.55801731e-01 -1.44904029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.35824100800001 meters Centerline goodness [0,1] 0.8934613111154897 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.26, Z:-0.14 [[ 9.55954478e-01 6.27687448e-03 -2.93447843e-01 5.58157925e+00] [ 1.95501716e-03 9.99612966e-01 2.77505959e-02 -2.58658584e-01] [ 2.93508456e-01 -2.71020020e-02 9.55572220e-01 -1.43817995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38824100800001 meters Centerline goodness [0,1] 0.8895368492224476 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.26, Z:-0.14 [[ 9.55834131e-01 5.77323521e-03 -2.93849935e-01 5.58324502e+00] [ 2.46998421e-03 9.99613959e-01 2.76736550e-02 -2.59328142e-01] [ 2.93896264e-01 -2.71772287e-02 9.55450880e-01 -1.43751699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41824100800001 meters Centerline goodness [0,1] 0.8895891030350986 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.26, Z:-0.14 [[ 9.55764305e-01 5.62188881e-03 -2.94079900e-01 5.58400970e+00] [ 2.66924313e-03 9.99610372e-01 2.77845092e-02 -2.59860989e-01] [ 2.94121519e-01 -2.73404129e-02 9.55376907e-01 -1.43502358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44824100800001 meters Centerline goodness [0,1] 0.8883060171269779 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.26, Z:-0.14 [[ 9.55899231e-01 1.67818293e-03 -2.93690047e-01 5.58233950e+00] [ 5.60720429e-03 9.99697129e-01 2.39626674e-02 -2.59819215e-01] [ 2.93641311e-01 -2.45526755e-02 9.55600307e-01 -1.44170843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47824100800001 meters Centerline goodness [0,1] 0.8881925651616579 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.26, Z:-0.14 [[ 9.56022101e-01 -2.67204550e-03 -2.93282461e-01 5.58094942e+00] [ 8.88107619e-03 9.99763698e-01 1.98412514e-02 -2.59097423e-01] [ 2.93160141e-01 -2.15733387e-02 9.55819922e-01 -1.44947944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50824100800001 meters Centerline goodness [0,1] 0.8893225457238904 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.26, Z:-0.14 [[ 9.55904720e-01 -2.75500261e-03 -2.93664052e-01 5.58189577e+00] [ 9.10875087e-03 9.99753034e-01 2.02706995e-02 -2.60844287e-01] [ 2.93535681e-01 -2.20517700e-02 9.55693739e-01 -1.44169698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53824100800001 meters Centerline goodness [0,1] 0.8916443125392386 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.26, Z:-0.14 [[ 9.55839682e-01 -2.77170352e-03 -2.93875519e-01 5.58246623e+00] [ 9.23647531e-03 9.99744868e-01 2.06127862e-02 -2.62107497e-01] [ 2.93743409e-01 -2.24168930e-02 9.55621417e-01 -1.43692102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56824100800002 meters Centerline goodness [0,1] 0.8877466281034334 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.26, Z:-0.14 [[ 9.55715745e-01 -3.44240887e-03 -2.94271245e-01 5.58490493e+00] [ 9.89573840e-03 9.99742032e-01 2.04436970e-02 -2.63277060e-01] [ 2.94124956e-01 -2.24503943e-02 9.55503265e-01 -1.44173085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59824100800002 meters Centerline goodness [0,1] 0.8844900525954722 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.26, Z:-0.14 [[ 9.55602256e-01 -3.87636066e-03 -2.94634184e-01 5.58659321e+00] [ 1.03094324e-02 9.99741104e-01 2.02839999e-02 -2.63457421e-01] [ 2.94479276e-01 -2.24209473e-02 9.55394817e-01 -1.44333966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.628241008 meters Centerline goodness [0,1] 0.8822821100917431 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.26, Z:-0.14 [[ 9.55534194e-01 -4.12663738e-03 -2.94851447e-01 5.58782167e+00] [ 1.05254661e-02 9.99742204e-01 2.01181623e-02 -2.63532519e-01] [ 2.94692415e-01 -2.23270409e-02 9.55331295e-01 -1.44694823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.658241008 meters Centerline goodness [0,1] 0.8834687571526665 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.26, Z:-0.15 [[ 9.55311726e-01 -4.80032140e-03 -2.95561269e-01 5.59058356e+00] [ 1.10858635e-02 9.99746549e-01 1.95944166e-02 -2.63220816e-01] [ 2.95392299e-01 -2.19953278e-02 9.55122817e-01 -1.45104204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.688241008 meters Centerline goodness [0,1] 0.8845215894419739 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.26, Z:-0.14 [[ 9.55264726e-01 -4.70782000e-03 -2.95714624e-01 5.59078251e+00] [ 1.10306562e-02 9.99744751e-01 1.97169093e-02 -2.63258529e-01] [ 2.95546320e-01 -2.20967943e-02 9.55072827e-01 -1.44826524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.718241008 meters Centerline goodness [0,1] 0.8845215894419739 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.26, Z:-0.14 [[ 9.55264726e-01 -4.70782000e-03 -2.95714624e-01 5.59078251e+00] [ 1.10306562e-02 9.99744751e-01 1.97169093e-02 -2.63258529e-01] [ 2.95546320e-01 -2.20967943e-02 9.55072827e-01 -1.44826524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.74824100800001 meters Centerline goodness [0,1] 0.8829353690735852 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.26, Z:-0.14 [[ 9.55237771e-01 -4.59966906e-03 -2.95803386e-01 5.59068426e+00] [ 1.09600781e-02 9.99742941e-01 1.98476225e-02 -2.63088216e-01] [ 2.95636054e-01 -2.22012269e-02 9.55042632e-01 -1.44423316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77824100800001 meters Centerline goodness [0,1] 0.8861002753556677 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.26, Z:-0.14 [[ 9.55226664e-01 -4.46984703e-03 -2.95841242e-01 5.59062835e+00] [ 1.08811071e-02 9.99740198e-01 2.00284376e-02 -2.62923384e-01] [ 2.95674858e-01 -2.23507778e-02 9.55027131e-01 -1.44105732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80824100800001 meters Centerline goodness [0,1] 0.8802049051312137 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.26, Z:-0.14 [[ 9.55212586e-01 -4.92446316e-03 -2.95879476e-01 5.59163419e+00] [ 1.12294134e-02 9.99744570e-01 1.96136339e-02 -2.61000320e-01] [ 2.95707313e-01 -2.20577429e-02 9.55023895e-01 -1.44726686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83824100800001 meters Centerline goodness [0,1] 0.8786024702653248 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.26, Z:-0.14 [[ 9.55146293e-01 -5.22252852e-03 -2.96088304e-01 5.59243203e+00] [ 1.15420943e-02 9.99741284e-01 1.95995963e-02 -2.60584245e-01] [ 2.95909342e-01 -2.21379609e-02 9.54959461e-01 -1.44478622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.86824100800001 meters Centerline goodness [0,1] 0.8801624528086032 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.26, Z:-0.14 [[ 0.95503262 -0.00561028 -0.29644768 5.59357697] [ 0.01199088 0.99973384 0.01970972 -0.26100268] [ 0.2962582 -0.0223781 0.95484569 -0.14391163] [ 0. 0. 0. 1. ]] SLAMing on 80.89824100800001 meters Centerline goodness [0,1] 0.8761751891767943 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.26, Z:-0.14 [[ 0.95487983 -0.00585461 -0.29693473 5.59466813] [ 0.01231737 0.99972613 0.01989865 -0.2619293 ] [ 0.2967369 -0.02265827 0.95469043 -0.14316287] [ 0. 0. 0. 1. ]] SLAMing on 80.92824100800001 meters Centerline goodness [0,1] 0.880030915440545 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.26, Z:-0.14 [[ 0.95473519 -0.00617744 -0.29739292 5.59547634] [ 0.01284403 0.999708 0.02046794 -0.26410171] [ 0.29717964 -0.02336119 0.95453576 -0.14155088] [ 0. 0. 0. 1. ]] SLAMing on 80.95824100800002 meters Centerline goodness [0,1] 0.8770609113808107 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.26, Z:-0.14 [[ 0.95464672 -0.00639646 -0.29767218 5.59598707] [ 0.01314215 0.99970006 0.02066557 -0.26467464] [ 0.29745071 -0.02364037 0.95444445 -0.14077009] [ 0. 0. 0. 1. ]] SLAMing on 80.98824100800002 meters Centerline goodness [0,1] 0.8789407313997478 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.26, Z:-0.14 [[ 0.95462069 -0.00649797 -0.29775343 5.596381 ] [ 0.01330028 0.99969466 0.02082505 -0.26476692] [ 0.2975272 -0.02384023 0.95441564 -0.14050275] [ 0. 0. 0. 1. ]] SLAMing on 81.018241008 meters Centerline goodness [0,1] 0.8694221967963387 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.26, Z:-0.14 [[ 0.95451616 -0.00736919 -0.29806809 5.59871303] [ 0.01399411 0.99970007 0.02009818 -0.26296499] [ 0.29783058 -0.02335523 0.954333 -0.14144106] [ 0. 0. 0. 1. ]] SLAMing on 81.048241008 meters Centerline goodness [0,1] 0.8753458653050746 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.26, Z:-0.14 [[ 0.95445658 -0.00770446 -0.29825035 5.59992218] [ 0.01420299 0.99970647 0.01962759 -0.2613426 ] [ 0.29801159 -0.02296973 0.95428585 -0.14209842] [ 0. 0. 0. 1. ]] SLAMing on 81.078241008 meters Centerline goodness [0,1] 0.8710984308131241 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.26, Z:-0.14 [[ 0.9544215 -0.00796939 -0.29835563 5.60065534] [ 0.01435101 0.99971257 0.01920464 -0.25978271] [ 0.29811683 -0.02261103 0.95426155 -0.14255831] [ 0. 0. 0. 1. ]] SLAMing on 81.10824100800001 meters Centerline goodness [0,1] 0.8720727915799081 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.26, Z:-0.14 [[ 0.95437834 -0.00784775 -0.29849689 5.60065348] [ 0.0142896 0.99970959 0.01940463 -0.25938101] [ 0.29825792 -0.02278476 0.95421332 -0.14203346] [ 0. 0. 0. 1. ]] SLAMing on 81.13824100800001 meters Centerline goodness [0,1] 0.875544794188862 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.26, Z:-0.14 [[ 0.95428463 -0.00734971 -0.29880901 5.59955033] [ 0.01417669 0.9996855 0.02068615 -0.26147122] [ 0.298563 -0.0239766 0.95408871 -0.13929168] [ 0. 0. 0. 1. ]] SLAMing on 81.16824100800001 meters Centerline goodness [0,1] 0.8744781837936753 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.26, Z:-0.14 [[ 0.95416478 -0.00751891 -0.29918731 5.60015048] [ 0.01447644 0.99967371 0.02104519 -0.26250529] [ 0.29893145 -0.02441175 0.95396229 -0.13823709] [ 0. 0. 0. 1. ]] SLAMing on 81.19824100800001 meters Centerline goodness [0,1] 0.8797598627787308 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.26, Z:-0.14 [[ 0.95403157 -0.007901 -0.29960196 5.6014412 ] [ 0.01494915 0.99966263 0.02124027 -0.26305456] [ 0.29933307 -0.02474268 0.95382782 -0.13757088] [ 0. 0. 0. 1. ]] SLAMing on 81.22824100800001 meters Centerline goodness [0,1] 0.8808401200171453 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.26, Z:-0.14 [[ 0.95392487 -0.00838137 -0.29992848 5.6028838 ] [ 0.01545581 0.9996553 0.02122241 -0.26310757] [ 0.29964722 -0.02488022 0.9537256 -0.13734016] [ 0. 0. 0. 1. ]] SLAMing on 81.25824100800001 meters Centerline goodness [0,1] 0.882151421719767 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.26, Z:-0.14 [[ 0.95386291 -0.00865832 -0.30011762 5.60378196] [ 0.01579248 0.99964725 0.02135363 -0.26375876] [ 0.29982687 -0.02510804 0.95366317 -0.1371097 ] [ 0. 0. 0. 1. ]] SLAMing on 81.28824100800001 meters Centerline goodness [0,1] 0.8766424619640387 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.27, Z:-0.14 [[ 0.95378678 -0.00876031 -0.30035651 5.60380427] [ 0.01620736 0.99961969 0.02231143 -0.26630726] [ 0.30004683 -0.02614834 0.95356603 -0.13517896] [ 0. 0. 0. 1. ]] SLAMing on 81.31824100800002 meters Centerline goodness [0,1] 0.898896423347959 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.28, Z:-0.10 [[ 9.54105534e-01 -1.80101928e-03 -2.99465169e-01 5.66923984e+00] [ 1.31395433e-02 9.99270682e-01 3.58532688e-02 -2.75119586e-01] [ 2.99182191e-01 -3.81426377e-02 9.53433352e-01 -1.04227236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34824100800002 meters Centerline goodness [0,1] 0.8823120985939941 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.27, Z:-0.12 [[ 9.54344341e-01 -4.30073160e-03 -2.98677724e-01 5.61085126e+00] [ 1.55124022e-02 9.99260695e-01 3.51771170e-02 -2.74553546e-01] [ 2.98305622e-01 -3.82042915e-02 9.53705504e-01 -1.22659611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.378241008 meters Centerline goodness [0,1] 0.8871536815316097 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.27, Z:-0.12 [[ 9.54187374e-01 -4.68364958e-03 -2.99173059e-01 5.61250165e+00] [ 1.58334458e-02 9.99266926e-01 3.48556049e-02 -2.74657732e-01] [ 2.98790491e-01 -3.79957185e-02 9.53562042e-01 -1.22732537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.408241008 meters Centerline goodness [0,1] 0.8855637879138689 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.27, Z:-0.12 [[ 9.54178024e-01 -4.79730960e-03 -2.99201077e-01 5.61315674e+00] [ 1.58485575e-02 9.99278327e-01 3.45202561e-02 -2.73796259e-01] [ 2.98819547e-01 -3.76803752e-02 9.53565450e-01 -1.23433609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.438241008 meters Centerline goodness [0,1] 0.8882446271455359 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.27, Z:-0.12 [[ 9.54171088e-01 -4.99758577e-03 -2.99219919e-01 5.61389462e+00] [ 1.59151010e-02 9.99293035e-01 3.40608227e-02 -2.72692917e-01] [ 2.98838159e-01 -3.72619675e-02 9.53576059e-01 -1.24279695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.468241008 meters Centerline goodness [0,1] 0.8792306803742636 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.27, Z:-0.12 [[ 9.54193164e-01 -4.89121817e-03 -2.99151270e-01 5.61405795e+00] [ 1.57431152e-02 9.99302028e-01 3.38764019e-02 -2.72367766e-01] [ 2.98776774e-01 -3.70342040e-02 9.53604167e-01 -1.24882354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.49824100800001 meters Centerline goodness [0,1] 0.8872958520017343 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.27, Z:-0.13 [[ 9.55612458e-01 -5.15720064e-03 -2.94581454e-01 5.63106955e+00] [ 1.33210206e-02 9.99580597e-01 2.57134162e-02 -2.70562545e-01] [ 2.94325297e-01 -2.84961864e-02 9.55280371e-01 -1.25671415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52824100800001 meters Centerline goodness [0,1] 0.8858489747520027 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.27, Z:-0.13 [[ 9.55643110e-01 -4.85502801e-03 -2.94487140e-01 5.63083281e+00] [ 1.30081727e-02 9.99584203e-01 2.57334201e-02 -2.70564270e-01] [ 2.94239757e-01 -2.84227051e-02 9.55308911e-01 -1.25967661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55824100800001 meters Centerline goodness [0,1] 0.8848253748158419 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.27, Z:-0.13 [[ 9.55695226e-01 -4.65227715e-03 -2.94321239e-01 5.63073109e+00] [ 1.27131513e-02 9.99594473e-01 2.54806874e-02 -2.69720204e-01] [ 2.94083341e-01 -2.80935217e-02 9.55366810e-01 -1.26762872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58824100800001 meters Centerline goodness [0,1] 0.8795692094473638 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.27, Z:-0.13 [[ 9.55750086e-01 -4.47423453e-03 -2.94145805e-01 5.63060684e+00] [ 1.24617373e-02 9.99602576e-01 2.52862695e-02 -2.68660941e-01] [ 2.93915768e-01 -2.78329220e-02 9.55426004e-01 -1.27417512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61824100800001 meters Centerline goodness [0,1] 0.878265155248891 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.27, Z:-0.13 [[ 9.55896372e-01 -3.49927471e-03 -2.93683300e-01 5.62907698e+00] [ 1.14362320e-02 9.99614165e-01 2.53127370e-02 -2.68139742e-01] [ 2.93481410e-01 -2.75549838e-02 9.55567572e-01 -1.28416505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64824100800001 meters Centerline goodness [0,1] 0.8759554741767663 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.27, Z:-0.13 [[ 9.55928847e-01 -3.31216691e-03 -2.93579749e-01 5.62900665e+00] [ 1.12059727e-02 9.99619363e-01 2.52102074e-02 -2.67960076e-01] [ 2.93384501e-01 -2.73890112e-02 9.55602102e-01 -1.28928693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67824100800001 meters Centerline goodness [0,1] 0.8804423545802856 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.27, Z:-0.13 [[ 9.55841540e-01 -3.60497074e-03 -2.93860432e-01 5.63008253e+00] [ 1.14600462e-02 9.99621433e-01 2.50131743e-02 -2.67744780e-01] [ 2.93659015e-01 -2.72762852e-02 9.55521003e-01 -1.28945254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70824100800002 meters Centerline goodness [0,1] 0.8790083221788978 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.27, Z:-0.13 [[ 9.55720247e-01 -3.85872298e-03 -2.94251458e-01 5.63162762e+00] [ 1.17752839e-02 9.99614659e-01 2.51371436e-02 -2.69376442e-01] [ 2.94041073e-01 -2.74889716e-02 9.55397406e-01 -1.28725321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73824100800002 meters Centerline goodness [0,1] 0.8834484567631372 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.27, Z:-0.13 [[ 9.55561187e-01 -4.49659188e-03 -2.94758543e-01 5.63384645e+00] [ 1.23579449e-02 9.99615719e-01 2.48132200e-02 -2.69726809e-01] [ 2.94533698e-01 -2.73531598e-02 9.55249551e-01 -1.28931431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.768241008 meters Centerline goodness [0,1] 0.880514330699478 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.27, Z:-0.13 [[ 9.55434104e-01 -5.13187782e-03 -2.95159850e-01 5.63599304e+00] [ 1.29258401e-02 9.99617220e-01 2.44608980e-02 -2.69747196e-01] [ 2.94921338e-01 -2.71859652e-02 9.55134717e-01 -1.29339911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.798241008 meters Centerline goodness [0,1] 0.8798256902199345 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.27, Z:-0.13 [[ 0.9553064 -0.00578899 -0.29556077 5.63814757] [ 0.01353322 0.99961643 0.02416289 -0.26989658] [ 0.29530753 -0.02708286 0.95501832 -0.12966757] [ 0. 0. 0. 1. ]] SLAMing on 81.828241008 meters Centerline goodness [0,1] 0.8812710499341045 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.27, Z:-0.13 [[ 0.95515615 -0.00634341 -0.29603462 5.64008147] [ 0.01407988 0.99961259 0.02400909 -0.27027754] [ 0.29576763 -0.02710057 0.95487542 -0.12962307] [ 0. 0. 0. 1. ]] SLAMing on 81.85824100800001 meters Centerline goodness [0,1] 0.8839964633068081 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.27, Z:-0.13 [[ 0.9549317 -0.00720721 -0.29673812 5.64308588] [ 0.01497896 0.99960153 0.02392526 -0.27193575] [ 0.29644744 -0.02729182 0.95465914 -0.12943886] [ 0. 0. 0. 1. ]] SLAMing on 81.88824100800001 meters Centerline goodness [0,1] 0.8813310209000853 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.27, Z:-0.13 [[ 0.95483751 -0.00785268 -0.29702468 5.64482147] [ 0.0155612 0.99960044 0.02359697 -0.27132564] [ 0.2967207 -0.02715334 0.95457819 -0.12970013] [ 0. 0. 0. 1. ]] SLAMing on 81.91824100800001 meters Centerline goodness [0,1] 0.8801779506216487 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-0.13 [[ 0.95480235 -0.00805146 -0.29713236 5.6455115 ] [ 0.01575945 0.99959832 0.02355495 -0.27070951] [ 0.29682335 -0.02717297 0.95454572 -0.12969969] [ 0. 0. 0. 1. ]] SLAMing on 81.94824100800001 meters Centerline goodness [0,1] 0.8786510886882635 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-0.13 [[ 0.95479304 -0.00796 -0.29716475 5.6451511 ] [ 0.01571831 0.99959489 0.02372741 -0.27035318] [ 0.29685549 -0.02732569 0.95453136 -0.12915059] [ 0. 0. 0. 1. ]] SLAMing on 81.97824100800001 meters Centerline goodness [0,1] 0.8746200832128419 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.27, Z:-0.13 [[ 0.95474193 -0.00752561 -0.29734024 5.64389687] [ 0.01553047 0.99957751 0.02456835 -0.27075517] [ 0.29702973 -0.02807426 0.95445543 -0.1269744 ] [ 0. 0. 0. 1. ]] SLAMing on 82.00824100800001 meters Centerline goodness [0,1] 0.8668361014244341 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.27, Z:-0.13 [[ 0.95476831 -0.00730068 -0.29726114 5.64321246] [ 0.01537583 0.99957329 0.02483605 -0.27065343] [ 0.29695297 -0.02828331 0.95447315 -0.12641941] [ 0. 0. 0. 1. ]] SLAMing on 82.03824100800001 meters Centerline goodness [0,1] 0.871493399339934 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.27, Z:-0.13 [[ 0.95465436 -0.00773519 -0.29761588 5.64418247] [ 0.01581107 0.99956894 0.02473744 -0.26998639] [ 0.29729624 -0.02832133 0.95436515 -0.12582248] [ 0. 0. 0. 1. ]] SLAMing on 82.06824100800002 meters Centerline goodness [0,1] 0.866753024994848 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.27, Z:-0.13 [[ 0.95456783 -0.00776523 -0.29789254 5.64453798] [ 0.01593465 0.99956031 0.02500532 -0.27034313] [ 0.29756739 -0.02861609 0.95427185 -0.12502577] [ 0. 0. 0. 1. ]] SLAMing on 82.09824100800002 meters Centerline goodness [0,1] 0.8637779998824152 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-0.13 [[ 0.95447804 -0.00824254 -0.29816728 5.64598992] [ 0.01637821 0.99955833 0.02479729 -0.27036162] [ 0.29783119 -0.02855191 0.95419147 -0.12509737] [ 0. 0. 0. 1. ]] SLAMing on 82.128241008 meters Centerline goodness [0,1] 0.8644715566661767 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-0.13 [[ 0.95437017 -0.00881209 -0.29849611 5.64787234] [ 0.01686866 0.99955934 0.0244249 -0.2700996 ] [ 0.29814934 -0.02834562 0.95409826 -0.12554478] [ 0. 0. 0. 1. ]] SLAMing on 82.158241008 meters Centerline goodness [0,1] 0.8675107726816599 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-0.13 [[ 0.95428234 -0.00918508 -0.29876553 5.64908937] [ 0.01723383 0.99955575 0.02431652 -0.26986586] [ 0.29840946 -0.0283537 0.9540167 -0.12553479] [ 0. 0. 0. 1. ]] SLAMing on 82.188241008 meters Centerline goodness [0,1] 0.8613773779678513 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-0.13 [[ 0.95416138 -0.00960176 -0.29913853 5.65050921] [ 0.01766247 0.99954978 0.02425435 -0.27031483] [ 0.29877097 -0.02842609 0.95390139 -0.12537024] [ 0. 0. 0. 1. ]] SLAMing on 82.218241008 meters Centerline goodness [0,1] 0.8678252645268074 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-0.13 [[ 0.95411228 -0.01481985 -0.29908215 5.65120254] [ 0.02178577 0.99956319 0.0199701 -0.26947713] [ 0.29865555 -0.02556945 0.95401838 -0.12598612] [ 0. 0. 0. 1. ]] SLAMing on 82.24824100800001 meters Centerline goodness [0,1] 0.8710356274823641 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-0.12 [[ 0.95400624 -0.01498824 -0.29941185 5.6518331 ] [ 0.02213627 0.99954485 0.02049592 -0.27110937] [ 0.29896837 -0.0261811 0.9539038 -0.12483429] [ 0. 0. 0. 1. ]] SLAMing on 82.27824100800001 meters Centerline goodness [0,1] 0.8679603584357012 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-0.12 [[ 0.95391758 -0.01491638 -0.29969778 5.65191022] [ 0.02223247 0.99953191 0.0210163 -0.27233718] [ 0.29924401 -0.02671084 0.95380268 -0.12360598] [ 0. 0. 0. 1. ]] SLAMing on 82.30824100800001 meters Centerline goodness [0,1] 0.860590370767125 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-0.12 [[ 0.95390045 -0.01474394 -0.29976082 5.65147498] [ 0.02217158 0.99952529 0.02139217 -0.27269134] [ 0.29930312 -0.02705217 0.95377451 -0.12277819] [ 0. 0. 0. 1. ]] SLAMing on 82.33824100800001 meters Centerline goodness [0,1] 0.8605308575849551 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-0.12 [[ 0.95396776 -0.01455952 -0.29955557 5.65064287] [ 0.02198425 0.9995286 0.02143045 -0.27113023] [ 0.29910235 -0.02702946 0.95383814 -0.12263916] [ 0. 0. 0. 1. ]] SLAMing on 82.36824100800001 meters Centerline goodness [0,1] 0.8598901914230598 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-0.12 [[ 0.95398169 -0.01472005 -0.29950333 5.65098763] [ 0.02205783 0.9995333 0.02113361 -0.26955024] [ 0.29905247 -0.02676747 0.95386117 -0.12309101] [ 0. 0. 0. 1. ]] SLAMing on 82.39824100800001 meters Centerline goodness [0,1] 0.8549652212520349 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-0.12 [[ 0.95397617 -0.01483314 -0.29951535 5.65127536] [ 0.0220907 0.99953834 0.02085939 -0.26812571] [ 0.29906767 -0.02651587 0.95386343 -0.12341503] [ 0. 0. 0. 1. ]] SLAMing on 82.42824100800001 meters Centerline goodness [0,1] 0.853954534690978 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-0.12 [[ 0.95400021 -0.01480924 -0.29943996 5.65115977] [ 0.02203145 0.99954177 0.02075727 -0.26715822] [ 0.29899535 -0.02639954 0.95388933 -0.12354544] [ 0. 0. 0. 1. ]] SLAMing on 82.45824100800002 meters Centerline goodness [0,1] 0.8493929523245485 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-0.12 [[ 0.95399567 -0.0147851 -0.29945562 5.65117609] [ 0.02203353 0.99953994 0.02084312 -0.26695268] [ 0.29900968 -0.02648231 0.95388254 -0.12333413] [ 0. 0. 0. 1. ]] SLAMing on 82.48824100800002 meters Centerline goodness [0,1] 0.8540543742225908 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-0.12 [[ 0.95384667 -0.01522432 -0.29990792 5.65220351] [ 0.02256237 0.99952444 0.02101965 -0.26793951] [ 0.29944528 -0.02681616 0.95373656 -0.12225412] [ 0. 0. 0. 1. ]] SLAMing on 82.518241008 meters Centerline goodness [0,1] 0.8487581970861399 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-0.12 [[ 0.95371326 -0.01557324 -0.300314 5.6533305 ] [ 0.02300167 0.99951029 0.02121575 -0.26859798] [ 0.29983653 -0.02714146 0.95360442 -0.1214713 ] [ 0. 0. 0. 1. ]] SLAMing on 82.548241008 meters Centerline goodness [0,1] 0.8561765752936988 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-0.12 [[ 0.95358339 -0.01605869 -0.30070059 5.65464923] [ 0.02351337 0.99949896 0.02118823 -0.26846743] [ 0.30020967 -0.02727523 0.9534832 -0.12099814] [ 0. 0. 0. 1. ]] SLAMing on 82.578241008 meters Centerline goodness [0,1] 0.8653406560783732 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.27, Z:-0.12 [[ 0.95347898 -0.01668537 -0.3009974 5.65630081] [ 0.02405221 0.9994946 0.02078537 -0.26766982] [ 0.30049846 -0.02705806 0.95339841 -0.1213263 ] [ 0. 0. 0. 1. ]] SLAMing on 82.60824100800001 meters Centerline goodness [0,1] 0.8653406560783732 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.27, Z:-0.12 [[ 0.95347898 -0.01668537 -0.3009974 5.65630081] [ 0.02405221 0.9994946 0.02078537 -0.26766982] [ 0.30049846 -0.02705806 0.95339841 -0.1213263 ] [ 0. 0. 0. 1. ]] SLAMing on 82.63824100800001 meters Centerline goodness [0,1] 0.8555910732255965 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.27, Z:-0.12 [[ 0.95334666 -0.01757545 -0.30136564 5.65828698] [ 0.02487905 0.99948202 0.02041378 -0.26625974] [ 0.30085076 -0.0269591 0.95329011 -0.12135401] [ 0. 0. 0. 1. ]] SLAMing on 82.66824100800001 meters Centerline goodness [0,1] 0.8557449962935508 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.27, Z:-0.12 [[ 0.95326116 -0.01776999 -0.30162457 5.65888455] [ 0.02512247 0.99947387 0.02051438 -0.26608342] [ 0.30110134 -0.02713311 0.95320605 -0.12079748] [ 0. 0. 0. 1. ]] SLAMing on 82.69824100800001 meters Centerline goodness [0,1] 0.8587382677913746 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.27, Z:-0.12 [[ 0.95319445 -0.01778082 -0.30183469 5.65882711] [ 0.0252344 0.99946489 0.02081266 -0.26596471] [ 0.3013031 -0.02745513 0.95313307 -0.119798 ] [ 0. 0. 0. 1. ]] SLAMing on 82.72824100800001 meters Centerline goodness [0,1] 0.8542494513967143 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.27, Z:-0.12 [[ 0.95318973 -0.01773595 -0.30185224 5.65845718] [ 0.02524345 0.99946098 0.02098844 -0.26532914] [ 0.30131728 -0.02762576 0.95312366 -0.11919777] [ 0. 0. 0. 1. ]] SLAMing on 82.75824100800001 meters Centerline goodness [0,1] 0.8541334278792176 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.26, Z:-0.12 [[ 0.95319638 -0.01767131 -0.30183504 5.65769588] [ 0.02514793 0.99946519 0.02090231 -0.26320193] [ 0.30130425 -0.02751453 0.953131 -0.11864678] [ 0. 0. 0. 1. ]] SLAMing on 82.78824100800001 meters Centerline goodness [0,1] 0.8568307946628881 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.26, Z:-0.12 [[ 0.95314775 -0.0177991 -0.30198105 5.65805228] [ 0.02521225 0.99946845 0.02066805 -0.26227245] [ 0.30145265 -0.02731333 0.95308986 -0.11866383] [ 0. 0. 0. 1. ]] SLAMing on 82.81824100800002 meters Centerline goodness [0,1] 0.8575591663723066 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.26, Z:-0.12 [[ 0.95306937 -0.01801625 -0.30221546 5.6586847 ] [ 0.02536421 0.99946998 0.02040648 -0.26120497] [ 0.30168763 -0.02711425 0.95302119 -0.11861938] [ 0. 0. 0. 1. ]] SLAMing on 82.84824100800002 meters Centerline goodness [0,1] 0.8511913505890648 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.26, Z:-0.12 [[ 0.95299261 -0.01833744 -0.30243812 5.6593771 ] [ 0.02551773 0.99947813 0.01980684 -0.2590391 ] [ 0.30191708 -0.0265933 0.95296321 -0.11893354] [ 0. 0. 0. 1. ]] SLAMing on 82.878241008 meters Centerline goodness [0,1] 0.857451909021809 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.26, Z:-0.12 [[ 0.95296993 -0.01829621 -0.3025121 5.65949874] [ 0.02546983 0.99947978 0.0197853 -0.25825088] [ 0.30199273 -0.02655973 0.95294017 -0.11884898] [ 0. 0. 0. 1. ]] SLAMing on 82.908241008 meters Centerline goodness [0,1] 0.853743284279374 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.26, Z:-0.12 [[ 0.95290647 -0.01839033 -0.30270622 5.66007099] [ 0.02553839 0.99948026 0.01967232 -0.25759532] [ 0.30218711 -0.02647651 0.95288087 -0.11879431] [ 0. 0. 0. 1. ]] SLAMing on 82.938241008 meters Centerline goodness [0,1] 0.8444963503649635 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.26, Z:-0.12 [[ 0.95285392 -0.01852199 -0.30286358 5.66064969] [ 0.02560801 0.99948298 0.01944203 -0.25665643] [ 0.30234689 -0.02628115 0.95283559 -0.11894459] [ 0. 0. 0. 1. ]] SLAMing on 82.968241008 meters Centerline goodness [0,1] 0.8469287041337669 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.25, Z:-0.12 [[ 0.95278039 -0.01894667 -0.30306856 5.66209734] [ 0.02582673 0.99949134 0.01870918 -0.25436575] [ 0.30255992 -0.02565301 0.95278508 -0.11996876] [ 0. 0. 0. 1. ]] SLAMing on 82.99824100800001 meters Centerline goodness [0,1] 0.8517646374789232 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.25, Z:-0.12 [[ 0.95274489 -0.01897167 -0.30317859 5.66258029] [ 0.02580283 0.99949508 0.01854164 -0.25368083] [ 0.30267374 -0.02548832 0.95275335 -0.12021109] [ 0. 0. 0. 1. ]] SLAMing on 83.02824100800001 meters Centerline goodness [0,1] 0.8441656502294244 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.25, Z:-0.12 [[ 0.95275282 -0.01861794 -0.30317559 5.66213453] [ 0.0255217 0.999497 0.01882506 -0.2539693 ] [ 0.30267261 -0.02567318 0.95274875 -0.11986372] [ 0. 0. 0. 1. ]] SLAMing on 83.05824100800001 meters Centerline goodness [0,1] 0.8446745562130178 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.25, Z:-0.12 [[ 0.95277268 -0.01809941 -0.30314456 5.66136092] [ 0.02510604 0.99949979 0.01923172 -0.25428974] [ 0.30264484 -0.02593422 0.9527505 -0.11935721] [ 0. 0. 0. 1. ]] SLAMing on 83.08824100800001 meters Centerline goodness [0,1] 0.8457589478845211 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.26, Z:-0.12 [[ 0.95283115 -0.01211508 -0.30325901 5.65998119] [ 0.02050243 0.99948984 0.02448881 -0.25630904] [ 0.30280761 -0.02955125 0.95259345 -0.11750853] [ 0. 0. 0. 1. ]] SLAMing on 83.11824100800001 meters Centerline goodness [0,1] 0.8366342334043411 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.26, Z:-0.12 [[ 0.953003 -0.01088812 -0.30276515 5.65777868] [ 0.01935576 0.99950052 0.02498114 -0.2557038 ] [ 0.30234193 -0.02966735 0.95273774 -0.11763608] [ 0. 0. 0. 1. ]] SLAMing on 83.14824100800001 meters Centerline goodness [0,1] 0.8387587553105982 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.25, Z:-0.12 [[ 0.95306992 -0.01015653 -0.30257987 5.6568814 ] [ 0.01859929 0.99951356 0.02503417 -0.25479626] [ 0.30217842 -0.02948709 0.95279521 -0.11804541] [ 0. 0. 0. 1. ]] SLAMing on 83.17824100800001 meters Centerline goodness [0,1] 0.832906142902399 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.25, Z:-0.12 [[ 0.95322739 -0.00916693 -0.30211506 5.65508867] [ 0.01759418 0.99952798 0.0251846 -0.25395577] [ 0.30174159 -0.02932212 0.95293873 -0.11858527] [ 0. 0. 0. 1. ]] SLAMing on 83.20824100800002 meters Centerline goodness [0,1] 0.8340459723936063 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.26, Z:-0.12 [[ 9.53307340e-01 -2.87089052e-03 -3.01988200e-01 5.65324100e+00] [ 1.26065092e-02 9.99461519e-01 3.02943398e-02 -2.55510992e-01] [ 3.01738614e-01 -3.26868335e-02 9.52830195e-01 -1.17355516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23824100800002 meters Centerline goodness [0,1] 0.8329761394484927 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.26, Z:-0.12 [[ 9.53333742e-01 -2.37595433e-03 -3.01909144e-01 5.65257442e+00] [ 1.20948324e-02 9.99466880e-01 3.03260910e-02 -2.55117411e-01] [ 3.01676136e-01 -3.25624263e-02 9.52854237e-01 -1.17480019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.268241008 meters Centerline goodness [0,1] 0.8342276515583971 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.26, Z:-0.12 [[ 9.53292570e-01 -2.33826005e-03 -3.02039416e-01 5.65314809e+00] [ 1.20174656e-02 9.99471876e-01 3.01918725e-02 -2.55309028e-01] [ 3.01809305e-01 -3.24114360e-02 9.52817213e-01 -1.17762435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.298241008 meters Centerline goodness [0,1] 0.8317447519221355 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.26, Z:-0.12 [[ 9.53276660e-01 -1.97135963e-03 -3.02092244e-01 5.65303966e+00] [ 1.17360378e-02 9.99465504e-01 3.05118228e-02 -2.56613217e-01] [ 3.01870627e-01 -3.26315745e-02 9.52790273e-01 -1.17565459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.328241008 meters Centerline goodness [0,1] 0.8398005073800738 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.26, Z:-0.12 [[ 9.53162918e-01 -1.97378539e-03 -3.02450915e-01 5.65441211e+00] [ 1.18259791e-02 9.99457246e-01 3.07467101e-02 -2.59334952e-01] [ 3.02226071e-01 -3.28834021e-02 9.52668927e-01 -1.17537340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.35824100800001 meters Centerline goodness [0,1] 0.8379862435697358 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.26, Z:-0.12 [[ 9.53037135e-01 -2.14675024e-03 -3.02845854e-01 5.65551196e+00] [ 1.20798207e-02 9.99448562e-01 3.09297655e-02 -2.60845040e-01] [ 3.02612455e-01 -3.31355387e-02 9.52537526e-01 -1.17105532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38824100800001 meters Centerline goodness [0,1] 0.8435669971589261 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.26, Z:-0.12 [[ 9.52907685e-01 -2.34052372e-03 -3.03251491e-01 5.65678321e+00] [ 1.23838237e-02 9.99436443e-01 3.11999656e-02 -2.62466051e-01] [ 3.03007567e-01 -3.34861000e-02 9.52399651e-01 -1.16654857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41824100800001 meters Centerline goodness [0,1] 0.8376514229409378 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.26, Z:-0.12 [[ 9.52778308e-01 -2.64421981e-03 -3.03655239e-01 5.65847437e+00] [ 1.27886611e-02 9.99424326e-01 3.14239970e-02 -2.64135902e-01] [ 3.03397341e-01 -3.38234466e-02 9.52263634e-01 -1.16460173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44824100800001 meters Centerline goodness [0,1] 0.8379608026131591 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.26, Z:-0.12 [[ 0.95276833 -0.00820243 -0.30358728 5.66037068] [ 0.01711835 0.9994964 0.02671891 -0.26362384] [ 0.30321524 -0.03065384 0.95242893 -0.1184019 ] [ 0. 0. 0. 1. ]] SLAMing on 83.47824100800001 meters Centerline goodness [0,1] 0.8412077322899025 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.26, Z:-0.12 [[ 0.95258288 -0.00879635 -0.30415206 5.66255403] [ 0.01776728 0.99948452 0.02673989 -0.26458738] [ 0.30376006 -0.03087592 0.95224813 -0.11809694] [ 0. 0. 0. 1. ]] SLAMing on 83.50824100800001 meters Centerline goodness [0,1] 0.8392512430535244 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.27, Z:-0.12 [[ 0.95247473 -0.00932416 -0.30447486 5.66440125] [ 0.0183096 0.99947661 0.02666936 -0.26564034] [ 0.30406684 -0.0309767 0.95214694 -0.11829608] [ 0. 0. 0. 1. ]] SLAMing on 83.53824100800001 meters Centerline goodness [0,1] 0.8414014049319578 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.12 [[ 0.95230774 -0.00966105 -0.30498627 5.66607818] [ 0.01874846 0.9994628 0.02688137 -0.26714535] [ 0.30456273 -0.03131736 0.95197729 -0.11780364] [ 0. 0. 0. 1. ]] SLAMing on 83.56824100800002 meters Centerline goodness [0,1] 0.8442433918751109 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.12 [[ 0.95212051 -0.01018824 -0.30555317 5.66784506] [ 0.0194995 0.99943334 0.0274368 -0.27004668] [ 0.30510049 -0.03208127 0.95177964 -0.11652433] [ 0. 0. 0. 1. ]] SLAMing on 83.59824100800002 meters Centerline goodness [0,1] 0.8475897920604915 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.12 [[ 0.95201884 -0.01052537 -0.30585837 5.66907139] [ 0.01985949 0.99942665 0.02742209 -0.27047758] [ 0.30539438 -0.03218054 0.95168203 -0.11635586] [ 0. 0. 0. 1. ]] SLAMing on 83.62824100800002 meters Centerline goodness [0,1] 0.8469671839829405 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.12 [[ 0.95201891 -0.01061761 -0.30585497 5.66951754] [ 0.01991842 0.9994287 0.02730436 -0.27041833] [ 0.30539033 -0.03208641 0.95168651 -0.11671785] [ 0. 0. 0. 1. ]] SLAMing on 83.658241008 meters Centerline goodness [0,1] 0.8476406881695046 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.12 [[ 0.95189063 -0.01096534 -0.30624171 5.6705971 ] [ 0.02018937 0.99943238 0.02696875 -0.26923147] [ 0.30577216 -0.03185412 0.9515717 -0.11659234] [ 0. 0. 0. 1. ]] SLAMing on 83.688241008 meters Centerline goodness [0,1] 0.8503930027776136 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.12 [[ 0.95194934 -0.01047614 -0.3060763 5.6696627 ] [ 0.01966234 0.99944352 0.02694505 -0.26827327] [ 0.30562369 -0.0316685 0.95162559 -0.1167809 ] [ 0. 0. 0. 1. ]] SLAMing on 83.718241008 meters Centerline goodness [0,1] 0.8474666195065876 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.12 [[ 0.95197206 -0.01021236 -0.30601455 5.66925275] [ 0.01931941 0.99945555 0.02674624 -0.26698933] [ 0.3055748 -0.0313737 0.95165106 -0.11709124] [ 0. 0. 0. 1. ]] SLAMing on 83.74824100800001 meters Centerline goodness [0,1] 0.8491580710570396 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.12 [[ 0.95204476 -0.00898051 -0.30582695 5.66753853] [ 0.01804217 0.99947755 0.02681624 -0.26507836] [ 0.30542634 -0.03104804 0.95170939 -0.11755137] [ 0. 0. 0. 1. ]] SLAMing on 83.77824100800001 meters Centerline goodness [0,1] 0.8444437918477623 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.26, Z:-0.12 [[ 0.95202768 -0.00889118 -0.30588274 5.66766125] [ 0.01784735 0.9994896 0.02649553 -0.26359813] [ 0.30549104 -0.03068367 0.95170044 -0.11798281] [ 0. 0. 0. 1. ]] SLAMing on 83.80824100800001 meters Centerline goodness [0,1] 0.8546511627906976 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.26, Z:-0.12 [[ 0.95205555 -0.0086147 -0.30580388 5.66722082] [ 0.01755397 0.99949483 0.02649413 -0.26288267] [ 0.30542116 -0.03059195 0.95172583 -0.11809766] [ 0. 0. 0. 1. ]] SLAMing on 83.83824100800001 meters Centerline goodness [0,1] 0.8564398488532177 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.26, Z:-0.12 [[ 0.95203393 -0.00811285 -0.30588491 5.66667316] [ 0.0171366 0.9994932 0.0268267 -0.26307298] [ 0.30551225 -0.03078176 0.95169047 -0.11765241] [ 0. 0. 0. 1. ]] SLAMing on 83.86824100800001 meters Centerline goodness [0,1] 0.8630501535312181 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.26, Z:-0.12 [[ 0.95195777 -0.00812151 -0.30612161 5.66720951] [ 0.01719508 0.99948874 0.02695541 -0.26359365] [ 0.30574619 -0.0309242 0.95161072 -0.11731656] [ 0. 0. 0. 1. ]] SLAMing on 83.89824100800001 meters Centerline goodness [0,1] 0.8591153756143225 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.26, Z:-0.12 [[ 0.95186494 -0.0081135 -0.30641035 5.6677733 ] [ 0.01730739 0.99947744 0.02730012 -0.26462435] [ 0.30602873 -0.03128919 0.95150796 -0.11666524] [ 0. 0. 0. 1. ]] SLAMing on 83.92824100800001 meters Centerline goodness [0,1] 0.8573976086765867 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.12 [[ 0.95173193 -0.00823825 -0.30681993 5.66846083] [ 0.01763416 0.99945617 0.027864 -0.26638645] [ 0.30642352 -0.03192958 0.95135962 -0.11534926] [ 0. 0. 0. 1. ]] SLAMing on 83.95824100800002 meters Centerline goodness [0,1] 0.8562972513625975 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.11 [[ 0.95166617 -0.00827284 -0.30702291 5.66874629] [ 0.01777242 0.99944548 0.02815805 -0.26720716] [ 0.30661971 -0.03225361 0.95128548 -0.11469935] [ 0. 0. 0. 1. ]] SLAMing on 83.98824100800002 meters Centerline goodness [0,1] 0.855183506360579 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.11 [[ 0.9516244 -0.00823268 -0.30715342 5.66872287] [ 0.01784237 0.99943479 0.02849132 -0.26777403] [ 0.30674525 -0.03259338 0.95123342 -0.11400662] [ 0. 0. 0. 1. ]] SLAMing on 84.018241008 meters Centerline goodness [0,1] 0.8548179370097179 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.11 [[ 0.95154219 -0.0084468 -0.3074022 5.66920615] [ 0.01813782 0.99942401 0.02868219 -0.26790287] [ 0.30698287 -0.03286792 0.95114732 -0.11325585] [ 0. 0. 0. 1. ]] SLAMing on 84.048241008 meters Centerline goodness [0,1] 0.8523468343325047 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.11 [[ 0.95151859 -0.00864453 -0.30746973 5.66919061] [ 0.01844412 0.99940981 0.02898005 -0.26811161] [ 0.30703775 -0.03324606 0.95111646 -0.11238809] [ 0. 0. 0. 1. ]] SLAMing on 84.078241008 meters Centerline goodness [0,1] 0.8520551144325081 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.11 [[ 0.95146816 -0.00890205 -0.30761842 5.66974069] [ 0.01867773 0.99940927 0.02884897 -0.2678289 ] [ 0.30717989 -0.03319448 0.95107236 -0.11230819] [ 0. 0. 0. 1. ]] SLAMing on 84.10824100800001 meters Centerline goodness [0,1] 0.8534120121523721 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.11 [[ 0.95141113 -0.00915332 -0.30778739 5.67047048] [ 0.01890475 0.99940884 0.02871553 -0.26751421] [ 0.30734259 -0.03313892 0.95102174 -0.11231454] [ 0. 0. 0. 1. ]] SLAMing on 84.13824100800001 meters Centerline goodness [0,1] 0.8541684943123666 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.11 [[ 0.95134708 -0.00932246 -0.30798024 5.67115045] [ 0.01908014 0.99940634 0.0286866 -0.26777833] [ 0.30752998 -0.03316722 0.95096017 -0.11224711] [ 0. 0. 0. 1. ]] SLAMing on 84.16824100800001 meters Centerline goodness [0,1] 0.8494413489308323 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.11 [[ 0.95120453 -0.01001961 -0.30839837 5.6728513 ] [ 0.01979162 0.99939571 0.02857447 -0.26888897] [ 0.30792571 -0.03328387 0.95082803 -0.11193213] [ 0. 0. 0. 1. ]] SLAMing on 84.19824100800001 meters Centerline goodness [0,1] 0.8510750175274597 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.11 [[ 0.95111832 -0.01027588 -0.30865571 5.67388667] [ 0.02006799 0.99939041 0.02856715 -0.26921681] [ 0.30817401 -0.03336484 0.95074474 -0.11185963] [ 0. 0. 0. 1. ]] SLAMing on 84.22824100800001 meters Centerline goodness [0,1] 0.8542910666198338 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.95101734 -0.01054989 -0.30895747 5.67504119] [ 0.02035236 0.99938595 0.02852184 -0.26952037] [ 0.30846686 -0.03341278 0.95064809 -0.11178272] [ 0. 0. 0. 1. ]] SLAMing on 84.25824100800001 meters Centerline goodness [0,1] 0.8529772687430608 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.95095311 -0.01079738 -0.30914657 5.67609022] [ 0.02056964 0.99938587 0.02836846 -0.26972337] [ 0.30865041 -0.03333611 0.9505912 -0.11204939] [ 0. 0. 0. 1. ]] SLAMing on 84.28824100800001 meters Centerline goodness [0,1] 0.8548090130636818 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.95085442 -0.01114193 -0.30943776 5.67811212] [ 0.02081156 0.99939222 0.02796558 -0.2699605 ] [ 0.30893809 -0.03303108 0.95050839 -0.11311195] [ 0. 0. 0. 1. ]] SLAMing on 84.31824100800002 meters Centerline goodness [0,1] 0.8524987586529194 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.95081285 -0.01118839 -0.30956381 5.67886585] [ 0.02085192 0.9993925 0.02792535 -0.2703202 ] [ 0.30906331 -0.03300678 0.95046853 -0.11339333] [ 0. 0. 0. 1. ]] SLAMing on 84.34824100800002 meters Centerline goodness [0,1] 0.8578187978269759 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.95079592 -0.01096151 -0.30962391 5.6789039 ] [ 0.02069087 0.99938936 0.02815668 -0.27096962] [ 0.3091262 -0.03317764 0.95044213 -0.11323909] [ 0. 0. 0. 1. ]] SLAMing on 84.37824100800002 meters Centerline goodness [0,1] 0.8573182495834429 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.95080961 -0.01048942 -0.30959822 5.67834163] [ 0.02032239 0.99938569 0.02855233 -0.27191374] [ 0.30910853 -0.0334396 0.95043869 -0.11291742] [ 0. 0. 0. 1. ]] SLAMing on 84.408241008 meters Centerline goodness [0,1] 0.8688930297560123 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.9508333 -0.00985847 -0.3095462 5.67775622] [ 0.01975333 0.99938862 0.02884764 -0.27289901] [ 0.30907255 -0.03354386 0.95044672 -0.11291191] [ 0. 0. 0. 1. ]] SLAMing on 84.438241008 meters Centerline goodness [0,1] 0.8651103219421319 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.9508241 -0.00967146 -0.30958035 5.67745189] [ 0.01960074 0.99938783 0.02897895 -0.27320978] [ 0.30911056 -0.03362189 0.9504316 -0.11262169] [ 0. 0. 0. 1. ]] SLAMing on 84.468241008 meters Centerline goodness [0,1] 0.8668277347615998 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.95083386 -0.00949295 -0.30955591 5.67707965] [ 0.01939242 0.99939365 0.02891812 -0.27262685] [ 0.30909369 -0.03349937 0.95044141 -0.11263868] [ 0. 0. 0. 1. ]] SLAMing on 84.49824100800001 meters Centerline goodness [0,1] 0.869541279086615 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.95090026 -0.00928155 -0.30935828 5.67655803] [ 0.01906994 0.9994081 0.02863201 -0.27104507] [ 0.30890942 -0.03312563 0.95051442 -0.11323804] [ 0. 0. 0. 1. ]] SLAMing on 84.52824100800001 meters Centerline goodness [0,1] 0.869541279086615 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.95090026 -0.00928155 -0.30935828 5.67655803] [ 0.01906994 0.9994081 0.02863201 -0.27104507] [ 0.30890942 -0.03312563 0.95051442 -0.11323804] [ 0. 0. 0. 1. ]] SLAMing on 84.55824100800001 meters Centerline goodness [0,1] 0.870829347479491 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.95091079 -0.00946979 -0.30932022 5.67690948] [ 0.01913461 0.9994184 0.02822652 -0.26957678] [ 0.30887302 -0.03275962 0.95053893 -0.11381807] [ 0. 0. 0. 1. ]] SLAMing on 84.58824100800001 meters Centerline goodness [0,1] 0.8617088973735971 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.95093005 -0.00957965 -0.30925762 5.67696058] [ 0.01918736 0.99942262 0.02804044 -0.26858376] [ 0.30881045 -0.03259834 0.95056481 -0.1140384 ] [ 0. 0. 0. 1. ]] SLAMing on 84.61824100800001 meters Centerline goodness [0,1] 0.8712645667474328 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.95091706 -0.0093644 -0.30930414 5.67645162] [ 0.01905683 0.99941696 0.02832978 -0.26868272] [ 0.30885851 -0.03283363 0.95054109 -0.11342905] [ 0. 0. 0. 1. ]] SLAMing on 84.64824100800001 meters Centerline goodness [0,1] 0.86608715742051 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.11 [[ 0.95109542 -0.01321215 -0.30861456 5.67322457] [ 0.02193027 0.99945192 0.0247975 -0.26777905] [ 0.30811779 -0.03035279 0.95086389 -0.11320629] [ 0. 0. 0. 1. ]] SLAMing on 84.67824100800001 meters Centerline goodness [0,1] 0.8718406870515001 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.11 [[ 0.95107674 -0.01298113 -0.30868191 5.67284308] [ 0.02180894 0.99944539 0.0251652 -0.26851772] [ 0.30818404 -0.03066607 0.95083237 -0.11255116] [ 0. 0. 0. 1. ]] SLAMing on 84.70824100800002 meters Centerline goodness [0,1] 0.8705919667829647 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.11 [[ 0.95102963 -0.01288698 -0.30883097 5.67269527] [ 0.02177362 0.99944159 0.02534581 -0.26855287] [ 0.30833189 -0.03082898 0.95077917 -0.11197241] [ 0. 0. 0. 1. ]] SLAMing on 84.73824100800002 meters Centerline goodness [0,1] 0.8626294175487303 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.11 [[ 0.95107427 -0.0128468 -0.30869515 5.67246296] [ 0.02170039 0.99944525 0.02526446 -0.26812009] [ 0.30819934 -0.03072718 0.95082544 -0.11221243] [ 0. 0. 0. 1. ]] SLAMing on 84.768241008 meters Centerline goodness [0,1] 0.87076515326112 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.11 [[ 0.95112353 -0.01288678 -0.30854166 5.67244357] [ 0.02164533 0.99945357 0.02498091 -0.26694124] [ 0.30805113 -0.03043841 0.95088275 -0.11281203] [ 0. 0. 0. 1. ]] SLAMing on 84.798241008 meters Centerline goodness [0,1] 0.8654704645603526 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.11 [[ 0.95112391 -0.01294766 -0.30853796 5.67257891] [ 0.02166573 0.99945647 0.02484676 -0.26627523] [ 0.30804855 -0.03031705 0.95088746 -0.11298689] [ 0. 0. 0. 1. ]] SLAMing on 84.828241008 meters Centerline goodness [0,1] 0.8639788347616035 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.11 [[ 0.9511393 -0.01294856 -0.30849048 5.67252276] [ 0.02163872 0.99945908 0.02476535 -0.2659025 ] [ 0.30800293 -0.03023064 0.95090499 -0.11311445] [ 0. 0. 0. 1. ]] SLAMing on 84.85824100800001 meters Centerline goodness [0,1] 0.8620510900555828 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.26, Z:-0.11 [[ 0.95122325 -0.01793036 -0.30798188 5.67142478] [ 0.02546378 0.99946637 0.02045883 -0.26498404] [ 0.3074507 -0.0273033 0.95117222 -0.11371933] [ 0. 0. 0. 1. ]] SLAMing on 84.88824100800001 meters Centerline goodness [0,1] 0.8722061378112334 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.11 [[ 0.95100846 -0.02425362 -0.30821205 5.67347993] [ 0.0306283 0.99940499 0.01586113 -0.26523694] [ 0.30764397 -0.02452408 0.95118545 -0.1138409 ] [ 0. 0. 0. 1. ]] SLAMing on 84.91824100800001 meters Centerline goodness [0,1] 0.8790411515468106 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.95075293 -0.02549889 -0.30889913 5.67711705] [ 0.03170848 0.99938312 0.01509804 -0.26464657] [ 0.30832359 -0.02414923 0.95097496 -0.11455095] [ 0. 0. 0. 1. ]] SLAMing on 84.94824100800001 meters Centerline goodness [0,1] 0.8842446522129274 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.12 [[ 0.95049885 -0.02690457 -0.30956112 5.68109641] [ 0.03284056 0.99936283 0.01397941 -0.26316763] [ 0.30898777 -0.02345358 0.95077678 -0.11585101] [ 0. 0. 0. 1. ]] SLAMing on 84.97824100800001 meters Centerline goodness [0,1] 0.8898610990788067 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.12 [[ 0.95037017 -0.02792881 -0.30986534 5.68397731] [ 0.03361512 0.99934997 0.01302551 -0.26144159] [ 0.30930013 -0.02279522 0.95069123 -0.11728899] [ 0. 0. 0. 1. ]] SLAMing on 85.00824100800001 meters Centerline goodness [0,1] 0.8922620077264602 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.26, Z:-0.12 [[ 0.95025754 -0.02863811 -0.31014588 5.68616538] [ 0.03411592 0.99934279 0.01225109 -0.26002701] [ 0.3095912 -0.0222226 0.95061004 -0.11846464] [ 0. 0. 0. 1. ]] SLAMing on 85.03824100800001 meters Centerline goodness [0,1] 0.8904513036699102 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.26, Z:-0.12 [[ 0.95027631 -0.02827803 -0.31012142 5.6856417 ] [ 0.03384475 0.99934789 0.01258305 -0.26044293] [ 0.30956336 -0.02245336 0.95061368 -0.11811475] [ 0. 0. 0. 1. ]] SLAMing on 85.06824100800002 meters Centerline goodness [0,1] 0.8953106073715176 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.12 [[ 0.95029126 -0.02789043 -0.31011071 5.68497279] [ 0.03357683 0.99935142 0.01301286 -0.26106686] [ 0.30954665 -0.02277855 0.95061139 -0.11749513] [ 0. 0. 0. 1. ]] SLAMing on 85.09824100800002 meters Centerline goodness [0,1] 0.8946335833814195 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.12 [[ 0.95029193 -0.02752218 -0.31014154 5.68434141] [ 0.03328851 0.9993571 0.01331431 -0.26141328] [ 0.30957571 -0.02297663 0.95059716 -0.11694052] [ 0. 0. 0. 1. ]] SLAMing on 85.12824100800002 meters Centerline goodness [0,1] 0.8958987808744272 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.12 [[ 0.9503107 -0.02701552 -0.31012859 5.683309 ] [ 0.03291946 0.99936248 0.0138182 -0.26188607] [ 0.30955757 -0.02334085 0.95059419 -0.11611114] [ 0. 0. 0. 1. ]] SLAMing on 85.158241008 meters Centerline goodness [0,1] 0.8969494262153278 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.12 [[ 0.95031693 -0.02659918 -0.31014547 5.68260783] [ 0.0326059 0.99936743 0.01419845 -0.26224947] [ 0.30957161 -0.0236056 0.95058308 -0.11552438] [ 0. 0. 0. 1. ]] SLAMing on 85.188241008 meters Centerline goodness [0,1] 0.8964323825454965 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.12 [[ 0.95044333 -0.02614225 -0.3097968 5.68155838] [ 0.03216413 0.99937965 0.01434536 -0.26157628] [ 0.30922959 -0.0235988 0.95069457 -0.11581262] [ 0. 0. 0. 1. ]] SLAMing on 85.218241008 meters Centerline goodness [0,1] 0.8957060518731988 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.12 [[ 0.9504921 -0.02601255 -0.30965807 5.68123744] [ 0.03202322 0.99938421 0.01434255 -0.26107367] [ 0.3090943 -0.02354873 0.9507398 -0.11599237] [ 0. 0. 0. 1. ]] SLAMing on 85.24824100800001 meters Centerline goodness [0,1] 0.8963446175067533 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.12 [[ 0.9504879 -0.02576537 -0.30969162 5.68096607] [ 0.03182873 0.99938756 0.01454103 -0.26093477] [ 0.30912729 -0.02367817 0.95072586 -0.1156999 ] [ 0. 0. 0. 1. ]] SLAMing on 85.27824100800001 meters Centerline goodness [0,1] 0.8956624696777175 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.12 [[ 0.95069613 -0.02452397 -0.3091528 5.67806875] [ 0.03075488 0.9994099 0.0152968 -0.26154605] [ 0.30859523 -0.02405057 0.95088935 -0.1151787 ] [ 0. 0. 0. 1. ]] SLAMing on 85.30824100800001 meters Centerline goodness [0,1] 0.8983940258916472 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.95078298 -0.02406324 -0.30892181 5.6769275 ] [ 0.03035694 0.99941766 0.01558203 -0.26136808] [ 0.30836696 -0.02419305 0.95095979 -0.11494627] [ 0. 0. 0. 1. ]] SLAMing on 85.33824100800001 meters Centerline goodness [0,1] 0.8952035469568722 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.95087326 -0.0234435 -0.30869149 5.67539452] [ 0.02987524 0.99942356 0.01612476 -0.26181285] [ 0.30813553 -0.02455483 0.95102553 -0.11430672] [ 0. 0. 0. 1. ]] SLAMing on 85.36824100800001 meters Centerline goodness [0,1] 0.8941020313942751 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.26, Z:-0.11 [[ 0.95090322 -0.02281622 -0.30864623 5.6740943 ] [ 0.02947838 0.99942189 0.01693868 -0.26277567] [ 0.30808132 -0.02520544 0.95102607 -0.11306435] [ 0. 0. 0. 1. ]] SLAMing on 85.39824100800001 meters Centerline goodness [0,1] 0.8966869467431735 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.26, Z:-0.11 [[ 0.95094647 -0.02202346 -0.30857053 5.67210237] [ 0.02908395 0.99940944 0.01829993 -0.26435117] [ 0.30798527 -0.0263767 0.95102542 -0.11080285] [ 0. 0. 0. 1. ]] SLAMing on 85.42824100800001 meters Centerline goodness [0,1] 0.8970893371757925 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.26, Z:-0.11 [[ 0.95094039 -0.02188942 -0.30859881 5.67184342] [ 0.0290676 0.99940285 0.01868188 -0.26487977] [ 0.30800559 -0.02673558 0.95100881 -0.11020567] [ 0. 0. 0. 1. ]] SLAMing on 85.45824100800002 meters Centerline goodness [0,1] 0.8951186381896477 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.11 [[ 0.95091943 -0.02199935 -0.30865559 5.67226386] [ 0.02921659 0.99939667 0.01877999 -0.2653817 ] [ 0.30805622 -0.02687612 0.95098845 -0.1101425 ] [ 0. 0. 0. 1. ]] SLAMing on 85.48824100800002 meters Centerline goodness [0,1] 0.8943590634135047 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-0.11 [[ 0.95080076 -0.02248572 -0.30898594 5.67383411] [ 0.02965958 0.99938811 0.01853933 -0.26517538] [ 0.30838001 -0.0267916 0.95088589 -0.11030171] [ 0. 0. 0. 1. ]] SLAMing on 85.518241008 meters Centerline goodness [0,1] 0.89478095017917 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.95067469 -0.0233864 -0.30930682 5.67674396] [ 0.0304065 0.99937742 0.01789436 -0.26508945] [ 0.30869577 -0.02641665 0.95079392 -0.11156844] [ 0. 0. 0. 1. ]] SLAMing on 85.548241008 meters Centerline goodness [0,1] 0.902902237382205 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.95056268 -0.02384908 -0.30961557 5.67825049] [ 0.03083083 0.99936832 0.01767552 -0.26511981] [ 0.30899845 -0.02634739 0.95069752 -0.11172402] [ 0. 0. 0. 1. ]] SLAMing on 85.578241008 meters Centerline goodness [0,1] 0.9063016558884087 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.95033296 -0.02475646 -0.3102489 5.68147379] [ 0.03166649 0.99934954 0.01725503 -0.266322 ] [ 0.30961992 -0.02622252 0.95049876 -0.11222543] [ 0. 0. 0. 1. ]] SLAMing on 85.60824100800001 meters Centerline goodness [0,1] 0.909370467072817 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.95017871 -0.02522826 -0.31068304 5.6832957 ] [ 0.03210742 0.99933904 0.01704697 -0.26636858] [ 0.31004762 -0.0261729 0.95036069 -0.11229331] [ 0. 0. 0. 1. ]] SLAMing on 85.63824100800001 meters Centerline goodness [0,1] 0.9109733846911292 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.95007162 -0.02560999 -0.31097918 5.68490485] [ 0.03242226 0.99933381 0.01675529 -0.26609107] [ 0.31034291 -0.02600137 0.95026902 -0.11268946] [ 0. 0. 0. 1. ]] SLAMing on 85.66824100800001 meters Centerline goodness [0,1] 0.9115955017201006 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.27, Z:-0.11 [[ 0.95003791 -0.02578722 -0.31106751 5.68550047] [ 0.03259142 0.99932932 0.01669462 -0.26556341] [ 0.31042837 -0.02599865 0.95024118 -0.11271877] [ 0. 0. 0. 1. ]] SLAMing on 85.69824100800001 meters Centerline goodness [0,1] 0.9091830822711472 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.27, Z:-0.11 [[ 0.9500336 -0.02583586 -0.31107662 5.68561273] [ 0.03267789 0.9993247 0.0168019 -0.26532991] [ 0.31043246 -0.02612769 0.9502363 -0.11252822] [ 0. 0. 0. 1. ]] SLAMing on 85.72824100800001 meters Centerline goodness [0,1] 0.9105048223129725 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.95009002 -0.02507698 -0.31096638 5.68334853] [ 0.03219515 0.99932348 0.01777773 -0.26601615] [ 0.3103102 -0.02690205 0.95025463 -0.11060161] [ 0. 0. 0. 1. ]] SLAMing on 85.75824100800001 meters Centerline goodness [0,1] 0.9121411778364729 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.95009074 -0.02474686 -0.31099064 5.68228605] [ 0.03200932 0.99932058 0.01826972 -0.26631185] [ 0.31032723 -0.02731249 0.95023736 -0.10944832] [ 0. 0. 0. 1. ]] SLAMing on 85.78824100800001 meters Centerline goodness [0,1] 0.9140726987902875 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.95005816 -0.02468324 -0.31109521 5.68218736] [ 0.03199435 0.99931832 0.01841904 -0.26623695] [ 0.3104285 -0.02745245 0.95020025 -0.1089681 ] [ 0. 0. 0. 1. ]] SLAMing on 85.81824100800002 meters Centerline goodness [0,1] 0.9145674870578708 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.95002753 -0.02475449 -0.31118309 5.68254998] [ 0.03208796 0.99931441 0.018468 -0.26591099] [ 0.31051258 -0.02753034 0.95017052 -0.10882582] [ 0. 0. 0. 1. ]] SLAMing on 85.84824100800002 meters Centerline goodness [0,1] 0.9121060399965271 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.94999359 -0.0250548 -0.31126265 5.68355268] [ 0.0322711 0.99931607 0.01805445 -0.2648545 ] [ 0.31059742 -0.0271964 0.95015241 -0.10953318] [ 0. 0. 0. 1. ]] SLAMing on 85.87824100800002 meters Centerline goodness [0,1] 0.9136136972876373 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.94993835 -0.025311 -0.31141046 5.68463806] [ 0.03250761 0.99931047 0.01793991 -0.26470751] [ 0.31074166 -0.02716502 0.95010614 -0.10976653] [ 0. 0. 0. 1. ]] SLAMing on 85.908241008 meters Centerline goodness [0,1] 0.9146154955994806 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.94992521 -0.02511877 -0.31146613 5.68452314] [ 0.03242525 0.99930659 0.0183012 -0.26528794] [ 0.31079045 -0.02748414 0.95008101 -0.10929025] [ 0. 0. 0. 1. ]] SLAMing on 85.938241008 meters Centerline goodness [0,1] 0.9161238020788095 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.94984175 -0.0248679 -0.31174066 5.68459256] [ 0.03242174 0.99929231 0.01907104 -0.26734766] [ 0.31104579 -0.02822164 0.94997582 -0.1079862 ] [ 0. 0. 0. 1. ]] SLAMing on 85.968241008 meters Centerline goodness [0,1] 0.9173424467099166 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.9498083 -0.02475492 -0.31185155 5.68458886] [ 0.0324221 0.99928549 0.01942446 -0.26796594] [ 0.31114788 -0.0285604 0.94993226 -0.10735885] [ 0. 0. 0. 1. ]] SLAMing on 85.99824100800001 meters Centerline goodness [0,1] 0.9165845172513772 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.9498153 -0.02461637 -0.31184119 5.68443668] [ 0.03235562 0.99928289 0.01966753 -0.26784773] [ 0.31113342 -0.02877033 0.94993066 -0.10706045] [ 0. 0. 0. 1. ]] SLAMing on 86.02824100800001 meters Centerline goodness [0,1] 0.9142526407176964 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.94985847 -0.02436074 -0.31172977 5.68429888] [ 0.03215354 0.99928516 0.01988257 -0.26799181] [ 0.31102258 -0.02890884 0.94996276 -0.10715423] [ 0. 0. 0. 1. ]] SLAMing on 86.05824100800001 meters Centerline goodness [0,1] 0.9195385724585436 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.94981277 -0.02401767 -0.31189557 5.68430854] [ 0.03184257 0.9992924 0.02001891 -0.26750063] [ 0.31119406 -0.02894577 0.94990547 -0.10691275] [ 0. 0. 0. 1. ]] SLAMing on 86.08824100800001 meters Centerline goodness [0,1] 0.9202409777470311 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-0.11 [[ 0.94981191 -0.02404788 -0.31189587 5.68460095] [ 0.03175027 0.99930285 0.0196401 -0.26578961] [ 0.31120613 -0.02855718 0.94991328 -0.10747277] [ 0. 0. 0. 1. ]] SLAMing on 86.11824100800001 meters Centerline goodness [0,1] 0.9166666666666666 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.94986528 -0.02389044 -0.3117454 5.68454747] [ 0.0314892 0.99931652 0.01936317 -0.26417505] [ 0.31106973 -0.02820902 0.94996835 -0.10818903] [ 0. 0. 0. 1. ]] SLAMing on 86.14824100800001 meters Centerline goodness [0,1] 0.9144580043072505 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.94998309 -0.02325139 -0.31143459 5.68357165] [ 0.03075232 0.9993427 0.01919532 -0.26259318] [ 0.31078356 -0.02781256 0.9500737 -0.10898477] [ 0. 0. 0. 1. ]] SLAMing on 86.17824100800001 meters Centerline goodness [0,1] 0.9137752459865355 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.9499605 -0.02304449 -0.31151887 5.68346302] [ 0.03056352 0.99934695 0.01927555 -0.26224646] [ 0.31087123 -0.02783213 0.95004445 -0.10877207] [ 0. 0. 0. 1. ]] SLAMing on 86.20824100800002 meters Centerline goodness [0,1] 0.9130684263376847 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.94995648 -0.02299402 -0.31153485 5.6835717 ] [ 0.03050363 0.99934921 0.01925328 -0.26166627] [ 0.3108894 -0.02779272 0.95003965 -0.10881848] [ 0. 0. 0. 1. ]] SLAMing on 86.23824100800002 meters Centerline goodness [0,1] 0.9140481651376147 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.94992419 -0.02294399 -0.31163699 5.68367435] [ 0.03047763 0.99934862 0.01932502 -0.26103421] [ 0.3109906 -0.02785526 0.9500047 -0.10851995] [ 0. 0. 0. 1. ]] SLAMing on 86.268241008 meters Centerline goodness [0,1] 0.9147466095645967 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.94994788 -0.02247962 -0.3115986 5.6825266 ] [ 0.03017992 0.99934614 0.01991161 -0.26126479] [ 0.31094725 -0.02831901 0.95000518 -0.10740891] [ 0. 0. 0. 1. ]] SLAMing on 86.298241008 meters Centerline goodness [0,1] 0.9157536401865148 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.94993253 -0.02233863 -0.31165554 5.68231477] [ 0.03012996 0.99934172 0.02020662 -0.26142815] [ 0.31099899 -0.0285851 0.94998027 -0.10685423] [ 0. 0. 0. 1. ]] SLAMing on 86.328241008 meters Centerline goodness [0,1] 0.9155597451938183 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.94985787 -0.02257189 -0.31186621 5.68304615] [ 0.0303568 0.99933641 0.02012955 -0.26093532] [ 0.3112049 -0.02858747 0.94991277 -0.10668171] [ 0. 0. 0. 1. ]] SLAMing on 86.35824100800001 meters Centerline goodness [0,1] 0.9170912195816138 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.94980702 -0.02281694 -0.31200324 5.68384353] [ 0.03059445 0.99933067 0.02005478 -0.26032763] [ 0.31133681 -0.02859374 0.94986935 -0.1066579 ] [ 0. 0. 0. 1. ]] SLAMing on 86.38824100800001 meters Centerline goodness [0,1] 0.9171054137575827 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.94983596 -0.02247832 -0.3119397 5.68283503] [ 0.03035362 0.99933076 0.02041318 -0.26049274] [ 0.31127208 -0.02885767 0.94988259 -0.10592251] [ 0. 0. 0. 1. ]] SLAMing on 86.41824100800001 meters Centerline goodness [0,1] 0.9171054137575827 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.94983596 -0.02247832 -0.3119397 5.68283503] [ 0.03035362 0.99933076 0.02041318 -0.26049274] [ 0.31127208 -0.02885767 0.94988259 -0.10592251] [ 0. 0. 0. 1. ]] SLAMing on 86.44824100800001 meters Centerline goodness [0,1] 0.9190051565482464 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.94975268 -0.02252596 -0.31218973 5.68322469] [ 0.0305017 0.99932061 0.02068745 -0.2604925 ] [ 0.31151163 -0.02917027 0.9497945 -0.10511289] [ 0. 0. 0. 1. ]] SLAMing on 86.47824100800001 meters Centerline goodness [0,1] 0.9196097449649113 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.10 [[ 0.94973936 -0.02244188 -0.3122363 5.6831388 ] [ 0.03046113 0.99931891 0.02082889 -0.26040219] [ 0.3115562 -0.02929309 0.9497761 -0.10477332] [ 0. 0. 0. 1. ]] SLAMing on 86.50824100800001 meters Centerline goodness [0,1] 0.9206407921693603 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.10 [[ 0.94963587 -0.02260169 -0.31253941 5.68399169] [ 0.03068057 0.99930956 0.02095507 -0.26029066] [ 0.31185 -0.02948857 0.94967363 -0.10426452] [ 0. 0. 0. 1. ]] SLAMing on 86.53824100800001 meters Centerline goodness [0,1] 0.9209254732533682 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.94965888 -0.02245098 -0.31248034 5.68435293] [ 0.0304448 0.99932155 0.02072588 -0.25949357] [ 0.31180303 -0.02919591 0.9496981 -0.10505236] [ 0. 0. 0. 1. ]] SLAMing on 86.56824100800002 meters Centerline goodness [0,1] 0.9184202283664114 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.94967832 -0.02224026 -0.31243633 5.68420473] [ 0.03022558 0.99932795 0.02073789 -0.25874111] [ 0.31176514 -0.0291379 0.94971232 -0.10516398] [ 0. 0. 0. 1. ]] SLAMing on 86.59824100800002 meters Centerline goodness [0,1] 0.9199704436297497 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.94973685 -0.0218806 -0.31228377 5.68367373] [ 0.02981492 0.99934201 0.0206547 -0.25769164] [ 0.31162635 -0.02892724 0.9497643 -0.10553612] [ 0. 0. 0. 1. ]] SLAMing on 86.62824100800002 meters Centerline goodness [0,1] 0.9203559888895188 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.94978612 -0.02144331 -0.31216423 5.68312319] [ 0.0293383 0.99935691 0.02061603 -0.2563725 ] [ 0.31152141 -0.02873919 0.94980444 -0.10578768] [ 0. 0. 0. 1. ]] SLAMing on 86.658241008 meters Centerline goodness [0,1] 0.9187178181406666 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.10 [[ 0.94981355 -0.01525694 -0.31244431 5.68163231] [ 0.02452478 0.99936743 0.02575397 -0.25803702] [ 0.31185374 -0.0321241 0.9495869 -0.10393611] [ 0. 0. 0. 1. ]] SLAMing on 86.688241008 meters Centerline goodness [0,1] 0.9180049762497172 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.10 [[ 0.94982713 -0.01489219 -0.31242063 5.68142279] [ 0.02409747 0.99938117 0.02562396 -0.25717322] [ 0.3118457 -0.03186688 0.94959821 -0.10429589] [ 0. 0. 0. 1. ]] SLAMing on 86.718241008 meters Centerline goodness [0,1] 0.9195580922242315 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.94994387 -0.01431361 -0.31209257 5.68053867] [ 0.02346296 0.99939738 0.02558059 -0.25646792] [ 0.31153834 -0.03162274 0.94970725 -0.10500771] [ 0. 0. 0. 1. ]] SLAMing on 86.74824100800001 meters Centerline goodness [0,1] 0.9218166383701188 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.94983358 -0.01471051 -0.31240961 5.68213065] [ 0.0237935 0.99939717 0.02528161 -0.25599182] [ 0.31184938 -0.03144664 0.94961101 -0.10530748] [ 0. 0. 0. 1. ]] SLAMing on 86.77824100800001 meters Centerline goodness [0,1] 0.9190301791443092 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-0.11 [[ 0.94968902 -0.02045815 -0.31252556 5.68405212] [ 0.0283045 0.99938727 0.02058985 -0.25528518] [ 0.31191283 -0.02839984 0.94968618 -0.10638155] [ 0. 0. 0. 1. ]] SLAMing on 86.80824100800001 meters Centerline goodness [0,1] 0.9194397790998889 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.26, Z:-0.11 [[ 0.94953814 -0.02088768 -0.31295532 5.68592157] [ 0.02879558 0.99937164 0.0206673 -0.25652761] [ 0.31232698 -0.02863612 0.94954296 -0.10618687] [ 0. 0. 0. 1. ]] SLAMing on 86.83824100800001 meters Centerline goodness [0,1] 0.9172623963999886 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.26, Z:-0.11 [[ 0.94935269 -0.02157526 -0.31347085 5.68851547] [ 0.02946114 0.9993569 0.02044092 -0.25720075] [ 0.31282824 -0.02864085 0.94937779 -0.10642233] [ 0. 0. 0. 1. ]] SLAMing on 86.86824100800001 meters Centerline goodness [0,1] 0.9174590445640967 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.26, Z:-0.11 [[ 0.94914772 -0.02205205 -0.3140578 5.69104039] [ 0.02996554 0.99934291 0.02039165 -0.25874864] [ 0.31340176 -0.0287656 0.94918485 -0.10652846] [ 0. 0. 0. 1. ]] SLAMing on 86.89824100800001 meters Centerline goodness [0,1] 0.9163278162762728 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.26, Z:-0.11 [[ 0.94905549 -0.02191604 -0.31434594 5.69140076] [ 0.02998045 0.99933316 0.02084227 -0.25977032] [ 0.31367954 -0.0292047 0.94907968 -0.10567631] [ 0. 0. 0. 1. ]] SLAMing on 86.92824100800001 meters Centerline goodness [0,1] 0.917567451328956 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.26, Z:-0.11 [[ 0.94906638 -0.02154119 -0.31433898 5.69094551] [ 0.02976238 0.99932838 0.02137741 -0.26113326] [ 0.31366736 -0.02964406 0.94907008 -0.10509192] [ 0. 0. 0. 1. ]] SLAMing on 86.95824100800002 meters Centerline goodness [0,1] 0.9165184972755951 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.26, Z:-0.10 [[ 0.94902849 -0.02140498 -0.31446263 5.69090572] [ 0.02984387 0.99931144 0.02204537 -0.26288351] [ 0.31377422 -0.03030647 0.94901383 -0.1040624 ] [ 0. 0. 0. 1. ]] SLAMing on 86.98824100800002 meters Centerline goodness [0,1] 0.9160331720801659 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.26, Z:-0.10 [[ 0.94902096 -0.02619383 -0.31412276 5.69002899] [ 0.03365705 0.99926482 0.01835802 -0.26342149] [ 0.31341096 -0.02799459 0.94920487 -0.10392537] [ 0. 0. 0. 1. ]] SLAMing on 87.018241008 meters Centerline goodness [0,1] 0.917985902472845 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.26, Z:-0.10 [[ 0.94891816 -0.02602691 -0.31444701 5.69021726] [ 0.03372838 0.99924899 0.01907513 -0.26488609] [ 0.31371439 -0.02870652 0.94908336 -0.10257617] [ 0. 0. 0. 1. ]] SLAMing on 87.048241008 meters Centerline goodness [0,1] 0.9209360247907556 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.27, Z:-0.10 [[ 0.94884811 -0.02596961 -0.31466306 5.69042427] [ 0.03379937 0.99923933 0.01945132 -0.26553213] [ 0.31391857 -0.02909176 0.94900411 -0.10176058] [ 0. 0. 0. 1. ]] SLAMing on 87.078241008 meters Centerline goodness [0,1] 0.9191129639279717 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.26, Z:-0.10 [[ 0.9487825 -0.02579955 -0.31487482 5.69024044] [ 0.03367827 0.9992404 0.01960587 -0.26496198] [ 0.31412982 -0.02920615 0.94893069 -0.1010836 ] [ 0. 0. 0. 1. ]] SLAMing on 87.10824100800001 meters Centerline goodness [0,1] 0.9186569546417481 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.27, Z:-0.10 [[ 0.9486827 -0.02586093 -0.31517034 5.69089848] [ 0.03379495 0.99923394 0.01973399 -0.26515328] [ 0.31441856 -0.02937246 0.94882993 -0.10058961] [ 0. 0. 0. 1. ]] SLAMing on 87.13824100800001 meters Centerline goodness [0,1] 0.9200197267268139 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.27, Z:-0.10 [[ 0.94862217 -0.02582797 -0.31535519 5.69115492] [ 0.03386979 0.99922519 0.02004622 -0.26541536] [ 0.3145931 -0.0296973 0.94876196 -0.09987462] [ 0. 0. 0. 1. ]] SLAMing on 87.16824100800001 meters Centerline goodness [0,1] 0.9186026302068246 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.26, Z:-0.10 [[ 0.94837385 -0.0264843 -0.31604687 5.69345915] [ 0.03448707 0.99920989 0.0197542 -0.26407922] [ 0.31527399 -0.0296339 0.9485379 -0.09945928] [ 0. 0. 0. 1. ]] SLAMing on 87.19824100800001 meters Centerline goodness [0,1] 0.9163232135601092 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.26, Z:-0.10 [[ 0.94821153 -0.02703924 -0.31648662 5.69551126] [ 0.03497076 0.99919989 0.01940707 -0.26360143] [ 0.31570864 -0.02946979 0.94839843 -0.09970212] [ 0. 0. 0. 1. ]] SLAMing on 87.22824100800001 meters Centerline goodness [0,1] 0.9160143793123442 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.26, Z:-0.10 [[ 0.94800462 -0.02791264 -0.31703016 5.69804654] [ 0.03571604 0.9991846 0.01882816 -0.26287646] [ 0.31624611 -0.02917225 0.94822855 -0.10001339] [ 0. 0. 0. 1. ]] SLAMing on 87.25824100800001 meters Centerline goodness [0,1] 0.9164468917548181 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.26, Z:-0.10 [[ 0.94779714 -0.02847311 -0.31760017 5.69984896] [ 0.03630691 0.99916434 0.01877287 -0.26276437] [ 0.31680024 -0.02932396 0.94803888 -0.09937891] [ 0. 0. 0. 1. ]] SLAMing on 87.28824100800001 meters Centerline goodness [0,1] 0.9188626305284776 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.26, Z:-0.10 [[ 0.94758545 -0.02918021 -0.31816714 5.70175434] [ 0.03697252 0.99914542 0.01847881 -0.26194702] [ 0.31735603 -0.0292737 0.94785453 -0.09899556] [ 0. 0. 0. 1. ]] SLAMing on 87.31824100800002 meters Centerline goodness [0,1] 0.9193157560722321 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.26, Z:-0.10 [[ 0.94736712 -0.02992122 -0.31874797 5.70386252] [ 0.03768422 0.99912368 0.01821437 -0.26099355] [ 0.31792365 -0.02926747 0.94766448 -0.0985462 ] [ 0. 0. 0. 1. ]] SLAMing on 87.34824100800002 meters Centerline goodness [0,1] 0.9249667226112622 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.26, Z:-0.10 [[ 0.94723066 -0.02988659 -0.31915648 5.70416881] [ 0.0377981 0.99911186 0.01862246 -0.26118684] [ 0.31831646 -0.02970327 0.94751905 -0.09725479] [ 0. 0. 0. 1. ]] SLAMing on 87.37824100800002 meters Centerline goodness [0,1] 0.9210366646441883 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.26, Z:-0.10 [[ 0.94702965 -0.02976412 -0.31976387 5.70445078] [ 0.03780746 0.99910489 0.01897432 -0.2606122 ] [ 0.31891289 -0.0300587 0.94730726 -0.09557953] [ 0. 0. 0. 1. ]] SLAMing on 87.408241008 meters Centerline goodness [0,1] 0.9177346726705923 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.26, Z:-0.10 [[ 0.94689044 -0.02994938 -0.32015859 5.70537679] [ 0.03796418 0.99910186 0.01882018 -0.2592049 ] [ 0.31930739 -0.02997521 0.947177 -0.09519902] [ 0. 0. 0. 1. ]] SLAMing on 87.438241008 meters Centerline goodness [0,1] 0.9160776620604102 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.26, Z:-0.09 [[ 0.94676298 -0.03014747 -0.32051675 5.70621928] [ 0.03810694 0.99910076 0.01858836 -0.25740758] [ 0.31966814 -0.02981268 0.94706044 -0.09489465] [ 0. 0. 0. 1. ]] SLAMing on 87.468241008 meters Centerline goodness [0,1] 0.916343028106211 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.26, Z:-0.09 [[ 0.94663376 -0.03051536 -0.32086343 5.70742634] [ 0.03838096 0.99909713 0.01821619 -0.25558485] [ 0.32001786 -0.02955911 0.94695028 -0.09482736] [ 0. 0. 0. 1. ]] SLAMing on 87.49824100800001 meters Centerline goodness [0,1] 0.9183918907310369 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.26, Z:-0.09 [[ 0.94636253 -0.02574686 -0.32207928 5.70889017] [ 0.03517179 0.99910549 0.02347692 -0.25637878] [ 0.32118672 -0.03354578 0.94642156 -0.09104943] [ 0. 0. 0. 1. ]] SLAMing on 87.52824100800001 meters Centerline goodness [0,1] 0.9148972700738282 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.26, Z:-0.09 [[ 0.94627036 -0.02578147 -0.3223472 5.70915117] [ 0.03532774 0.99909237 0.02379897 -0.25612144] [ 0.32144105 -0.03390806 0.9463223 -0.08998647] [ 0. 0. 0. 1. ]] SLAMing on 87.55824100800001 meters Centerline goodness [0,1] 0.915233380076124 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.26, Z:-0.09 [[ 0.94609 -0.02614532 -0.32284692 5.71018274] [ 0.03575008 0.999076 0.02385536 -0.25580884] [ 0.3219249 -0.03411112 0.94615051 -0.08895213] [ 0. 0. 0. 1. ]] SLAMing on 87.58824100800001 meters Centerline goodness [0,1] 0.9175520490277499 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.26, Z:-0.09 [[ 0.94601948 -0.02620215 -0.3230489 5.71046529] [ 0.03586513 0.99906855 0.02399441 -0.25570735] [ 0.32211929 -0.03428537 0.94607805 -0.08827778] [ 0. 0. 0. 1. ]] SLAMing on 87.61824100800001 meters Centerline goodness [0,1] 0.9185324983557805 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.26, Z:-0.09 [[ 0.94577147 -0.02651404 -0.32374888 5.71140392] [ 0.03629382 0.99904795 0.02420659 -0.25514559] [ 0.32279884 -0.03464399 0.94583334 -0.08649253] [ 0. 0. 0. 1. ]] SLAMing on 87.64824100800001 meters Centerline goodness [0,1] 0.9165209915460668 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.25, Z:-0.09 [[ 0.94559406 -0.02717717 -0.32421177 5.71318542] [ 0.036883 0.99903546 0.02382823 -0.25448815] [ 0.32325147 -0.03448974 0.94568438 -0.0863319 ] [ 0. 0. 0. 1. ]] SLAMing on 87.67824100800001 meters Centerline goodness [0,1] 0.9157906829800678 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.25, Z:-0.09 [[ 0.94538433 -0.02821766 -0.32473409 5.71598326] [ 0.03774704 0.99902072 0.02308175 -0.25324429] [ 0.32376477 -0.03407887 0.94552366 -0.08683205] [ 0. 0. 0. 1. ]] SLAMing on 87.70824100800002 meters Centerline goodness [0,1] 0.9154352806414662 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.25, Z:-0.09 [[ 0.94508816 -0.02978119 -0.32545577 5.7202131 ] [ 0.03902631 0.99899787 0.02191376 -0.2515233 ] [ 0.324477 -0.03341177 0.9453033 -0.08781395] [ 0. 0. 0. 1. ]] SLAMing on 87.73824100800002 meters Centerline goodness [0,1] 0.9122983292185796 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.25, Z:-0.09 [[ 0.94453629 -0.03251216 -0.32679375 5.72700457] [ 0.04153996 0.99892276 0.02068233 -0.25114527] [ 0.32576929 -0.03311021 0.94486935 -0.08786951] [ 0. 0. 0. 1. ]] SLAMing on 87.768241008 meters Centerline goodness [0,1] 0.914513437302181 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.25, Z:-0.09 [[ 0.94410178 -0.03398501 -0.32789761 5.73085766] [ 0.0430561 0.9988635 0.0204422 -0.25184823] [ 0.32683023 -0.03341751 0.94449207 -0.08662042] [ 0. 0. 0. 1. ]] SLAMing on 87.798241008 meters Centerline goodness [0,1] 0.9152532611512656 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.25, Z:-0.09 [[ 0.943713 -0.03522899 -0.328884 5.73421356] [ 0.04442884 0.99880225 0.02049745 -0.25294487] [ 0.32776798 -0.03395564 0.94414785 -0.08515414] [ 0. 0. 0. 1. ]] SLAMing on 87.828241008 meters Centerline goodness [0,1] 0.917176674364896 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.25, Z:-0.08 [[ 0.94333167 -0.03655607 -0.32983181 5.73745983] [ 0.04587692 0.99873637 0.02051736 -0.25387303] [ 0.32866499 -0.03448634 0.94381673 -0.0836406 ] [ 0. 0. 0. 1. ]] SLAMing on 87.85824100800001 meters Centerline goodness [0,1] 0.920475293435734 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.25, Z:-0.08 [[ 0.94273096 -0.04371755 -0.33067674 5.74179837] [ 0.05195557 0.99851944 0.01611028 -0.25314413] [ 0.32948285 -0.03236816 0.94360657 -0.08231842] [ 0. 0. 0. 1. ]] SLAMing on 87.88824100800001 meters Centerline goodness [0,1] 0.9203048195224106 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.25, Z:-0.08 [[ 0.94232821 -0.04501653 -0.331649 5.74479575] [ 0.05343878 0.99843785 0.0163144 -0.2541846 ] [ 0.33039649 -0.03309644 0.94326178 -0.08031843] [ 0. 0. 0. 1. ]] SLAMing on 87.91824100800001 meters Centerline goodness [0,1] 0.9267916399836992 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.25, Z:-0.08 [[ 0.94182879 -0.04632709 -0.33288487 5.74829068] [ 0.05495094 0.99835217 0.01653313 -0.25471655] [ 0.3315704 -0.03386371 0.94282253 -0.07800115] [ 0. 0. 0. 1. ]] SLAMing on 87.94824100800001 meters Centerline goodness [0,1] 0.9164865969748291 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.25, Z:-0.08 [[ 0.94123135 -0.05334929 -0.33352272 5.7521963 ] [ 0.06052013 0.99810482 0.01113948 -0.25186232] [ 0.33229635 -0.03066966 0.94267625 -0.07832396] [ 0. 0. 0. 1. ]] SLAMing on 87.97824100800001 meters Centerline goodness [0,1] 0.9076963305151224 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.25, Z:-0.08 [[ 0.94070001 -0.05496155 -0.3347577 5.75654051] [ 0.06211481 0.99801174 0.01069171 -0.25089073] [ 0.33350448 -0.03085111 0.94224358 -0.07709402] [ 0. 0. 0. 1. ]] SLAMing on 88.00824100800001 meters Centerline goodness [0,1] 0.9117749825296995 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.25, Z:-0.08 [[ 0.94034517 -0.05637134 -0.33551935 5.7601805 ] [ 0.06333382 0.99794392 0.00983614 -0.24945046] [ 0.33427502 -0.03049909 0.94198196 -0.07732158] [ 0. 0. 0. 1. ]] SLAMing on 88.03824100800001 meters Centerline goodness [0,1] 0.857171910863186 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.25, Z:-0.08 [[ 0.93985524 -0.05822518 -0.33657385 5.76493353] [ 0.06488742 0.99785579 0.00857003 -0.24694059] [ 0.33535318 -0.029894 0.94161807 -0.07763277] [ 0. 0. 0. 1. ]] SLAMing on 88.06824100800002 meters Centerline goodness [0,1] 0.8766976515217328 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.24, Z:-0.08 [[ 0.93930548 -0.06046744 -0.33771128 5.77005283] [ 0.06666579 0.99775236 0.00677503 -0.24275704] [ 0.33654255 -0.02887761 0.94122537 -0.07818203] [ 0. 0. 0. 1. ]] SLAMing on 88.09824100800002 meters Centerline goodness [0,1] 0.8873064478853709 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.24, Z:-0.08 [[ 0.93896979 -0.0610569 -0.33853771 5.77149109] [ 0.06728915 0.99771108 0.00669155 -0.2416483 ] [ 0.33735426 -0.02906307 0.94092903 -0.07663121] [ 0. 0. 0. 1. ]] SLAMing on 88.12824100800002 meters Centerline goodness [0,1] 0.8871051567823526 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.24, Z:-0.07 [[ 0.9387285 -0.06123194 -0.33917467 5.77197403] [ 0.06758565 0.99768933 0.00694075 -0.24083463] [ 0.33796595 -0.02943882 0.94069781 -0.0748572 ] [ 0. 0. 0. 1. ]] SLAMing on 88.158241008 meters Centerline goodness [0,1] 0.8959144249344059 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.24, Z:-0.07 [[ 0.93824607 -0.05704697 -0.34123299 5.77494421] [ 0.06530772 0.99778358 0.01276013 -0.24221021] [ 0.33974875 -0.03425729 0.93989214 -0.06889083] [ 0. 0. 0. 1. ]] SLAMing on 88.188241008 meters Centerline goodness [0,1] 0.9043832706605046 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.24, Z:-0.07 [[ 0.93815338 -0.05221206 -0.34226033 5.77490828] [ 0.06185663 0.99793481 0.01731655 -0.23947261] [ 0.34064937 -0.03741665 0.93944558 -0.06562489] [ 0. 0. 0. 1. ]] SLAMing on 88.218241008 meters Centerline goodness [0,1] 0.9102923508209851 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.24, Z:-0.07 [[ 0.93806183 -0.05220392 -0.34251242 5.77448308] [ 0.06173815 0.99794786 0.01698452 -0.23635005] [ 0.34092288 -0.03707862 0.93935977 -0.06509096] [ 0. 0. 0. 1. ]] SLAMing on 88.24824100800001 meters Centerline goodness [0,1] 0.9144579001485205 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.23, Z:-0.06 [[ 0.93801989 -0.05194795 -0.34266616 5.77361174] [ 0.0614114 0.99797086 0.01681686 -0.23380441] [ 0.34109724 -0.03681816 0.93930671 -0.06453469] [ 0. 0. 0. 1. ]] SLAMing on 88.27824100800001 meters Centerline goodness [0,1] 0.9190496393720832 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.23, Z:-0.06 [[ 0.93793166 -0.04674338 -0.34365572 5.7737342 ] [ 0.05736333 0.99813676 0.02079581 -0.23070043] [ 0.34204334 -0.03921829 0.93886542 -0.06269443] [ 0. 0. 0. 1. ]] SLAMing on 88.30824100800001 meters Centerline goodness [0,1] 0.9214893556868621 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.23, Z:-0.06 [[ 0.93789869 -0.0418914 -0.34437066 5.7745796 ] [ 0.05365122 0.99825455 0.02468599 -0.22934713] [ 0.34273545 -0.04162886 0.93850916 -0.0617577 ] [ 0. 0. 0. 1. ]] SLAMing on 88.33824100800001 meters Centerline goodness [0,1] 0.9214893556868621 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.23, Z:-0.06 [[ 0.93789869 -0.0418914 -0.34437066 5.7745796 ] [ 0.05365122 0.99825455 0.02468599 -0.22934713] [ 0.34273545 -0.04162886 0.93850916 -0.0617577 ] [ 0. 0. 0. 1. ]] SLAMing on 88.36824100800001 meters Centerline goodness [0,1] 0.9212088808847118 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.23, Z:-0.06 [[ 0.93782237 -0.03700006 -0.34513795 5.77560088] [ 0.04986082 0.99835069 0.02845692 -0.22763634] [ 0.3435158 -0.0438964 0.93812046 -0.06095755] [ 0. 0. 0. 1. ]] SLAMing on 88.39824100800001 meters Centerline goodness [0,1] 0.9155572994030436 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.22, Z:-0.06 [[ 0.93775645 -0.03648058 -0.34537227 5.77512835] [ 0.04913435 0.99840098 0.02795188 -0.22402112] [ 0.34380031 -0.04318169 0.9380494 -0.06125823] [ 0. 0. 0. 1. ]] SLAMing on 88.42824100800001 meters Centerline goodness [0,1] 0.9156394129979035 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.22, Z:-0.06 [[ 0.937751 -0.0359793 -0.34543964 5.77449193] [ 0.04841655 0.99845022 0.02744076 -0.22100402] [ 0.34391699 -0.0424576 0.93803969 -0.06172839] [ 0. 0. 0. 1. ]] SLAMing on 88.45824100800002 meters Centerline goodness [0,1] 0.9166574248641455 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.22, Z:-0.06 [[ 0.93766803 -0.03107198 -0.34614043 5.77597827] [ 0.04430541 0.99855592 0.03038262 -0.21741828] [ 0.34469652 -0.04382471 0.93769062 -0.06241993] [ 0. 0. 0. 1. ]] SLAMing on 88.48824100800002 meters Centerline goodness [0,1] 0.9147642474158422 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.21, Z:-0.06 [[ 0.9376826 -0.03085703 -0.34612019 5.7760025 ] [ 0.04386228 0.99859296 0.02980263 -0.21456059] [ 0.34471356 -0.04312703 0.93771671 -0.06339046] [ 0. 0. 0. 1. ]] SLAMing on 88.518241008 meters Centerline goodness [0,1] 0.917907977490897 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.21, Z:-0.06 [[ 0.93764902 -0.03088969 -0.34620823 5.77618273] [ 0.04366068 0.99862112 0.02914804 -0.21198056] [ 0.34483047 -0.04244632 0.93770478 -0.06401545] [ 0. 0. 0. 1. ]] SLAMing on 88.548241008 meters Centerline goodness [0,1] 0.9249511328910057 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.21, Z:-0.06 [[ 0.9397406 -0.02910382 -0.34064728 5.78910468] [ 0.03922872 0.99896848 0.02287122 -0.20759525] [ 0.33963026 -0.03485617 0.93991294 -0.06312227] [ 0. 0. 0. 1. ]] SLAMing on 88.578241008 meters Centerline goodness [0,1] 0.9251238304898184 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.21, Z:-0.06 [[ 0.9398165 -0.02828404 -0.34050692 5.78720128] [ 0.03849781 0.99898757 0.0232755 -0.20700178] [ 0.33950386 -0.03498347 0.93995387 -0.06239455] [ 0. 0. 0. 1. ]] SLAMing on 88.60824100800001 meters Centerline goodness [0,1] 0.9282282199829769 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.21, Z:-0.06 [[ 0.93976716 -0.02797711 -0.34066842 5.78660524] [ 0.03817628 0.99900002 0.02327096 -0.2060533 ] [ 0.3396767 -0.03487474 0.93989547 -0.06183807] [ 0. 0. 0. 1. ]] SLAMing on 88.63824100800001 meters Centerline goodness [0,1] 0.9272527170174715 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.21, Z:-0.06 [[ 0.93997856 -0.0265657 -0.34019783 5.7835985 ] [ 0.03683763 0.99903853 0.02376975 -0.2050475 ] [ 0.33923928 -0.03487513 0.94005342 -0.06153585] [ 0. 0. 0. 1. ]] SLAMing on 88.66824100800001 meters Centerline goodness [0,1] 0.9256582201945803 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.20, Z:-0.06 [[ 0.94001818 -0.0264403 -0.34009812 5.78366032] [ 0.03662314 0.99905149 0.02355555 -0.20407873] [ 0.33915272 -0.03459811 0.94009489 -0.06212007] [ 0. 0. 0. 1. ]] SLAMing on 88.69824100800001 meters Centerline goodness [0,1] 0.9248615148357374 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.20, Z:-0.06 [[ 0.94004265 -0.02640909 -0.34003291 5.78394778] [ 0.03651729 0.99905993 0.02336112 -0.20336225] [ 0.33909631 -0.03437753 0.94012333 -0.06268167] [ 0. 0. 0. 1. ]] SLAMing on 88.72824100800001 meters Centerline goodness [0,1] 0.9250089111897124 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.20, Z:-0.06 [[ 0.93998824 -0.02657722 -0.34017018 5.78477811] [ 0.03664521 0.99905887 0.02320561 -0.20296347] [ 0.3392333 -0.0342786 0.94007752 -0.06289369] [ 0. 0. 0. 1. ]] SLAMing on 88.75824100800001 meters Centerline goodness [0,1] 0.9251888196703236 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.20, Z:-0.06 [[ 0.93984878 -0.02666869 -0.34054815 5.7860235 ] [ 0.03686913 0.99904338 0.02351568 -0.20468526] [ 0.33959525 -0.0346569 0.93993296 -0.06245239] [ 0. 0. 0. 1. ]] SLAMing on 88.78824100800001 meters Centerline goodness [0,1] 0.9243634755204158 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.21, Z:-0.06 [[ 0.93958346 -0.02690855 -0.34126068 5.78761327] [ 0.03734635 0.99901289 0.02405206 -0.20788001] [ 0.34027661 -0.03534376 0.93966092 -0.06105102] [ 0. 0. 0. 1. ]] SLAMing on 88.81824100800002 meters Centerline goodness [0,1] 0.925929009519052 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.21, Z:-0.06 [[ 0.9394873 -0.03181355 -0.34110338 5.78755203] [ 0.04114545 0.99894983 0.02015661 -0.2088849 ] [ 0.34010391 -0.03297173 0.93980966 -0.06121656] [ 0. 0. 0. 1. ]] SLAMing on 88.84824100800002 meters Centerline goodness [0,1] 0.9275229357798165 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.21, Z:-0.06 [[ 0.93938867 -0.03703834 -0.34084761 5.7882032 ] [ 0.04515697 0.99885315 0.0159135 -0.20910482] [ 0.33986729 -0.03034061 0.93998387 -0.06213381] [ 0. 0. 0. 1. ]] SLAMing on 88.87824100800002 meters Centerline goodness [0,1] 0.9236363636363636 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.21, Z:-0.06 [[ 0.93917449 -0.04246308 -0.34080518 5.79413845] [ 0.04967109 0.99868805 0.01244832 -0.2097869 ] [ 0.33982947 -0.02861931 0.94005152 -0.0644562 ] [ 0. 0. 0. 1. ]] SLAMing on 88.908241008 meters Centerline goodness [0,1] 0.9194835746492285 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.06 [[ 0.93888668 -0.04327379 -0.34149552 5.79708735] [ 0.05065182 0.99863545 0.01271344 -0.21222826] [ 0.34047937 -0.02923385 0.93979741 -0.06377313] [ 0. 0. 0. 1. ]] SLAMing on 88.938241008 meters Centerline goodness [0,1] 0.9181094861881549 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-0.06 [[ 0.93845068 -0.04447391 -0.34253816 5.80093213] [ 0.05211713 0.99855457 0.01313644 -0.21539833] [ 0.34145882 -0.03018 0.93941207 -0.06218152] [ 0. 0. 0. 1. ]] SLAMing on 88.968241008 meters Centerline goodness [0,1] 0.9189687970245024 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.06 [[ 0.93795005 -0.05188737 -0.34286646 5.80621638] [ 0.05830558 0.99826319 0.00843029 -0.218697 ] [ 0.34183354 -0.02789822 0.93934632 -0.06302375] [ 0. 0. 0. 1. ]] SLAMing on 88.99824100800001 meters Centerline goodness [0,1] 0.9191086604325953 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.06 [[ 0.93761866 -0.05314116 -0.34358007 5.80977415] [ 0.05974142 0.99817645 0.00864547 -0.22153877] [ 0.34249411 -0.02863212 0.93908359 -0.06220373] [ 0. 0. 0. 1. ]] SLAMing on 89.02824100800001 meters Centerline goodness [0,1] 0.9194538859215675 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.06 [[ 0.93724948 -0.05459077 -0.3443592 5.8135241 ] [ 0.06127728 0.99808412 0.0085548 -0.22384819] [ 0.34323244 -0.02911938 0.938799 -0.06151279] [ 0. 0. 0. 1. ]] SLAMing on 89.05824100800001 meters Centerline goodness [0,1] 0.9181286549707602 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.06 [[ 0.93699785 -0.0552841 -0.34493288 5.81587401] [ 0.06223126 0.99802035 0.00909132 -0.2269735 ] [ 0.34374743 -0.02998416 0.93858332 -0.0604083 ] [ 0. 0. 0. 1. ]] SLAMing on 89.08824100800001 meters Centerline goodness [0,1] 0.9141878077576525 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.06 [[ 0.93686094 -0.05740569 -0.34495821 5.81828004] [ 0.0643541 0.99788907 0.00871507 -0.23147769] [ 0.34372973 -0.03036428 0.93857759 -0.05992312] [ 0. 0. 0. 1. ]] SLAMing on 89.11824100800001 meters Centerline goodness [0,1] 0.9096915664041086 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.06 [[ 0.9367165 -0.05729173 -0.34536916 5.81912696] [ 0.06443369 0.99787936 0.00922452 -0.23298975] [ 0.34410827 -0.03089417 0.93842157 -0.05909229] [ 0. 0. 0. 1. ]] SLAMing on 89.14824100800001 meters Centerline goodness [0,1] 0.9062427812427812 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.06 [[ 0.93658835 -0.05711019 -0.34574656 5.81982239] [ 0.06437762 0.99787979 0.00956257 -0.23390019] [ 0.34446739 -0.03121453 0.93827921 -0.05853733] [ 0. 0. 0. 1. ]] SLAMing on 89.17824100800001 meters Centerline goodness [0,1] 0.9070271833429728 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.06 [[ 0.93655458 -0.05708173 -0.34584272 5.82032046] [ 0.06433559 0.9978829 0.0095214 -0.2336801 ] [ 0.34456704 -0.0311673 0.93824419 -0.05873518] [ 0. 0. 0. 1. ]] SLAMing on 89.20824100800002 meters Centerline goodness [0,1] 0.9087392095158356 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.24, Z:-0.06 [[ 0.93662504 -0.05193772 -0.34646212 5.82103748] [ 0.0606368 0.99805735 0.01430783 -0.23541427] [ 0.34504595 -0.03440942 0.93795484 -0.05725962] [ 0. 0. 0. 1. ]] SLAMing on 89.23824100800002 meters Centerline goodness [0,1] 0.9167411679884643 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.06 [[ 0.93670415 -0.05155951 -0.3463047 5.82014378] [ 0.06023706 0.99808118 0.0143334 -0.23419846] [ 0.34490118 -0.03428653 0.93801258 -0.05738367] [ 0. 0. 0. 1. ]] SLAMing on 89.268241008 meters Centerline goodness [0,1] 0.9180143884892087 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.06 [[ 0.93677332 -0.05093289 -0.34621032 5.81868769] [ 0.05970051 0.99810809 0.01470008 -0.23340642] [ 0.3448066 -0.03443958 0.93804175 -0.05682886] [ 0. 0. 0. 1. ]] SLAMing on 89.298241008 meters Centerline goodness [0,1] 0.9193335248491813 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.05 [[ 0.93698596 -0.04918856 -0.34588696 5.81438511] [ 0.05830856 0.99817031 0.01600448 -0.23339459] [ 0.34446686 -0.03516414 0.93813969 -0.05478306] [ 0. 0. 0. 1. ]] SLAMing on 89.328241008 meters Centerline goodness [0,1] 0.9202365912484208 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.05 [[ 0.9370119 -0.04858779 -0.3459016 5.81285589] [ 0.05786099 0.99818784 0.01652695 -0.23316733] [ 0.34447176 -0.03550015 0.93812523 -0.05367531] [ 0. 0. 0. 1. ]] SLAMing on 89.35824100800001 meters Centerline goodness [0,1] 0.9200434981684982 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.05 [[ 0.93700885 -0.04830872 -0.34594897 5.8119219 ] [ 0.05766741 0.99819441 0.01680416 -0.2324142 ] [ 0.34451254 -0.03569563 0.93810283 -0.05283418] [ 0. 0. 0. 1. ]] SLAMing on 89.38824100800001 meters Centerline goodness [0,1] 0.9209286387389702 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.05 [[ 0.93704488 -0.04821196 -0.34586487 5.81085499] [ 0.05756971 0.99819965 0.01682808 -0.23080203] [ 0.34443088 -0.03568001 0.93813342 -0.05231307] [ 0. 0. 0. 1. ]] SLAMing on 89.41824100800001 meters Centerline goodness [0,1] 0.9206281349749202 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.05 [[ 0.93696626 -0.0484307 -0.34604723 5.81121878] [ 0.05777156 0.99818975 0.01672308 -0.22980962] [ 0.34461089 -0.03566065 0.93806804 -0.0520007 ] [ 0. 0. 0. 1. ]] SLAMing on 89.44824100800001 meters Centerline goodness [0,1] 0.9183935239289684 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.05 [[ 0.93686369 -0.04878484 -0.34627513 5.81190485] [ 0.05806241 0.99817721 0.01646277 -0.22860631] [ 0.34484081 -0.03552894 0.93798855 -0.05186123] [ 0. 0. 0. 1. ]] SLAMing on 89.47824100800001 meters Centerline goodness [0,1] 0.9190552168214713 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.05 [[ 0.93676654 -0.04883075 -0.3465314 5.81208934] [ 0.05816257 0.99816954 0.01657391 -0.22830494] [ 0.34508777 -0.03568104 0.93789194 -0.05118699] [ 0. 0. 0. 1. ]] SLAMing on 89.50824100800001 meters Centerline goodness [0,1] 0.9174398087540554 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.05 [[ 0.93667859 -0.04879193 -0.34677451 5.81201021] [ 0.05820177 0.99816404 0.01676594 -0.22819714] [ 0.3453198 -0.03588718 0.93779867 -0.05034908] [ 0. 0. 0. 1. ]] SLAMing on 89.53824100800001 meters Centerline goodness [0,1] 0.9172133708216182 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.05 [[ 0.93670988 -0.04845254 -0.34673757 5.81075122] [ 0.05780445 0.99818869 0.01667317 -0.22600347] [ 0.34530166 -0.0356609 0.93781398 -0.04999831] [ 0. 0. 0. 1. ]] SLAMing on 89.56824100800002 meters Centerline goodness [0,1] 0.9131037605047961 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.05 [[ 0.93668407 -0.04351691 -0.34746111 5.81155274] [ 0.05423959 0.99830311 0.0211888 -0.2267536 ] [ 0.34594944 -0.03869336 0.93745496 -0.04837791] [ 0. 0. 0. 1. ]] SLAMing on 89.59824100800002 meters Centerline goodness [0,1] 0.9137708052181737 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.05 [[ 0.93679099 -0.03818042 -0.34780009 5.81109796] [ 0.05004214 0.99842957 0.02518274 -0.22484443] [ 0.34629241 -0.04099563 0.93723045 -0.04779025] [ 0. 0. 0. 1. ]] SLAMing on 89.62824100800002 meters Centerline goodness [0,1] 0.9105862505272038 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.05 [[ 0.93688819 -0.03767428 -0.34759338 5.81013998] [ 0.04942212 0.99846529 0.02499052 -0.22275172] [ 0.34611843 -0.04059212 0.93731228 -0.04832545] [ 0. 0. 0. 1. ]] SLAMing on 89.658241008 meters Centerline goodness [0,1] 0.9112665069370925 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.05 [[ 0.93669621 -0.03288859 -0.34859511 5.81182668] [ 0.04593103 0.99851736 0.02921324 -0.22288266] [ 0.34711749 -0.04337526 0.93681804 -0.0467894 ] [ 0. 0. 0. 1. ]] SLAMing on 89.688241008 meters Centerline goodness [0,1] 0.9126378051151037 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.05 [[ 0.93683692 -0.03222035 -0.34827926 5.8105376 ] [ 0.04507238 0.99856677 0.02885988 -0.21994345] [ 0.34685022 -0.04273478 0.93694646 -0.04773794] [ 0. 0. 0. 1. ]] SLAMing on 89.718241008 meters Centerline goodness [0,1] 0.9143490304709141 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.05 [[ 0.93697108 -0.03142265 -0.34799111 5.80898532] [ 0.04412906 0.99861506 0.02864592 -0.21735411] [ 0.34660904 -0.04219692 0.93706008 -0.04841866] [ 0. 0. 0. 1. ]] SLAMing on 89.74824100800001 meters Centerline goodness [0,1] 0.9155838758830863 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.05 [[ 0.9371537 -0.02514229 -0.34800978 5.80706498] [ 0.03904405 0.99869276 0.03299004 -0.2162157 ] [ 0.34672541 -0.04450445 0.93691027 -0.04798029] [ 0. 0. 0. 1. ]] SLAMing on 89.77824100800001 meters Centerline goodness [0,1] 0.9193197765609091 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.05 [[ 0.9372862 -0.02455692 -0.34769461 5.80595021] [ 0.03820803 0.99874249 0.03245901 -0.21362 ] [ 0.34646028 -0.0437081 0.93704582 -0.04915268] [ 0. 0. 0. 1. ]] SLAMing on 89.80824100800001 meters Centerline goodness [0,1] 0.9210271719600851 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.05 [[ 0.93746019 -0.02384566 -0.34727477 5.8043099 ] [ 0.03733518 0.99878376 0.03220386 -0.21149727] [ 0.34608448 -0.04315541 0.9372103 -0.04997119] [ 0. 0. 0. 1. ]] SLAMing on 89.83824100800001 meters Centerline goodness [0,1] 0.9226092219654451 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.05 [[ 0.93756852 -0.02346605 -0.34700808 5.80349893] [ 0.03680207 0.9988136 0.03189047 -0.20981487] [ 0.34584805 -0.04267012 0.93731979 -0.0507399 ] [ 0. 0. 0. 1. ]] SLAMing on 89.86824100800001 meters Centerline goodness [0,1] 0.926604495062034 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.05 [[ 0.9376984 -0.02197771 -0.34675451 5.80106851] [ 0.03536541 0.99885146 0.03232726 -0.2097281 ] [ 0.34564577 -0.04257634 0.93739867 -0.05068336] [ 0. 0. 0. 1. ]] SLAMing on 89.89824100800001 meters Centerline goodness [0,1] 0.9257179042427246 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.05 [[ 0.93774498 -0.02136448 -0.34666686 5.80007544] [ 0.03482853 0.99885969 0.03265428 -0.21022385] [ 0.34557391 -0.04269528 0.93741975 -0.05043394] [ 0. 0. 0. 1. ]] SLAMing on 89.92824100800001 meters Centerline goodness [0,1] 0.9261374557236607 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.05 [[ 0.93782245 -0.02084405 -0.34648892 5.79916539] [ 0.03436131 0.99886734 0.03291408 -0.21068006] [ 0.3454104 -0.04277338 0.93747645 -0.05043536] [ 0. 0. 0. 1. ]] SLAMing on 89.95824100800002 meters Centerline goodness [0,1] 0.9244653880070547 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.05 [[ 0.93784225 -0.02053732 -0.34645366 5.79861984] [ 0.03413332 0.99886614 0.03318664 -0.2110287 ] [ 0.34537926 -0.04294944 0.93747987 -0.05010876] [ 0. 0. 0. 1. ]] SLAMing on 89.98824100800002 meters Centerline goodness [0,1] 0.9244473953578444 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.05 [[ 0.93790218 -0.02541931 -0.34596727 5.7982531 ] [ 0.03768929 0.99887488 0.02878353 -0.20964188] [ 0.34484636 -0.04003539 0.93780497 -0.05160264] [ 0. 0. 0. 1. ]] SLAMing on 90.018241008 meters Centerline goodness [0,1] 0.9209921656562301 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.05 [[ 0.93772859 -0.02582395 -0.34640759 5.7999839 ] [ 0.0381798 0.99885316 0.02889069 -0.21083651] [ 0.34526425 -0.0403174 0.93763911 -0.05126686] [ 0. 0. 0. 1. ]] SLAMing on 90.048241008 meters Centerline goodness [0,1] 0.9232092803818721 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.05 [[ 0.93758056 -0.02637667 -0.34676645 5.80207556] [ 0.03872108 0.99883733 0.0287171 -0.21174637] [ 0.34560581 -0.04035176 0.93751179 -0.05154198] [ 0. 0. 0. 1. ]] SLAMing on 90.078241008 meters Centerline goodness [0,1] 0.9243413708417058 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.05 [[ 0.93752365 -0.03165763 -0.34647828 5.80279445] [ 0.04271321 0.99879141 0.02431687 -0.21180217] [ 0.34528971 -0.03759684 0.93774276 -0.05282833] [ 0. 0. 0. 1. ]] SLAMing on 90.10824100800001 meters Centerline goodness [0,1] 0.921958151068513 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.05 [[ 0.93737376 -0.03162798 -0.3468863 5.80334514] [ 0.0429254 0.99876717 0.0249308 -0.21384081] [ 0.34567014 -0.03825971 0.93757578 -0.0515565 ] [ 0. 0. 0. 1. ]] SLAMing on 90.13824100800001 meters Centerline goodness [0,1] 0.9206610647385611 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-0.05 [[ 0.93732608 -0.03143033 -0.34703306 5.80325954] [ 0.04290628 0.99875534 0.02543264 -0.21568795] [ 0.34580177 -0.03872857 0.93750799 -0.05078882] [ 0. 0. 0. 1. ]] SLAMing on 90.16824100800001 meters Centerline goodness [0,1] 0.9200796678635548 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-0.05 [[ 0.93725821 -0.03112371 -0.34724396 5.80312144] [ 0.04283455 0.99874125 0.02609836 -0.21747096] [ 0.34599459 -0.03933494 0.9374116 -0.04973435] [ 0. 0. 0. 1. ]] SLAMing on 90.19824100800001 meters Centerline goodness [0,1] 0.9167414218434626 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-0.05 [[ 0.93724725 -0.03063566 -0.34731692 5.80260421] [ 0.04267853 0.99872191 0.02707565 -0.22031703] [ 0.34604354 -0.04019955 0.93735685 -0.04851662] [ 0. 0. 0. 1. ]] SLAMing on 90.22824100800001 meters Centerline goodness [0,1] 0.9167414218434626 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-0.05 [[ 0.93724725 -0.03063566 -0.34731692 5.80260421] [ 0.04267853 0.99872191 0.02707565 -0.22031703] [ 0.34604354 -0.04019955 0.93735685 -0.04851662] [ 0. 0. 0. 1. ]] SLAMing on 90.25824100800001 meters Centerline goodness [0,1] 0.9146567717996289 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-0.05 [[ 0.93723101 -0.03025274 -0.3473943 5.80194994] [ 0.04248798 0.99871416 0.02765509 -0.22133456] [ 0.34611096 -0.04067929 0.93731126 -0.04758431] [ 0. 0. 0. 1. ]] SLAMing on 90.28824100800001 meters Centerline goodness [0,1] 0.9178878221323901 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-0.05 [[ 0.93720365 -0.03016789 -0.34747548 5.80195414] [ 0.04246896 0.99870988 0.02783821 -0.22190366] [ 0.34618737 -0.04084699 0.93727575 -0.0472537 ] [ 0. 0. 0. 1. ]] SLAMing on 90.31824100800002 meters Centerline goodness [0,1] 0.9149475820087927 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-0.05 [[ 0.93716189 -0.02990159 -0.34761112 5.80173699] [ 0.04237153 0.99870031 0.02832551 -0.22284541] [ 0.34631236 -0.0412744 0.93721085 -0.04647834] [ 0. 0. 0. 1. ]] SLAMing on 90.34824100800002 meters Centerline goodness [0,1] 0.9138208172358365 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-0.05 [[ 0.93711887 -0.03011531 -0.34770864 5.80310776] [ 0.042571 0.99869435 0.02823659 -0.22371261] [ 0.3464043 -0.04126334 0.93717736 -0.04711167] [ 0. 0. 0. 1. ]] SLAMing on 90.37824100800002 meters Centerline goodness [0,1] 0.9159583180367682 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-0.05 [[ 0.93706459 -0.03029227 -0.34783952 5.80404573] [ 0.04275954 0.99868677 0.0282198 -0.22417946] [ 0.34652788 -0.04131724 0.93712929 -0.04728453] [ 0. 0. 0. 1. ]] SLAMing on 90.408241008 meters Centerline goodness [0,1] 0.9121363752014249 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.23, Z:-0.05 [[ 0.93700818 -0.03018664 -0.34800064 5.80451417] [ 0.04280828 0.99867285 0.02863539 -0.22575825] [ 0.34667438 -0.04172891 0.93705687 -0.04681881] [ 0. 0. 0. 1. ]] SLAMing on 90.438241008 meters Centerline goodness [0,1] 0.9123605736398817 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.23, Z:-0.05 [[ 0.93701485 -0.0348485 -0.34754676 5.8038478 ] [ 0.04634983 0.99861658 0.02483173 -0.22725425] [ 0.34620061 -0.03937644 0.93733379 -0.04744007] [ 0. 0. 0. 1. ]] SLAMing on 90.468241008 meters Centerline goodness [0,1] 0.914276727761416 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.23, Z:-0.05 [[ 0.93704572 -0.03974277 -0.34693778 5.80320352] [ 0.04994428 0.99854142 0.02050878 -0.2265587 ] [ 0.34561667 -0.03654522 0.93766389 -0.04872411] [ 0. 0. 0. 1. ]] SLAMing on 90.49824100800001 meters Centerline goodness [0,1] 0.9110175559183206 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.23, Z:-0.05 [[ 0.9369316 -0.03964543 -0.34725698 5.80416219] [ 0.05008039 0.9985218 0.02112289 -0.22916425] [ 0.34590624 -0.03718147 0.93753208 -0.04804674] [ 0. 0. 0. 1. ]] SLAMing on 90.52824100800001 meters Centerline goodness [0,1] 0.9093704203902186 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.05 [[ 0.93682079 -0.0396066 -0.34756025 5.80548669] [ 0.05036683 0.99848898 0.02197586 -0.23315669] [ 0.34616469 -0.03809295 0.93740009 -0.04725551] [ 0. 0. 0. 1. ]] SLAMing on 90.55824100800001 meters Centerline goodness [0,1] 0.914213139360351 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.05 [[ 0.93682086 -0.03930155 -0.34759467 5.80559074] [ 0.05021443 0.99848634 0.02243954 -0.23435954] [ 0.34618662 -0.0384761 0.93737634 -0.04702012] [ 0. 0. 0. 1. ]] SLAMing on 90.58824100800001 meters Centerline goodness [0,1] 0.9102941176470588 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.05 [[ 0.93686162 -0.03890848 -0.34752905 5.8050109 ] [ 0.04993541 0.99849157 0.02282625 -0.23490442] [ 0.3461167 -0.03873905 0.93739134 -0.04669962] [ 0. 0. 0. 1. ]] SLAMing on 90.61824100800001 meters Centerline goodness [0,1] 0.9102315765127642 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.24, Z:-0.04 [[ 0.93692248 -0.03798494 -0.34746714 5.80259355] [ 0.04938176 0.99849158 0.0240001 -0.23692625] [ 0.34603137 -0.03964477 0.93738497 -0.04470978] [ 0. 0. 0. 1. ]] SLAMing on 90.64824100800001 meters Centerline goodness [0,1] 0.9097829232995659 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.24, Z:-0.04 [[ 0.9369451 -0.03760059 -0.34744794 5.80166673] [ 0.04916165 0.99848991 0.02451577 -0.23788483] [ 0.34600146 -0.04005104 0.93737874 -0.04388713] [ 0. 0. 0. 1. ]] SLAMing on 90.67824100800001 meters Centerline goodness [0,1] 0.9061550481812657 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.24, Z:-0.04 [[ 0.93699239 -0.03733142 -0.34734944 5.80097989] [ 0.04898867 0.99849049 0.02483649 -0.2381995 ] [ 0.34589793 -0.04028779 0.9374068 -0.04351336] [ 0. 0. 0. 1. ]] SLAMing on 90.70824100800002 meters Centerline goodness [0,1] 0.9051961210015921 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.24, Z:-0.04 [[ 0.9369897 -0.03730327 -0.34735971 5.80103776] [ 0.04902104 0.99848471 0.02500426 -0.23855637] [ 0.34590062 -0.04045667 0.93739854 -0.04335034] [ 0. 0. 0. 1. ]] SLAMing on 90.73824100800002 meters Centerline goodness [0,1] 0.8996988649525133 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.24, Z:-0.04 [[ 0.93684765 -0.0379939 -0.34766786 5.80290628] [ 0.04977644 0.99844699 0.02501827 -0.23940951] [ 0.34617739 -0.04074398 0.93728392 -0.04312615] [ 0. 0. 0. 1. ]] SLAMing on 90.76824100800002 meters Centerline goodness [0,1] 0.8965156186376593 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.24, Z:-0.04 [[ 0.93673268 -0.03856184 -0.34791503 5.80441817] [ 0.05032149 0.99842451 0.02482416 -0.23971268] [ 0.34640963 -0.0407612 0.93719736 -0.04321471] [ 0. 0. 0. 1. ]] SLAMing on 90.798241008 meters Centerline goodness [0,1] 0.8975633868341475 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.24, Z:-0.04 [[ 0.93655768 -0.03915867 -0.34831928 5.80603657] [ 0.05093777 0.99839586 0.02471959 -0.23995683] [ 0.34679254 -0.04089393 0.93704996 -0.04288348] [ 0. 0. 0. 1. ]] SLAMing on 90.828241008 meters Centerline goodness [0,1] 0.8966955405838948 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.24, Z:-0.04 [[ 0.93637457 -0.04501093 -0.34810441 5.8075725 ] [ 0.05533575 0.99827207 0.01976945 -0.23883229] [ 0.34661307 -0.03777423 0.93724729 -0.04447814] [ 0. 0. 0. 1. ]] SLAMing on 90.85824100800001 meters Centerline goodness [0,1] 0.8995895077003697 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.24, Z:-0.04 [[ 0.93617025 -0.04547884 -0.34859281 5.80926174] [ 0.05590069 0.99823818 0.01989098 -0.23993844] [ 0.34707403 -0.03810792 0.93706318 -0.0438373 ] [ 0. 0. 0. 1. ]] SLAMing on 90.88824100800001 meters Centerline goodness [0,1] 0.9004049054735064 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.24, Z:-0.04 [[ 0.93598661 -0.04590775 -0.34902944 5.81069391] [ 0.05643746 0.99820472 0.0200538 -0.2406171 ] [ 0.34748221 -0.03846843 0.93689716 -0.04310949] [ 0. 0. 0. 1. ]] SLAMing on 90.91824100800001 meters Centerline goodness [0,1] 0.8995581138438281 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.24, Z:-0.04 [[ 0.93585099 -0.04646402 -0.34931938 5.81223465] [ 0.05702619 0.99817219 0.02000727 -0.24096729] [ 0.34775127 -0.03864418 0.9367901 -0.04290183] [ 0. 0. 0. 1. ]] SLAMing on 90.94824100800001 meters Centerline goodness [0,1] 0.9035077496795245 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.24, Z:-0.04 [[ 0.93569241 -0.05240959 -0.3489025 5.81306959] [ 0.06145559 0.99799859 0.01490053 -0.23845539] [ 0.34742327 -0.03538432 0.93704056 -0.04452186] [ 0. 0. 0. 1. ]] SLAMing on 90.97824100800001 meters Centerline goodness [0,1] 0.9015968296520777 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.24, Z:-0.04 [[ 0.93547437 -0.05306779 -0.34938734 5.81477679] [ 0.06211632 0.99796012 0.01473634 -0.23832561] [ 0.34789261 -0.03548812 0.93686249 -0.04403727] [ 0. 0. 0. 1. ]] SLAMing on 91.00824100800001 meters Centerline goodness [0,1] 0.8988154286047733 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.24, Z:-0.04 [[ 0.9352699 -0.05379208 -0.34982371 5.81658577] [ 0.06279838 0.99792169 0.01444486 -0.23770597] [ 0.34831965 -0.03547821 0.93670418 -0.04381328] [ 0. 0. 0. 1. ]] SLAMing on 91.03824100800001 meters Centerline goodness [0,1] 0.8998189146562299 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.24, Z:-0.04 [[ 0.93491364 -0.05550028 -0.3505085 5.82018974] [ 0.06431012 0.99783817 0.01353494 -0.23662708] [ 0.34899956 -0.03519524 0.93646175 -0.04389974] [ 0. 0. 0. 1. ]] SLAMing on 91.06824100800002 meters Centerline goodness [0,1] 0.895079678957776 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.24, Z:-0.04 [[ 0.9346807 -0.05624337 -0.35101093 5.82201387] [ 0.06502129 0.99779576 0.01326097 -0.23594112] [ 0.34949137 -0.03521795 0.93627746 -0.04346754] [ 0. 0. 0. 1. ]] SLAMing on 91.09824100800002 meters Centerline goodness [0,1] 0.8981777958898527 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.24, Z:-0.04 [[ 0.9345274 -0.05682519 -0.35132525 5.82323926] [ 0.06555867 0.99776399 0.01300288 -0.23539508] [ 0.3498008 -0.03518397 0.93616318 -0.04320538] [ 0. 0. 0. 1. ]] SLAMing on 91.12824100800002 meters Centerline goodness [0,1] 0.8977325716950338 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.24, Z:-0.04 [[ 0.93440267 -0.05706816 -0.35161753 5.82357253] [ 0.06588082 0.99774099 0.0131392 -0.23515585] [ 0.35007339 -0.03544216 0.93605154 -0.04229547] [ 0. 0. 0. 1. ]] SLAMing on 91.158241008 meters Centerline goodness [0,1] 0.8924734313582763 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.04 [[ 0.93424314 -0.05765393 -0.35194571 5.82375803] [ 0.06654905 0.9976956 0.01321773 -0.2342946 ] [ 0.35037264 -0.03577023 0.93592708 -0.04082968] [ 0. 0. 0. 1. ]] SLAMing on 91.188241008 meters Centerline goodness [0,1] 0.8904969485614647 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.04 [[ 0.93421634 -0.05795489 -0.35196741 5.82394537] [ 0.06672787 0.99768866 0.0128345 -0.23248308] [ 0.35041007 -0.03547624 0.93592426 -0.04100648] [ 0. 0. 0. 1. ]] SLAMing on 91.218241008 meters Centerline goodness [0,1] 0.8926689443511495 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.04 [[ 0.93420465 -0.05821668 -0.35195524 5.82399534] [ 0.06684868 0.99768592 0.01241177 -0.23010499] [ 0.35041822 -0.03512287 0.93593454 -0.04121237] [ 0. 0. 0. 1. ]] SLAMing on 91.24824100800001 meters Centerline goodness [0,1] 0.8922899220329195 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.04 [[ 0.93418519 -0.05847641 -0.35196383 5.82405747] [ 0.06692494 0.99768736 0.0118737 -0.22746509] [ 0.35045553 -0.03464739 0.93593829 -0.04154797] [ 0. 0. 0. 1. ]] SLAMing on 91.27824100800001 meters Centerline goodness [0,1] 0.8901934891198254 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.04 [[ 0.93433181 -0.05304684 -0.35243455 5.82287313] [ 0.06278454 0.99789483 0.01624821 -0.22569452] [ 0.3508307 -0.03730866 0.9356954 -0.03986856] [ 0. 0. 0. 1. ]] SLAMing on 91.30824100800001 meters Centerline goodness [0,1] 0.8911897806037693 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.22, Z:-0.04 [[ 0.93446011 -0.05266061 -0.3521522 5.821382 ] [ 0.06225458 0.99793258 0.01596663 -0.22283933] [ 0.35058334 -0.03684327 0.93580655 -0.04017608] [ 0. 0. 0. 1. ]] SLAMing on 91.33824100800001 meters Centerline goodness [0,1] 0.8922594440484676 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.22, Z:-0.04 [[ 0.93456206 -0.05217328 -0.35195412 5.81988057] [ 0.0616634 0.99797194 0.01579981 -0.22015287] [ 0.35041601 -0.03646859 0.93588389 -0.04025995] [ 0. 0. 0. 1. ]] SLAMing on 91.36824100800001 meters Centerline goodness [0,1] 0.893650164268721 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.22, Z:-0.04 [[ 0.93471988 -0.04661155 -0.35231535 5.81830046] [ 0.05727204 0.99816046 0.01988989 -0.21775551] [ 0.35074016 -0.0387693 0.93566996 -0.03899968] [ 0. 0. 0. 1. ]] SLAMing on 91.39824100800001 meters Centerline goodness [0,1] 0.8975762534917187 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.21, Z:-0.04 [[ 0.93477359 -0.04647238 -0.35219123 5.81776596] [ 0.05693553 0.99818929 0.01940308 -0.2143496 ] [ 0.35065181 -0.03818968 0.93572691 -0.03961047] [ 0. 0. 0. 1. ]] SLAMing on 91.42824100800001 meters Centerline goodness [0,1] 0.8983170100191377 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.21, Z:-0.04 [[ 0.93486063 -0.04636163 -0.3519747 5.81704847] [ 0.05661471 0.99821743 0.01888737 -0.2112648 ] [ 0.35047164 -0.03758401 0.93581893 -0.04030988] [ 0. 0. 0. 1. ]] SLAMing on 91.45824100800002 meters Centerline goodness [0,1] 0.8962913052022796 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.21, Z:-0.04 [[ 0.9348987 -0.04628968 -0.35188306 5.81636682] [ 0.05638148 0.99823825 0.01848014 -0.20879052] [ 0.35040769 -0.03711674 0.93586153 -0.04056219] [ 0. 0. 0. 1. ]] SLAMing on 91.48824100800002 meters Centerline goodness [0,1] 0.8983994627567295 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.04 [[ 0.93496536 -0.04587956 -0.35175963 5.81493348] [ 0.0558155 0.99827608 0.01815187 -0.20579678] [ 0.35032043 -0.03660501 0.93591435 -0.04063266] [ 0. 0. 0. 1. ]] SLAMing on 91.51824100800002 meters Centerline goodness [0,1] 0.8987681220145814 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.04 [[ 0.93494833 -0.04579827 -0.35181549 5.81437453] [ 0.05572065 0.99828189 0.01812413 -0.20470874] [ 0.35038098 -0.03654851 0.93589389 -0.04018604] [ 0. 0. 0. 1. ]] SLAMing on 91.548241008 meters Centerline goodness [0,1] 0.8960977378594739 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.04 [[ 0.93497071 -0.04548844 -0.35179622 5.81332254] [ 0.05545747 0.99829321 0.01830692 -0.20381403] [ 0.35036303 -0.03662616 0.93589758 -0.03955801] [ 0. 0. 0. 1. ]] SLAMing on 91.578241008 meters Centerline goodness [0,1] 0.893232872889633 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.04 [[ 0.93500299 -0.04517841 -0.35175037 5.81241496] [ 0.05521711 0.99830196 0.01855424 -0.20325061] [ 0.35031484 -0.0367709 0.93590994 -0.03904313] [ 0. 0. 0. 1. ]] SLAMing on 91.60824100800001 meters Centerline goodness [0,1] 0.8913589200044628 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.04 [[ 0.93479564 -0.04052017 -0.35286715 5.81368821] [ 0.05220987 0.9983556 0.02366902 -0.20535966] [ 0.35132783 -0.04054884 0.93537402 -0.03566014] [ 0. 0. 0. 1. ]] SLAMing on 91.63824100800001 meters Centerline goodness [0,1] 0.8909471334914214 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.04 [[ 0.93474171 -0.04059094 -0.35300185 5.81391301] [ 0.0522683 0.99835402 0.02360678 -0.20464944] [ 0.35146259 -0.04051705 0.93532476 -0.03547274] [ 0. 0. 0. 1. ]] SLAMing on 91.66824100800001 meters Centerline goodness [0,1] 0.8897721250662427 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.04 [[ 0.93471462 -0.04070315 -0.35306066 5.8143574 ] [ 0.05235175 0.9983521 0.02350266 -0.20373393] [ 0.35152222 -0.04045162 0.93530519 -0.03561797] [ 0. 0. 0. 1. ]] SLAMing on 91.69824100800001 meters Centerline goodness [0,1] 0.8876251390433816 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.04 [[ 0.93473852 -0.04049516 -0.35302132 5.81357325] [ 0.0522236 0.99835278 0.02375763 -0.20271527] [ 0.35147774 -0.04064322 0.9353136 -0.03506081] [ 0. 0. 0. 1. ]] SLAMing on 91.72824100800001 meters Centerline goodness [0,1] 0.8839765170696419 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.03 [[ 0.93473377 -0.04018208 -0.35306965 5.81285128] [ 0.05206932 0.99834946 0.02423091 -0.20308251] [ 0.35151325 -0.04103354 0.93528321 -0.03415342] [ 0. 0. 0. 1. ]] SLAMing on 91.75824100800001 meters Centerline goodness [0,1] 0.8815928710665553 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.03 [[ 0.93466617 -0.04006308 -0.35326208 5.81284225] [ 0.0520334 0.99834601 0.02444938 -0.20328154] [ 0.35169827 -0.04123343 0.93520486 -0.0335277 ] [ 0. 0. 0. 1. ]] SLAMing on 91.78824100800001 meters Centerline goodness [0,1] 0.8836134921518424 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.03 [[ 0.9345313 -0.04029307 -0.35359258 5.81394175] [ 0.05220308 0.99834308 0.02420611 -0.20274416] [ 0.35203137 -0.04107999 0.93508628 -0.03357452] [ 0. 0. 0. 1. ]] SLAMing on 91.81824100800002 meters Centerline goodness [0,1] 0.8896764509673115 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.03 [[ 0.93449527 -0.04039105 -0.35367663 5.81420116] [ 0.05230455 0.99833823 0.02418711 -0.20258088] [ 0.35211196 -0.04110164 0.93505498 -0.03345658] [ 0. 0. 0. 1. ]] SLAMing on 91.84824100800002 meters Centerline goodness [0,1] 0.8876435742692661 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.03 [[ 0.93442514 -0.04038841 -0.35386217 5.81440269] [ 0.05239005 0.9983286 0.0243984 -0.20295755] [ 0.35228531 -0.04133734 0.9349793 -0.03289181] [ 0. 0. 0. 1. ]] SLAMing on 91.87824100800002 meters Centerline goodness [0,1] 0.8871667872446992 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.03 [[ 0.93438696 -0.04026177 -0.3539774 5.81422691] [ 0.05246046 0.99831178 0.02492973 -0.20388988] [ 0.3523761 -0.04186383 0.93492166 -0.03194724] [ 0. 0. 0. 1. ]] SLAMing on 91.908241008 meters Centerline goodness [0,1] 0.8835313430344175 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.20, Z:-0.03 [[ 0.93419378 -0.04126342 -0.35437173 5.8165662 ] [ 0.05343034 0.99826819 0.02461352 -0.20360545] [ 0.35274238 -0.041928 0.93478064 -0.03193984] [ 0. 0. 0. 1. ]] SLAMing on 91.938241008 meters Centerline goodness [0,1] 0.8820582751231458 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.20, Z:-0.03 [[ 0.93398681 -0.04188007 -0.3548446 5.81858891] [ 0.05405612 0.99823814 0.02446543 -0.20367248] [ 0.3531948 -0.04203191 0.93460513 -0.03176484] [ 0. 0. 0. 1. ]] SLAMing on 91.968241008 meters Centerline goodness [0,1] 0.8839283226040187 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.21, Z:-0.03 [[ 0.93378294 -0.04231118 -0.35532969 5.8200894 ] [ 0.05462562 0.99820159 0.02469082 -0.20502886] [ 0.35364596 -0.04246597 0.93441488 -0.03093828] [ 0. 0. 0. 1. ]] SLAMing on 91.99824100800001 meters Centerline goodness [0,1] 0.8837118464371407 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.21, Z:-0.03 [[ 0.93347567 -0.04277992 -0.35608013 5.82202543] [ 0.05533586 0.99815111 0.02514562 -0.2074295 ] [ 0.35434604 -0.04317683 0.93411704 -0.02948745] [ 0. 0. 0. 1. ]] SLAMing on 92.02824100800001 meters Centerline goodness [0,1] 0.8871645470334473 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.21, Z:-0.03 [[ 0.93322278 -0.04802485 -0.35607422 5.82246543] [ 0.05947508 0.99800311 0.0212724 -0.20857251] [ 0.35434157 -0.04102943 0.93421552 -0.02919423] [ 0. 0. 0. 1. ]] SLAMing on 92.05824100800001 meters Centerline goodness [0,1] 0.8869284712482468 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.21, Z:-0.03 [[ 0.93313775 -0.04810293 -0.35628647 5.82318678] [ 0.05961523 0.99799212 0.02139534 -0.2087714 ] [ 0.35454191 -0.0412049 0.93413178 -0.02893239] [ 0. 0. 0. 1. ]] SLAMing on 92.08824100800001 meters Centerline goodness [0,1] 0.8882977233905519 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.21, Z:-0.03 [[ 0.93308868 -0.04817646 -0.35640502 5.82354199] [ 0.05966306 0.99799131 0.02129946 -0.20803647] [ 0.35466298 -0.04113849 0.93408875 -0.02891464] [ 0. 0. 0. 1. ]] SLAMing on 92.11824100800001 meters Centerline goodness [0,1] 0.8874695352550634 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.21, Z:-0.03 [[ 0.93306499 -0.04815494 -0.35646994 5.82376784] [ 0.05959077 0.99799856 0.02116168 -0.20707261] [ 0.35473745 -0.04098754 0.93406711 -0.02908485] [ 0. 0. 0. 1. ]] SLAMing on 92.14824100800001 meters Centerline goodness [0,1] 0.8874695352550634 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.21, Z:-0.03 [[ 0.93306499 -0.04815494 -0.35646994 5.82376784] [ 0.05959077 0.99799856 0.02116168 -0.20707261] [ 0.35473745 -0.04098754 0.93406711 -0.02908485] [ 0. 0. 0. 1. ]] SLAMing on 92.17824100800001 meters Centerline goodness [0,1] 0.8931084552663912 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.21, Z:-0.03 [[ 0.933047 -0.0430662 -0.35716746 5.82482729] [ 0.05577465 0.99812146 0.02535246 -0.20722206] [ 0.35540467 -0.04357593 0.93369623 -0.02824552] [ 0. 0. 0. 1. ]] SLAMing on 92.20824100800002 meters Centerline goodness [0,1] 0.8892940652488587 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.21, Z:-0.03 [[ 0.93311355 -0.04260823 -0.35704851 5.82421002] [ 0.0552044 0.99815811 0.02515686 -0.20516474] [ 0.35531898 -0.04318485 0.93374702 -0.02876228] [ 0. 0. 0. 1. ]] SLAMing on 92.23824100800002 meters Centerline goodness [0,1] 0.8914284123493221 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.20, Z:-0.03 [[ 0.93321302 -0.04205653 -0.35685391 5.82323475] [ 0.05449918 0.99820381 0.02487951 -0.20301902] [ 0.35516659 -0.04266613 0.93382884 -0.02943179] [ 0. 0. 0. 1. ]] SLAMing on 92.26824100800002 meters Centerline goodness [0,1] 0.8915652631870721 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.20, Z:-0.03 [[ 0.93334499 -0.04102556 -0.35662871 5.82141527] [ 0.05345403 0.99825581 0.02505982 -0.20163082] [ 0.35497859 -0.0424527 0.93391004 -0.02956438] [ 0. 0. 0. 1. ]] SLAMing on 92.298241008 meters Centerline goodness [0,1] 0.8918080035472786 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.20, Z:-0.03 [[ 0.93372216 -0.03689669 -0.35609206 5.81507315] [ 0.04973087 0.99839895 0.02695145 -0.20109735] [ 0.35452752 -0.04287394 0.93406213 -0.02882193] [ 0. 0. 0. 1. ]] SLAMing on 92.328241008 meters Centerline goodness [0,1] 0.884753934825981 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.03 [[ 0.93394777 -0.03566938 -0.35562517 5.81240508] [ 0.04859422 0.99844065 0.02747475 -0.20042164] [ 0.35409062 -0.04294131 0.93422475 -0.02865633] [ 0. 0. 0. 1. ]] SLAMing on 92.35824100800001 meters Centerline goodness [0,1] 0.8836830030129641 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.03 [[ 0.93420932 -0.0345086 -0.35505225 5.80967165] [ 0.04750491 0.99847991 0.02794909 -0.20000156] [ 0.35354805 -0.04297703 0.93442857 -0.02867131] [ 0. 0. 0. 1. ]] SLAMing on 92.38824100800001 meters Centerline goodness [0,1] 0.8827755823914666 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.03 [[ 0.93436096 -0.03366939 -0.35473365 5.80796126] [ 0.04670853 0.99850884 0.02825626 -0.19983424] [ 0.35325332 -0.04297064 0.93454032 -0.02869756] [ 0. 0. 0. 1. ]] SLAMing on 92.41824100800001 meters Centerline goodness [0,1] 0.8850861161876281 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.20, Z:-0.03 [[ 0.93468613 -0.03186826 -0.35404272 5.80439038] [ 0.04509846 0.99855631 0.02917912 -0.20059645] [ 0.35260171 -0.0432401 0.93477394 -0.02863132] [ 0. 0. 0. 1. ]] SLAMing on 92.44824100800001 meters Centerline goodness [0,1] 0.8856114111618889 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.20, Z:-0.03 [[ 0.93471603 -0.03136199 -0.354009 5.80391203] [ 0.04471768 0.99856081 0.02960793 -0.2014619 ] [ 0.35257095 -0.04350547 0.93477323 -0.02838019] [ 0. 0. 0. 1. ]] SLAMing on 92.47824100800001 meters Centerline goodness [0,1] 0.8852227784384766 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.20, Z:-0.03 [[ 0.93466606 -0.03134656 -0.35414228 5.80450125] [ 0.04476838 0.99855377 0.02976841 -0.20241611] [ 0.35269697 -0.0436779 0.93471765 -0.02824371] [ 0. 0. 0. 1. ]] SLAMing on 92.50824100800001 meters Centerline goodness [0,1] 0.8864357703658333 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.20, Z:-0.03 [[ 0.93467015 -0.0312505 -0.35413998 5.80499531] [ 0.04473057 0.99855032 0.02994049 -0.20373901] [ 0.35269093 -0.04382536 0.93471303 -0.02847652] [ 0. 0. 0. 1. ]] SLAMing on 92.53824100800001 meters Centerline goodness [0,1] 0.882627402771569 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.03 [[ 0.93452919 -0.0312112 -0.35451524 5.80626437] [ 0.04492771 0.99852381 0.03052374 -0.20711591] [ 0.35303923 -0.04445288 0.93455189 -0.0277467 ] [ 0. 0. 0. 1. ]] SLAMing on 92.56824100800002 meters Centerline goodness [0,1] 0.8817594154019112 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.03 [[ 0.93465032 -0.03560308 -0.35378128 5.80476451] [ 0.04811111 0.99848719 0.02662053 -0.20711389] [ 0.3522983 -0.04190169 0.93494928 -0.02880605] [ 0. 0. 0. 1. ]] SLAMing on 92.59824100800002 meters Centerline goodness [0,1] 0.8832876247561424 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.03 [[ 0.93451545 -0.04080485 -0.35357578 5.80588803] [ 0.05213207 0.99838518 0.02256733 -0.20879762] [ 0.35208397 -0.03952215 0.93513362 -0.02978963] [ 0. 0. 0. 1. ]] SLAMing on 92.62824100800002 meters Centerline goodness [0,1] 0.8838871933988923 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.03 [[ 0.93432337 -0.04136215 -0.35401838 5.80834207] [ 0.05276916 0.99835041 0.02262466 -0.21015889] [ 0.35249859 -0.03982 0.93496477 -0.02979353] [ 0. 0. 0. 1. ]] SLAMing on 92.658241008 meters Centerline goodness [0,1] 0.8798807326423399 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.03 [[ 0.9341506 -0.04202294 -0.35439628 5.81086612] [ 0.0534964 0.99831147 0.02263485 -0.21155452] [ 0.35284669 -0.04010328 0.93482134 -0.02992197] [ 0. 0. 0. 1. ]] SLAMing on 92.688241008 meters Centerline goodness [0,1] 0.8788854383315764 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.03 [[ 0.93387398 -0.04273092 -0.35504008 5.81365998] [ 0.05437957 0.99825792 0.02289088 -0.2140064 ] [ 0.35344343 -0.04068412 0.93457078 -0.02926428] [ 0. 0. 0. 1. ]] SLAMing on 92.718241008 meters Centerline goodness [0,1] 0.8782486604200693 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.03 [[ 0.93380259 -0.0477841 -0.35458342 5.81374751] [ 0.05823465 0.99812488 0.01885357 -0.21478433] [ 0.35301763 -0.03825456 0.93483429 -0.03015179] [ 0. 0. 0. 1. ]] SLAMing on 92.74824100800001 meters Centerline goodness [0,1] 0.8786695589298626 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.03 [[ 0.93356837 -0.05263493 -0.35451326 5.81376378] [ 0.06234517 0.99792614 0.01601551 -0.21939038] [ 0.35293508 -0.03705376 0.93491382 -0.02883074] [ 0. 0. 0. 1. ]] SLAMing on 92.77824100800001 meters Centerline goodness [0,1] 0.8739595719381689 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.22, Z:-0.03 [[ 0.93327758 -0.05292144 -0.35523552 5.81567773] [ 0.0629683 0.99787459 0.0167718 -0.22185167] [ 0.35359291 -0.03802132 0.93462636 -0.02721561] [ 0. 0. 0. 1. ]] SLAMing on 92.80824100800001 meters Centerline goodness [0,1] 0.8762805587892899 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.22, Z:-0.03 [[ 0.93306614 -0.05316232 -0.35575463 5.81718217] [ 0.06341084 0.99783927 0.01720023 -0.22364757] [ 0.35407154 -0.03860766 0.9344211 -0.02624641] [ 0. 0. 0. 1. ]] SLAMing on 92.83824100800001 meters Centerline goodness [0,1] 0.8784023754766964 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.03 [[ 0.93294834 -0.05315277 -0.35606485 5.81800126] [ 0.06363137 0.99781521 0.01777244 -0.22575846] [ 0.35434227 -0.03923767 0.93429222 -0.02538184] [ 0. 0. 0. 1. ]] SLAMing on 92.86824100800001 meters Centerline goodness [0,1] 0.8775242208474379 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.02 [[ 0.93277621 -0.05350842 -0.35646234 5.81962764] [ 0.06426409 0.99776347 0.01838977 -0.22908244] [ 0.35468109 -0.04006127 0.9341287 -0.02436561] [ 0. 0. 0. 1. ]] SLAMing on 92.89824100800001 meters Centerline goodness [0,1] 0.8752693181156467 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.02 [[ 0.93264539 -0.05377547 -0.35676432 5.82083067] [ 0.06466089 0.99773308 0.01864569 -0.22960545] [ 0.35495288 -0.04045851 0.93400833 -0.02384675] [ 0. 0. 0. 1. ]] SLAMing on 92.92824100800001 meters Centerline goodness [0,1] 0.8739633220418175 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.02 [[ 0.93237616 -0.05470222 -0.3573267 5.82336109] [ 0.06565236 0.99766962 0.01857671 -0.22968881] [ 0.35547781 -0.04077982 0.9337947 -0.02330266] [ 0. 0. 0. 1. ]] SLAMing on 92.95824100800002 meters Centerline goodness [0,1] 0.8730177307039616 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.02 [[ 0.93222837 -0.05478552 -0.35769933 5.82393825] [ 0.06589527 0.99764688 0.01893443 -0.23054257] [ 0.35582029 -0.04122191 0.93364484 -0.02226135] [ 0. 0. 0. 1. ]] SLAMing on 92.98824100800002 meters Centerline goodness [0,1] 0.8710442343159929 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.02 [[ 0.93213942 -0.05448105 -0.35797753 5.82362593] [ 0.06585209 0.99763607 0.01964109 -0.23192772] [ 0.35606123 -0.0418818 0.9335236 -0.0208842 ] [ 0. 0. 0. 1. ]] SLAMing on 93.01824100800002 meters Centerline goodness [0,1] 0.8737804521820413 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.02 [[ 0.93203607 -0.0541723 -0.35829336 5.82312017] [ 0.0658526 0.99761941 0.0204683 -0.23308212] [ 0.35633159 -0.04267174 0.93338466 -0.01907609] [ 0. 0. 0. 1. ]] SLAMing on 93.048241008 meters Centerline goodness [0,1] 0.8728964330504273 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.02 [[ 0.93186461 -0.05453186 -0.35868458 5.82327855] [ 0.06636097 0.99758008 0.02074119 -0.23272305] [ 0.35668553 -0.04313064 0.93322836 -0.0174719 ] [ 0. 0. 0. 1. ]] SLAMing on 93.078241008 meters Centerline goodness [0,1] 0.8749636353057544 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.02 [[ 0.93176897 -0.05482145 -0.35888884 5.82392746] [ 0.06661045 0.99756728 0.02055641 -0.23175324] [ 0.35688883 -0.04305958 0.93315392 -0.01734182] [ 0. 0. 0. 1. ]] SLAMing on 93.10824100800001 meters Centerline goodness [0,1] 0.8707301513657716 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.02 [[ 0.9316233 -0.05511461 -0.35922195 5.82451553] [ 0.06689527 0.99755067 0.02043744 -0.23056225] [ 0.35721569 -0.04307025 0.93302835 -0.01676982] [ 0. 0. 0. 1. ]] SLAMing on 93.13824100800001 meters Centerline goodness [0,1] 0.8732394366197183 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.02 [[ 0.93158509 -0.05513439 -0.35931799 5.82429989] [ 0.06693759 0.99754695 0.02048022 -0.22977813] [ 0.3573074 -0.04313095 0.93299043 -0.01628566] [ 0. 0. 0. 1. ]] SLAMing on 93.16824100800001 meters Centerline goodness [0,1] 0.8747801516593143 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.02 [[ 0.93155031 -0.05542314 -0.35936374 5.82399918] [ 0.06700677 0.99755509 0.0198477 -0.226205 ] [ 0.35738511 -0.04256894 0.93298648 -0.01641136] [ 0. 0. 0. 1. ]] SLAMing on 93.19824100800001 meters Centerline goodness [0,1] 0.8732034034724618 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.22, Z:-0.02 [[ 0.93149715 -0.05567952 -0.35946189 5.82416926] [ 0.06709838 0.99755856 0.01935774 -0.22317199] [ 0.35750646 -0.04215099 0.93295896 -0.01654249] [ 0. 0. 0. 1. ]] SLAMing on 93.22824100800001 meters Centerline goodness [0,1] 0.8748533325701857 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.22, Z:-0.01 [[ 0.93133432 -0.05108161 -0.36056491 5.82591646] [ 0.06382236 0.99768433 0.02350931 -0.22343129] [ 0.35852907 -0.04490713 0.9324378 -0.01478053] [ 0. 0. 0. 1. ]] SLAMing on 93.25824100800001 meters Centerline goodness [0,1] 0.8831582842341957 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.22, Z:-0.01 [[ 0.93133113 -0.04594972 -0.36126299 5.82587147] [ 0.0597838 0.99784057 0.0272046 -0.22144489] [ 0.35923283 -0.04693417 0.93206704 -0.01380434] [ 0. 0. 0. 1. ]] SLAMing on 93.28824100800001 meters Centerline goodness [0,1] 0.8835400641480514 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.22, Z:-0.01 [[ 0.93139986 -0.04537398 -0.36115855 5.82499185] [ 0.05898947 0.99789991 0.02675858 -0.21778251] [ 0.35918594 -0.04622749 0.93212042 -0.01465473] [ 0. 0. 0. 1. ]] SLAMing on 93.31824100800002 meters Centerline goodness [0,1] 0.880093756177459 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.22, Z:-0.01 [[ 0.9314339 -0.04045408 -0.36165502 5.82557758] [ 0.05524019 0.99800302 0.03063499 -0.21633809] [ 0.35969349 -0.04851236 0.93180854 -0.01405984] [ 0. 0. 0. 1. ]] SLAMing on 93.34824100800002 meters Centerline goodness [0,1] 0.8801090684207568 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.21, Z:-0.01 [[ 0.93152564 -0.0397822 -0.36149325 5.82420489] [ 0.05442483 0.99805467 0.03041086 -0.21270507] [ 0.35958021 -0.0480027 0.93187865 -0.01451241] [ 0. 0. 0. 1. ]] SLAMing on 93.37824100800002 meters Centerline goodness [0,1] 0.8809324165688412 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.21, Z:-0.01 [[ 0.93175873 -0.03333568 -0.36154447 5.82088415] [ 0.04937368 0.99815955 0.03521014 -0.21130918] [ 0.35970531 -0.05065813 0.93168978 -0.01271014] [ 0. 0. 0. 1. ]] SLAMing on 93.408241008 meters Centerline goodness [0,1] 0.8798874118663433 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.21, Z:-0.01 [[ 0.93195148 -0.03256053 -0.36111805 5.81854297] [ 0.04852671 0.99820034 0.03523113 -0.20965873] [ 0.35932102 -0.05035758 0.93185434 -0.01282928] [ 0. 0. 0. 1. ]] SLAMing on 93.438241008 meters Centerline goodness [0,1] 0.8777260953123694 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.21, Z:-0.01 [[ 0.93213418 -0.03153798 -0.36073707 5.81606206] [ 0.04752586 0.9982378 0.035533 -0.20865737] [ 0.35898074 -0.05026586 0.93199044 -0.012716 ] [ 0. 0. 0. 1. ]] SLAMing on 93.468241008 meters Centerline goodness [0,1] 0.8782188394122059 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.01 [[ 0.93223958 -0.03107595 -0.36050471 5.81481483] [ 0.04699303 0.9982653 0.03546894 -0.20721457] [ 0.35877711 -0.05000676 0.93208278 -0.01292187] [ 0. 0. 0. 1. ]] SLAMing on 93.49824100800001 meters Centerline goodness [0,1] 0.8703913391698197 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.01 [[ 0.93240271 -0.03006767 -0.36016817 5.81329125] [ 0.04583915 0.99832402 0.03532591 -0.20385847] [ 0.35850237 -0.04944777 0.9322183 -0.01392034] [ 0. 0. 0. 1. ]] SLAMing on 93.52824100800001 meters Centerline goodness [0,1] 0.8717226136206658 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.01 [[ 0.93247949 -0.02977422 -0.35999375 5.81266938] [ 0.04551872 0.99833835 0.03533543 -0.20329605] [ 0.35834348 -0.04933602 0.93228532 -0.0141452 ] [ 0. 0. 0. 1. ]] SLAMing on 93.55824100800001 meters Centerline goodness [0,1] 0.8716568684275896 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.01 [[ 0.9324657 -0.02937785 -0.36006203 5.81216403] [ 0.04520061 0.99834334 0.03560175 -0.20396868] [ 0.35841963 -0.04947244 0.93224881 -0.01372102] [ 0. 0. 0. 1. ]] SLAMing on 93.58824100800001 meters Centerline goodness [0,1] 0.8732483900389707 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.01 [[ 0.93246848 -0.02893522 -0.36009066 5.81166714] [ 0.04488268 0.99834329 0.03600318 -0.20518501] [ 0.35845233 -0.04973367 0.93222234 -0.0132552 ] [ 0. 0. 0. 1. ]] SLAMing on 93.61824100800001 meters Centerline goodness [0,1] 0.8772274488101827 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.01 [[ 0.93246303 -0.02881216 -0.36011465 5.81297633] [ 0.04468161 0.99835892 0.03581934 -0.20607794] [ 0.35849164 -0.04949071 0.93222015 -0.01445336] [ 0. 0. 0. 1. ]] SLAMing on 93.64824100800001 meters Centerline goodness [0,1] 0.8800187772684597 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.02 [[ 0.93242795 -0.02903556 -0.36018753 5.81443164] [ 0.04478105 0.99836781 0.03544523 -0.20570214] [ 0.35857046 -0.0491797 0.9322063 -0.01549882] [ 0. 0. 0. 1. ]] SLAMing on 93.67824100800001 meters Centerline goodness [0,1] 0.8795775424663578 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.21, Z:-0.02 [[ 0.93243279 -0.02903628 -0.36017493 5.81534529] [ 0.04470014 0.99837889 0.03523473 -0.20576371] [ 0.35856797 -0.04895389 0.93221914 -0.01638272] [ 0. 0. 0. 1. ]] SLAMing on 93.70824100800002 meters Centerline goodness [0,1] 0.8828719196836021 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.02 [[ 0.93255525 -0.02796902 -0.35994228 5.81457816] [ 0.0437772 0.99839823 0.03584029 -0.20850439] [ 0.35836332 -0.04918031 0.93228592 -0.01678055] [ 0. 0. 0. 1. ]] SLAMing on 93.73824100800002 meters Centerline goodness [0,1] 0.8838877655596488 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.02 [[ 0.93254831 -0.02756516 -0.35999141 5.81442192] [ 0.04347904 0.99839893 0.03618221 -0.20975744] [ 0.35841767 -0.04939374 0.93225374 -0.01654685] [ 0. 0. 0. 1. ]] SLAMing on 93.76824100800002 meters Centerline goodness [0,1] 0.8833629202263398 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.02 [[ 0.93259048 -0.02715129 -0.35991359 5.81414952] [ 0.04312425 0.99840555 0.03642337 -0.21047878] [ 0.35835079 -0.04948909 0.93227439 -0.01666476] [ 0. 0. 0. 1. ]] SLAMing on 93.798241008 meters Centerline goodness [0,1] 0.8811144134885143 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.02 [[ 0.93276787 -0.02642188 -0.35950797 5.813466 ] [ 0.04245109 0.99842192 0.03676365 -0.21166572] [ 0.35796928 -0.04955346 0.93241753 -0.01750154] [ 0. 0. 0. 1. ]] SLAMing on 93.828241008 meters Centerline goodness [0,1] 0.8801069429359178 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.02 [[ 0.93275119 -0.02631658 -0.35955898 5.81388048] [ 0.04239062 0.99841975 0.03689218 -0.21261113] [ 0.35801991 -0.04965315 0.93239279 -0.01760156] [ 0. 0. 0. 1. ]] SLAMing on 93.85824100800001 meters Centerline goodness [0,1] 0.8814560860718567 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.02 [[ 0.93309055 -0.0290246 -0.3584684 5.81238479] [ 0.04433409 0.99841876 0.03456095 -0.21245012] [ 0.35689846 -0.04814087 0.93290189 -0.01899587] [ 0. 0. 0. 1. ]] SLAMing on 93.88824100800001 meters Centerline goodness [0,1] 0.8820869273930156 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.02 [[ 0.93318756 -0.0334009 -0.35783426 5.81082478] [ 0.0474413 0.99840742 0.03052789 -0.21175571] [ 0.35624472 -0.04546437 0.93328596 -0.02005226] [ 0. 0. 0. 1. ]] SLAMing on 93.91824100800001 meters Centerline goodness [0,1] 0.8847677653207452 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.02 [[ 0.93337191 -0.03720553 -0.35697707 5.80825428] [ 0.05025989 0.99836137 0.0273592 -0.21413161] [ 0.35537421 -0.04347794 0.9337124 -0.02044866] [ 0. 0. 0. 1. ]] SLAMing on 93.94824100800001 meters Centerline goodness [0,1] 0.8820753391949212 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.02 [[ 0.93339664 -0.04189853 -0.35639195 5.80701063] [ 0.05387514 0.99826542 0.02374077 -0.21508615] [ 0.35477905 -0.04136022 0.93403488 -0.02063444] [ 0. 0. 0. 1. ]] SLAMing on 93.97824100800001 meters Centerline goodness [0,1] 0.8825603701196119 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.02 [[ 0.9332789 -0.04697901 -0.35606667 5.80680609] [ 0.05781909 0.99812959 0.01985637 -0.21606076] [ 0.35446785 -0.03911898 0.93424957 -0.02084132] [ 0. 0. 0. 1. ]] SLAMing on 94.00824100800001 meters Centerline goodness [0,1] 0.8815137705567664 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.02 [[ 0.93315911 -0.05215553 -0.35565979 5.80708465] [ 0.06176228 0.99796737 0.01570184 -0.21606045] [ 0.35411792 -0.03661868 0.93448358 -0.02172609] [ 0. 0. 0. 1. ]] SLAMing on 94.03824100800001 meters Centerline goodness [0,1] 0.8815137705567664 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.02 [[ 0.93315911 -0.05215553 -0.35565979 5.80708465] [ 0.06176228 0.99796737 0.01570184 -0.21606045] [ 0.35411792 -0.03661868 0.93448358 -0.02172609] [ 0. 0. 0. 1. ]] SLAMing on 94.06824100800002 meters Centerline goodness [0,1] 0.8811192796489429 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.02 [[ 0.93283297 -0.05432408 -0.35619031 5.81242619] [ 0.06378245 0.99785327 0.01485415 -0.21870752] [ 0.35461873 -0.03657513 0.93429536 -0.02265773] [ 0. 0. 0. 1. ]] SLAMing on 94.09824100800002 meters Centerline goodness [0,1] 0.88374817820707 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.02 [[ 0.93268444 -0.05436375 -0.35657302 5.81383071] [ 0.06398437 0.99783465 0.01523163 -0.22059882] [ 0.35497287 -0.03702141 0.93414328 -0.02224682] [ 0. 0. 0. 1. ]] SLAMing on 94.12824100800002 meters Centerline goodness [0,1] 0.8865531817662515 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.02 [[ 0.93268982 -0.05393731 -0.35662371 5.81368033] [ 0.06376091 0.99783951 0.01583846 -0.2224157 ] [ 0.35499894 -0.03751102 0.93411385 -0.02174593] [ 0. 0. 0. 1. ]] SLAMing on 94.158241008 meters Centerline goodness [0,1] 0.8833967772403332 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.02 [[ 0.93265892 -0.0534475 -0.35677823 5.81339468] [ 0.06354325 0.99784057 0.01662683 -0.22434603] [ 0.35511913 -0.03817801 0.93404113 -0.0207575 ] [ 0. 0. 0. 1. ]] SLAMing on 94.188241008 meters Centerline goodness [0,1] 0.8865675063766372 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.02 [[ 0.93267512 -0.05281586 -0.35682994 5.81233581] [ 0.06330103 0.99783642 0.01776115 -0.22695516] [ 0.35511984 -0.03915309 0.9340005 -0.01915665] [ 0. 0. 0. 1. ]] SLAMing on 94.218241008 meters Centerline goodness [0,1] 0.8806629200596399 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.02 [[ 0.93269272 -0.05248863 -0.35683223 5.81156113] [ 0.06310694 0.99784133 0.01817115 -0.22729341] [ 0.35510817 -0.03946669 0.93399174 -0.0184677 ] [ 0. 0. 0. 1. ]] SLAMing on 94.24824100800001 meters Centerline goodness [0,1] 0.8808420570905555 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.02 [[ 0.93270962 -0.05212428 -0.35684145 5.81079559] [ 0.06287608 0.99784823 0.0185881 -0.22739955] [ 0.35510472 -0.03977409 0.93398001 -0.01778544] [ 0. 0. 0. 1. ]] SLAMing on 94.27824100800001 meters Centerline goodness [0,1] 0.8767832127848137 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.02 [[ 0.93273524 -0.05204479 -0.35678609 5.81071331] [ 0.0628129 0.99785101 0.01865222 -0.22712632] [ 0.35504861 -0.03980835 0.93399988 -0.01783565] [ 0. 0. 0. 1. ]] SLAMing on 94.30824100800001 meters Centerline goodness [0,1] 0.8805452931236933 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.02 [[ 0.93275587 -0.0519792 -0.35674172 5.81039492] [ 0.06275056 0.99785445 0.01867816 -0.22624362] [ 0.35500543 -0.03980791 0.93401631 -0.01772993] [ 0. 0. 0. 1. ]] SLAMing on 94.33824100800001 meters Centerline goodness [0,1] 0.8785632512879221 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.02 [[ 0.93269746 -0.05189531 -0.35690662 5.81025698] [ 0.06276496 0.99784875 0.01893224 -0.22656364] [ 0.35515633 -0.04005928 0.9339482 -0.01700684] [ 0. 0. 0. 1. ]] SLAMing on 94.36824100800001 meters Centerline goodness [0,1] 0.8752543344318671 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.02 [[ 0.93258567 -0.05176603 -0.35721736 5.81028661] [ 0.06279458 0.99783915 0.019336 -0.2274526 ] [ 0.35544452 -0.04046379 0.93382111 -0.01595859] [ 0. 0. 0. 1. ]] SLAMing on 94.39824100800001 meters Centerline goodness [0,1] 0.8778366003720132 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.02 [[ 0.93252483 -0.05168412 -0.35738801 5.81033775] [ 0.06280795 0.99783354 0.01958046 -0.22814675] [ 0.35560175 -0.04070608 0.93375072 -0.0153466 ] [ 0. 0. 0. 1. ]] SLAMing on 94.42824100800001 meters Centerline goodness [0,1] 0.8777392649460025 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.01 [[ 0.93240934 -0.05185154 -0.35766498 5.81094534] [ 0.06302071 0.99781906 0.01963469 -0.22830051] [ 0.35586684 -0.04084787 0.93364353 -0.01487286] [ 0. 0. 0. 1. ]] SLAMing on 94.45824100800002 meters Centerline goodness [0,1] 0.8819249498710972 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.02 [[ 0.93219592 -0.05302127 -0.35804959 5.81343194] [ 0.06399773 0.99777168 0.01886694 -0.22683702] [ 0.35625139 -0.04050204 0.93351194 -0.01531236] [ 0. 0. 0. 1. ]] SLAMing on 94.48824100800002 meters Centerline goodness [0,1] 0.8759272518974652 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.02 [[ 0.93208729 -0.05338393 -0.35827845 5.81431601] [ 0.06437025 0.99774902 0.01879803 -0.22653745] [ 0.35646846 -0.04058388 0.93342551 -0.01504605] [ 0. 0. 0. 1. ]] SLAMing on 94.51824100800002 meters Centerline goodness [0,1] 0.8833662403067503 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.01 [[ 0.93183036 -0.05428821 -0.3588105 5.81621037] [ 0.06525578 0.99769675 0.01851715 -0.22669846] [ 0.35697881 -0.0406693 0.93322673 -0.0144372 ] [ 0. 0. 0. 1. ]] SLAMing on 94.548241008 meters Centerline goodness [0,1] 0.887885563582158 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.01 [[ 0.93163948 -0.05465653 -0.35924998 5.81736145] [ 0.06566763 0.99766987 0.01850908 -0.22688433] [ 0.35740124 -0.04083489 0.93305781 -0.0138275 ] [ 0. 0. 0. 1. ]] SLAMing on 94.578241008 meters Centerline goodness [0,1] 0.8867816585142596 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.01 [[ 0.93159455 -0.05478002 -0.35934767 5.81769084] [ 0.06582066 0.997659 0.01855138 -0.2268352 ] [ 0.35749019 -0.04093487 0.93301934 -0.01361174] [ 0. 0. 0. 1. ]] SLAMing on 94.60824100800001 meters Centerline goodness [0,1] 0.8858663005234704 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.01 [[ 0.93152104 -0.05497675 -0.35950815 5.81821655] [ 0.06598955 0.99765023 0.01842263 -0.22626156] [ 0.35765057 -0.04088485 0.93296007 -0.01353639] [ 0. 0. 0. 1. ]] SLAMing on 94.63824100800001 meters Centerline goodness [0,1] 0.8870714510005424 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.01 [[ 0.93151392 -0.05477489 -0.3595574 5.81767205] [ 0.06585664 0.99765509 0.01863383 -0.22545768] [ 0.3576936 -0.04103691 0.9329369 -0.01295883] [ 0. 0. 0. 1. ]] SLAMing on 94.66824100800001 meters Centerline goodness [0,1] 0.8867031588550576 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.22, Z:-0.01 [[ 0.93154294 -0.054506 -0.35952309 5.81687243] [ 0.06560731 0.99766955 0.01873885 -0.22477392] [ 0.35766386 -0.04104338 0.93294802 -0.01264803] [ 0. 0. 0. 1. ]] SLAMing on 94.69824100800001 meters Centerline goodness [0,1] 0.8856411714529429 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.22, Z:-0.01 [[ 0.93164799 -0.05385975 -0.35934822 5.81503691] [ 0.06505592 0.99769828 0.0191275 -0.2238988 ] [ 0.3574909 -0.04119782 0.9330075 -0.01202366] [ 0. 0. 0. 1. ]] SLAMing on 94.72824100800001 meters Centerline goodness [0,1] 0.8817561807331629 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-0.01 [[ 0.9315609 -0.04841931 -0.36034686 5.81528225] [ 0.06130694 0.99782034 0.02441364 -0.2259967 ] [ 0.35837933 -0.04483455 0.93249886 -0.00895717] [ 0. 0. 0. 1. ]] SLAMing on 94.75824100800001 meters Centerline goodness [0,1] 0.8784741917186614 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-0.01 [[ 0.93169248 -0.04271858 -0.36072739 5.81392038] [ 0.0570241 0.99794855 0.02910226 -0.22587636] [ 0.35874417 -0.04768451 0.93221715 -0.0072021 ] [ 0. 0. 0. 1. ]] SLAMing on 94.78824100800001 meters Centerline goodness [0,1] 0.8813904196693514 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.01 [[ 0.93185145 -0.04227402 -0.36036896 5.81240312] [ 0.05648059 0.99798308 0.02897797 -0.22355953] [ 0.35841711 -0.04735701 0.93235964 -0.00759817] [ 0. 0. 0. 1. ]] SLAMing on 94.81824100800002 meters Centerline goodness [0,1] 0.879285111173656 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.01 [[ 0.93197351 -0.04205576 -0.36007872 5.81138251] [ 0.05612077 0.99801167 0.02869077 -0.2214764 ] [ 0.35815615 -0.04694693 0.93248065 -0.00813603] [ 0. 0. 0. 1. ]] SLAMing on 94.84824100800002 meters Centerline goodness [0,1] 0.8795666414714034 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.01 [[ 0.93201254 -0.04197617 -0.35998697 5.81061422] [ 0.0558398 0.99804159 0.02819389 -0.21813019] [ 0.3580985 -0.04637866 0.93253123 -0.00853456] [ 0. 0. 0. 1. ]] SLAMing on 94.87824100800002 meters Centerline goodness [0,1] 0.8833851932834357 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.01 [[ 0.93196671 -0.04214643 -0.36008573 5.81080159] [ 0.05592418 0.99804442 0.02792517 -0.21711022] [ 0.35820461 -0.04616283 0.93250118 -0.00855114] [ 0. 0. 0. 1. ]] SLAMing on 94.908241008 meters Centerline goodness [0,1] 0.8845389117589403 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-0.01 [[ 0.93194299 -0.04233178 -0.36012537 5.81107099] [ 0.05599994 0.99804921 0.02760027 -0.21616147] [ 0.35825447 -0.04588888 0.93249555 -0.00880846] [ 0. 0. 0. 1. ]] SLAMing on 94.938241008 meters Centerline goodness [0,1] 0.8859094076655052 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.01 [[ 0.93184211 -0.04264716 -0.36034913 5.81182698] [ 0.05619475 0.99804932 0.02719768 -0.21484376] [ 0.35848629 -0.04559367 0.93242093 -0.00894297] [ 0. 0. 0. 1. ]] SLAMing on 94.968241008 meters Centerline goodness [0,1] 0.8900317778892791 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.01 [[ 0.93188211 -0.04303469 -0.36019959 5.81252297] [ 0.05621628 0.99807495 0.02619408 -0.211574 ] [ 0.35837893 -0.04465888 0.93250744 -0.0105554 ] [ 0. 0. 0. 1. ]] SLAMing on 94.99824100800001 meters Centerline goodness [0,1] 0.8919829578680627 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.01 [[ 0.93188441 -0.04318828 -0.36017527 5.81274084] [ 0.05622458 0.99808498 0.02579088 -0.20980044] [ 0.35837167 -0.04428482 0.93252807 -0.01107941] [ 0. 0. 0. 1. ]] SLAMing on 95.02824100800001 meters Centerline goodness [0,1] 0.8931003931557672 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.01 [[ 0.93195455 -0.04297496 -0.36001926 5.81208328] [ 0.05599308 0.99809766 0.02580361 -0.20873729] [ 0.35822547 -0.04420638 0.93258796 -0.01118144] [ 0. 0. 0. 1. ]] SLAMing on 95.05824100800001 meters Centerline goodness [0,1] 0.8858075943761763 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.01 [[ 0.93212398 -0.04213455 -0.3596798 5.80941568] [ 0.05527376 0.9981243 0.02631919 -0.20804338] [ 0.3578962 -0.0444136 0.93270453 -0.01038863] [ 0. 0. 0. 1. ]] SLAMing on 95.08824100800001 meters Centerline goodness [0,1] 0.8861986813673888 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.01 [[ 0.93218463 -0.04164583 -0.35957953 5.8077109 ] [ 0.05490917 0.99813307 0.02674624 -0.20802097] [ 0.35779435 -0.04467665 0.93273104 -0.00944044] [ 0. 0. 0. 1. ]] SLAMing on 95.11824100800001 meters Centerline goodness [0,1] 0.8866569036500788 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.01 [[ 0.93226501 -0.04117917 -0.35942487 5.80627375] [ 0.05449658 0.99814901 0.02699396 -0.20762725] [ 0.35764799 -0.04475295 0.93278352 -0.00901912] [ 0. 0. 0. 1. ]] SLAMing on 95.14824100800001 meters Centerline goodness [0,1] 0.8843055019038685 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.01 [[ 0.93230262 -0.04081985 -0.35936827 5.8053701 ] [ 0.05414853 0.99816516 0.02709719 -0.20677063] [ 0.35760278 -0.04472204 0.93280233 -0.00878007] [ 0. 0. 0. 1. ]] SLAMing on 95.17824100800001 meters Centerline goodness [0,1] 0.8911404986057812 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.20, Z:-0.01 [[ 0.93248691 -0.04030455 -0.35894806 5.80392257] [ 0.05347057 0.9982091 0.0268235 -0.20478896] [ 0.35722411 -0.04420572 0.93297202 -0.00959244] [ 0. 0. 0. 1. ]] SLAMing on 95.20824100800002 meters Centerline goodness [0,1] 0.8896862712749869 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.20, Z:-0.01 [[ 0.93250429 -0.04020051 -0.35891458 5.8037448 ] [ 0.05328937 0.99822355 0.02664553 -0.20369985] [ 0.35720582 -0.04397341 0.93299 -0.00985389] [ 0. 0. 0. 1. ]] SLAMing on 95.23824100800002 meters Centerline goodness [0,1] 0.8858031487394032 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.20, Z:-0.01 [[ 0.93256877 -0.04009649 -0.35875864 5.80344081] [ 0.05307814 0.9982412 0.02640507 -0.20246414] [ 0.3570689 -0.04366679 0.93305681 -0.01037256] [ 0. 0. 0. 1. ]] SLAMing on 95.26824100800002 meters Centerline goodness [0,1] 0.8915392400908171 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.20, Z:-0.01 [[ 0.93261336 -0.03992352 -0.35866201 5.80294708] [ 0.05279798 0.99826226 0.02616939 -0.20083507] [ 0.35699397 -0.04334255 0.9331006 -0.01071814] [ 0. 0. 0. 1. ]] SLAMing on 95.298241008 meters Centerline goodness [0,1] 0.8915177102752495 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.20, Z:-0.01 [[ 0.93253334 -0.03998326 -0.35886336 5.80318695] [ 0.05286294 0.99825944 0.02614583 -0.20069107] [ 0.35719334 -0.04335243 0.93302384 -0.01039251] [ 0. 0. 0. 1. ]] SLAMing on 95.328241008 meters Centerline goodness [0,1] 0.8955813379412491 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.20, Z:-0.01 [[ 0.93245178 -0.04023621 -0.35904698 5.80405867] [ 0.05308887 0.99825113 0.02600487 -0.20056311] [ 0.35737271 -0.04330969 0.93295714 -0.01045125] [ 0. 0. 0. 1. ]] SLAMing on 95.35824100800001 meters Centerline goodness [0,1] 0.8910703498270086 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.01 [[ 0.93235124 -0.04076489 -0.35924836 5.80571379] [ 0.05348991 0.99824151 0.02554828 -0.19986408] [ 0.35757516 -0.04303614 0.93289222 -0.01108179] [ 0. 0. 0. 1. ]] SLAMing on 95.38824100800001 meters Centerline goodness [0,1] 0.8950246036085292 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.01 [[ 0.93220017 -0.04160892 -0.35954352 5.80766799] [ 0.05410921 0.99822778 0.02476875 -0.19766487] [ 0.35787573 -0.04254405 0.93279953 -0.01177174] [ 0. 0. 0. 1. ]] SLAMing on 95.41824100800001 meters Centerline goodness [0,1] 0.8954897892322813 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.01 [[ 0.93212816 -0.04162074 -0.35972881 5.80768806] [ 0.05415311 0.99822396 0.02482653 -0.19724655] [ 0.35805662 -0.04262194 0.93272656 -0.01124912] [ 0. 0. 0. 1. ]] SLAMing on 95.44824100800001 meters Centerline goodness [0,1] 0.8955972101133391 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.01 [[ 0.93209901 -0.04148966 -0.35981946 5.80731794] [ 0.05404978 0.99822745 0.02491148 -0.19712523] [ 0.35814809 -0.04266813 0.93268932 -0.01081026] [ 0. 0. 0. 1. ]] SLAMing on 95.47824100800001 meters Centerline goodness [0,1] 0.8963482915904187 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.01 [[ 0.93203193 -0.04138689 -0.360005 5.80702014] [ 0.0540206 0.99822435 0.02509833 -0.19700824] [ 0.35832701 -0.04284013 0.93261271 -0.01003832] [ 0. 0. 0. 1. ]] SLAMing on 95.50824100800001 meters Centerline goodness [0,1] 0.8931048551611587 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.01 [[ 0.932001 -0.04106045 -0.36012243 5.80522678] [ 0.05393451 0.99821192 0.02576896 -0.1964325 ] [ 0.35842042 -0.04343972 0.93254908 -0.00805213] [ 0. 0. 0. 1. ]] SLAMing on 95.53824100800001 meters Centerline goodness [0,1] 0.8961194680619141 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.20, Z:-0.01 [[ 0.93203133 -0.04084531 -0.36006841 5.8041755 ] [ 0.05383647 0.99820807 0.02612049 -0.19608114] [ 0.35835629 -0.04372993 0.93256016 -0.00727963] [ 0. 0. 0. 1. ]] SLAMing on 95.56824100800002 meters Centerline goodness [0,1] 0.8951764289795141 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.20, Z:-0.01 [[ 0.93200161 -0.04087379 -0.3601421 5.80388882] [ 0.05393031 0.99819893 0.02627563 -0.19566195] [ 0.35841948 -0.0439115 0.93252735 -0.00671788] [ 0. 0. 0. 1. ]] SLAMing on 95.59824100800002 meters Centerline goodness [0,1] 0.8946870352845748 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.19, Z:-0.01 [[ 0.93185255 -0.041819 -0.3604192 5.80500179] [ 0.05476698 0.99816624 0.02578232 -0.19377353] [ 0.35868009 -0.0437644 0.93243406 -0.00644103] [ 0. 0. 0. 1. ]] SLAMing on 95.62824100800002 meters Centerline goodness [0,1] 0.897740495196861 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.19, Z:-0.01 [[ 9.31774347e-01 -4.18302043e-02 -3.60620021e-01 5.80488697e+00] [ 5.48575815e-02 9.98156656e-01 2.59602622e-02 -1.93822188e-01] [ 3.58869352e-01 -4.39718485e-02 9.32351471e-01 -5.70891349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.658241008 meters Centerline goodness [0,1] 0.8960489946344372 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.19, Z:-0.00 [[ 9.31674766e-01 -4.18920816e-02 -3.60870038e-01 5.80485537e+00] [ 5.49963528e-02 9.98144967e-01 2.61156169e-02 -1.94023583e-01] [ 3.59106575e-01 -4.41777971e-02 9.32250390e-01 -4.87092862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.688241008 meters Centerline goodness [0,1] 0.900776158152365 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.19, Z:-0.00 [[ 9.31572191e-01 -4.21880149e-02 -3.61100298e-01 5.80497358e+00] [ 5.52813945e-02 9.98132183e-01 2.60021784e-02 -1.93422691e-01] [ 3.59328848e-01 -4.41850343e-02 9.32164396e-01 -4.21245417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.718241008 meters Centerline goodness [0,1] 0.8987034035656402 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.19, Z:-0.00 [[ 9.31519533e-01 -4.23589666e-02 -3.61216109e-01 5.80523298e+00] [ 5.54008457e-02 9.98130246e-01 2.58216731e-02 -1.92128796e-01] [ 3.59446944e-01 -4.40650708e-02 9.32124543e-01 -4.15169244e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74824100800001 meters Centerline goodness [0,1] 0.8989304235090751 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.19, Z:-0.00 [[ 9.31458390e-01 -4.27706475e-02 -3.61325254e-01 5.80605147e+00] [ 5.56614398e-02 9.98128110e-01 2.53393016e-02 -1.90443134e-01] [ 3.59565114e-01 -4.37143889e-02 9.32095478e-01 -4.58690667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77824100800001 meters Centerline goodness [0,1] 0.9019386410690758 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.19, Z:-0.01 [[ 9.31358993e-01 -4.33271878e-02 -3.61515120e-01 5.80724987e+00] [ 5.60511243e-02 9.98120371e-01 2.47789632e-02 -1.88556185e-01] [ 3.59762002e-01 -4.33414391e-02 9.32036921e-01 -5.02709132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80824100800001 meters Centerline goodness [0,1] 0.9002093510118632 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.19, Z:-0.01 [[ 0.93126451 -0.04424811 -0.36164695 5.80946869] [ 0.05656165 0.99812184 0.02352806 -0.18526739] [ 0.35992665 -0.04236619 0.93201819 -0.00676596] [ 0. 0. 0. 1. ]] SLAMing on 95.83824100800001 meters Centerline goodness [0,1] 0.9033746445624765 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.18, Z:-0.01 [[ 0.93115376 -0.04443962 -0.36190856 5.81022868] [ 0.05667657 0.99812158 0.02326129 -0.18427344] [ 0.36019502 -0.04217157 0.93192334 -0.00678414] [ 0. 0. 0. 1. ]] SLAMing on 95.86824100800001 meters Centerline goodness [0,1] 0.9015459067078908 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.18, Z:-0.01 [[ 0.93107539 -0.04454258 -0.36209747 5.81055457] [ 0.05671482 0.99812428 0.02305108 -0.18344541] [ 0.36039152 -0.04199859 0.93185518 -0.00667387] [ 0. 0. 0. 1. ]] SLAMing on 95.89824100800001 meters Centerline goodness [0,1] 0.904367187080852 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.18, Z:-0.01 [[ 0.93105116 -0.04408873 -0.36221529 5.8094682 ] [ 0.05626452 0.99814794 0.0231301 -0.1823717 ] [ 0.36052466 -0.04191518 0.93180743 -0.00604674] [ 0. 0. 0. 1. ]] SLAMing on 95.92824100800001 meters Centerline goodness [0,1] 0.904393041893377 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.18, Z:-0.01 [[ 0.93111046 -0.04379726 -0.3620982 5.80863057] [ 0.05600268 0.99815928 0.02327554 -0.18184327] [ 0.36041227 -0.04195057 0.93184931 -0.00584867] [ 0. 0. 0. 1. ]] SLAMing on 95.95824100800002 meters Centerline goodness [0,1] 0.904393041893377 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.18, Z:-0.01 [[ 0.93111046 -0.04379726 -0.3620982 5.80863057] [ 0.05600268 0.99815928 0.02327554 -0.18184327] [ 0.36041227 -0.04195057 0.93184931 -0.00584867] [ 0. 0. 0. 1. ]] SLAMing on 95.98824100800002 meters Centerline goodness [0,1] 0.9046182594767752 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.18, Z:-0.01 [[ 0.93117496 -0.04354284 -0.36196301 5.8079087 ] [ 0.05575806 0.99817088 0.02336513 -0.18105802] [ 0.36028355 -0.04193938 0.93189959 -0.0058154 ] [ 0. 0. 0. 1. ]] SLAMing on 96.01824100800002 meters Centerline goodness [0,1] 0.9043457344451571 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.18, Z:-0.01 [[ 0.93129145 -0.04321894 -0.36170204 5.80694863] [ 0.05543421 0.99818674 0.02345808 -0.18040193] [ 0.36003235 -0.04189697 0.93199858 -0.00598315] [ 0. 0. 0. 1. ]] SLAMing on 96.048241008 meters Centerline goodness [0,1] 0.9047821919267227 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.18, Z:-0.01 [[ 0.93150783 -0.04223599 -0.36126069 5.80491075] [ 0.05461451 0.99821618 0.02411887 -0.18068279] [ 0.35959758 -0.04219699 0.93215288 -0.00584263] [ 0. 0. 0. 1. ]] SLAMing on 96.078241008 meters Centerline goodness [0,1] 0.9045544448602127 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.18, Z:-0.01 [[ 0.93155304 -0.04208035 -0.36116227 5.80504779] [ 0.05441826 0.99822844 0.02405482 -0.18040291] [ 0.35951021 -0.04206216 0.93219267 -0.00636826] [ 0. 0. 0. 1. ]] SLAMing on 96.10824100800001 meters Centerline goodness [0,1] 0.9054471804711651 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.18, Z:-0.01 [[ 0.93168396 -0.04172291 -0.3608659 5.80459156] [ 0.05398121 0.99825465 0.02395166 -0.17947494] [ 0.35923673 -0.04179536 0.9323101 -0.00717004] [ 0. 0. 0. 1. ]] SLAMing on 96.13824100800001 meters Centerline goodness [0,1] 0.904164884516681 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.18, Z:-0.01 [[ 0.93188809 -0.04089674 -0.36043315 5.80307895] [ 0.05318102 0.99829098 0.02422617 -0.17901197] [ 0.35882639 -0.04174428 0.9324704 -0.00761242] [ 0. 0. 0. 1. ]] SLAMing on 96.16824100800001 meters Centerline goodness [0,1] 0.9055493422804495 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.18, Z:-0.01 [[ 0.93235246 -0.03830904 -0.35951537 5.79860726] [ 0.05071949 0.99839629 0.0251473 -0.17974018] [ 0.35797544 -0.04168059 0.93280025 -0.00831474] [ 0. 0. 0. 1. ]] SLAMing on 96.19824100800001 meters Centerline goodness [0,1] 0.9051528803348172 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.18, Z:-0.01 [[ 0.93251114 -0.0372706 -0.35921285 5.79673408] [ 0.04981048 0.99842761 0.0257141 -0.18047024] [ 0.35768965 -0.04187125 0.93290134 -0.00810995] [ 0. 0. 0. 1. ]] SLAMing on 96.22824100800001 meters Centerline goodness [0,1] 0.9085691404164442 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.18, Z:-0.01 [[ 0.93268732 -0.03618543 -0.35886623 5.79502289] [ 0.0488536 0.99845983 0.02629237 -0.18137202] [ 0.35736212 -0.04205447 0.93301862 -0.00815059] [ 0. 0. 0. 1. ]] SLAMing on 96.25824100800001 meters Centerline goodness [0,1] 0.9126998958806097 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.18, Z:-0.01 [[ 0.93293578 -0.03486546 -0.35835072 5.79413925] [ 0.04754018 0.99851463 0.02661712 -0.18231617] [ 0.35689041 -0.04186812 0.93320753 -0.00973265] [ 0. 0. 0. 1. ]] SLAMing on 96.28824100800001 meters Centerline goodness [0,1] 0.912349212293043 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.18, Z:-0.01 [[ 0.93299823 -0.03457981 -0.35821578 5.79449244] [ 0.04722783 0.99852946 0.02661671 -0.1827111 ] [ 0.35676861 -0.0417511 0.93325935 -0.01056212] [ 0. 0. 0. 1. ]] SLAMing on 96.31824100800002 meters Centerline goodness [0,1] 0.913736734912638 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.18, Z:-0.01 [[ 0.93304709 -0.0342811 -0.3581172 5.79473382] [ 0.04696536 0.99853751 0.02677874 -0.18331333] [ 0.35667545 -0.04180493 0.93329254 -0.01105611] [ 0. 0. 0. 1. ]] SLAMing on 96.34824100800002 meters Centerline goodness [0,1] 0.910411622276029 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.18, Z:-0.01 [[ 0.93313998 -0.03376157 -0.35792447 5.79422767] [ 0.04655749 0.99854548 0.02719065 -0.18408454] [ 0.35648587 -0.04203675 0.93335456 -0.0111804 ] [ 0. 0. 0. 1. ]] SLAMing on 96.37824100800002 meters Centerline goodness [0,1] 0.911127264895135 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.19, Z:-0.01 [[ 0.93338033 -0.03232382 -0.35743017 5.79205094] [ 0.04540536 0.99856869 0.02826543 -0.18675073] [ 0.35600493 -0.04261164 0.93351204 -0.01106834] [ 0. 0. 0. 1. ]] SLAMing on 96.408241008 meters Centerline goodness [0,1] 0.9091324446355622 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.19, Z:-0.01 [[ 0.93344078 -0.03168698 -0.35732932 5.79142477] [ 0.04492559 0.99857491 0.02880694 -0.18834974] [ 0.35590729 -0.0429428 0.9335341 -0.01086487] [ 0. 0. 0. 1. ]] SLAMing on 96.438241008 meters Centerline goodness [0,1] 0.91079318892122 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.19, Z:-0.01 [[ 0.93347847 -0.03132599 -0.35726269 5.7911495 ] [ 0.04463936 0.9985799 0.02907771 -0.18933594] [ 0.35584445 -0.04309139 0.93355121 -0.0108346 ] [ 0. 0. 0. 1. ]] SLAMing on 96.468241008 meters Centerline goodness [0,1] 0.9025371120107962 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.19, Z:-0.01 [[ 0.93373025 -0.03001991 -0.35671645 5.78867716] [ 0.04351196 0.99860668 0.02985661 -0.19117266] [ 0.35532313 -0.04339945 0.93373549 -0.01076471] [ 0. 0. 0. 1. ]] SLAMing on 96.49824100800001 meters Centerline goodness [0,1] 0.8985558199913457 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.19, Z:-0.01 [[ 0.93388596 -0.03342504 -0.3560053 5.78585898] [ 0.04581017 0.99860091 0.02641309 -0.18992565] [ 0.35462436 -0.04097548 0.93411058 -0.01140942] [ 0. 0. 0. 1. ]] SLAMing on 96.52824100800001 meters Centerline goodness [0,1] 0.9075936293960972 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.19, Z:-0.01 [[ 0.93407799 -0.03737054 -0.35510808 5.783149 ] [ 0.0485862 0.99856065 0.02271575 -0.18898735] [ 0.35374806 -0.03847164 0.93454922 -0.01218112] [ 0. 0. 0. 1. ]] SLAMing on 96.55824100800001 meters Centerline goodness [0,1] 0.9047282608695653 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.19, Z:-0.01 [[ 0.9340561 -0.03698359 -0.35520616 5.78265739] [ 0.04850491 0.99854452 0.0235822 -0.1910586 ] [ 0.35381701 -0.03925634 0.93449048 -0.01097331] [ 0. 0. 0. 1. ]] SLAMing on 96.58824100800001 meters Centerline goodness [0,1] 0.9062508526370359 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.19, Z:-0.01 [[ 0.93409653 -0.04179789 -0.35456538 5.78215446] [ 0.05231515 0.99842784 0.02012384 -0.19294196] [ 0.35316681 -0.03734675 0.93481465 -0.0114372 ] [ 0. 0. 0. 1. ]] SLAMing on 96.61824100800001 meters Centerline goodness [0,1] 0.9063710249277259 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.20, Z:-0.01 [[ 0.93390136 -0.0422631 -0.35502406 5.7842498 ] [ 0.05299219 0.99838352 0.02054704 -0.19527487] [ 0.35358179 -0.03800241 0.93463134 -0.01082285] [ 0. 0. 0. 1. ]] SLAMing on 96.64824100800001 meters Centerline goodness [0,1] 0.9053091306128019 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.20, Z:-0.01 [[ 0.93365311 -0.04302588 -0.35558494 5.78691455] [ 0.05390314 0.99833088 0.0207342 -0.19739357] [ 0.35409932 -0.03852569 0.93441396 -0.01028145] [ 0. 0. 0. 1. ]] SLAMing on 96.67824100800001 meters Centerline goodness [0,1] 0.9053625170998632 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.20, Z:-0.01 [[ 0.93332262 -0.04407089 -0.35632378 5.79024214] [ 0.05502209 0.99827155 0.02065155 -0.19905354] [ 0.35479776 -0.03888024 0.93413429 -0.00982561] [ 0. 0. 0. 1. ]] SLAMing on 96.70824100800002 meters Centerline goodness [0,1] 0.9066673995492772 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.20, Z:-0.01 [[ 0.93297025 -0.04999421 -0.3564647 5.79280285] [ 0.05983413 0.9980699 0.01662364 -0.20124227] [ 0.35494561 -0.03683812 0.93416089 -0.01000859] [ 0. 0. 0. 1. ]] SLAMing on 96.73824100800002 meters Centerline goodness [0,1] 0.9045789924558543 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.20, Z:-0.01 [[ 0.93285012 -0.05518948 -0.35601233 5.79295552] [ 0.06377031 0.99788754 0.01240195 -0.20108186] [ 0.35457581 -0.03427217 0.93439896 -0.01087658] [ 0. 0. 0. 1. ]] SLAMing on 96.76824100800002 meters Centerline goodness [0,1] 0.9045698550885879 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.20, Z:-0.01 [[ 0.93270207 -0.06043381 -0.35554831 5.79383883] [ 0.06793464 0.99765239 0.00863691 -0.20285503] [ 0.35419166 -0.03220971 0.934618 -0.01160494] [ 0. 0. 0. 1. ]] SLAMing on 96.798241008 meters Centerline goodness [0,1] 0.905758434772942 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.20, Z:-0.01 [[ 0.93253006 -0.06076831 -0.35594227 5.79568481] [ 0.06842208 0.99761641 0.00894017 -0.20447194] [ 0.35455057 -0.03269129 0.93446518 -0.01119423] [ 0. 0. 0. 1. ]] SLAMing on 96.828241008 meters Centerline goodness [0,1] 0.9040858532222905 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.01 [[ 0.9323205 -0.06120054 -0.35641687 5.79798571] [ 0.06895191 0.99757875 0.00907062 -0.20557583] [ 0.35499876 -0.03303235 0.93428301 -0.01099403] [ 0. 0. 0. 1. ]] SLAMing on 96.85824100800001 meters Centerline goodness [0,1] 0.9018363753249294 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.01 [[ 0.93217136 -0.06162258 -0.35673409 5.79998083] [ 0.06940251 0.99754781 0.00903631 -0.20606896] [ 0.35530247 -0.03318163 0.93416226 -0.0111368 ] [ 0. 0. 0. 1. ]] SLAMing on 96.88824100800001 meters Centerline goodness [0,1] 0.901781213241472 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.01 [[ 0.93209902 -0.06166535 -0.35691568 5.80097139] [ 0.06955725 0.99753457 0.00930451 -0.20663825] [ 0.35546196 -0.0334988 0.93409027 -0.01094239] [ 0. 0. 0. 1. ]] SLAMing on 96.91824100800001 meters Centerline goodness [0,1] 0.9033160766755282 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.01 [[ 0.93226287 -0.06076675 -0.35664176 5.79936122] [ 0.06899128 0.99756334 0.01037267 -0.20834182] [ 0.35514244 -0.03427523 0.93418363 -0.01004573] [ 0. 0. 0. 1. ]] SLAMing on 96.94824100800001 meters Centerline goodness [0,1] 0.9016678346180799 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.01 [[ 0.93228195 -0.0599891 -0.35672353 5.79790681] [ 0.06860359 0.99757733 0.01153308 -0.21020538] [ 0.35516745 -0.0352246 0.93413881 -0.00823996] [ 0. 0. 0. 1. ]] SLAMing on 96.97824100800001 meters Centerline goodness [0,1] 0.9035897723764349 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.01 [[ 0.93228691 -0.05919278 -0.35684357 5.79670066] [ 0.06823362 0.99758741 0.01278806 -0.21270415] [ 0.35522569 -0.03627087 0.93407662 -0.00640018] [ 0. 0. 0. 1. ]] SLAMing on 97.00824100800001 meters Centerline goodness [0,1] 0.9051166713522631 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-0.00 [[ 9.32237554e-01 -5.86902869e-02 -3.57055448e-01 5.79619097e+00] [ 6.81382556e-02 9.97578671e-01 1.39274231e-02 -2.15341989e-01] [ 3.55373495e-01 -3.73128022e-02 9.33979354e-01 -4.57265394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03824100800001 meters Centerline goodness [0,1] 0.9063720943306068 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.00 [[ 9.32237485e-01 -5.85942651e-02 -3.57071398e-01 5.79636498e+00] [ 6.81098117e-02 9.97577893e-01 1.41209183e-02 -2.14998070e-01] [ 3.55379128e-01 -3.74841150e-02 9.33970351e-01 -4.42597562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06824100800002 meters Centerline goodness [0,1] 0.9029946823397705 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.00 [[ 9.32235536e-01 -5.88091363e-02 -3.57041162e-01 5.79688790e+00] [ 6.82792556e-02 9.97568500e-01 1.39653552e-02 -2.13522700e-01] [ 3.55351725e-01 -3.73975052e-02 9.33984249e-01 -4.64728401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09824100800002 meters Centerline goodness [0,1] 0.9003566651805618 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.00 [[ 9.32230081e-01 -5.85909949e-02 -3.57091265e-01 5.79642280e+00] [ 6.81101879e-02 9.97577755e-01 1.41288609e-02 -2.12170907e-01] [ 3.55398479e-01 -3.74929023e-02 9.33962635e-01 -4.12528780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.12824100800002 meters Centerline goodness [0,1] 0.8998493975903614 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.00 [[ 9.32259957e-01 -5.82207922e-02 -3.57073820e-01 5.79569402e+00] [ 6.78781677e-02 9.97587338e-01 1.45621782e-02 -2.12250390e-01] [ 3.55364500e-01 -3.78132522e-02 9.33962649e-01 -3.44656426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.158241008 meters Centerline goodness [0,1] 0.898485776317987 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.00 [[ 9.32237227e-01 -5.81156222e-02 -3.57150287e-01 5.79557585e+00] [ 6.78677459e-02 9.97584224e-01 1.48218035e-02 -2.11884489e-01] [ 3.55426114e-01 -3.80564219e-02 9.33929326e-01 -2.82074195e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.188241008 meters Centerline goodness [0,1] 0.8993367147873585 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.00 [[ 9.32225900e-01 -5.81274651e-02 -3.57177924e-01 5.79562800e+00] [ 6.79174654e-02 9.97579436e-01 1.49159734e-02 -2.11041430e-01] [ 3.55446325e-01 -3.81636760e-02 9.33917258e-01 -2.52143946e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.218241008 meters Centerline goodness [0,1] 0.8969676755885377 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.00 [[ 9.32236823e-01 -5.81545576e-02 -3.57145002e-01 5.79580162e+00] [ 6.79429773e-02 9.97577779e-01 1.49106130e-02 -2.10044579e-01] [ 3.55412798e-01 -3.81657172e-02 9.33929934e-01 -2.54340764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24824100800001 meters Centerline goodness [0,1] 0.8989557654488547 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.00 [[ 9.32254864e-01 -5.80911583e-02 -3.57108228e-01 5.79574785e+00] [ 6.77689510e-02 9.97593686e-01 1.46357910e-02 -2.08327271e-01] [ 3.55398704e-01 -3.78451374e-02 9.33948343e-01 -2.83222774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27824100800001 meters Centerline goodness [0,1] 0.8981027558509902 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.00 [[ 9.32241856e-01 -5.80977552e-02 -3.57141109e-01 5.79596597e+00] [ 6.77098560e-02 9.97600288e-01 1.44582193e-02 -2.07075562e-01] [ 3.55444083e-01 -3.76605302e-02 9.33938535e-01 -2.98901749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30824100800001 meters Centerline goodness [0,1] 0.8997731548080115 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-0.00 [[ 9.32266968e-01 -5.78882649e-02 -3.57109576e-01 5.79589645e+00] [ 6.74789758e-02 9.97616135e-01 1.44441745e-02 -2.06034947e-01] [ 3.55422127e-01 -3.75632152e-02 9.33950811e-01 -3.13944648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33824100800001 meters Centerline goodness [0,1] 0.8986316516931583 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.20, Z:-0.00 [[ 9.32271346e-01 -5.78735610e-02 -3.57100529e-01 5.79643880e+00] [ 6.73633972e-02 9.97627696e-01 1.41828342e-02 -2.04597807e-01] [ 3.55432567e-01 -3.72777547e-02 9.33958275e-01 -3.68364678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36824100800001 meters Centerline goodness [0,1] 0.8964325221238938 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.20, Z:-0.00 [[ 9.32151596e-01 -5.82241157e-02 -3.57356062e-01 5.79788193e+00] [ 6.76986843e-02 9.97606887e-01 1.40494547e-02 -2.04178876e-01] [ 3.55682851e-01 -3.72887568e-02 9.33862548e-01 -3.75816630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39824100800001 meters Centerline goodness [0,1] 0.8985475169456356 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.20, Z:-0.00 [[ 9.32024320e-01 -5.86011817e-02 -3.57626296e-01 5.79959459e+00] [ 6.80793634e-02 9.97582250e-01 1.39590511e-02 -2.03936996e-01] [ 3.55943628e-01 -3.73571456e-02 9.33760450e-01 -3.92450142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42824100800001 meters Centerline goodness [0,1] 0.8940795303500222 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.20, Z:-0.00 [[ 9.31868789e-01 -5.92373932e-02 -3.57926657e-01 5.80185230e+00] [ 6.86411815e-02 9.97548534e-01 1.36128444e-02 -2.03541528e-01] [ 3.56242822e-01 -3.72538934e-02 9.33650469e-01 -4.37065985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45824100800002 meters Centerline goodness [0,1] 0.8948505581562838 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.00 [[ 9.31431265e-01 -6.04653655e-02 -3.58858940e-01 5.80592126e+00] [ 6.98362989e-02 9.97471190e-01 1.31953020e-02 -2.03874333e-01] [ 3.57153595e-01 -3.73518970e-02 9.33298530e-01 -3.93437527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48824100800002 meters Centerline goodness [0,1] 0.8985639578318254 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.00 [[ 9.31180775e-01 -6.07877592e-02 -3.59454048e-01 5.80759236e+00] [ 7.03281112e-02 9.97432412e-01 1.35107779e-02 -2.04877863e-01] [ 3.57709828e-01 -3.78607009e-02 9.33064974e-01 -2.81393730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51824100800002 meters Centerline goodness [0,1] 0.8951878161364327 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.00 [[ 9.30962562e-01 -6.08147427e-02 -3.60014270e-01 5.80839826e+00] [ 7.06489086e-02 9.97400061e-01 1.42073837e-02 -2.05913539e-01] [ 3.58214236e-01 -3.86611576e-02 9.32838612e-01 -1.05719350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.548241008 meters Centerline goodness [0,1] 0.8956789609524602 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-0.00 [[ 9.30774248e-01 -6.10998210e-02 -3.60452649e-01 5.80960393e+00] [ 7.10325408e-02 9.97370628e-01 1.43599800e-02 -2.06210797e-01] [ 3.58627492e-01 -3.89697671e-02 9.32666971e-01 -2.96194854e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.578241008 meters Centerline goodness [0,1] 0.8974529162864018 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.00 [[ 9.30566602e-01 -6.18666030e-02 -3.60857759e-01 5.81203475e+00] [ 7.17721453e-02 9.97321396e-01 1.40993906e-02 -2.04976671e-01] [ 3.59018882e-01 -3.90199575e-02 9.32514282e-01 -2.86874155e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.60824100800001 meters Centerline goodness [0,1] 0.8993465138173562 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.00 [[ 9.30568477e-01 -6.18638882e-02 -3.60853390e-01 5.81249028e+00] [ 7.17774271e-02 9.97320707e-01 1.41211762e-02 -2.04078248e-01] [ 3.59012967e-01 -3.90418493e-02 9.32515643e-01 -4.80753150e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63824100800001 meters Centerline goodness [0,1] 0.9011492982650017 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.00 [[ 9.30530684e-01 -6.19597248e-02 -3.60934397e-01 5.81291703e+00] [ 7.18365348e-02 9.97318181e-01 1.39984989e-02 -2.02555893e-01] [ 3.59099094e-01 -3.89543091e-02 9.32486141e-01 -5.14917937e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66824100800001 meters Centerline goodness [0,1] 0.899139566209418 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.00 [[ 9.30539742e-01 -6.16202998e-02 -3.60969149e-01 5.81259109e+00] [ 7.13995007e-02 9.97352271e-01 1.38043018e-02 -1.99573938e-01] [ 3.59162776e-01 -3.86184684e-02 9.32475584e-01 -6.36528157e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69824100800001 meters Centerline goodness [0,1] 0.8983749896890209 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:-0.00 [[ 9.30597587e-01 -6.10274042e-02 -3.60920750e-01 5.81162949e+00] [ 7.09302399e-02 9.97379608e-01 1.42414133e-02 -1.99370842e-01] [ 3.59105880e-01 -3.88532202e-02 9.32487745e-01 -3.56719861e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72824100800001 meters Centerline goodness [0,1] 0.9003538221015387 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:0.00 [[ 9.30656748e-01 -6.03718041e-02 -3.60878460e-01 5.81072714e+00] [ 7.03986146e-02 9.97410761e-01 1.46904267e-02 -1.99183064e-01] [ 3.59057172e-01 -3.90770883e-02 9.32497147e-01 5.03032451e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75824100800001 meters Centerline goodness [0,1] 0.9032496711968435 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:0.00 [[ 9.30755302e-01 -5.85662591e-02 -3.60921822e-01 5.80852699e+00] [ 6.87190196e-02 9.97517976e-01 1.53487413e-02 -1.97244344e-01] [ 3.59127087e-01 -3.90881161e-02 9.32469761e-01 9.86362873e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78824100800001 meters Centerline goodness [0,1] 0.9016586058966582 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.20, Z:0.00 [[ 9.30833271e-01 -5.79996212e-02 -3.60812231e-01 5.80791458e+00] [ 6.81623867e-02 9.97553936e-01 1.54930084e-02 -1.95880800e-01] [ 3.59031073e-01 -3.90152305e-02 9.32509786e-01 8.50973125e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81824100800002 meters Centerline goodness [0,1] 0.9013364672442538 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.19, Z:0.00 [[ 9.30884444e-01 -5.77504674e-02 -3.60720162e-01 5.80790781e+00] [ 6.78528776e-02 9.97576580e-01 1.53933023e-02 -1.94290905e-01] [ 3.58957016e-01 -3.88052867e-02 9.32547055e-01 4.21885883e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84824100800002 meters Centerline goodness [0,1] 0.9013364672442538 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.19, Z:0.00 [[ 9.30884444e-01 -5.77504674e-02 -3.60720162e-01 5.80790781e+00] [ 6.78528776e-02 9.97576580e-01 1.53933023e-02 -1.94290905e-01] [ 3.58957016e-01 -3.88052867e-02 9.32547055e-01 4.21885883e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87824100800002 meters Centerline goodness [0,1] 0.8977625347052098 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.19, Z:0.00 [[ 9.30866639e-01 -5.76950964e-02 -3.60774967e-01 5.80849648e+00] [ 6.77617574e-02 9.97584142e-01 1.53044046e-02 -1.93168195e-01] [ 3.59020397e-01 -3.86931054e-02 9.32527318e-01 1.35598095e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.90824100800002 meters Centerline goodness [0,1] 0.8979313728162219 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.19, Z:0.00 [[ 9.30781837e-01 -5.75708643e-02 -3.61013527e-01 5.80969327e+00] [ 6.76986205e-02 9.97586051e-01 1.54585763e-02 -1.92617179e-01] [ 3.59252095e-01 -3.88286798e-02 9.32432446e-01 1.62014498e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.938241008 meters Centerline goodness [0,1] 0.8985930086709931 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.19, Z:0.00 [[ 9.30714512e-01 -5.74411547e-02 -3.61207713e-01 5.81053010e+00] [ 6.76646562e-02 9.97584449e-01 1.57086201e-02 -1.93099054e-01] [ 3.59432876e-01 -3.90612364e-02 9.32353059e-01 3.10220923e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.968241008 meters Centerline goodness [0,1] 0.8942294562634842 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.19, Z:0.00 [[ 9.30645795e-01 -5.73260889e-02 -3.61402994e-01 5.81144050e+00] [ 6.76230208e-02 9.97584277e-01 1.58976960e-02 -1.93518902e-01] [ 3.59618592e-01 -3.92342861e-02 9.32274176e-01 3.49387375e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99824100800001 meters Centerline goodness [0,1] 0.8978122101587648 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.19, Z:0.00 [[ 9.30465490e-01 -5.75136415e-02 -3.61837190e-01 5.81302143e+00] [ 6.78611904e-02 9.97567381e-01 1.59429800e-02 -1.93569193e-01] [ 3.60040039e-01 -3.93890952e-02 9.32104967e-01 7.13979544e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02824100800001 meters Centerline goodness [0,1] 0.8973491873022799 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.19, Z:0.00 [[ 9.30277921e-01 -5.74220332e-02 -3.62333685e-01 5.81455404e+00] [ 6.78478683e-02 9.97565697e-01 1.61042806e-02 -1.94196250e-01] [ 3.60526914e-01 -3.95650248e-02 9.31909305e-01 1.13785644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05824100800001 meters Centerline goodness [0,1] 0.8929068909950018 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.19, Z:0.00 [[ 9.30120036e-01 -5.73915244e-02 -3.62743618e-01 5.81547566e+00] [ 6.79263140e-02 9.97556475e-01 1.63430550e-02 -1.94418961e-01] [ 3.60919292e-01 -3.98408398e-02 9.31745659e-01 1.85674922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08824100800001 meters Centerline goodness [0,1] 0.8941211757648471 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.19, Z:0.00 [[ 9.30044581e-01 -5.71441984e-02 -3.62976056e-01 5.81558196e+00] [ 6.78220077e-02 9.97557144e-01 1.67308212e-02 -1.94588692e-01] [ 3.61133289e-01 -4.01781745e-02 9.31648250e-01 2.65943004e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11824100800001 meters Centerline goodness [0,1] 0.8957970856894302 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.19, Z:0.00 [[ 9.29946199e-01 -5.71377718e-02 -3.63229050e-01 5.81676588e+00] [ 6.79481002e-02 9.97543270e-01 1.70434544e-02 -1.94634208e-01] [ 3.61362869e-01 -4.05302195e-02 9.31543975e-01 3.04499584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14824100800001 meters Centerline goodness [0,1] 0.8937728937728938 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.19, Z:0.00 [[ 9.29763688e-01 -5.74864598e-02 -3.63641021e-01 5.81863699e+00] [ 6.83177858e-02 9.97519059e-01 1.69825649e-02 -1.94210994e-01] [ 3.61762581e-01 -4.06329216e-02 9.31384346e-01 3.14769565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17824100800001 meters Centerline goodness [0,1] 0.8984854242440693 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.19, Z:0.00 [[ 9.29679196e-01 -5.74616919e-02 -3.63860888e-01 5.81958662e+00] [ 6.83779111e-02 9.97511573e-01 1.71791443e-02 -1.94241160e-01] [ 3.61968305e-01 -4.08511406e-02 9.31294868e-01 3.34262804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20824100800002 meters Centerline goodness [0,1] 0.8936436300364309 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.20, Z:0.01 [[ 9.29640423e-01 -5.66324720e-02 -3.64089889e-01 5.81855890e+00] [ 6.79220452e-02 9.97523388e-01 1.82670919e-02 -1.96231506e-01] [ 3.62153669e-01 -4.17115569e-02 9.31184657e-01 5.22714048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23824100800002 meters Centerline goodness [0,1] 0.8957202476746406 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.20, Z:0.01 [[ 0.92960795 -0.05605701 -0.36426182 5.81798003] [ 0.06761445 0.99752979 0.01904232 -0.19741567] [ 0.36229456 -0.04233125 0.93110188 0.00642389] [ 0. 0. 0. 1. ]] SLAMing on 98.26824100800002 meters Centerline goodness [0,1] 0.8945674702738082 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.20, Z:0.01 [[ 0.92956271 -0.05583506 -0.36441131 5.81839259] [ 0.0675314 0.99752809 0.0194221 -0.19766486] [ 0.36242609 -0.04266326 0.93103554 0.00688725] [ 0. 0. 0. 1. ]] SLAMing on 98.298241008 meters Centerline goodness [0,1] 0.8891950135028233 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.20, Z:0.01 [[ 0.92941523 -0.05581452 -0.36479045 5.81943142] [ 0.06763488 0.9975157 0.01969632 -0.19782814] [ 0.36278486 -0.04297862 0.9308813 0.00748677] [ 0. 0. 0. 1. ]] SLAMing on 98.328241008 meters Centerline goodness [0,1] 0.8932422130254847 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.20, Z:0.01 [[ 0.92912556 -0.05633396 -0.36544791 5.82204599] [ 0.06822037 0.99747607 0.01968409 -0.19780998] [ 0.36341667 -0.04321999 0.93062364 0.00803691] [ 0. 0. 0. 1. ]] SLAMing on 98.35824100800001 meters Centerline goodness [0,1] 0.8917093365290336 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.20, Z:0.01 [[ 0.92892898 -0.05678786 -0.36587714 5.82425535] [ 0.06863999 0.99745176 0.01945606 -0.19745181] [ 0.36383993 -0.0431871 0.93045977 0.00790725] [ 0. 0. 0. 1. ]] SLAMing on 98.38824100800001 meters Centerline goodness [0,1] 0.892983699503898 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.20, Z:0.01 [[ 0.92873718 -0.05704482 -0.36632382 5.82576746] [ 0.06894897 0.99742991 0.01948347 -0.19713045] [ 0.3642709 -0.04335268 0.93028343 0.00832252] [ 0. 0. 0. 1. ]] SLAMing on 98.41824100800001 meters Centerline goodness [0,1] 0.8978458019009232 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.20, Z:0.01 [[ 0.9284949 -0.05738231 -0.36688486 5.82756157] [ 0.06934252 0.99740249 0.01949089 -0.19681512] [ 0.36481344 -0.04353791 0.93006215 0.00891941] [ 0. 0. 0. 1. ]] SLAMing on 98.44824100800001 meters Centerline goodness [0,1] 0.8927665147753008 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.20, Z:0.01 [[ 0.92804855 -0.05818064 -0.36788707 5.83045234] [ 0.0702473 0.99733935 0.0194817 -0.19772047] [ 0.36577479 -0.04392303 0.92966637 0.01035043] [ 0. 0. 0. 1. ]] SLAMing on 98.47824100800001 meters Centerline goodness [0,1] 0.8950940310711366 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.20, Z:0.01 [[ 0.92782316 -0.05828577 -0.36843853 5.83195203] [ 0.0705791 0.99730635 0.01996575 -0.19875138] [ 0.36628237 -0.04452875 0.92943769 0.01147044] [ 0. 0. 0. 1. ]] SLAMing on 98.50824100800001 meters Centerline goodness [0,1] 0.8958469409971697 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.20, Z:0.01 [[ 0.92742921 -0.05913277 -0.36929442 5.83488985] [ 0.07147309 0.99724576 0.01981164 -0.19816134] [ 0.36710578 -0.0447685 0.92910125 0.01237175] [ 0. 0. 0. 1. ]] SLAMing on 98.53824100800001 meters Centerline goodness [0,1] 0.8931967414107839 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.20, Z:0.01 [[ 0.92717127 -0.05970826 -0.3698491 5.83710851] [ 0.07206374 0.9972061 0.01966746 -0.19737978] [ 0.36764147 -0.04488782 0.92888365 0.01273991] [ 0. 0. 0. 1. ]] SLAMing on 98.56824100800002 meters Centerline goodness [0,1] 0.8945045364139171 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.20, Z:0.01 [[ 0.92677289 -0.06050161 -0.37071764 5.83995225] [ 0.07287133 0.99715192 0.01943764 -0.19673229] [ 0.3684858 -0.04502896 0.9285422 0.01366322] [ 0. 0. 0. 1. ]] SLAMing on 98.59824100800002 meters Centerline goodness [0,1] 0.8906824182704086 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.20, Z:0.01 [[ 0.92654159 -0.06047026 -0.37130047 5.84099479] [ 0.07296642 0.99714011 0.01968512 -0.19662187] [ 0.36904822 -0.04533155 0.92830408 0.0147435 ] [ 0. 0. 0. 1. ]] SLAMing on 98.62824100800002 meters Centerline goodness [0,1] 0.8936569192303512 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.20, Z:0.02 [[ 0.92629748 -0.05607703 -0.37259675 5.84371646] [ 0.07003487 0.9972553 0.02402061 -0.19877083] [ 0.37022708 -0.04834499 0.92768242 0.01692076] [ 0. 0. 0. 1. ]] SLAMing on 98.65824100800002 meters Centerline goodness [0,1] 0.894087865425445 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.20, Z:0.02 [[ 0.92620074 -0.05571798 -0.37289099 5.84375834] [ 0.06972367 0.99727354 0.02416806 -0.19765055] [ 0.37052773 -0.0483838 0.92756036 0.01751342] [ 0. 0. 0. 1. ]] SLAMing on 98.688241008 meters Centerline goodness [0,1] 0.8926216216216216 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.20, Z:0.02 [[ 0.92602669 -0.05017143 -0.3741088 5.84407359] [ 0.06572892 0.9974179 0.02893503 -0.19708515] [ 0.3716911 -0.05138438 0.92693332 0.02064544] [ 0. 0. 0. 1. ]] SLAMing on 98.718241008 meters Centerline goodness [0,1] 0.8874163283959247 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.20, Z:0.02 [[ 0.92583258 -0.04544326 -0.37519187 5.84611814] [ 0.06235381 0.99750682 0.03304771 -0.19718121] [ 0.37275466 -0.05399129 0.92635787 0.0222732 ] [ 0. 0. 0. 1. ]] SLAMing on 98.74824100800001 meters Centerline goodness [0,1] 0.8871453138435081 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.20, Z:0.02 [[ 0.92584931 -0.04463353 -0.3752478 5.84547545] [ 0.0615084 0.99755737 0.03310615 -0.19501056] [ 0.37285356 -0.0537322 0.92633313 0.0221466 ] [ 0. 0. 0. 1. ]] SLAMing on 98.77824100800001 meters Centerline goodness [0,1] 0.8873427525974199 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.20, Z:0.02 [[ 0.92554734 -0.03973979 -0.37654067 5.84772378] [ 0.05809258 0.99760639 0.03750661 -0.19573859] [ 0.37414888 -0.05658837 0.92564052 0.02429845] [ 0. 0. 0. 1. ]] SLAMing on 98.80824100800001 meters Centerline goodness [0,1] 0.889152388819313 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.19, Z:0.02 [[ 0.92551887 -0.03770498 -0.3768198 5.84663375] [ 0.05605918 0.99770949 0.03785687 -0.1927468 ] [ 0.3745293 -0.05616146 0.92551267 0.02409681] [ 0. 0. 0. 1. ]] SLAMing on 98.83824100800001 meters Centerline goodness [0,1] 0.8866989825813668 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.19, Z:0.02 [[ 0.92546853 -0.03761561 -0.37695233 5.84719012] [ 0.05572711 0.99775081 0.0372532 -0.19031042] [ 0.37470319 -0.05548313 0.92548319 0.02332344] [ 0. 0. 0. 1. ]] SLAMing on 98.86824100800001 meters Centerline goodness [0,1] 0.8889804599229031 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.19, Z:0.02 [[ 0.92743364 -0.03707377 -0.37214565 5.863346 ] [ 0.05228452 0.99815524 0.0308617 -0.18608832] [ 0.37031497 -0.04807963 0.92766113 0.02455958] [ 0. 0. 0. 1. ]] SLAMing on 98.89824100800001 meters Centerline goodness [0,1] 0.8882825809199318 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.19, Z:0.03 [[ 0.92723935 -0.03679506 -0.37265711 5.8638131 ] [ 0.05203934 0.99816602 0.03092748 -0.185123 ] [ 0.37083568 -0.04807001 0.9274536 0.02544622] [ 0. 0. 0. 1. ]] SLAMing on 98.92824100800001 meters Centerline goodness [0,1] 0.8894722814498934 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.18, Z:0.03 [[ 0.9271676 -0.03570192 -0.37294184 5.86288345] [ 0.05094992 0.99821666 0.03110636 -0.18438141] [ 0.3711662 -0.04784216 0.92733316 0.02628197] [ 0. 0. 0. 1. ]] SLAMing on 98.95824100800002 meters Centerline goodness [0,1] 0.8880178576173899 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.19, Z:0.03 [[ 0.92675903 -0.03142618 -0.37433954 5.86628615] [ 0.04808433 0.99822138 0.03524156 -0.18581381] [ 0.37256622 -0.0506603 0.92662179 0.02830444] [ 0. 0. 0. 1. ]] SLAMing on 98.98824100800002 meters Centerline goodness [0,1] 0.8901427852393441 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.18, Z:0.03 [[ 0.9265959 -0.03173198 -0.3747174 5.86794352] [ 0.04825055 0.99822952 0.0347808 -0.18439099] [ 0.3729503 -0.05030806 0.92648646 0.02804561] [ 0. 0. 0. 1. ]] SLAMing on 99.01824100800002 meters Centerline goodness [0,1] 0.8902267975758859 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.18, Z:0.03 [[ 0.92635488 -0.0317935 -0.37530762 5.87064912] [ 0.04812033 0.99825561 0.03420784 -0.18178859] [ 0.37356535 -0.04974853 0.92626887 0.02719255] [ 0. 0. 0. 1. ]] SLAMing on 99.048241008 meters Centerline goodness [0,1] 0.8919620622052667 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.18, Z:0.03 [[ 0.92610446 -0.0324746 -0.3758669 5.87353772] [ 0.04858982 0.99825779 0.03347255 -0.18052845] [ 0.37412505 -0.04926239 0.92606893 0.0265513 ] [ 0. 0. 0. 1. ]] SLAMing on 99.078241008 meters Centerline goodness [0,1] 0.8925725215173733 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.18, Z:0.03 [[ 0.9258771 -0.0329439 -0.37638584 5.87604542] [ 0.04897603 0.99825124 0.03310299 -0.18034434] [ 0.37463709 -0.04908318 0.92587142 0.02627247] [ 0. 0. 0. 1. ]] SLAMing on 99.10824100800001 meters Centerline goodness [0,1] 0.8914029564010887 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.18, Z:0.03 [[ 0.92539366 -0.0338259 -0.37749487 5.8808812 ] [ 0.04989241 0.99821387 0.03286043 -0.18207361] [ 0.37570908 -0.04924296 0.92542845 0.02651703] [ 0. 0. 0. 1. ]] SLAMing on 99.13824100800001 meters Centerline goodness [0,1] 0.89495144589302 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.18, Z:0.03 [[ 0.92504231 -0.03416704 -0.37832439 5.88351215] [ 0.05037256 0.99818454 0.0330186 -0.18351942] [ 0.37650941 -0.04960077 0.92508401 0.02729881] [ 0. 0. 0. 1. ]] SLAMing on 99.16824100800001 meters Centerline goodness [0,1] 0.896285369451522 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.18, Z:0.03 [[ 0.92464476 -0.03485489 -0.37923238 5.88669933] [ 0.05116089 0.998145 0.03300198 -0.1844409 ] [ 0.37737862 -0.04991698 0.92471275 0.02813203] [ 0. 0. 0. 1. ]] SLAMing on 99.19824100800001 meters Centerline goodness [0,1] 0.8924708035089608 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.19, Z:0.03 [[ 0.92428195 -0.03525948 -0.38007847 5.88928256] [ 0.05171667 0.99811072 0.03317189 -0.18550143] [ 0.37819078 -0.05031657 0.92435923 0.02911534] [ 0. 0. 0. 1. ]] SLAMing on 99.22824100800001 meters Centerline goodness [0,1] 0.8932545014780973 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.19, Z:0.03 [[ 0.92389495 -0.03565139 -0.38098176 5.89195666] [ 0.05227246 0.99807533 0.03336508 -0.18654466] [ 0.37905898 -0.05074069 0.92398034 0.03019763] [ 0. 0. 0. 1. ]] SLAMing on 99.25824100800001 meters Centerline goodness [0,1] 0.8941332037996546 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.19, Z:0.03 [[ 0.92345167 -0.03555478 -0.38206395 5.89471469] [ 0.05266217 0.99801938 0.03440945 -0.19184101] [ 0.38008381 -0.05189579 0.92349506 0.03243745] [ 0. 0. 0. 1. ]] SLAMing on 99.28824100800001 meters Centerline goodness [0,1] 0.8967123436061312 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.19, Z:0.03 [[ 0.92315511 -0.03545354 -0.38278935 5.89635535] [ 0.05282832 0.99799109 0.0349707 -0.19438363] [ 0.38078053 -0.0525055 0.92317353 0.03374826] [ 0. 0. 0. 1. ]] SLAMing on 99.31824100800002 meters Centerline goodness [0,1] 0.8969100132931825 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.20, Z:0.03 [[ 0.92288619 -0.03555181 -0.38342815 5.89847001] [ 0.05308703 0.99796773 0.03524449 -0.19551455] [ 0.38139591 -0.05288172 0.92289798 0.03441528] [ 0. 0. 0. 1. ]] SLAMing on 99.34824100800002 meters Centerline goodness [0,1] 0.8936026023312551 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.20, Z:0.03 [[ 0.92290851 -0.0350089 -0.38342438 5.8993784 ] [ 0.0526636 0.99797608 0.03564105 -0.19533997] [ 0.38140061 -0.05308594 0.92288432 0.03396809] [ 0. 0. 0. 1. ]] SLAMing on 99.37824100800002 meters Centerline goodness [0,1] 0.8899176954732511 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.20, Z:0.03 [[ 0.92264736 -0.03518604 -0.38403618 5.90172307] [ 0.05286599 0.99796773 0.03557511 -0.19579613] [ 0.38200397 -0.05312574 0.92263244 0.03414483] [ 0. 0. 0. 1. ]] SLAMing on 99.40824100800002 meters Centerline goodness [0,1] 0.8918882220351411 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.20, Z:0.03 [[ 0.92237869 -0.03517509 -0.38468203 5.90357089] [ 0.05297094 0.99795557 0.03575963 -0.19726752] [ 0.38263773 -0.0533609 0.92235621 0.03483516] [ 0. 0. 0. 1. ]] SLAMing on 99.438241008 meters Centerline goodness [0,1] 0.895898795049045 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.20, Z:0.04 [[ 0.92195215 -0.0348047 -0.38573679 5.90656296] [ 0.05292802 0.99793247 0.03646103 -0.20108509] [ 0.38367025 -0.05403161 0.92188813 0.0361354 ] [ 0. 0. 0. 1. ]] SLAMing on 99.468241008 meters Centerline goodness [0,1] 0.8935751748251748 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.20, Z:0.04 [[ 0.92157665 -0.03544504 -0.38657486 5.91006583] [ 0.05352192 0.9979141 0.03609506 -0.20145097] [ 0.38448911 -0.05395459 0.92155142 0.03615756] [ 0. 0. 0. 1. ]] SLAMing on 99.49824100800001 meters Centerline goodness [0,1] 0.8933968462549278 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.20, Z:0.04 [[ 0.92121891 -0.03634784 -0.38734295 5.91408485] [ 0.05430577 0.99789258 0.03551441 -0.20150444] [ 0.38523578 -0.0537515 0.92125141 0.03572462] [ 0. 0. 0. 1. ]] SLAMing on 99.52824100800001 meters Centerline goodness [0,1] 0.8962964993557937 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.20, Z:0.04 [[ 0.92088486 -0.03714033 -0.38806143 5.91775819] [ 0.05503185 0.99786784 0.03508943 -0.20208411] [ 0.38593079 -0.05366906 0.92096529 0.03539994] [ 0. 0. 0. 1. ]] SLAMing on 99.55824100800001 meters Centerline goodness [0,1] 0.8938668866886689 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.21, Z:0.04 [[ 0.9202142 -0.03903731 -0.38946362 5.92437077] [ 0.05701904 0.99776943 0.03471311 -0.20566085] [ 0.38723979 -0.05415034 0.92038747 0.03632132] [ 0. 0. 0. 1. ]] SLAMing on 99.58824100800001 meters Centerline goodness [0,1] 0.8952931735797891 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.21, Z:0.04 [[ 0.91979062 -0.03996608 -0.39036897 5.92841497] [ 0.05805776 0.99771171 0.03465019 -0.20835085] [ 0.38809086 -0.05453487 0.92000621 0.03688258] [ 0. 0. 0. 1. ]] SLAMing on 99.61824100800001 meters Centerline goodness [0,1] 0.8954669034012096 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.21, Z:0.04 [[ 0.91929957 -0.0410692 -0.39140979 5.9328519 ] [ 0.05927739 0.99764364 0.03454501 -0.21120497] [ 0.38906875 -0.05495896 0.91956784 0.03767946] [ 0. 0. 0. 1. ]] SLAMing on 99.64824100800001 meters Centerline goodness [0,1] 0.8920652628643146 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.21, Z:0.04 [[ 0.91885866 -0.04197248 -0.39234815 5.93680154] [ 0.06035151 0.99757658 0.03462167 -0.21394942] [ 0.38994417 -0.05549122 0.91916498 0.03854376] [ 0. 0. 0. 1. ]] SLAMing on 99.67824100800001 meters Centerline goodness [0,1] 0.892113741420367 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.22, Z:0.04 [[ 0.91854153 -0.04535092 -0.39271459 5.94167456] [ 0.06355729 0.9974166 0.03347532 -0.21785252] [ 0.39018192 -0.05570834 0.91905095 0.03919871] [ 0. 0. 0. 1. ]] SLAMing on 99.70824100800002 meters Centerline goodness [0,1] 0.886714582514459 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.22, Z:0.04 [[ 0.91822307 -0.04565488 -0.39342347 5.94407069] [ 0.06410624 0.99736781 0.03387983 -0.22024793] [ 0.39084112 -0.05633014 0.91873289 0.0402772 ] [ 0. 0. 0. 1. ]] SLAMing on 99.73824100800002 meters Centerline goodness [0,1] 0.8876619718309859 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.22, Z:0.04 [[ 0.91792223 -0.04595176 -0.39409037 5.94675015] [ 0.06459385 0.9973267 0.03416276 -0.22257209] [ 0.39146701 -0.05681457 0.91843654 0.04089221] [ 0. 0. 0. 1. ]] SLAMing on 99.76824100800002 meters Centerline goodness [0,1] 0.8876619718309859 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.22, Z:0.04 [[ 0.91792223 -0.04595176 -0.39409037 5.94675015] [ 0.06459385 0.9973267 0.03416276 -0.22257209] [ 0.39146701 -0.05681457 0.91843654 0.04089221] [ 0. 0. 0. 1. ]] SLAMing on 99.798241008 meters Centerline goodness [0,1] 0.88810774182619 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.22, Z:0.04 [[ 0.91763669 -0.04625681 -0.39471915 5.94947866] [ 0.06501533 0.99729548 0.03427434 -0.22484086] [ 0.39206621 -0.05711419 0.91816233 0.04119223] [ 0. 0. 0. 1. ]] SLAMing on 99.828241008 meters Centerline goodness [0,1] 0.8892376428005881 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.23, Z:0.04 [[ 0.91722706 -0.04623469 -0.39567268 5.95282215] [ 0.0652732 0.99726106 0.03478201 -0.22845241] [ 0.39298082 -0.05772983 0.91773272 0.04217443] [ 0. 0. 0. 1. ]] SLAMing on 99.85824100800001 meters Centerline goodness [0,1] 0.88926460559218 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.23, Z:0.04 [[ 0.91709171 -0.04606341 -0.39600627 5.95368481] [ 0.06527515 0.9972474 0.03516785 -0.23017702] [ 0.39329627 -0.05810151 0.91757412 0.0428048 ] [ 0. 0. 0. 1. ]] SLAMing on 99.88824100800001 meters Centerline goodness [0,1] 0.8873639644247435 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.23, Z:0.04 [[ 0.91673258 -0.04636901 -0.39680132 5.9559214 ] [ 0.06590628 0.99718571 0.03573558 -0.23262956] [ 0.39402758 -0.05891167 0.91720864 0.04448617] [ 0. 0. 0. 1. ]] SLAMing on 99.91824100800001 meters Centerline goodness [0,1] 0.8841641812242579 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.23, Z:0.05 [[ 0.91641768 -0.04659587 -0.39750152 5.95788965] [ 0.06638731 0.99713828 0.03616586 -0.23462915] [ 0.39467881 -0.05953209 0.91688853 0.04582218] [ 0. 0. 0. 1. ]] SLAMing on 99.94824100800001 meters Centerline goodness [0,1] 0.8885301177277403 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.24, Z:0.05 [[ 0.91602207 -0.05182728 -0.39776563 5.96040086] [ 0.07031941 0.99701005 0.03203348 -0.23521408] [ 0.39491613 -0.05731402 0.91692767 0.04526024] [ 0. 0. 0. 1. ]] SLAMing on 99.97824100800001 meters Centerline goodness [0,1] 0.8877673567425369 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.24, Z:0.05 [[ 0.91560855 -0.05267994 -0.39860482 5.96398802] [ 0.07111829 0.99696718 0.03160108 -0.23530986] [ 0.39573118 -0.05728231 0.91657818 0.04545602] [ 0. 0. 0. 1. ]] SLAMing on 100.00824100800001 meters Centerline goodness [0,1] 0.8875121616207864 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.23, Z:0.05 [[ 0.91526037 -0.05351297 -0.39929289 5.96739018] [ 0.0718288 0.99693394 0.03103776 -0.23495795] [ 0.39640771 -0.05708836 0.9162979 0.04521434] [ 0. 0. 0. 1. ]] SLAMing on 100.03824100800001 meters Centerline goodness [0,1] 0.887235079870372 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.23, Z:0.05 [[ 0.91490825 -0.05427277 -0.3999967 5.97049296] [ 0.07252775 0.99689594 0.03063009 -0.23485562] [ 0.3970927 -0.05703458 0.91600461 0.04530833] [ 0. 0. 0. 1. ]] SLAMing on 100.06824100800002 meters Centerline goodness [0,1] 0.8899584586735425 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.24, Z:0.05 [[ 0.91442759 -0.05552812 -0.40092244 5.97538381] [ 0.07374657 0.99682143 0.03014117 -0.23577384] [ 0.39797439 -0.05712857 0.91561603 0.04538652] [ 0. 0. 0. 1. ]] SLAMing on 100.09824100800002 meters Centerline goodness [0,1] 0.8849932685972902 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.24, Z:0.05 [[ 0.9140198 -0.05643356 -0.4017251 5.97880688] [ 0.07460206 0.99677062 0.02971296 -0.23538781] [ 0.39875097 -0.05712775 0.91527814 0.04570235] [ 0. 0. 0. 1. ]] SLAMing on 100.12824100800002 meters Centerline goodness [0,1] 0.889261360380494 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.23, Z:0.05 [[ 0.9137353 -0.05701429 -0.40228991 5.98141601] [ 0.07510467 0.99674437 0.02932492 -0.23475542] [ 0.39930826 -0.05700907 0.91504256 0.04560918] [ 0. 0. 0. 1. ]] SLAMing on 100.15824100800002 meters Centerline goodness [0,1] 0.8858189939015662 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.23, Z:0.05 [[ 0.91340977 -0.05762262 -0.40294197 5.9838899 ] [ 0.07567384 0.99671062 0.02900704 -0.23397144] [ 0.39994508 -0.05698748 0.91476574 0.04594407] [ 0. 0. 0. 1. ]] SLAMing on 100.188241008 meters Centerline goodness [0,1] 0.8855469865752642 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.23, Z:0.05 [[ 0.91307344 -0.0581499 -0.4036279 5.98616016] [ 0.07624272 0.9966708 0.02888525 -0.23354344] [ 0.40060447 -0.05714804 0.91446714 0.04671712] [ 0. 0. 0. 1. ]] SLAMing on 100.218241008 meters Centerline goodness [0,1] 0.8857281442593016 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.23, Z:0.05 [[ 0.91265424 -0.0583798 -0.40454176 5.98809781] [ 0.07660888 0.99663924 0.02900522 -0.23390762] [ 0.40148887 -0.05746323 0.91405944 0.04828568] [ 0. 0. 0. 1. ]] SLAMing on 100.24824100800001 meters Centerline goodness [0,1] 0.8871630881681133 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.23, Z:0.05 [[ 0.91238495 -0.05836095 -0.40515145 5.98895267] [ 0.07674532 0.99662109 0.02926687 -0.2337836 ] [ 0.40207444 -0.05779612 0.91378102 0.04959902] [ 0. 0. 0. 1. ]] SLAMing on 100.27824100800001 meters Centerline goodness [0,1] 0.8883613168959698 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.23, Z:0.05 [[ 0.91228736 -0.05787515 -0.40544081 5.98860574] [ 0.07633386 0.99664605 0.02949229 -0.23305876] [ 0.40237411 -0.0578543 0.91364542 0.05044388] [ 0. 0. 0. 1. ]] SLAMing on 100.30824100800001 meters Centerline goodness [0,1] 0.8883837950653286 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.23, Z:0.05 [[ 0.91216162 -0.05777453 -0.40573794 5.98924918] [ 0.07626429 0.99665004 0.02953723 -0.23239394] [ 0.40267224 -0.05788604 0.91351205 0.05078068] [ 0. 0. 0. 1. ]] SLAMing on 100.33824100800001 meters Centerline goodness [0,1] 0.8867332382310984 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.23, Z:0.05 [[ 0.91195324 -0.05815651 -0.40615159 5.99076503] [ 0.07651621 0.99664368 0.02909724 -0.23067874] [ 0.40309622 -0.0576125 0.91334234 0.05077957] [ 0. 0. 0. 1. ]] SLAMing on 100.36824100800001 meters Centerline goodness [0,1] 0.888443610732151 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.23, Z:0.05 [[ 0.91177629 -0.05846731 -0.40650408 5.99238268] [ 0.07665376 0.99664794 0.02858461 -0.22885579] [ 0.40347019 -0.05722284 0.91320171 0.0503825 ] [ 0. 0. 0. 1. ]] SLAMing on 100.39824100800001 meters Centerline goodness [0,1] 0.8898622214662357 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.23, Z:0.05 [[ 0.91148061 -0.05863554 -0.40714246 5.99426639] [ 0.07658011 0.9966729 0.02790383 -0.22612267] [ 0.4041517 -0.05661281 0.91293833 0.05015418] [ 0. 0. 0. 1. ]] SLAMing on 100.42824100800001 meters Centerline goodness [0,1] 0.8922810405543564 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.23, Z:0.05 [[ 0.91133327 -0.05851416 -0.40748958 5.9946886 ] [ 0.07647366 0.9966809 0.02791002 -0.22549569] [ 0.40450395 -0.05659755 0.91278325 0.05060151] [ 0. 0. 0. 1. ]] SLAMing on 100.45824100800002 meters Centerline goodness [0,1] 0.8902380209367642 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.22, Z:0.05 [[ 0.91101115 -0.05887417 -0.40815748 5.99667295] [ 0.07679951 0.99666296 0.02765479 -0.22471587] [ 0.40516728 -0.05654011 0.91249257 0.05112871] [ 0. 0. 0. 1. ]] SLAMing on 100.48824100800002 meters Centerline goodness [0,1] 0.8917213743712167 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.22, Z:0.05 [[ 0.9108161 -0.05898569 -0.40857647 5.99769664] [ 0.07691674 0.99665599 0.02758006 -0.22427918] [ 0.40558335 -0.05654673 0.9123073 0.05158196] [ 0. 0. 0. 1. ]] SLAMing on 100.51824100800002 meters Centerline goodness [0,1] 0.890951801432089 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.22, Z:0.05 [[ 0.91052293 -0.05921467 -0.40919631 5.99920192] [ 0.07715954 0.99664031 0.02746799 -0.22355143] [ 0.40619503 -0.05658363 0.91203284 0.05232532] [ 0. 0. 0. 1. ]] SLAMing on 100.548241008 meters Centerline goodness [0,1] 0.891849928012873 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.22, Z:0.05 [[ 0.91036655 -0.0590651 -0.4095657 5.99932301] [ 0.07706977 0.99664423 0.02757762 -0.22243719] [ 0.40656242 -0.05667088 0.9118637 0.05327433] [ 0. 0. 0. 1. ]] SLAMing on 100.578241008 meters Centerline goodness [0,1] 0.8935453747983814 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.22, Z:0.05 [[ 0.91009344 -0.05919314 -0.41015376 6.00035259] [ 0.07727953 0.99662616 0.02764368 -0.22223917] [ 0.40713365 -0.05685482 0.91159734 0.05434772] [ 0. 0. 0. 1. ]] SLAMing on 100.60824100800001 meters Centerline goodness [0,1] 0.8935267667769576 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.22, Z:0.06 [[ 0.90982655 -0.05911471 -0.41075675 6.00095719] [ 0.07743121 0.99660211 0.02808261 -0.22246672] [ 0.40770095 -0.0573557 0.91131238 0.05594757] [ 0. 0. 0. 1. ]] SLAMing on 100.63824100800001 meters Centerline goodness [0,1] 0.8912526202481446 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.22, Z:0.06 [[ 0.90963027 -0.05919745 -0.41117931 6.0017076 ] [ 0.07758906 0.99658744 0.02816758 -0.2224178 ] [ 0.40810869 -0.0575251 0.91111918 0.05676888] [ 0. 0. 0. 1. ]] SLAMing on 100.66824100800001 meters Centerline goodness [0,1] 0.892296396701683 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.22, Z:0.06 [[ 0.90943633 -0.05926638 -0.41159816 6.00251384] [ 0.07770088 0.99657827 0.02818384 -0.22141063] [ 0.40851943 -0.05761295 0.91092954 0.05752501] [ 0. 0. 0. 1. ]] SLAMing on 100.69824100800001 meters Centerline goodness [0,1] 0.8911822006381116 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.22, Z:0.06 [[ 0.90923951 -0.05957422 -0.41198839 6.0037994 ] [ 0.07796501 0.99656393 0.02796038 -0.22078457] [ 0.40890705 -0.05754336 0.91076 0.05775365] [ 0. 0. 0. 1. ]] SLAMing on 100.72824100800001 meters Centerline goodness [0,1] 0.8917613154771995 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.22, Z:0.06 [[ 0.90906444 -0.05982657 -0.412338 6.00508849] [ 0.07818005 0.99655243 0.02776943 -0.22054048] [ 0.40925509 -0.05748081 0.91060762 0.05786266] [ 0. 0. 0. 1. ]] SLAMing on 100.75824100800001 meters Centerline goodness [0,1] 0.8913369346946857 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.22, Z:0.06 [[ 0.90886126 -0.06027748 -0.41272004 6.00694524] [ 0.07854499 0.99653333 0.0274229 -0.22010215] [ 0.40963629 -0.0573407 0.91044503 0.05775569] [ 0. 0. 0. 1. ]] SLAMing on 100.78824100800001 meters Centerline goodness [0,1] 0.8937436533904999 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.22, Z:0.06 [[ 0.90854546 -0.06073367 -0.41334799 6.0091724 ] [ 0.07898787 0.99650445 0.0271991 -0.2197237 ] [ 0.41025121 -0.0573611 0.91016682 0.05823577] [ 0. 0. 0. 1. ]] SLAMing on 100.81824100800002 meters Centerline goodness [0,1] 0.8942006490757726 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.22, Z:0.06 [[ 0.90824466 -0.06128816 -0.4139268 6.01121411] [ 0.07950866 0.99647071 0.0269165 -0.21970953] [ 0.41081627 -0.05735753 0.90991214 0.05874298] [ 0. 0. 0. 1. ]] SLAMing on 100.84824100800002 meters Centerline goodness [0,1] 0.8917244306125336 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.22, Z:0.06 [[ 0.9079829 -0.06144307 -0.41447774 6.01218565] [ 0.07985614 0.99643455 0.02722464 -0.22081895] [ 0.41132717 -0.0578181 0.90965214 0.06006382] [ 0. 0. 0. 1. ]] SLAMing on 100.87824100800002 meters Centerline goodness [0,1] 0.8916631160346542 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.22, Z:0.06 [[ 0.90765984 -0.06633181 -0.41443178 6.01239255] [ 0.08342009 0.99624327 0.02324737 -0.21975064] [ 0.41133283 -0.05567264 0.90978341 0.06001982] [ 0. 0. 0. 1. ]] SLAMing on 100.90824100800002 meters Centerline goodness [0,1] 0.891768119239959 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.22, Z:0.06 [[ 0.90740379 -0.06663239 -0.41494397 6.01389777] [ 0.08385232 0.99620347 0.02339711 -0.22001384] [ 0.41180962 -0.05602464 0.90954608 0.06088609] [ 0. 0. 0. 1. ]] SLAMing on 100.938241008 meters Centerline goodness [0,1] 0.8900542906682585 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.22, Z:0.06 [[ 0.90715416 -0.06701929 -0.41542718 6.0156318 ] [ 0.08423777 0.99617468 0.02323806 -0.21972238] [ 0.41228064 -0.05607516 0.90932956 0.06123281] [ 0. 0. 0. 1. ]] SLAMing on 100.968241008 meters Centerline goodness [0,1] 0.8891849751948973 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.22, Z:0.06 [[ 0.90690704 -0.06748072 -0.41589178 6.01756752] [ 0.08467738 0.99614245 0.02302067 -0.21932131] [ 0.41273401 -0.05609424 0.9091227 0.06142942] [ 0. 0. 0. 1. ]] SLAMing on 100.99824100800001 meters Centerline goodness [0,1] 0.8901349120510047 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.22, Z:0.06 [[ 0.90656417 -0.0684357 -0.41648285 6.02093899] [ 0.08551517 0.99608351 0.02246747 -0.21865221] [ 0.41331412 -0.05598381 0.90886592 0.06121479] [ 0. 0. 0. 1. ]] SLAMing on 101.02824100800001 meters Centerline goodness [0,1] 0.8894660235737322 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.22, Z:0.06 [[ 0.90632982 -0.06875858 -0.41693945 6.02261962] [ 0.08589058 0.99605173 0.02244472 -0.21900646] [ 0.41375 -0.05615349 0.9086571 0.06164545] [ 0. 0. 0. 1. ]] SLAMing on 101.05824100800001 meters Centerline goodness [0,1] 0.8871878207321245 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.22, Z:0.06 [[ 0.90603789 -0.06884933 -0.41755851 6.02387051] [ 0.0862107 0.99601519 0.02283555 -0.22019517] [ 0.41432241 -0.05668788 0.90836305 0.06299798] [ 0. 0. 0. 1. ]] SLAMing on 101.08824100800001 meters Centerline goodness [0,1] 0.888008662943121 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.22, Z:0.06 [[ 0.90582373 -0.06889585 -0.41801523 6.02487873] [ 0.08646751 0.9959841 0.02321723 -0.22152445] [ 0.41473695 -0.05717545 0.90814329 0.06410907] [ 0. 0. 0. 1. ]] SLAMing on 101.11824100800001 meters Centerline goodness [0,1] 0.8895624821275379 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.22, Z:0.07 [[ 0.9056228 -0.0688402 -0.41845952 6.0248264 ] [ 0.08687068 0.99592646 0.02416553 -0.2239779 ] [ 0.41509135 -0.05823672 0.90791391 0.06659696] [ 0. 0. 0. 1. ]] SLAMing on 101.14824100800001 meters Centerline goodness [0,1] 0.8904647298149103 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.23, Z:0.07 [[ 0.90541132 -0.06881713 -0.41892068 6.02532279] [ 0.08714333 0.9958884 0.02474544 -0.22518911] [ 0.41549533 -0.05891095 0.90768559 0.06817298] [ 0. 0. 0. 1. ]] SLAMing on 101.17824100800001 meters Centerline goodness [0,1] 0.8919436974309092 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.23, Z:0.07 [[ 0.90524243 -0.06869312 -0.41930585 6.02568469] [ 0.08732832 0.99585605 0.02538683 -0.22628607] [ 0.41582436 -0.05959851 0.90749001 0.06967628] [ 0. 0. 0. 1. ]] SLAMing on 101.20824100800002 meters Centerline goodness [0,1] 0.8947096329484749 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.23, Z:0.07 [[ 0.90498993 -0.06871205 -0.41984745 6.02641888] [ 0.08756838 0.99582489 0.02577921 -0.22736951] [ 0.41632319 -0.06009529 0.9072285 0.07103833] [ 0. 0. 0. 1. ]] SLAMing on 101.23824100800002 meters Centerline goodness [0,1] 0.894416884122387 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.23, Z:0.07 [[ 0.90460202 -0.0696302 -0.42053159 6.02926939] [ 0.08850528 0.99574899 0.02551023 -0.22772829] [ 0.41696763 -0.06029587 0.90691918 0.07175609] [ 0. 0. 0. 1. ]] SLAMing on 101.26824100800002 meters Centerline goodness [0,1] 0.895347504726981 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.23, Z:0.07 [[ 0.90434202 -0.07031053 -0.42097736 6.03172093] [ 0.08905814 0.9957123 0.02501311 -0.22683657] [ 0.41741365 -0.06011186 0.9067262 0.07150235] [ 0. 0. 0. 1. ]] SLAMing on 101.298241008 meters Centerline goodness [0,1] 0.8933432460253917 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.23, Z:0.07 [[ 0.90411117 -0.07099709 -0.42135781 6.03418921] [ 0.08955471 0.99568323 0.02438972 -0.22587927] [ 0.41780731 -0.05978559 0.90656645 0.07093072] [ 0. 0. 0. 1. ]] SLAMing on 101.328241008 meters Centerline goodness [0,1] 0.892688645526549 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.23, Z:0.07 [[ 0.90384047 -0.07154122 -0.42184624 6.03622441] [ 0.09002694 0.99564921 0.02403728 -0.22538931] [ 0.41829122 -0.05970339 0.9063487 0.07107309] [ 0. 0. 0. 1. ]] SLAMing on 101.35824100800001 meters Centerline goodness [0,1] 0.8950606684981685 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.23, Z:0.07 [[ 0.90356817 -0.07176078 -0.42239194 6.0376595 ] [ 0.09036224 0.99561603 0.02415354 -0.22579097] [ 0.41880691 -0.05999265 0.90609142 0.07195121] [ 0. 0. 0. 1. ]] SLAMing on 101.38824100800001 meters Centerline goodness [0,1] 0.8923340961098398 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.23, Z:0.07 [[ 0.90332138 -0.0723021 -0.42282726 6.03909377] [ 0.09096318 0.99556274 0.02409424 -0.22566123] [ 0.419209 -0.06022656 0.90588993 0.07280494] [ 0. 0. 0. 1. ]] SLAMing on 101.41824100800001 meters Centerline goodness [0,1] 0.8871967770507729 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.23, Z:0.07 [[ 0.90309276 -0.07255792 -0.42327157 6.04019703] [ 0.09130334 0.99553026 0.02414947 -0.22543624] [ 0.41962742 -0.06045532 0.90568095 0.07356844] [ 0. 0. 0. 1. ]] SLAMing on 101.44824100800001 meters Centerline goodness [0,1] 0.8965959996576026 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.23, Z:0.08 [[ 0.90294459 -0.07246598 -0.42360329 6.04018626] [ 0.09146924 0.99550219 0.0246731 -0.22616385] [ 0.41991004 -0.06102511 0.90551173 0.07502311] [ 0. 0. 0. 1. ]] SLAMing on 101.47824100800001 meters Centerline goodness [0,1] 0.897152170183565 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.23, Z:0.08 [[ 0.90286856 -0.07617048 -0.42311515 6.03673858] [ 0.09413265 0.99532347 0.02168475 -0.22537342] [ 0.4194847 -0.05940743 0.9058164 0.07614233] [ 0. 0. 0. 1. ]] SLAMing on 101.50824100800001 meters Centerline goodness [0,1] 0.8965487612773879 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.22, Z:0.08 [[ 0.90273625 -0.07631575 -0.4233712 6.03707603] [ 0.0942845 0.99531036 0.02162685 -0.22427865] [ 0.41973527 -0.05944069 0.90569813 0.07664464] [ 0. 0. 0. 1. ]] SLAMing on 101.53824100800001 meters Centerline goodness [0,1] 0.8967141511319192 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.22, Z:0.08 [[ 0.90262267 -0.07670197 -0.42354354 6.03803155] [ 0.09447707 0.99530348 0.02109679 -0.22204082] [ 0.41993619 -0.0590576 0.90563005 0.07625793] [ 0. 0. 0. 1. ]] SLAMing on 101.56824100800002 meters Centerline goodness [0,1] 0.8972630021622852 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.22, Z:0.08 [[ 0.90260638 -0.07654001 -0.42360753 6.03765591] [ 0.09429413 0.99532123 0.02107751 -0.22053971] [ 0.4200123 -0.0589684 0.90560057 0.07642837] [ 0. 0. 0. 1. ]] SLAMing on 101.59824100800002 meters Centerline goodness [0,1] 0.8947233752203332 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.22, Z:0.08 [[ 0.90257097 -0.07642046 -0.42370457 6.03768463] [ 0.09413202 0.99533827 0.02099723 -0.21949679] [ 0.42012476 -0.05883566 0.90555704 0.07644174] [ 0. 0. 0. 1. ]] SLAMing on 101.62824100800002 meters Centerline goodness [0,1] 0.8943429265399497 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.22, Z:0.08 [[ 0.9025351 -0.07186129 -0.42457785 6.03967907] [ 0.09093547 0.99554785 0.0248037 -0.21853676] [ 0.42090514 -0.0609954 0.90505161 0.07741148] [ 0. 0. 0. 1. ]] SLAMing on 101.65824100800002 meters Centerline goodness [0,1] 0.8943429265399497 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.22, Z:0.08 [[ 0.9025351 -0.07186129 -0.42457785 6.03967907] [ 0.09093547 0.99554785 0.0248037 -0.21853676] [ 0.42090514 -0.0609954 0.90505161 0.07741148] [ 0. 0. 0. 1. ]] SLAMing on 101.688241008 meters Centerline goodness [0,1] 0.892227598109951 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.22, Z:0.08 [[ 0.90243517 -0.07224559 -0.42472501 6.04075365] [ 0.09107476 0.99555074 0.02416839 -0.21576488] [ 0.42108924 -0.06049214 0.90499975 0.07672448] [ 0. 0. 0. 1. ]] SLAMing on 101.718241008 meters Centerline goodness [0,1] 0.8894267300818957 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.21, Z:0.08 [[ 0.90236233 -0.07167976 -0.42497558 6.04018749] [ 0.09039 0.99561725 0.02399886 -0.21258073] [ 0.42139278 -0.06006921 0.90488663 0.07676659] [ 0. 0. 0. 1. ]] SLAMing on 101.74824100800001 meters Centerline goodness [0,1] 0.8856901646264247 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.21, Z:0.08 [[ 0.902382 -0.07121121 -0.42501258 6.03931457] [ 0.08995705 0.99565224 0.02417344 -0.21191485] [ 0.42144331 -0.06004655 0.9048646 0.07712418] [ 0. 0. 0. 1. ]] SLAMing on 101.77824100800001 meters Centerline goodness [0,1] 0.8870210552947461 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.21, Z:0.08 [[ 0.90240135 -0.07085729 -0.42503064 6.03843753] [ 0.08956593 0.9956876 0.02416929 -0.21068978] [ 0.42148516 -0.05987866 0.90485623 0.0773166 ] [ 0. 0. 0. 1. ]] SLAMing on 101.80824100800001 meters Centerline goodness [0,1] 0.8852142257070849 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.21, Z:0.08 [[ 0.90246623 -0.07024244 -0.42499495 6.03702606] [ 0.08897863 0.99573535 0.02437049 -0.20948315] [ 0.42147065 -0.05980902 0.9048676 0.07767517] [ 0. 0. 0. 1. ]] SLAMing on 101.83824100800001 meters Centerline goodness [0,1] 0.8829223387636689 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.21, Z:0.08 [[ 0.90276124 -0.06735051 -0.42483651 6.03340667] [ 0.08668788 0.99588758 0.0263276 -0.20709929] [ 0.42131622 -0.06059571 0.90488718 0.07874222] [ 0. 0. 0. 1. ]] SLAMing on 101.86824100800001 meters Centerline goodness [0,1] 0.8826952526799388 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.21, Z:0.08 [[ 0.90285835 -0.06670063 -0.42473265 6.03181549] [ 0.0861056 0.99592997 0.02663323 -0.20601836] [ 0.42122752 -0.0606179 0.90492698 0.07909536] [ 0. 0. 0. 1. ]] SLAMing on 101.89824100800001 meters Centerline goodness [0,1] 0.88447502576817 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.21, Z:0.08 [[ 0.90297413 -0.06625068 -0.42455691 6.03075409] [ 0.0856621 0.99596442 0.02677461 -0.20511523] [ 0.42106974 -0.06054522 0.90500528 0.07905186] [ 0. 0. 0. 1. ]] SLAMing on 101.92824100800001 meters Centerline goodness [0,1] 0.8862318639553916 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.20, Z:0.08 [[ 0.90306979 -0.06601605 -0.42438996 6.03011362] [ 0.0853392 0.99599513 0.02666319 -0.20369016] [ 0.42093014 -0.06029582 0.90508687 0.07869307] [ 0. 0. 0. 1. ]] SLAMing on 101.95824100800002 meters Centerline goodness [0,1] 0.8838523772581182 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.20, Z:0.08 [[ 0.90326476 -0.06473464 -0.42417237 6.02852007] [ 0.08400077 0.99610366 0.02685825 -0.20068339] [ 0.420781 -0.05989091 0.90518309 0.07789113] [ 0. 0. 0. 1. ]] SLAMing on 101.98824100800002 meters Centerline goodness [0,1] 0.8864220031480408 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.20, Z:0.08 [[ 0.90327747 -0.06433635 -0.4242059 6.02770296] [ 0.08361375 0.99613333 0.02696528 -0.19977928] [ 0.42083079 -0.05982658 0.9051642 0.07818289] [ 0. 0. 0. 1. ]] SLAMing on 102.01824100800002 meters Centerline goodness [0,1] 0.8913778763515386 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.20, Z:0.08 [[ 0.90333321 -0.06397969 -0.42414115 6.02717742] [ 0.08324897 0.99616195 0.0270368 -0.19957424] [ 0.42078347 -0.05973255 0.90519241 0.07812127] [ 0. 0. 0. 1. ]] SLAMing on 102.048241008 meters Centerline goodness [0,1] 0.8926298898909977 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.20, Z:0.08 [[ 0.90327427 -0.06401321 -0.42426159 6.02769869] [ 0.08318724 0.99617335 0.02680572 -0.19880446] [ 0.42092217 -0.05950607 0.90514284 0.07791693] [ 0. 0. 0. 1. ]] SLAMing on 102.078241008 meters Centerline goodness [0,1] 0.8947804931991595 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.20, Z:0.08 [[ 0.90320274 -0.06413957 -0.42439477 6.02848739] [ 0.08325122 0.9961729 0.02662292 -0.19850198] [ 0.42106298 -0.05937728 0.9050858 0.07773722] [ 0. 0. 0. 1. ]] SLAMing on 102.10824100800001 meters Centerline goodness [0,1] 0.8891721157043112 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.20, Z:0.08 [[ 0.90307533 -0.06463895 -0.4245901 6.02997602] [ 0.08374359 0.99613579 0.02646694 -0.19893341] [ 0.4212386 -0.05945834 0.90499875 0.07779235] [ 0. 0. 0. 1. ]] SLAMing on 102.13824100800001 meters Centerline goodness [0,1] 0.8872468679685547 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.20, Z:0.08 [[ 0.90292625 -0.06486729 -0.42487225 6.03092994] [ 0.08406196 0.99610634 0.02656571 -0.19985271] [ 0.4214947 -0.05970247 0.90486343 0.07830206] [ 0. 0. 0. 1. ]] SLAMing on 102.16824100800001 meters Centerline goodness [0,1] 0.8842844013702064 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.20, Z:0.08 [[ 0.9027427 -0.06997861 -0.42445096 6.03083986] [ 0.08768253 0.99589894 0.02229501 -0.19826212] [ 0.42115008 -0.0573436 0.9051764 0.07738967] [ 0. 0. 0. 1. ]] SLAMing on 102.19824100800001 meters Centerline goodness [0,1] 0.8822479431041695 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.20, Z:0.08 [[ 0.90247306 -0.07018115 -0.42499057 6.0322696 ] [ 0.08811456 0.99585254 0.02266155 -0.20010881] [ 0.42163753 -0.05789929 0.90491407 0.0785303 ] [ 0. 0. 0. 1. ]] SLAMing on 102.22824100800001 meters Centerline goodness [0,1] 0.88598694123556 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.20, Z:0.08 [[ 0.90206908 -0.07129204 -0.42566279 6.03576721] [ 0.08938665 0.99573924 0.02265795 -0.20335156] [ 0.42223381 -0.05848761 0.90459815 0.07949737] [ 0. 0. 0. 1. ]] SLAMing on 102.25824100800001 meters Centerline goodness [0,1] 0.88421907375259 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.20, Z:0.08 [[ 0.90173968 -0.0720908 -0.42622584 6.03847174] [ 0.09017846 0.99567415 0.02237909 -0.20423776] [ 0.42276872 -0.0586165 0.90433993 0.07982777] [ 0. 0. 0. 1. ]] SLAMing on 102.28824100800001 meters Centerline goodness [0,1] 0.8831885682263939 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.21, Z:0.08 [[ 0.90144092 -0.07268918 -0.42675584 6.04091418] [ 0.09087207 0.99561134 0.02236792 -0.20536717] [ 0.42325705 -0.05894354 0.90409022 0.08032298] [ 0. 0. 0. 1. ]] SLAMing on 102.31824100800002 meters Centerline goodness [0,1] 0.8832832382932105 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.21, Z:0.08 [[ 0.90110422 -0.07334988 -0.42735347 6.0433675 ] [ 0.09166852 0.9955372 0.02241787 -0.20685183] [ 0.42380193 -0.05937569 0.90380665 0.0811284 ] [ 0. 0. 0. 1. ]] SLAMing on 102.34824100800002 meters Centerline goodness [0,1] 0.8860877684407096 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.21, Z:0.08 [[ 0.90059723 -0.07925649 -0.42736757 6.0453072 ] [ 0.09641321 0.99516728 0.01861631 -0.20951596] [ 0.42382676 -0.05796968 0.90388627 0.08174299] [ 0. 0. 0. 1. ]] SLAMing on 102.37824100800002 meters Centerline goodness [0,1] 0.8880668934240363 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.21, Z:0.08 [[ 0.90031259 -0.08449964 -0.42696258 6.04555226] [ 0.10032141 0.99484717 0.01465327 -0.2100238 ] [ 0.42352432 -0.05602602 0.90415056 0.08136864] [ 0. 0. 0. 1. ]] SLAMing on 102.40824100800002 meters Centerline goodness [0,1] 0.8936467236467236 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.21, Z:0.08 [[ 0.8998803 -0.08560725 -0.42765272 6.04869405] [ 0.10157777 0.99472016 0.01462069 -0.21228068] [ 0.42414314 -0.05659688 0.90382487 0.08246995] [ 0. 0. 0. 1. ]] SLAMing on 102.438241008 meters Centerline goodness [0,1] 0.895313083709302 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.21, Z:0.08 [[ 0.89936502 -0.09207848 -0.42739223 6.05169241] [ 0.10654508 0.9942576 0.00999827 -0.21237631] [ 0.42401735 -0.05452864 0.90401101 0.08141268] [ 0. 0. 0. 1. ]] SLAMing on 102.468241008 meters Centerline goodness [0,1] 0.8914179104477612 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.21, Z:0.08 [[ 0.89905669 -0.09261607 -0.42792444 6.05362249] [ 0.10734042 0.99416845 0.01035031 -0.21380726] [ 0.42447037 -0.05523911 0.90375524 0.08265036] [ 0. 0. 0. 1. ]] SLAMing on 102.49824100800001 meters Centerline goodness [0,1] 0.8790681641915377 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.22, Z:0.08 [[ 0.89873474 -0.09321132 -0.42847114 6.05557607] [ 0.1082036 0.99407109 0.01070703 -0.21569848] [ 0.42493276 -0.0559849 0.90349203 0.08400694] [ 0. 0. 0. 1. ]] SLAMing on 102.52824100800001 meters Centerline goodness [0,1] 0.8655360387643852 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.22, Z:0.09 [[ 0.89840695 -0.09381337 -0.42902682 6.05753153] [ 0.10907506 0.99397196 0.01106208 -0.21762379] [ 0.42540285 -0.05673438 0.90322402 0.0854035 ] [ 0. 0. 0. 1. ]] SLAMing on 102.55824100800001 meters Centerline goodness [0,1] 0.8843860360099578 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.22, Z:0.09 [[ 0.89813544 -0.09436555 -0.42947394 6.05857247] [ 0.10998679 0.99386496 0.01163382 -0.21954621] [ 0.42574127 -0.0576852 0.90300431 0.08732283] [ 0. 0. 0. 1. ]] SLAMing on 102.58824100800001 meters Centerline goodness [0,1] 0.8804504764654923 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.22, Z:0.09 [[ 0.89791916 -0.09468814 -0.42985503 6.05947893] [ 0.11037044 0.99382244 0.01163306 -0.21890323] [ 0.42609806 -0.05788883 0.90282298 0.08807287] [ 0. 0. 0. 1. ]] SLAMing on 102.61824100800001 meters Centerline goodness [0,1] 0.882569758401244 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.22, Z:0.09 [[ 0.89770641 -0.09477714 -0.43027955 6.06005261] [ 0.11054112 0.99380242 0.01172198 -0.218152 ] [ 0.42650188 -0.05808648 0.90261958 0.08891655] [ 0. 0. 0. 1. ]] SLAMing on 102.64824100800001 meters Centerline goodness [0,1] 0.8939988459319099 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.22, Z:0.09 [[ 0.89732546 -0.09025466 -0.43204295 6.06300263] [ 0.10797157 0.99401541 0.01659815 -0.21988698] [ 0.42795929 -0.0615423 0.90170028 0.09271836] [ 0. 0. 0. 1. ]] SLAMing on 102.67824100800001 meters Centerline goodness [0,1] 0.8941674100077691 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.22, Z:0.09 [[ 0.89728629 -0.08575698 -0.43303931 6.0650209 ] [ 0.10473897 0.99429619 0.02012059 -0.21789879] [ 0.42884386 -0.06341002 0.90115044 0.09349376] [ 0. 0. 0. 1. ]] SLAMing on 102.70824100800002 meters Centerline goodness [0,1] 0.8934391019215899 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.09 [[ 0.89715981 -0.08600009 -0.43325311 6.0655941 ] [ 0.10471691 0.9943114 0.01947346 -0.21461349] [ 0.42911378 -0.06283973 0.90106189 0.09304629] [ 0. 0. 0. 1. ]] SLAMing on 102.73824100800002 meters Centerline goodness [0,1] 0.8942056825023653 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.09 [[ 0.89707053 -0.08624203 -0.43338987 6.06603356] [ 0.10466625 0.99433003 0.0187821 -0.21151555] [ 0.42931275 -0.06221016 0.9010108 0.09246926] [ 0. 0. 0. 1. ]] SLAMing on 102.76824100800002 meters Centerline goodness [0,1] 0.8974270913826164 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.09 [[ 0.89701621 -0.08631814 -0.43348714 6.06609344] [ 0.10451037 0.99435611 0.01826243 -0.20879822] [ 0.4294642 -0.06168559 0.90097469 0.09206956] [ 0. 0. 0. 1. ]] SLAMing on 102.798241008 meters Centerline goodness [0,1] 0.8968078471395362 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.09 [[ 0.89703786 -0.08105567 -0.43445719 6.06684569] [ 0.10065556 0.99467244 0.02225308 -0.2079058 ] [ 0.43033886 -0.06369239 0.90041754 0.0932678 ] [ 0. 0. 0. 1. ]] SLAMing on 102.828241008 meters Centerline goodness [0,1] 0.8970270577535243 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.09 [[ 0.89702716 -0.08110494 -0.43447009 6.06691009] [ 0.10048229 0.99470056 0.02177415 -0.20578988] [ 0.43040165 -0.06318855 0.90042303 0.09272749] [ 0. 0. 0. 1. ]] SLAMing on 102.85824100800001 meters Centerline goodness [0,1] 0.8937042376954174 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.20, Z:0.09 [[ 0.89707424 -0.08092315 -0.43440677 6.06660733] [ 0.10009977 0.99474712 0.02140587 -0.20357774] [ 0.43039266 -0.06268668 0.90046241 0.09208478] [ 0. 0. 0. 1. ]] SLAMing on 102.88824100800001 meters Centerline goodness [0,1] 0.8952993260581451 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.20, Z:0.09 [[ 0.89718021 -0.08058571 -0.43425063 6.06610137] [ 0.09957401 0.99480612 0.02111377 -0.20120662] [ 0.43029372 -0.06218294 0.90054461 0.09123637] [ 0. 0. 0. 1. ]] SLAMing on 102.91824100800001 meters Centerline goodness [0,1] 0.8849550079892355 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.20, Z:0.09 [[ 0.89757794 -0.07427035 -0.43455467 6.06426669] [ 0.09474881 0.99517152 0.02561865 -0.20029441] [ 0.43055373 -0.06416827 0.90028102 0.09196879] [ 0. 0. 0. 1. ]] SLAMing on 102.94824100800001 meters Centerline goodness [0,1] 0.8824933314614629 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.20, Z:0.09 [[ 0.89781705 -0.07320865 -0.43424075 6.06221761] [ 0.09366422 0.99526784 0.02586381 -0.19935788] [ 0.4302924 -0.06389379 0.90042547 0.09159148] [ 0. 0. 0. 1. ]] SLAMing on 102.97824100800001 meters Centerline goodness [0,1] 0.884753162431434 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.20, Z:0.09 [[ 0.89807338 -0.07208945 -0.43389781 6.05984711] [ 0.09256103 0.99536205 0.02620777 -0.19862177] [ 0.42999611 -0.06369853 0.90058084 0.09139098] [ 0. 0. 0. 1. ]] SLAMing on 103.00824100800001 meters Centerline goodness [0,1] 0.8800503285334824 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.20, Z:0.09 [[ 0.89830074 -0.07081567 -0.43363686 6.05736753] [ 0.09134581 0.99546224 0.02666214 -0.19746807] [ 0.42978102 -0.06356153 0.90069318 0.09139982] [ 0. 0. 0. 1. ]] SLAMing on 103.03824100800001 meters Centerline goodness [0,1] 0.8807595643674951 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.20, Z:0.09 [[ 0.89869742 -0.06471453 -0.43376835 6.05626597] [ 0.08653444 0.99577498 0.03072415 -0.1962903 ] [ 0.42994737 -0.06514762 0.90050044 0.09105156] [ 0. 0. 0. 1. ]] SLAMing on 103.06824100800002 meters Centerline goodness [0,1] 0.8839114616602327 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.19, Z:0.09 [[ 0.89870618 -0.0648544 -0.43372931 6.05706402] [ 0.08637128 0.99580929 0.03006435 -0.19477815] [ 0.42996187 -0.06448077 0.90054151 0.08990337] [ 0. 0. 0. 1. ]] SLAMing on 103.09824100800002 meters Centerline goodness [0,1] 0.8797600199983335 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.20, Z:0.09 [[ 0.89872514 -0.0645672 -0.43373286 6.05701402] [ 0.08609631 0.99583038 0.03015436 -0.19502427] [ 0.42997737 -0.06444328 0.9005368 0.08980179] [ 0. 0. 0. 1. ]] SLAMing on 103.12824100800002 meters Centerline goodness [0,1] 0.8777418094547078 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.20, Z:0.09 [[ 0.8986805 -0.06432923 -0.43386071 6.05712708] [ 0.08598719 0.9958306 0.03045678 -0.19629869] [ 0.43009251 -0.06467737 0.90046503 0.09020494] [ 0. 0. 0. 1. ]] SLAMing on 103.15824100800002 meters Centerline goodness [0,1] 0.8795403070212231 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.20, Z:0.09 [[ 0.89842411 -0.064828 -0.43431722 6.05960084] [ 0.08661974 0.995773 0.03054748 -0.19891331] [ 0.43050103 -0.06506503 0.90024186 0.09059432] [ 0. 0. 0. 1. ]] SLAMing on 103.188241008 meters Centerline goodness [0,1] 0.8790569590018827 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.20, Z:0.09 [[ 0.89819451 -0.06518607 -0.43473832 6.06140507] [ 0.08711995 0.9957249 0.03069265 -0.20048668] [ 0.43087904 -0.06544235 0.90003364 0.09117767] [ 0. 0. 0. 1. ]] SLAMing on 103.218241008 meters Centerline goodness [0,1] 0.8747327557105885 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.20, Z:0.09 [[ 0.89800485 -0.0653556 -0.4351045 6.06298656] [ 0.08753298 0.99567602 0.03110064 -0.20300794] [ 0.43119051 -0.06601452 0.89984267 0.0919043 ] [ 0. 0. 0. 1. ]] SLAMing on 103.24824100800001 meters Centerline goodness [0,1] 0.8748477035106111 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.21, Z:0.09 [[ 0.89773669 -0.07081338 -0.43480375 6.06476236] [ 0.09165311 0.99542167 0.0271184 -0.20558244] [ 0.43089273 -0.06419629 0.90011682 0.09102569] [ 0. 0. 0. 1. ]] SLAMing on 103.27824100800001 meters Centerline goodness [0,1] 0.8763120567375886 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.09 [[ 0.89738022 -0.07140414 -0.43544253 6.06767227] [ 0.09240509 0.99534952 0.02721467 -0.20822244] [ 0.43147427 -0.06465901 0.89980507 0.09176549] [ 0. 0. 0. 1. ]] SLAMing on 103.30824100800001 meters Centerline goodness [0,1] 0.8736384687955631 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.09 [[ 0.89724441 -0.07675505 -0.43481159 6.06846527] [ 0.09616966 0.99510407 0.02278785 -0.20803934] [ 0.4309337 -0.06226196 0.90023308 0.09000218] [ 0. 0. 0. 1. ]] SLAMing on 103.33824100800001 meters Centerline goodness [0,1] 0.8730721909067498 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.09 [[ 0.89700985 -0.07697374 -0.43525667 6.07063598] [ 0.09658422 0.99505729 0.02307539 -0.21034936] [ 0.43132912 -0.06273778 0.90001064 0.09047235] [ 0. 0. 0. 1. ]] SLAMing on 103.36824100800001 meters Centerline goodness [0,1] 0.8745720779033975 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.09 [[ 0.89668154 -0.07805886 -0.43573965 6.07417717] [ 0.09779907 0.99493991 0.02302005 -0.21361464] [ 0.43173784 -0.06325659 0.89977833 0.09095945] [ 0. 0. 0. 1. ]] SLAMing on 103.39824100800001 meters Centerline goodness [0,1] 0.875374251497006 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.09 [[ 0.89654318 -0.07822776 -0.43599396 6.07522618] [ 0.0981252 0.99490204 0.02326758 -0.21503179] [ 0.43195111 -0.06364239 0.89964876 0.09151647] [ 0. 0. 0. 1. ]] SLAMing on 103.42824100800001 meters Centerline goodness [0,1] 0.8734075056205683 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.09 [[ 0.89634519 -0.07849341 -0.43635317 6.07647589] [ 0.09852538 0.99485872 0.02342805 -0.21610393] [ 0.43227081 -0.06399148 0.89947042 0.09219934] [ 0. 0. 0. 1. ]] SLAMing on 103.45824100800002 meters Centerline goodness [0,1] 0.8737021719640223 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.09 [[ 0.89609174 -0.08380501 -0.43588566 6.07644133] [ 0.10242203 0.99455297 0.01934225 -0.21592002] [ 0.43189039 -0.06197672 0.89979418 0.09172462] [ 0. 0. 0. 1. ]] SLAMing on 103.48824100800002 meters Centerline goodness [0,1] 0.8723725029717897 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.09 [[ 0.89594748 -0.08371861 -0.43619869 6.0767862 ] [ 0.10260354 0.99452386 0.01986992 -0.21752933] [ 0.43214652 -0.06255793 0.89963097 0.09290379] [ 0. 0. 0. 1. ]] SLAMing on 103.51824100800002 meters Centerline goodness [0,1] 0.8759640475500146 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.09 [[ 0.89586138 -0.0836711 -0.43638463 6.07692213] [ 0.10267903 0.9945113 0.02010687 -0.2177505 ] [ 0.43230708 -0.06282052 0.89953553 0.09351734] [ 0. 0. 0. 1. ]] SLAMing on 103.548241008 meters Centerline goodness [0,1] 0.8763304025913928 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.09 [[ 0.89579383 -0.08406872 -0.43644686 6.07777533] [ 0.10289743 0.9944982 0.01963283 -0.21611347] [ 0.43239511 -0.06249622 0.89951581 0.09299036] [ 0. 0. 0. 1. ]] SLAMing on 103.578241008 meters Centerline goodness [0,1] 0.8763304025913928 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.09 [[ 0.89579383 -0.08406872 -0.43644686 6.07777533] [ 0.10289743 0.9944982 0.01963283 -0.21611347] [ 0.43239511 -0.06249622 0.89951581 0.09299036] [ 0. 0. 0. 1. ]] SLAMing on 103.60824100800001 meters Centerline goodness [0,1] 0.8726485862665897 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.21, Z:0.09 [[ 0.89542889 -0.08555626 -0.43690644 6.08150885] [ 0.10397975 0.99440964 0.0183758 -0.21295061] [ 0.43289181 -0.06188364 0.89931924 0.0919949 ] [ 0. 0. 0. 1. ]] SLAMing on 103.63824100800001 meters Centerline goodness [0,1] 0.871973418087258 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.21, Z:0.09 [[ 0.89518766 -0.08614849 -0.43728421 6.08340291] [ 0.10451651 0.99435908 0.01806458 -0.2126928 ] [ 0.43326129 -0.06187461 0.89914192 0.09212542] [ 0. 0. 0. 1. ]] SLAMing on 103.66824100800001 meters Centerline goodness [0,1] 0.8748088519576445 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.21, Z:0.09 [[ 0.89502298 -0.08649631 -0.43755258 6.08446398] [ 0.10481297 0.994332 0.01783549 -0.21247506] [ 0.43352983 -0.06182437 0.89901593 0.09229088] [ 0. 0. 0. 1. ]] SLAMing on 103.69824100800001 meters Centerline goodness [0,1] 0.8815284787310742 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.21, Z:0.09 [[ 0.89486363 -0.08669277 -0.43783953 6.08524758] [ 0.10500694 0.99431325 0.01773965 -0.21235308] [ 0.43381175 -0.06185076 0.89887811 0.09265556] [ 0. 0. 0. 1. ]] SLAMing on 103.72824100800001 meters Centerline goodness [0,1] 0.881942433543754 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.21, Z:0.09 [[ 0.89448943 -0.08730938 -0.43848116 6.08712091] [ 0.10568501 0.99424349 0.01762298 -0.21301462] [ 0.43441838 -0.06210445 0.89856758 0.09374839] [ 0. 0. 0. 1. ]] SLAMing on 103.75824100800001 meters Centerline goodness [0,1] 0.8815128733563612 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.21, Z:0.09 [[ 0.89427848 -0.08759057 -0.43885521 6.08820756] [ 0.10604767 0.99420409 0.01766696 -0.21327341] [ 0.43476419 -0.06233876 0.8983841 0.09442039] [ 0. 0. 0. 1. ]] SLAMing on 103.78824100800001 meters Centerline goodness [0,1] 0.8856588023882673 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.21, Z:0.09 [[ 0.89410024 -0.0878617 -0.43916407 6.08911792] [ 0.10637265 0.99416938 0.01766628 -0.21318545] [ 0.43505128 -0.06251047 0.89823317 0.09491867] [ 0. 0. 0. 1. ]] SLAMing on 103.81824100800002 meters Centerline goodness [0,1] 0.8812628292231635 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.21, Z:0.10 [[ 0.89394865 -0.0881566 -0.4394135 6.09007097] [ 0.10669134 0.99413628 0.01760735 -0.21258664] [ 0.43528469 -0.06262168 0.89811233 0.09521355] [ 0. 0. 0. 1. ]] SLAMing on 103.84824100800002 meters Centerline goodness [0,1] 0.8825827737902292 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.21, Z:0.10 [[ 0.89392881 -0.08846071 -0.43939275 6.0903932 ] [ 0.10689599 0.99411908 0.01733512 -0.21089259] [ 0.43527523 -0.06246569 0.89812778 0.09501324] [ 0. 0. 0. 1. ]] SLAMing on 103.87824100800002 meters Centerline goodness [0,1] 0.8818368706025422 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.21, Z:0.10 [[ 0.89408606 -0.0876161 -0.43924201 6.08842052] [ 0.10629157 0.99417116 0.01805021 -0.21130152] [ 0.43510024 -0.06282617 0.89818742 0.09573683] [ 0. 0. 0. 1. ]] SLAMing on 103.90824100800002 meters Centerline goodness [0,1] 0.8805249616974532 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.21, Z:0.10 [[ 0.8943049 -0.08641715 -0.43903397 6.08559577] [ 0.10542992 0.99424411 0.01905719 -0.21210423] [ 0.43486008 -0.06333026 0.89826833 0.09682598] [ 0. 0. 0. 1. ]] SLAMing on 103.938241008 meters Centerline goodness [0,1] 0.8821105411791827 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.21, Z:0.10 [[ 0.89458826 -0.0852424 -0.4386862 6.08255127] [ 0.10445363 0.99433274 0.01979476 -0.21188769] [ 0.4345127 -0.06353053 0.89842228 0.09735387] [ 0. 0. 0. 1. ]] SLAMing on 103.968241008 meters Centerline goodness [0,1] 0.8763793103448276 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.21, Z:0.10 [[ 0.8952476 -0.07827912 -0.43863894 6.07889038] [ 0.0991124 0.99476816 0.02475969 -0.21145666] [ 0.43440588 -0.06564061 0.89832223 0.09800921] [ 0. 0. 0. 1. ]] SLAMing on 103.99824100800001 meters Centerline goodness [0,1] 0.876479332228003 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.21, Z:0.10 [[ 0.89549152 -0.07705075 -0.43835843 6.07689489] [ 0.09782303 0.99489071 0.02496271 -0.20937874] [ 0.43419533 -0.06523544 0.89845353 0.09727126] [ 0. 0. 0. 1. ]] SLAMing on 104.02824100800001 meters Centerline goodness [0,1] 0.8769090234363849 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.10 [[ 0.89583762 -0.07586705 -0.43785745 6.07450375] [ 0.0965206 0.99501516 0.0250719 -0.20798815] [ 0.43377267 -0.06472262 0.89869475 0.09623348] [ 0. 0. 0. 1. ]] SLAMing on 104.05824100800001 meters Centerline goodness [0,1] 0.8784208421413472 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.10 [[ 0.89613327 -0.07466326 -0.4374592 6.07218981] [ 0.09533377 0.99512001 0.02544892 -0.20763229] [ 0.43342431 -0.06451025 0.89887808 0.09574215] [ 0. 0. 0. 1. ]] SLAMing on 104.08824100800001 meters Centerline goodness [0,1] 0.8802768757477354 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.10 [[ 0.8963763 -0.07365983 -0.43713129 6.07039352] [ 0.0943437 0.99520634 0.02576052 -0.20744166] [ 0.43313832 -0.0643317 0.89902872 0.0952806 ] [ 0. 0. 0. 1. ]] SLAMing on 104.11824100800001 meters Centerline goodness [0,1] 0.8809448998828873 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.09 [[ 0.89655114 -0.07340733 -0.43681509 6.07002391] [ 0.09402043 0.99523789 0.02572341 -0.20690722] [ 0.43284664 -0.0641319 0.89918346 0.09446466] [ 0. 0. 0. 1. ]] SLAMing on 104.14824100800001 meters Centerline goodness [0,1] 0.8800148165033053 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.09 [[ 0.89648338 -0.0733668 -0.43696095 6.07029136] [ 0.09409397 0.99522518 0.02594554 -0.20731204] [ 0.43297099 -0.06437514 0.8991062 0.09491431] [ 0. 0. 0. 1. ]] SLAMing on 104.17824100800001 meters Centerline goodness [0,1] 0.881042274469424 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.10 [[ 0.89660669 -0.07736384 -0.43601753 6.06650397] [ 0.09697708 0.99502384 0.02286935 -0.20835707] [ 0.43207857 -0.06278852 0.89964755 0.09521643] [ 0. 0. 0. 1. ]] SLAMing on 104.20824100800002 meters Centerline goodness [0,1] 0.8721304873137334 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.21, Z:0.10 [[ 0.896717 -0.08157537 -0.43502193 6.0627053 ] [ 0.09997913 0.99479757 0.01954384 -0.20831609] [ 0.43116446 -0.0610184 0.90020773 0.09536768] [ 0. 0. 0. 1. ]] SLAMing on 104.23824100800002 meters Centerline goodness [0,1] 0.8758922403868293 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.21, Z:0.10 [[ 0.89659007 -0.08171575 -0.43525714 6.06288784] [ 0.10018581 0.99477541 0.01961319 -0.20841761] [ 0.43138039 -0.06119158 0.90009252 0.09608413] [ 0. 0. 0. 1. ]] SLAMing on 104.26824100800002 meters Centerline goodness [0,1] 0.871849342596314 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.21, Z:0.10 [[ 0.89648165 -0.08247685 -0.4353369 6.06454214] [ 0.10067477 0.99474063 0.01885899 -0.20625036] [ 0.43149187 -0.06073419 0.90007007 0.09523524] [ 0. 0. 0. 1. ]] SLAMing on 104.298241008 meters Centerline goodness [0,1] 0.8696423462088698 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.20, Z:0.09 [[ 0.89639546 -0.07903319 -0.43615242 6.06983812] [ 0.09816825 0.99493819 0.02147055 -0.20388163] [ 0.43224781 -0.06206242 0.89961663 0.0938271 ] [ 0. 0. 0. 1. ]] SLAMing on 104.328241008 meters Centerline goodness [0,1] 0.868401508226691 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.20, Z:0.09 [[ 0.89634615 -0.07979325 -0.43611537 6.07188665] [ 0.09858658 0.99491542 0.02059125 -0.20165472] [ 0.43225487 -0.06145201 0.89965515 0.09232357] [ 0. 0. 0. 1. ]] SLAMing on 104.35824100800001 meters Centerline goodness [0,1] 0.8691015881162147 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.20, Z:0.09 [[ 0.8963193 -0.08018718 -0.43609829 6.07325105] [ 0.09881264 0.99490194 0.02015439 -0.20069957] [ 0.43225891 -0.06115679 0.89967332 0.09142112] [ 0. 0. 0. 1. ]] SLAMing on 104.38824100800001 meters Centerline goodness [0,1] 0.8652027796764639 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.20, Z:0.09 [[ 0.89631677 -0.08001585 -0.43613498 6.07331645] [ 0.09877268 0.99489964 0.02046126 -0.20162584] [ 0.4322733 -0.06141799 0.89964861 0.09173338] [ 0. 0. 0. 1. ]] SLAMing on 104.41824100800001 meters Centerline goodness [0,1] 0.8661318051575931 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.20, Z:0.09 [[ 0.89649968 -0.08322631 -0.4351571 6.06859771] [ 0.10099596 0.99472719 0.01782201 -0.20435644] [ 0.43137934 -0.05992653 0.90017814 0.09222046] [ 0. 0. 0. 1. ]] SLAMing on 104.44824100800001 meters Centerline goodness [0,1] 0.8716942207959657 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.09 [[ 0.89646882 -0.08274559 -0.43531233 6.06806602] [ 0.10078975 0.99473609 0.01848061 -0.20594186] [ 0.4314917 -0.06044232 0.9000898 0.09324791] [ 0. 0. 0. 1. ]] SLAMing on 104.47824100800001 meters Centerline goodness [0,1] 0.8712545745654163 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.09 [[ 0.89644349 -0.0825583 -0.43540003 6.06821657] [ 0.10067586 0.99474422 0.01866291 -0.2063797 ] [ 0.43157089 -0.06056452 0.90004361 0.09341622] [ 0. 0. 0. 1. ]] SLAMing on 104.50824100800001 meters Centerline goodness [0,1] 0.8731125600549073 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.20, Z:0.09 [[ 0.89642103 -0.08314244 -0.43533512 6.07026921] [ 0.10089151 0.99473871 0.01777082 -0.20472261] [ 0.43156719 -0.05985175 0.90009307 0.09163087] [ 0. 0. 0. 1. ]] SLAMing on 104.53824100800001 meters Centerline goodness [0,1] 0.8714109514384878 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.20, Z:0.09 [[ 0.89633551 -0.08370531 -0.43540335 6.07210739] [ 0.10119536 0.99471975 0.01709146 -0.20322744] [ 0.43167366 -0.05938048 0.90007322 0.09053593] [ 0. 0. 0. 1. ]] SLAMing on 104.56824100800002 meters Centerline goodness [0,1] 0.8730399450612338 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.20, Z:0.09 [[ 0.8962444 -0.08440417 -0.43545599 6.07428534] [ 0.10158196 0.99469408 0.01627245 -0.20155828] [ 0.43177203 -0.05881856 0.90006294 0.08918917] [ 0. 0. 0. 1. ]] SLAMing on 104.59824100800002 meters Centerline goodness [0,1] 0.8735885194820046 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.20, Z:0.09 [[ 0.89618832 -0.08476829 -0.43550067 6.07584516] [ 0.10175866 0.99468377 0.01579166 -0.20064363] [ 0.43184681 -0.05846826 0.90004988 0.0882386 ] [ 0. 0. 0. 1. ]] SLAMing on 104.62824100800002 meters Centerline goodness [0,1] 0.8774228540435615 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.20, Z:0.09 [[ 0.89617189 -0.0842354 -0.43563785 6.07556855] [ 0.10143161 0.99470861 0.01632198 -0.20225469] [ 0.43195783 -0.05881475 0.89997403 0.08881238] [ 0. 0. 0. 1. ]] SLAMing on 104.65824100800002 meters Centerline goodness [0,1] 0.8764218790292542 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.20, Z:0.09 [[ 0.89626383 -0.08323847 -0.43564034 6.07370917] [ 0.10083477 0.99475131 0.01738356 -0.20441633] [ 0.43190682 -0.05950796 0.89995295 0.09017076] [ 0. 0. 0. 1. ]] SLAMing on 104.688241008 meters Centerline goodness [0,1] 0.8812889931887127 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.09 [[ 0.8963837 -0.08224033 -0.43558328 6.07170915] [ 0.10020874 0.99479635 0.01839625 -0.2062425 ] [ 0.43180375 -0.06013935 0.89996043 0.09135205] [ 0. 0. 0. 1. ]] SLAMing on 104.718241008 meters Centerline goodness [0,1] 0.8736162890737023 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.09 [[ 0.89654114 -0.08130024 -0.4354357 6.06956574] [ 0.09960005 0.99483987 0.01932507 -0.20717434] [ 0.43161767 -0.06069514 0.90001238 0.09237288] [ 0. 0. 0. 1. ]] SLAMing on 104.74824100800001 meters Centerline goodness [0,1] 0.872275925184465 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.09 [[ 0.89693164 -0.07998767 -0.43487423 6.06646502] [ 0.09856646 0.9949235 0.02029496 -0.20786131] [ 0.43104325 -0.06106721 0.90026247 0.09260497] [ 0. 0. 0. 1. ]] SLAMing on 104.77824100800001 meters Centerline goodness [0,1] 0.8775282506079245 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.09 [[ 0.89705962 -0.07948055 -0.43470321 6.06554609] [ 0.09818748 0.99495252 0.02070526 -0.20816089] [ 0.43086339 -0.06125627 0.90033572 0.09270705] [ 0. 0. 0. 1. ]] SLAMing on 104.80824100800001 meters Centerline goodness [0,1] 0.8728755364806867 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.09 [[ 0.89712246 -0.07921926 -0.43462121 6.06534948] [ 0.09794992 0.99497338 0.02082737 -0.20802056] [ 0.4307866 -0.06125582 0.90037249 0.09247632] [ 0. 0. 0. 1. ]] SLAMing on 104.83824100800001 meters Centerline goodness [0,1] 0.8699587534372135 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.09 [[ 0.89721134 -0.07901072 -0.43447568 6.06544554] [ 0.09777437 0.99498772 0.02096683 -0.20839848] [ 0.43064136 -0.06129226 0.90043949 0.09207366] [ 0. 0. 0. 1. ]] SLAMing on 104.86824100800001 meters Centerline goodness [0,1] 0.8708261617900173 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.09 [[ 0.89700631 -0.07903796 -0.43489388 6.06636174] [ 0.09809393 0.99494478 0.02150519 -0.21083223] [ 0.43099567 -0.06195074 0.90022488 0.09334803] [ 0. 0. 0. 1. ]] SLAMing on 104.89824100800001 meters Centerline goodness [0,1] 0.8726438100702912 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.09 [[ 0.89682038 -0.07902446 -0.4352796 6.06711199] [ 0.0983676 0.99490592 0.02204597 -0.21276509] [ 0.43132008 -0.06258868 0.90002536 0.09454421] [ 0. 0. 0. 1. ]] SLAMing on 104.92824100800001 meters Centerline goodness [0,1] 0.879610259349477 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.10 [[ 0.89667 -0.07916376 -0.43556402 6.0681572 ] [ 0.09869255 0.99486683 0.0223555 -0.21435654] [ 0.43155845 -0.06303243 0.89988011 0.09523164] [ 0. 0. 0. 1. ]] SLAMing on 104.95824100800002 meters Centerline goodness [0,1] 0.8733780245705901 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.21, Z:0.09 [[ 0.89648178 -0.08469547 -0.43491044 6.0686097 ] [ 0.10268048 0.99455198 0.01797413 -0.21409009] [ 0.43101872 -0.06077029 0.90029431 0.09393983] [ 0. 0. 0. 1. ]] SLAMing on 104.98824100800002 meters Centerline goodness [0,1] 0.8765680167637856 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.22, Z:0.09 [[ 0.89632262 -0.08458323 -0.43526019 6.06936585] [ 0.10282837 0.99452729 0.01848793 -0.21578775] [ 0.43131437 -0.06132825 0.90011486 0.09491446] [ 0. 0. 0. 1. ]] SLAMing on 105.01824100800002 meters Centerline goodness [0,1] 0.8767218027779379 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.22, Z:0.10 [[ 0.89622113 -0.08477724 -0.43543141 6.07029165] [ 0.10307274 0.99450136 0.01852159 -0.21630933] [ 0.43146692 -0.06148055 0.90003135 0.09506351] [ 0. 0. 0. 1. ]] SLAMing on 105.04824100800002 meters Centerline goodness [0,1] 0.8770222810754793 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.22, Z:0.09 [[ 0.89617307 -0.08509526 -0.43546828 6.07139401] [ 0.10333927 0.99447715 0.01833562 -0.21610399] [ 0.43150298 -0.06143286 0.90001732 0.09466704] [ 0. 0. 0. 1. ]] SLAMing on 105.078241008 meters Centerline goodness [0,1] 0.878521329193975 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.22, Z:0.09 [[ 0.89605788 -0.0855057 -0.43562489 6.07278451] [ 0.10365671 0.99444983 0.01802304 -0.21558333] [ 0.43166603 -0.06130513 0.89994784 0.09429962] [ 0. 0. 0. 1. ]] SLAMing on 105.10824100800001 meters Centerline goodness [0,1] 0.8784579586912182 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.22, Z:0.09 [[ 0.89599372 -0.0855777 -0.43574271 6.07357699] [ 0.10375878 0.99443868 0.01805065 -0.21598373] [ 0.43177467 -0.06138541 0.89989025 0.09429215] [ 0. 0. 0. 1. ]] SLAMing on 105.13824100800001 meters Centerline goodness [0,1] 0.8797820509124455 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.22, Z:0.10 [[ 0.89589891 -0.08502883 -0.43604501 6.07356144] [ 0.10352009 0.99445015 0.01877469 -0.21847147] [ 0.43202863 -0.06195964 0.89972899 0.09539946] [ 0. 0. 0. 1. ]] SLAMing on 105.16824100800001 meters Centerline goodness [0,1] 0.8795590951061865 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.22, Z:0.10 [[ 0.89590554 -0.08472928 -0.43608969 6.07326487] [ 0.10327063 0.99447294 0.01894048 -0.21888706] [ 0.43207459 -0.06200414 0.89970386 0.09559434] [ 0. 0. 0. 1. ]] SLAMing on 105.19824100800001 meters Centerline goodness [0,1] 0.8752664017049709 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.22, Z:0.10 [[ 0.8959105 -0.08459648 -0.43610527 6.07340315] [ 0.10310827 0.99449043 0.0189069 -0.21890952] [ 0.43210306 -0.06190495 0.89969702 0.09541454] [ 0. 0. 0. 1. ]] SLAMing on 105.22824100800001 meters Centerline goodness [0,1] 0.8827552374906216 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.22, Z:0.09 [[ 0.89604409 -0.08406131 -0.43593427 6.07318012] [ 0.10243735 0.99456228 0.01877387 -0.21883983] [ 0.43198562 -0.06147817 0.89978267 0.09437101] [ 0. 0. 0. 1. ]] SLAMing on 105.25824100800001 meters Centerline goodness [0,1] 0.8825603236526514 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.22, Z:0.09 [[ 0.89611531 -0.08396313 -0.43580678 6.07345007] [ 0.10217106 0.99459543 0.01846621 -0.21793471] [ 0.43190095 -0.0610747 0.89985079 0.09339819] [ 0. 0. 0. 1. ]] SLAMing on 105.28824100800001 meters Centerline goodness [0,1] 0.8830712516560106 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.22, Z:0.09 [[ 0.89618091 -0.08403843 -0.43565734 6.07403068] [ 0.10205883 0.99461402 0.01808159 -0.217048 ] [ 0.43179135 -0.06066705 0.89993096 0.09230863] [ 0. 0. 0. 1. ]] SLAMing on 105.31824100800002 meters Centerline goodness [0,1] 0.8825033028893101 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.22, Z:0.09 [[ 0.89610547 -0.08401309 -0.43581737 6.07457113] [ 0.10212452 0.99460416 0.0182521 -0.2175717 ] [ 0.43193236 -0.06086344 0.89985003 0.09260396] [ 0. 0. 0. 1. ]] SLAMing on 105.34824100800002 meters Centerline goodness [0,1] 0.887080073630925 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.22, Z:0.09 [[ 0.8961007 -0.08822275 -0.43499458 6.07212516] [ 0.10491527 0.9943761 0.01445547 -0.21713577] [ 0.43127292 -0.05859114 0.90031703 0.09173412] [ 0. 0. 0. 1. ]] SLAMing on 105.37824100800002 meters Centerline goodness [0,1] 0.8853501343891795 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.22, Z:0.09 [[ 0.89607046 -0.0878957 -0.43512306 6.07170222] [ 0.1047658 0.99438557 0.01488159 -0.21774912] [ 0.43137206 -0.05892097 0.900248 0.09246628] [ 0. 0. 0. 1. ]] SLAMing on 105.40824100800002 meters Centerline goodness [0,1] 0.8840328361660308 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.22, Z:0.09 [[ 0.89598626 -0.08821058 -0.43523272 6.07254867] [ 0.10503995 0.99435923 0.01470788 -0.2174178 ] [ 0.43148028 -0.05889488 0.90019784 0.09236905] [ 0. 0. 0. 1. ]] SLAMing on 105.438241008 meters Centerline goodness [0,1] 0.8808299138877651 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.09 [[ 0.89557032 -0.08966376 -0.43579148 6.07590639] [ 0.10642058 0.99422068 0.01413873 -0.2177537 ] [ 0.43200517 -0.05903941 0.8999366 0.09280764] [ 0. 0. 0. 1. ]] SLAMing on 105.468241008 meters Centerline goodness [0,1] 0.8808299138877651 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.09 [[ 0.89557032 -0.08966376 -0.43579148 6.07590639] [ 0.10642058 0.99422068 0.01413873 -0.2177537 ] [ 0.43200517 -0.05903941 0.8999366 0.09280764] [ 0. 0. 0. 1. ]] SLAMing on 105.49824100800001 meters Centerline goodness [0,1] 0.885143534445376 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.09 [[ 0.89532832 -0.08965674 -0.43628988 6.07671676] [ 0.1066499 0.99419008 0.01455646 -0.21887142] [ 0.43244999 -0.05956308 0.89968842 0.09409561] [ 0. 0. 0. 1. ]] SLAMing on 105.52824100800001 meters Centerline goodness [0,1] 0.882245483805492 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.09 [[ 0.8952413 -0.08945157 -0.43651053 6.07686684] [ 0.10662069 0.99418758 0.01493573 -0.21992425] [ 0.43263732 -0.05991214 0.89957517 0.09479002] [ 0. 0. 0. 1. ]] SLAMing on 105.55824100800001 meters Centerline goodness [0,1] 0.8809489325956609 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.10 [[ 0.89517971 -0.08940867 -0.43664559 6.07711925] [ 0.10670479 0.99417473 0.0151888 -0.22025024] [ 0.432744 -0.06018888 0.89950538 0.09525355] [ 0. 0. 0. 1. ]] SLAMing on 105.58824100800001 meters Centerline goodness [0,1] 0.8818477251624884 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.10 [[ 0.8951171 -0.089661 -0.4367222 6.07767823] [ 0.10700662 0.99414178 0.01522183 -0.22015265] [ 0.43279898 -0.06035749 0.89946763 0.09546458] [ 0. 0. 0. 1. ]] SLAMing on 105.61824100800001 meters Centerline goodness [0,1] 0.88279099417577 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.10 [[ 0.89504593 -0.08976009 -0.43684769 6.07820819] [ 0.10712238 0.99412943 0.01521422 -0.22010319] [ 0.43291752 -0.06041359 0.89940682 0.09558095] [ 0. 0. 0. 1. ]] SLAMing on 105.64824100800001 meters Centerline goodness [0,1] 0.8831717551729128 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.10 [[ 0.89497174 -0.08988494 -0.43697401 6.07884843] [ 0.10720089 0.99412317 0.01506971 -0.21971781] [ 0.43305145 -0.06033097 0.89934788 0.09547188] [ 0. 0. 0. 1. ]] SLAMing on 105.67824100800001 meters Centerline goodness [0,1] 0.8801041817392563 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.10 [[ 0.89490378 -0.09013685 -0.43706129 6.07951617] [ 0.10734883 0.99411152 0.01478237 -0.21905833] [ 0.43315523 -0.06014682 0.89931024 0.09525723] [ 0. 0. 0. 1. ]] SLAMing on 105.70824100800002 meters Centerline goodness [0,1] 0.8838743273737198 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.09 [[ 0.8949121 -0.08992573 -0.43708774 6.07927528] [ 0.10702529 0.99414919 0.01459349 -0.21791001] [ 0.4332181 -0.05983933 0.89930047 0.0949209 ] [ 0. 0. 0. 1. ]] SLAMing on 105.73824100800002 meters Centerline goodness [0,1] 0.8866164023456683 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.09 [[ 0.89492652 -0.08997436 -0.43704822 6.07950952] [ 0.10694977 0.99416114 0.01433063 -0.2167681 ] [ 0.43320697 -0.05956707 0.89932391 0.09445204] [ 0. 0. 0. 1. ]] SLAMing on 105.76824100800002 meters Centerline goodness [0,1] 0.886815275617764 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.09 [[ 0.89488448 -0.09010406 -0.43710756 6.0798578 ] [ 0.10695599 0.99416469 0.0140354 -0.21552033] [ 0.43329226 -0.05931133 0.89929972 0.09418545] [ 0. 0. 0. 1. ]] SLAMing on 105.79824100800002 meters Centerline goodness [0,1] 0.8814097017938513 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.21, Z:0.09 [[ 0.89483423 -0.09007885 -0.43721562 6.07988471] [ 0.10693879 0.99416645 0.01404139 -0.2148933 ] [ 0.43340027 -0.05932003 0.8992471 0.09441919] [ 0. 0. 0. 1. ]] SLAMing on 105.828241008 meters Centerline goodness [0,1] 0.8806094580997557 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.10 [[ 0.894769 -0.08975184 -0.43741632 6.07947944] [ 0.10680078 0.99417502 0.01447818 -0.21519059] [ 0.43356894 -0.05967103 0.89914256 0.09533164] [ 0. 0. 0. 1. ]] SLAMing on 105.85824100800001 meters Centerline goodness [0,1] 0.8823529411764706 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.10 [[ 0.89463449 -0.08966256 -0.43770967 6.07962453] [ 0.10684973 0.99416591 0.01474035 -0.21545504] [ 0.43383437 -0.05995638 0.89899553 0.09618117] [ 0. 0. 0. 1. ]] SLAMing on 105.88824100800001 meters Centerline goodness [0,1] 0.881159420289855 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.10 [[ 0.89452194 -0.08982959 -0.43790541 6.08042453] [ 0.10698224 0.99415373 0.01460027 -0.21535228] [ 0.43403376 -0.05990837 0.89890249 0.09622993] [ 0. 0. 0. 1. ]] SLAMing on 105.91824100800001 meters Centerline goodness [0,1] 0.8819296528697254 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.10 [[ 0.89442584 -0.08999431 -0.43806785 6.08125678] [ 0.10714477 0.99413721 0.01453283 -0.21523678] [ 0.43419168 -0.05993522 0.89882443 0.09625173] [ 0. 0. 0. 1. ]] SLAMing on 105.94824100800001 meters Centerline goodness [0,1] 0.8831385642737897 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.10 [[ 0.89417538 -0.09032074 -0.43851175 6.08282759] [ 0.1076201 0.99408345 0.0146972 -0.21603318] [ 0.43458981 -0.06033455 0.89860528 0.09702982] [ 0. 0. 0. 1. ]] SLAMing on 105.97824100800001 meters Centerline goodness [0,1] 0.8801953181100101 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.10 [[ 0.89407188 -0.09005985 -0.43877637 6.08276698] [ 0.1076166 0.99407553 0.01524851 -0.21690824] [ 0.43480357 -0.06085288 0.89846691 0.09813003] [ 0. 0. 0. 1. ]] SLAMing on 106.00824100800001 meters Centerline goodness [0,1] 0.882005644836127 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.10 [[ 0.89403493 -0.08974214 -0.43891673 6.08238933] [ 0.1075299 0.99407666 0.0157773 -0.21782092] [ 0.43490098 -0.06130212 0.89838922 0.09902554] [ 0. 0. 0. 1. ]] SLAMing on 106.03824100800001 meters Centerline goodness [0,1] 0.87915538399493 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.10 [[ 0.89405829 -0.0891301 -0.43899385 6.08131534] [ 0.10728418 0.99408875 0.01666329 -0.21929387] [ 0.43491365 -0.06199505 0.89833554 0.10032126] [ 0. 0. 0. 1. ]] SLAMing on 106.06824100800002 meters Centerline goodness [0,1] 0.8805944258124205 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.10 [[ 0.89399923 -0.08794691 -0.4393526 6.07932667] [ 0.10700947 0.9940811 0.01875494 -0.22299261] [ 0.43510268 -0.06378179 0.89811889 0.10382485] [ 0. 0. 0. 1. ]] SLAMing on 106.09824100800002 meters Centerline goodness [0,1] 0.8725325615050651 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.10 [[ 0.89392997 -0.08770702 -0.43954145 6.07922381] [ 0.10701483 0.99407037 0.01928559 -0.2240883 ] [ 0.43524365 -0.06427742 0.89801524 0.10479385] [ 0. 0. 0. 1. ]] SLAMing on 106.12824100800002 meters Centerline goodness [0,1] 0.8712487339024744 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.11 [[ 0.89383476 -0.08767606 -0.43974122 6.07925466] [ 0.10709784 0.99405734 0.01949498 -0.22376555] [ 0.43541874 -0.06452063 0.89791292 0.10551017] [ 0. 0. 0. 1. ]] SLAMing on 106.15824100800002 meters Centerline goodness [0,1] 0.8791738879260543 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.11 [[ 0.89386274 -0.08770355 -0.43967885 6.07896119] [ 0.10706667 0.99406299 0.01937792 -0.22256951] [ 0.43536896 -0.06439615 0.89794599 0.10542641] [ 0. 0. 0. 1. ]] SLAMing on 106.188241008 meters Centerline goodness [0,1] 0.8788967102427812 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.10 [[ 0.89399734 -0.08741488 -0.43946262 6.07786237] [ 0.10656347 0.99412363 0.0190375 -0.21970615] [ 0.43521602 -0.06385014 0.89805912 0.10472019] [ 0. 0. 0. 1. ]] SLAMing on 106.218241008 meters Centerline goodness [0,1] 0.8758960830418077 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.10 [[ 0.89407678 -0.08744632 -0.43929472 6.07769307] [ 0.1063872 0.99415026 0.01862883 -0.21783801] [ 0.43509593 -0.06339094 0.89814983 0.10401933] [ 0. 0. 0. 1. ]] SLAMing on 106.24824100800001 meters Centerline goodness [0,1] 0.8815601621837702 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.22, Z:0.10 [[ 0.89430058 -0.08199022 -0.43989099 6.07733135] [ 0.10228363 0.99449895 0.02258087 -0.21622496] [ 0.43561972 -0.06518773 0.89776724 0.10469915] [ 0. 0. 0. 1. ]] SLAMing on 106.27824100800001 meters Centerline goodness [0,1] 0.8807521872514487 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.21, Z:0.10 [[ 0.89431016 -0.08201572 -0.43986676 6.07705214] [ 0.10215501 0.99451937 0.02226138 -0.21445646] [ 0.43563023 -0.06484317 0.89778709 0.1044495 ] [ 0. 0. 0. 1. ]] SLAMing on 106.30824100800001 meters Centerline goodness [0,1] 0.8795768456280666 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.21, Z:0.11 [[ 0.8940779 -0.08237466 -0.44027164 6.07782304] [ 0.10250975 0.99448641 0.02210277 -0.21389707] [ 0.43602346 -0.06489373 0.89759253 0.10526278] [ 0. 0. 0. 1. ]] SLAMing on 106.33824100800001 meters Centerline goodness [0,1] 0.8797680632141436 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.21, Z:0.11 [[ 0.89395981 -0.08247858 -0.44049194 6.0778628 ] [ 0.10263241 0.99447425 0.02208084 -0.21379877] [ 0.43623669 -0.06494813 0.89748498 0.10590992] [ 0. 0. 0. 1. ]] SLAMing on 106.36824100800001 meters Centerline goodness [0,1] 0.8849587620100332 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.21, Z:0.11 [[ 0.89377879 -0.08292236 -0.44077586 6.07894841] [ 0.10299613 0.99444357 0.02176649 -0.21301883] [ 0.43652179 -0.06485264 0.89735325 0.10609367] [ 0. 0. 0. 1. ]] SLAMing on 106.39824100800001 meters Centerline goodness [0,1] 0.8815692708038694 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.21, Z:0.11 [[ 0.89356306 -0.08370946 -0.44106437 6.08096179] [ 0.10359162 0.99439517 0.02114286 -0.21179821] [ 0.43682242 -0.06458305 0.89722639 0.10577322] [ 0. 0. 0. 1. ]] SLAMing on 106.42824100800001 meters Centerline goodness [0,1] 0.8808728631269105 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.21, Z:0.11 [[ 0.89311752 -0.08528285 -0.44166495 6.08464613] [ 0.10495181 0.99427129 0.02024163 -0.21034187] [ 0.43740852 -0.06443169 0.8969517 0.10580176] [ 0. 0. 0. 1. ]] SLAMing on 106.45824100800002 meters Centerline goodness [0,1] 0.8827730854259963 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.21, Z:0.11 [[ 0.89289877 -0.08563777 -0.44203842 6.08575833] [ 0.10544115 0.99421683 0.02037324 -0.21119505] [ 0.43773732 -0.06480028 0.89676472 0.10672341] [ 0. 0. 0. 1. ]] SLAMing on 106.48824100800002 meters Centerline goodness [0,1] 0.8868234162351809 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.21, Z:0.11 [[ 0.89270134 -0.08571396 -0.44242223 6.08639772] [ 0.10571537 0.99418101 0.02069756 -0.21233396] [ 0.43807371 -0.06524757 0.896568 0.10781687] [ 0. 0. 0. 1. ]] SLAMing on 106.51824100800002 meters Centerline goodness [0,1] 0.8854340863354213 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.21, Z:0.11 [[ 0.89248557 -0.08624715 -0.44275382 6.08754146] [ 0.10633879 0.99411441 0.02070292 -0.21239473] [ 0.43836238 -0.06555897 0.89640418 0.10863136] [ 0. 0. 0. 1. ]] SLAMing on 106.54824100800002 meters Centerline goodness [0,1] 0.8863494936923686 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.21, Z:0.11 [[ 0.89234712 -0.08663802 -0.44295651 6.08857848] [ 0.10669692 0.99408001 0.02051121 -0.21208222] [ 0.43855716 -0.06556521 0.89630844 0.10879173] [ 0. 0. 0. 1. ]] SLAMing on 106.578241008 meters Centerline goodness [0,1] 0.8825930440205221 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.21, Z:0.11 [[ 0.8916042 -0.08316215 -0.44511349 6.09372088] [ 0.10554402 0.99408282 0.02568653 -0.21424948] [ 0.44034352 -0.06988129 0.89510568 0.11462501] [ 0. 0. 0. 1. ]] SLAMing on 106.60824100800001 meters Centerline goodness [0,1] 0.8823947465673594 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.22, Z:0.12 [[ 0.89139797 -0.08320446 -0.44551844 6.09436747] [ 0.10575799 0.99405315 0.02595359 -0.21502926] [ 0.44070955 -0.07025211 0.89489649 0.11566557] [ 0. 0. 0. 1. ]] SLAMing on 106.63824100800001 meters Centerline goodness [0,1] 0.8839410042911137 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.22, Z:0.12 [[ 0.89102295 -0.08368145 -0.4461788 6.09663199] [ 0.10632695 0.99399356 0.02591098 -0.21626387] [ 0.44133059 -0.07052811 0.89456867 0.11655452] [ 0. 0. 0. 1. ]] SLAMing on 106.66824100800001 meters Centerline goodness [0,1] 0.8856874680015928 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.22, Z:0.12 [[ 0.89086409 -0.08403729 -0.44642906 6.09791866] [ 0.10662374 0.99396819 0.02566337 -0.21612304] [ 0.44157961 -0.07046251 0.89445094 0.1165586 ] [ 0. 0. 0. 1. ]] SLAMing on 106.69824100800001 meters Centerline goodness [0,1] 0.8855981582014041 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.22, Z:0.12 [[ 0.89065815 -0.08454663 -0.4467437 6.09965198] [ 0.10706287 0.99392914 0.02534577 -0.21575484] [ 0.44188868 -0.07040408 0.89430289 0.11657755] [ 0. 0. 0. 1. ]] SLAMing on 106.72824100800001 meters Centerline goodness [0,1] 0.8877501498758171 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.22, Z:0.12 [[ 0.89061245 -0.08461639 -0.4468216 6.10020889] [ 0.10711742 0.99392482 0.02528476 -0.21567374] [ 0.44196757 -0.07038129 0.8942657 0.11648475] [ 0. 0. 0. 1. ]] SLAMing on 106.75824100800001 meters Centerline goodness [0,1] 0.8859644119995438 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.22, Z:0.12 [[ 0.89054445 -0.08457399 -0.44696512 6.10074035] [ 0.10715341 0.99391729 0.02542778 -0.21613756] [ 0.44209583 -0.0705384 0.89418992 0.11678203] [ 0. 0. 0. 1. ]] SLAMing on 106.78824100800001 meters Centerline goodness [0,1] 0.8853996853996854 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.22, Z:0.12 [[ 0.89055504 -0.08437381 -0.44698185 6.10041752] [ 0.10699969 0.99393031 0.02556575 -0.21627638] [ 0.44211173 -0.07059462 0.89417762 0.11699857] [ 0. 0. 0. 1. ]] SLAMing on 106.81824100800002 meters Centerline goodness [0,1] 0.8847730726224949 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.22, Z:0.12 [[ 0.89064087 -0.08406499 -0.44686901 6.09986415] [ 0.10670355 0.9939591 0.02568398 -0.21623019] [ 0.4420104 -0.07055772 0.89423063 0.11689086] [ 0. 0. 0. 1. ]] SLAMing on 106.84824100800002 meters Centerline goodness [0,1] 0.8848630548639135 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.22, Z:0.12 [[ 0.89063698 -0.08361575 -0.44696104 6.09936815] [ 0.1062978 0.99399798 0.02586103 -0.21620887] [ 0.44211598 -0.07054376 0.89417953 0.1171891 ] [ 0. 0. 0. 1. ]] SLAMing on 106.87824100800002 meters Centerline goodness [0,1] 0.8844106028510906 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.22, Z:0.12 [[ 0.89054389 -0.08374474 -0.44712234 6.09982689] [ 0.10641663 0.99398733 0.02578147 -0.21620109] [ 0.44227488 -0.07054078 0.89410118 0.11747348] [ 0. 0. 0. 1. ]] SLAMing on 106.90824100800002 meters Centerline goodness [0,1] 0.8804018087115792 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.22, Z:0.12 [[ 0.89044727 -0.08341885 -0.44737562 6.09945648] [ 0.10638932 0.99397359 0.02641616 -0.21710668] [ 0.44247595 -0.07111819 0.89395595 0.11885232] [ 0. 0. 0. 1. ]] SLAMing on 106.938241008 meters Centerline goodness [0,1] 0.877686708316616 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.22, Z:0.12 [[ 0.89040072 -0.08339233 -0.44747322 6.09975753] [ 0.10641464 0.99396839 0.02650958 -0.21715974] [ 0.44256355 -0.07122185 0.89390433 0.1190171 ] [ 0. 0. 0. 1. ]] SLAMing on 106.968241008 meters Centerline goodness [0,1] 0.8757605326598553 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.22, Z:0.12 [[ 0.89034226 -0.08367505 -0.44753675 6.10060486] [ 0.10667282 0.99394411 0.02638219 -0.21676774] [ 0.44261898 -0.07122919 0.8938763 0.11888668] [ 0. 0. 0. 1. ]] SLAMing on 106.99824100800001 meters Centerline goodness [0,1] 0.8772532188841202 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.22, Z:0.12 [[ 0.89019597 -0.08426209 -0.44771758 6.10229386] [ 0.1071321 0.99390599 0.02595377 -0.21603178] [ 0.44280227 -0.07106886 0.89379828 0.1185365 ] [ 0. 0. 0. 1. ]] SLAMing on 107.02824100800001 meters Centerline goodness [0,1] 0.8753263145816002 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.22, Z:0.12 [[ 0.89000988 -0.08463924 -0.44801631 6.10369279] [ 0.10749557 0.99387116 0.02578394 -0.21574862] [ 0.44308816 -0.07110773 0.8936535 0.1187108 ] [ 0. 0. 0. 1. ]] SLAMing on 107.05824100800001 meters Centerline goodness [0,1] 0.8746988642881726 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.22, Z:0.12 [[ 0.88982972 -0.08499497 -0.44830674 6.1053124 ] [ 0.10782368 0.99384057 0.02559243 -0.21583322] [ 0.44337019 -0.07111099 0.89351335 0.11871235] [ 0. 0. 0. 1. ]] SLAMing on 107.08824100800001 meters Centerline goodness [0,1] 0.8800345472865986 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.22, Z:0.12 [[ 0.88941016 -0.08595828 -0.44895518 6.10900426] [ 0.10854715 0.99378274 0.02476658 -0.21577087] [ 0.44403501 -0.07076045 0.89321099 0.11833526] [ 0. 0. 0. 1. ]] SLAMing on 107.11824100800001 meters Centerline goodness [0,1] 0.8804441631666763 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.22, Z:0.12 [[ 0.88921376 -0.0863224 -0.44927424 6.11060657] [ 0.10881345 0.99376202 0.02442718 -0.21565304] [ 0.44436306 -0.07060806 0.89305989 0.11823266] [ 0. 0. 0. 1. ]] SLAMing on 107.14824100800001 meters Centerline goodness [0,1] 0.8796376186367558 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.22, Z:0.12 [[ 0.88912784 -0.08643287 -0.449423 6.11154095] [ 0.10886491 0.99376057 0.0242561 -0.21544904] [ 0.44452233 -0.07049317 0.8929897 0.11801411] [ 0. 0. 0. 1. ]] SLAMing on 107.17824100800001 meters Centerline goodness [0,1] 0.8803480158502268 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.22, Z:0.12 [[ 0.88919065 -0.08596697 -0.4493881 6.11051354] [ 0.10846675 0.99379792 0.02450849 -0.21536175] [ 0.44449404 -0.07053639 0.89300037 0.11831802] [ 0. 0. 0. 1. ]] SLAMing on 107.20824100800002 meters Centerline goodness [0,1] 0.8809640217422565 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.22, Z:0.12 [[ 0.88913957 -0.09037457 -0.44862374 6.10726381] [ 0.11175888 0.99350581 0.02135772 -0.21609016] [ 0.4437801 -0.06912768 0.89346549 0.11911953] [ 0. 0. 0. 1. ]] SLAMing on 107.23824100800002 meters Centerline goodness [0,1] 0.8759549136613912 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.22, Z:0.12 [[ 0.88875866 -0.09039944 -0.44937287 6.10774021] [ 0.1122738 0.99342915 0.02220623 -0.21754008] [ 0.44441268 -0.07018878 0.89306825 0.12181635] [ 0. 0. 0. 1. ]] SLAMing on 107.26824100800002 meters Centerline goodness [0,1] 0.8816724698569826 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.22, Z:0.12 [[ 0.88862358 -0.09077225 -0.44956483 6.10890627] [ 0.11257872 0.99340039 0.02194771 -0.21684424] [ 0.44460563 -0.07011469 0.89297803 0.12175683] [ 0. 0. 0. 1. ]] SLAMing on 107.29824100800002 meters Centerline goodness [0,1] 0.8828318278580058 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.21, Z:0.12 [[ 0.8885975 -0.09139276 -0.44949066 6.11057499] [ 0.11282379 0.99339181 0.02105965 -0.21430316] [ 0.44459564 -0.06942679 0.89303675 0.12023393] [ 0. 0. 0. 1. ]] SLAMing on 107.328241008 meters Centerline goodness [0,1] 0.8798706871888768 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.21, Z:0.12 [[ 0.88874242 -0.0913579 -0.44921114 6.10982032] [ 0.11256854 0.99342887 0.0206737 -0.21136424] [ 0.44437061 -0.06894064 0.8931864 0.11937611] [ 0. 0. 0. 1. ]] SLAMing on 107.35824100800001 meters Centerline goodness [0,1] 0.8781455064194008 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.21, Z:0.12 [[ 0.88891303 -0.09104907 -0.44893618 6.10894124] [ 0.11211759 0.99348329 0.02050862 -0.20965241] [ 0.4441433 -0.06856402 0.89332844 0.11863876] [ 0. 0. 0. 1. ]] SLAMing on 107.38824100800001 meters Centerline goodness [0,1] 0.8781455064194008 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.21, Z:0.12 [[ 0.88891303 -0.09104907 -0.44893618 6.10894124] [ 0.11211759 0.99348329 0.02050862 -0.20965241] [ 0.4441433 -0.06856402 0.89332844 0.11863876] [ 0. 0. 0. 1. ]] SLAMing on 107.41824100800001 meters Centerline goodness [0,1] 0.8784399749302034 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.21, Z:0.12 [[ 0.88901362 -0.09035941 -0.44887634 6.10713159] [ 0.11156068 0.99353679 0.02094912 -0.20938719] [ 0.4440822 -0.06870101 0.89334829 0.11929556] [ 0. 0. 0. 1. ]] SLAMing on 107.44824100800001 meters Centerline goodness [0,1] 0.8785851133796574 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.21, Z:0.12 [[ 0.88932552 -0.08920467 -0.4484893 6.10426681] [ 0.11042173 0.99365611 0.02132068 -0.20859494] [ 0.44374223 -0.06848399 0.89353387 0.11917748] [ 0. 0. 0. 1. ]] SLAMing on 107.47824100800001 meters Centerline goodness [0,1] 0.8772666266883692 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.21, Z:0.12 [[ 0.88935672 -0.08914609 -0.44843907 6.10425052] [ 0.11028667 0.99367393 0.02118915 -0.20752576] [ 0.44371328 -0.06830156 0.89356221 0.11889083] [ 0. 0. 0. 1. ]] SLAMing on 107.50824100800001 meters Centerline goodness [0,1] 0.8751315228209868 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.21, Z:0.12 [[ 0.88933601 -0.08941546 -0.4484265 6.10488294] [ 0.11040915 0.99366788 0.02083187 -0.20601791] [ 0.44372432 -0.06803692 0.89357692 0.11837353] [ 0. 0. 0. 1. ]] SLAMing on 107.53824100800001 meters Centerline goodness [0,1] 0.8751563743887183 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.20, Z:0.12 [[ 0.8893623 -0.08961535 -0.44833446 6.10532885] [ 0.11052397 0.99365934 0.02062907 -0.20498929] [ 0.44364304 -0.06789842 0.8936278 0.1178959 ] [ 0. 0. 0. 1. ]] SLAMing on 107.56824100800002 meters Centerline goodness [0,1] 0.8726921547463501 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.20, Z:0.12 [[ 0.889324 -0.08987197 -0.44835907 6.10642929] [ 0.11069552 0.99364512 0.02039288 -0.20445275] [ 0.44367705 -0.06776722 0.89362088 0.11735064] [ 0. 0. 0. 1. ]] SLAMing on 107.59824100800002 meters Centerline goodness [0,1] 0.871940484979272 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.20, Z:0.12 [[ 0.88921341 -0.09010761 -0.44853109 6.10731531] [ 0.11086939 0.99363001 0.02018348 -0.20379401] [ 0.44385527 -0.06767579 0.8935393 0.11727947] [ 0. 0. 0. 1. ]] SLAMing on 107.62824100800002 meters Centerline goodness [0,1] 0.8742064960573885 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.20, Z:0.12 [[ 0.88907457 -0.09038962 -0.44874952 6.10830883] [ 0.11107603 0.99361209 0.01992793 -0.20342097] [ 0.44408167 -0.06756273 0.89343536 0.11728731] [ 0. 0. 0. 1. ]] SLAMing on 107.65824100800002 meters Centerline goodness [0,1] 0.8733464197320133 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.20, Z:0.12 [[ 0.88889066 -0.09049352 -0.44909277 6.10940722] [ 0.11122349 0.9935955 0.01993257 -0.20405499] [ 0.44441279 -0.06766754 0.89326277 0.11770885] [ 0. 0. 0. 1. ]] SLAMing on 107.688241008 meters Centerline goodness [0,1] 0.8777973919480667 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.20, Z:0.12 [[ 0.88850143 -0.0912388 -0.44971179 6.11255618] [ 0.11189201 0.9935291 0.01949651 -0.20494617] [ 0.44502291 -0.06764184 0.89296092 0.11786588] [ 0. 0. 0. 1. ]] SLAMing on 107.718241008 meters Centerline goodness [0,1] 0.8794847681741758 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.20, Z:0.12 [[ 0.88825911 -0.09197333 -0.45004073 6.11493439] [ 0.11243102 0.99348026 0.01887427 -0.2042471 ] [ 0.44537065 -0.06736378 0.89280855 0.1174207 ] [ 0. 0. 0. 1. ]] SLAMing on 107.74824100800001 meters Centerline goodness [0,1] 0.8786334519572954 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.20, Z:0.12 [[ 0.88801229 -0.09269405 -0.45037982 6.11697609] [ 0.11300352 0.99342515 0.01834877 -0.20336016] [ 0.44571782 -0.06718844 0.8926485 0.11728088] [ 0. 0. 0. 1. ]] SLAMing on 107.77824100800001 meters Centerline goodness [0,1] 0.8787090503687611 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.20, Z:0.12 [[ 0.88751486 -0.09844702 -0.45013948 6.11814664] [ 0.11723464 0.99300596 0.01397124 -0.20271672] [ 0.44561576 -0.06517162 0.89284895 0.1168765 ] [ 0. 0. 0. 1. ]] SLAMing on 107.80824100800001 meters Centerline goodness [0,1] 0.8809264148777408 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.20, Z:0.12 [[ 0.88708091 -0.09878886 -0.45091931 6.12015377] [ 0.11790206 0.99292062 0.01441315 -0.2047987 ] [ 0.44630322 -0.06594995 0.89244834 0.11862071] [ 0. 0. 0. 1. ]] SLAMing on 107.83824100800001 meters Centerline goodness [0,1] 0.8819083201609427 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.12 [[ 0.88670016 -0.0989903 -0.45162345 6.12172473] [ 0.11845498 0.99284687 0.01495015 -0.20653633] [ 0.44691301 -0.06675335 0.89208338 0.12039083] [ 0. 0. 0. 1. ]] SLAMing on 107.86824100800001 meters Centerline goodness [0,1] 0.8852393120675299 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.12 [[ 0.88647577 -0.09912851 -0.45203346 6.12277123] [ 0.1188049 0.99280018 0.01527069 -0.20753679] [ 0.44726514 -0.06724089 0.89187026 0.12140401] [ 0. 0. 0. 1. ]] SLAMing on 107.89824100800001 meters Centerline goodness [0,1] 0.8887481649923721 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.12 [[ 0.88633191 -0.09903757 -0.45233538 6.12310635] [ 0.11895805 0.9927747 0.01572799 -0.20839028] [ 0.44750946 -0.06774915 0.89170922 0.12245779] [ 0. 0. 0. 1. ]] SLAMing on 107.92824100800001 meters Centerline goodness [0,1] 0.8857233484241184 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.12 [[ 0.88638536 -0.09814973 -0.45242417 6.12134393] [ 0.11865038 0.99278916 0.01708125 -0.21066185] [ 0.44748529 -0.06882087 0.89163928 0.12445219] [ 0. 0. 0. 1. ]] SLAMing on 107.95824100800002 meters Centerline goodness [0,1] 0.8874147408409359 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.12 [[ 0.8864347 -0.09774171 -0.45241583 6.12078749] [ 0.11838121 0.99281476 0.01745696 -0.21084032] [ 0.44745884 -0.06903199 0.89163623 0.1247725 ] [ 0. 0. 0. 1. ]] SLAMing on 107.98824100800002 meters Centerline goodness [0,1] 0.8887834339948231 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.12 [[ 0.88642296 -0.09772166 -0.45244316 6.12099338] [ 0.11826188 0.99283244 0.0172592 -0.20986616] [ 0.44751365 -0.06880572 0.89162622 0.12444469] [ 0. 0. 0. 1. ]] SLAMing on 108.01824100800002 meters Centerline goodness [0,1] 0.8836126361781023 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.12 [[ 0.88666788 -0.0965894 -0.45220631 6.11851057] [ 0.1173431 0.99292836 0.01799621 -0.20932381] [ 0.44727023 -0.06901996 0.89173179 0.12488259] [ 0. 0. 0. 1. ]] SLAMing on 108.04824100800002 meters Centerline goodness [0,1] 0.8838759734475129 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.13 [[ 0.88680726 -0.0958086 -0.45209911 6.11683024] [ 0.11675448 0.99298691 0.0185845 -0.20972255] [ 0.44714794 -0.06926546 0.89177408 0.1254254 ] [ 0. 0. 0. 1. ]] SLAMing on 108.078241008 meters Centerline goodness [0,1] 0.8812320916905444 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.13 [[ 0.88694915 -0.09518579 -0.45195228 6.11547219] [ 0.11626607 0.99303584 0.01902677 -0.20972205] [ 0.44699373 -0.06942249 0.89183918 0.1257288 ] [ 0. 0. 0. 1. ]] SLAMing on 108.10824100800001 meters Centerline goodness [0,1] 0.8816747920848867 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.21, Z:0.13 [[ 0.88695495 -0.09439291 -0.45210717 6.11439383] [ 0.11572018 0.99308684 0.01968169 -0.20967773] [ 0.44712387 -0.06977469 0.89174645 0.12664661] [ 0. 0. 0. 1. ]] SLAMing on 108.13824100800001 meters Centerline goodness [0,1] 0.8811362856162033 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.21, Z:0.13 [[ 0.88711306 -0.09382517 -0.45191509 6.11329377] [ 0.11521239 0.99314012 0.0199703 -0.20944894] [ 0.44694129 -0.06978214 0.89183739 0.126557 ] [ 0. 0. 0. 1. ]] SLAMing on 108.16824100800001 meters Centerline goodness [0,1] 0.8798237835054495 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.21, Z:0.13 [[ 0.88700226 -0.09427626 -0.45203868 6.11477976] [ 0.11544001 0.99312508 0.0193953 -0.20786704] [ 0.44710244 -0.06938703 0.89178745 0.12581226] [ 0. 0. 0. 1. ]] SLAMing on 108.19824100800001 meters Centerline goodness [0,1] 0.8802059496567506 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.13 [[ 0.88695846 -0.09447698 -0.45208272 6.11562079] [ 0.11551281 0.99312263 0.01908464 -0.20692759] [ 0.44717053 -0.06914862 0.89177183 0.12529731] [ 0. 0. 0. 1. ]] SLAMing on 108.22824100800001 meters Centerline goodness [0,1] 0.8833667909377688 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.13 [[ 0.88678781 -0.0945715 -0.45239763 6.11659355] [ 0.11562416 0.99311051 0.01904108 -0.20714992] [ 0.4474801 -0.0691935 0.89161305 0.1255778 ] [ 0. 0. 0. 1. ]] SLAMing on 108.25824100800001 meters Centerline goodness [0,1] 0.8840654756767642 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.13 [[ 0.88649099 -0.09479287 -0.4529327 6.11819578] [ 0.11603915 0.99305749 0.01928076 -0.20922475] [ 0.44796053 -0.06965015 0.8913362 0.12672276] [ 0. 0. 0. 1. ]] SLAMing on 108.28824100800001 meters Centerline goodness [0,1] 0.8851522842639594 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.13 [[ 0.88620486 -0.10016043 -0.45233708 6.11798131] [ 0.11979161 0.99268751 0.01488247 -0.2080013 ] [ 0.44753873 -0.0673751 0.89172287 0.12575653] [ 0. 0. 0. 1. ]] SLAMing on 108.31824100800002 meters Centerline goodness [0,1] 0.8862680721156615 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.13 [[ 0.88602259 -0.10030505 -0.45266198 6.11875221] [ 0.12019838 0.99263175 0.01531497 -0.20904596] [ 0.44779048 -0.06797865 0.89155066 0.12690054] [ 0. 0. 0. 1. ]] SLAMing on 108.34824100800002 meters Centerline goodness [0,1] 0.887992365087628 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.13 [[ 0.88586749 -0.10056842 -0.45290703 6.12024313] [ 0.12062495 0.99257659 0.0155349 -0.21003078] [ 0.44798259 -0.06839376 0.8914224 0.12728403] [ 0. 0. 0. 1. ]] SLAMing on 108.37824100800002 meters Centerline goodness [0,1] 0.8881672007159147 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.13 [[ 0.88592109 -0.10027862 -0.45286644 6.12001404] [ 0.1203939 0.9926016 0.0157282 -0.20974664] [ 0.44793875 -0.06845631 0.89143963 0.1272258 ] [ 0. 0. 0. 1. ]] SLAMing on 108.40824100800002 meters Centerline goodness [0,1] 0.8891062336392141 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.13 [[ 0.88604793 -0.09970672 -0.45274455 6.11878053] [ 0.11988218 0.99265909 0.01600588 -0.20945496] [ 0.4478251 -0.06845798 0.8914966 0.12732331] [ 0. 0. 0. 1. ]] SLAMing on 108.438241008 meters Centerline goodness [0,1] 0.8870446279083194 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.13 [[ 0.88609996 -0.09902041 -0.45279336 6.11721475] [ 0.11951627 0.9926901 0.01679969 -0.21028571] [ 0.44781997 -0.06900238 0.8914572 0.12854847] [ 0. 0. 0. 1. ]] SLAMing on 108.468241008 meters Centerline goodness [0,1] 0.8861938684278834 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.21, Z:0.13 [[ 0.88637929 -0.09806643 -0.45245412 6.11455263] [ 0.11891885 0.99274447 0.01779695 -0.2112455 ] [ 0.44742604 -0.06958017 0.89161008 0.12947236] [ 0. 0. 0. 1. ]] SLAMing on 108.49824100800001 meters Centerline goodness [0,1] 0.8828143021914648 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.21, Z:0.13 [[ 0.8863584 -0.09808656 -0.45249068 6.11456382] [ 0.11885324 0.99275557 0.01761492 -0.20983755] [ 0.44748486 -0.06939311 0.89159514 0.12930023] [ 0. 0. 0. 1. ]] SLAMing on 108.52824100800001 meters Centerline goodness [0,1] 0.8863583948339483 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.21, Z:0.13 [[ 0.88646338 -0.09785699 -0.45233471 6.11392743] [ 0.11852872 0.99279627 0.01750764 -0.20835635] [ 0.44736297 -0.06913454 0.89167639 0.12885845] [ 0. 0. 0. 1. ]] SLAMing on 108.55824100800001 meters Centerline goodness [0,1] 0.8809844425980575 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.21, Z:0.13 [[ 0.88657394 -0.09719152 -0.4522615 6.11239906] [ 0.11779856 0.99288241 0.01755042 -0.20654563] [ 0.44733674 -0.0688355 0.89171269 0.12874343] [ 0. 0. 0. 1. ]] SLAMing on 108.58824100800001 meters Centerline goodness [0,1] 0.8830241292966082 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.20, Z:0.13 [[ 0.88706831 -0.09092253 -0.45259575 6.10990209] [ 0.11292423 0.99336512 0.02176829 -0.20487284] [ 0.4476136 -0.07041898 0.89145007 0.12931805] [ 0. 0. 0. 1. ]] SLAMing on 108.61824100800001 meters Centerline goodness [0,1] 0.887061558964471 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.20, Z:0.13 [[ 0.88714312 -0.09093795 -0.45244599 6.10985505] [ 0.11268408 0.99340293 0.02128185 -0.20263821] [ 0.44752584 -0.06986351 0.89153784 0.12835999] [ 0. 0. 0. 1. ]] SLAMing on 108.64824100800001 meters Centerline goodness [0,1] 0.8882147818444703 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.20, Z:0.13 [[ 0.88709844 -0.09125403 -0.45246995 6.11065675] [ 0.11275563 0.99340679 0.02071513 -0.2004074 ] [ 0.44759638 -0.06939489 0.89153902 0.12758534] [ 0. 0. 0. 1. ]] SLAMing on 108.67824100800001 meters Centerline goodness [0,1] 0.8872473003073279 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.20, Z:0.13 [[ 0.88687818 -0.09212788 -0.45272458 6.11286793] [ 0.11316423 0.99338421 0.01953618 -0.197459 ] [ 0.44792962 -0.06855844 0.89143637 0.12638756] [ 0. 0. 0. 1. ]] SLAMing on 108.70824100800002 meters Centerline goodness [0,1] 0.8893500479981931 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.20, Z:0.13 [[ 0.88667451 -0.09224491 -0.45309955 6.11375279] [ 0.11343259 0.99334948 0.01974478 -0.19828953] [ 0.44826484 -0.06890344 0.89124124 0.12724657] [ 0. 0. 0. 1. ]] SLAMing on 108.73824100800002 meters Centerline goodness [0,1] 0.8878385645147596 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.20, Z:0.13 [[ 0.88641497 -0.09759359 -0.45248645 6.11365824] [ 0.11713856 0.99299771 0.01530026 -0.19685733] [ 0.44782481 -0.066566 0.89164001 0.12608686] [ 0. 0. 0. 1. ]] SLAMing on 108.76824100800002 meters Centerline goodness [0,1] 0.8888040928234263 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.20, Z:0.13 [[ 0.88607933 -0.09797323 -0.45306143 6.11523783] [ 0.11781502 0.99291138 0.01570365 -0.19861739] [ 0.44831131 -0.06729213 0.89134098 0.12763003] [ 0. 0. 0. 1. ]] SLAMing on 108.79824100800002 meters Centerline goodness [0,1] 0.8907977207977208 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.20, Z:0.13 [[ 0.8856401 -0.10409195 -0.45255551 6.11640371] [ 0.12245793 0.99240841 0.01138407 -0.19859053] [ 0.4479349 -0.0655012 0.89166357 0.12716106] [ 0. 0. 0. 1. ]] SLAMing on 108.828241008 meters Centerline goodness [0,1] 0.8920668415649595 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.20, Z:0.13 [[ 0.88525357 -0.10462013 -0.45318953 6.11863674] [ 0.12324748 0.99230731 0.01167272 -0.20017076] [ 0.44848208 -0.06618778 0.89133776 0.12846924] [ 0. 0. 0. 1. ]] SLAMing on 108.85824100800001 meters Centerline goodness [0,1] 0.8990560640732266 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.20, Z:0.13 [[ 0.88480484 -0.11059457 -0.45264691 6.11977693] [ 0.12752948 0.99181037 0.00695875 -0.19848668] [ 0.4481703 -0.06388296 0.89166269 0.12729512] [ 0. 0. 0. 1. ]] SLAMing on 108.88824100800001 meters Centerline goodness [0,1] 0.9045315317894255 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.20, Z:0.13 [[ 8.84216854e-01 -1.16668446e-01 -4.52270969e-01 6.12185942e+00] [ 1.32153508e-01 9.91225666e-01 2.67008237e-03 -1.98593161e-01] [ 4.47991078e-01 -6.21301268e-02 8.91876584e-01 1.26737354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91824100800001 meters Centerline goodness [0,1] 0.9083914678609365 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.20, Z:0.13 [[ 8.83939794e-01 -1.16868206e-01 -4.52760713e-01 6.12318232e+00] [ 1.32668103e-01 9.91155444e-01 3.17177878e-03 -2.00365699e-01] [ 4.48385565e-01 -6.28705662e-02 8.91626422e-01 1.28119331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94824100800001 meters Centerline goodness [0,1] 0.9089259483280049 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.20, Z:0.13 [[ 8.83628871e-01 -1.16932710e-01 -4.53350592e-01 6.12421391e+00] [ 1.33113975e-01 9.91093372e-01 3.82070186e-03 -2.02098085e-01] [ 4.48866002e-01 -6.37233818e-02 8.91324095e-01 1.29925457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97824100800001 meters Centerline goodness [0,1] 0.9080393457755214 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.20, Z:0.13 [[ 8.83434346e-01 -1.16728461e-01 -4.53782131e-01 6.12449196e+00] [ 1.33320416e-01 9.91062238e-01 4.61601273e-03 -2.03887851e-01] [ 4.49187514e-01 -6.45763666e-02 8.91100707e-01 1.31651835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00824100800001 meters Centerline goodness [0,1] 0.9072209560626605 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.13 [[ 8.83320754e-01 -1.16061908e-01 -4.54174062e-01 6.12387676e+00] [ 1.33162099e-01 9.91077758e-01 5.72130872e-03 -2.05862533e-01] [ 4.49457785e-01 -6.55325224e-02 8.90894600e-01 1.33637474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03824100800001 meters Centerline goodness [0,1] 0.9039325195762321 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.13 [[ 8.83222396e-01 -1.15938332e-01 -4.54396855e-01 6.12394286e+00] [ 1.33121505e-01 9.91082287e-01 5.87914952e-03 -2.05042972e-01] [ 4.49663056e-01 -6.56825898e-02 8.90779958e-01 1.34211231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06824100800002 meters Centerline goodness [0,1] 0.9057479164876707 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.21, Z:0.14 [[ 0.88325112 -0.1105518 -0.45568165 6.12511648] [ 0.12953927 0.9915183 0.01053712 -0.20639029] [ 0.4506518 -0.06833559 0.89008045 0.13651467] [ 0. 0. 0. 1. ]] SLAMing on 109.09824100800002 meters Centerline goodness [0,1] 0.9011910897325774 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.21, Z:0.14 [[ 0.88363973 -0.1048583 -0.45627356 6.12506449] [ 0.12525458 0.9920173 0.01459359 -0.20617308] [ 0.45110101 -0.07004583 0.88971988 0.13670466] [ 0. 0. 0. 1. ]] SLAMing on 109.12824100800002 meters Centerline goodness [0,1] 0.8987551393330288 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.20, Z:0.14 [[ 0.88359963 -0.10458194 -0.45641463 6.12509564] [ 0.12486259 0.99206943 0.01440794 -0.20488459] [ 0.45128819 -0.06971997 0.88965055 0.13646439] [ 0. 0. 0. 1. ]] SLAMing on 109.15824100800002 meters Centerline goodness [0,1] 0.8966649534578265 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.20, Z:0.14 [[ 0.88367593 -0.10431524 -0.45632793 6.12488788] [ 0.12443576 0.99212645 0.01417179 -0.20353984] [ 0.45125667 -0.06930678 0.88969882 0.13574084] [ 0. 0. 0. 1. ]] SLAMing on 109.188241008 meters Centerline goodness [0,1] 0.8893868463119434 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.20, Z:0.14 [[ 0.883719 -0.10418949 -0.45627325 6.12497835] [ 0.12416629 0.99216366 0.01392822 -0.20207118] [ 0.45124657 -0.06896239 0.8897307 0.13510536] [ 0. 0. 0. 1. ]] SLAMing on 109.218241008 meters Centerline goodness [0,1] 0.8864695849914724 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.20, Z:0.14 [[ 0.88398437 -0.09862102 -0.45699621 6.12536618] [ 0.12029818 0.99256543 0.01849884 -0.20318944] [ 0.45177427 -0.0713285 0.88927626 0.1363116 ] [ 0. 0. 0. 1. ]] SLAMing on 109.24824100800001 meters Centerline goodness [0,1] 0.8866279069767442 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.20, Z:0.14 [[ 0.88407318 -0.09833021 -0.45688706 6.12493136] [ 0.11997676 0.99260379 0.01852821 -0.20263761] [ 0.45168594 -0.07119612 0.88933173 0.13599979] [ 0. 0. 0. 1. ]] SLAMing on 109.27824100800001 meters Centerline goodness [0,1] 0.8866279069767442 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.20, Z:0.14 [[ 0.88407318 -0.09833021 -0.45688706 6.12493136] [ 0.11997676 0.99260379 0.01852821 -0.20263761] [ 0.45168594 -0.07119612 0.88933173 0.13599979] [ 0. 0. 0. 1. ]] SLAMing on 109.30824100800001 meters Centerline goodness [0,1] 0.8835053598339446 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.20, Z:0.14 [[ 0.88402223 -0.09814676 -0.45702507 6.12472911] [ 0.11987549 0.99261262 0.01870988 -0.20255417] [ 0.45181254 -0.07132605 0.88925701 0.13653417] [ 0. 0. 0. 1. ]] SLAMing on 109.33824100800001 meters Centerline goodness [0,1] 0.8792307692307693 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.20, Z:0.14 [[ 0.88395402 -0.09769608 -0.4572535 6.12400852] [ 0.11969698 0.99262259 0.01931376 -0.20325276] [ 0.45199328 -0.07180434 0.88912666 0.13777271] [ 0. 0. 0. 1. ]] SLAMing on 109.36824100800001 meters Centerline goodness [0,1] 0.8751460904763262 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.14 [[ 0.88380611 -0.09669581 -0.45775177 6.12241029] [ 0.11961562 0.99259236 0.02127245 -0.20647781] [ 0.45230395 -0.07355498 0.88882552 0.14156807] [ 0. 0. 0. 1. ]] SLAMing on 109.39824100800001 meters Centerline goodness [0,1] 0.8753809781525052 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.14 [[ 0.88369329 -0.09636552 -0.45803914 6.12199386] [ 0.11957251 0.9925847 0.0218638 -0.20755406] [ 0.45253573 -0.07408978 0.88866311 0.14291204] [ 0. 0. 0. 1. ]] SLAMing on 109.42824100800001 meters Centerline goodness [0,1] 0.8780571135723031 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.14 [[ 0.88361269 -0.09662494 -0.45813997 6.12284301] [ 0.11977381 0.99256472 0.0216684 -0.20726906] [ 0.45263986 -0.07401964 0.88861592 0.14277029] [ 0. 0. 0. 1. ]] SLAMing on 109.45824100800002 meters Centerline goodness [0,1] 0.8769252669039146 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.21, Z:0.14 [[ 0.88348771 -0.09716886 -0.45826595 6.12420294] [ 0.12013839 0.99253159 0.02116157 -0.20585983] [ 0.45278719 -0.07375132 0.88856317 0.14230091] [ 0. 0. 0. 1. ]] SLAMing on 109.48824100800002 meters Centerline goodness [0,1] 0.874200971618512 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.20, Z:0.14 [[ 0.88330698 -0.09788524 -0.45846185 6.12624579] [ 0.12061698 0.99248772 0.02048572 -0.20408167] [ 0.4530125 -0.07339346 0.88847795 0.14161247] [ 0. 0. 0. 1. ]] SLAMing on 109.51824100800002 meters Centerline goodness [0,1] 0.8775179702815581 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.20, Z:0.14 [[ 0.88308283 -0.0984982 -0.45876227 6.12882733] [ 0.12098977 0.99245603 0.0198117 -0.20349725] [ 0.45334996 -0.07300092 0.88833815 0.1407727 ] [ 0. 0. 0. 1. ]] SLAMing on 109.54824100800002 meters Centerline goodness [0,1] 0.8767618667957516 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.20, Z:0.14 [[ 0.88283932 -0.09860936 -0.45920685 6.13030817] [ 0.12119386 0.99242964 0.01988615 -0.20452196] [ 0.45376953 -0.07320933 0.88810676 0.14137283] [ 0. 0. 0. 1. ]] SLAMing on 109.578241008 meters Centerline goodness [0,1] 0.8746895783975109 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.21, Z:0.14 [[ 0.88253676 -0.09875766 -0.45975622 6.13170082] [ 0.1215097 0.99238716 0.0200779 -0.20576008] [ 0.45427333 -0.07358433 0.88781816 0.14246382] [ 0. 0. 0. 1. ]] SLAMing on 109.60824100800001 meters Centerline goodness [0,1] 0.8812742143779595 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.20, Z:0.14 [[ 0.88228511 -0.10384033 -0.45911891 6.13136013] [ 0.12496888 0.99203517 0.01578006 -0.20434262] [ 0.4538235 -0.07129809 0.88823466 0.14129586] [ 0. 0. 0. 1. ]] SLAMing on 109.63824100800001 meters Centerline goodness [0,1] 0.8853823924923464 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.20, Z:0.14 [[ 0.88205524 -0.10407829 -0.45950655 6.1326899 ] [ 0.12529543 0.99199323 0.01582683 -0.20458095] [ 0.45418015 -0.07153421 0.88803336 0.14191335] [ 0. 0. 0. 1. ]] SLAMing on 109.66824100800001 meters Centerline goodness [0,1] 0.8782054959554816 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.20, Z:0.14 [[ 0.88159948 -0.1045483 -0.46027384 6.13485689] [ 0.12592326 0.99191281 0.01588421 -0.20458908] [ 0.45489085 -0.0719627 0.88763488 0.14322541] [ 0. 0. 0. 1. ]] SLAMing on 109.69824100800001 meters Centerline goodness [0,1] 0.8825045091471271 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.20, Z:0.14 [[ 0.88137848 -0.10482621 -0.46063374 6.13614746] [ 0.12628733 0.99186595 0.01592022 -0.20477053] [ 0.45521806 -0.07220394 0.88744752 0.14382249] [ 0. 0. 0. 1. ]] SLAMing on 109.72824100800001 meters Centerline goodness [0,1] 0.8778544722461893 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.21, Z:0.14 [[ 0.88118746 -0.10495413 -0.46096995 6.13711784] [ 0.12658675 0.99182385 0.01616299 -0.20523401] [ 0.45550462 -0.07259531 0.88726854 0.1446447 ] [ 0. 0. 0. 1. ]] SLAMing on 109.75824100800001 meters Centerline goodness [0,1] 0.8874845603653807 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.21, Z:0.15 [[ 0.88090472 -0.10504694 -0.46148891 6.13803335] [ 0.12693668 0.99177279 0.01654737 -0.20660924] [ 0.4559539 -0.07315653 0.88699164 0.14611086] [ 0. 0. 0. 1. ]] SLAMing on 109.78824100800001 meters Centerline goodness [0,1] 0.8894468036267646 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.21, Z:0.15 [[ 0.88063407 -0.10536036 -0.46193379 6.13944819] [ 0.12727677 0.99173095 0.01644203 -0.20646711] [ 0.4563817 -0.07327285 0.88676199 0.1466867 ] [ 0. 0. 0. 1. ]] SLAMing on 109.81824100800002 meters Centerline goodness [0,1] 0.8854166666666666 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.21, Z:0.15 [[ 0.88043486 -0.10583861 -0.46220412 6.14114971] [ 0.12761191 0.99169515 0.01599799 -0.20543768] [ 0.45667238 -0.07306794 0.88662924 0.14642477] [ 0. 0. 0. 1. ]] SLAMing on 109.84824100800002 meters Centerline goodness [0,1] 0.8821062307891184 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.20, Z:0.15 [[ 0.88033633 -0.10613325 -0.46232421 6.14227594] [ 0.12775642 0.99168268 0.01561266 -0.20430588] [ 0.45682189 -0.07280928 0.8865735 0.14598422] [ 0. 0. 0. 1. ]] SLAMing on 109.87824100800002 meters Centerline goodness [0,1] 0.8821252437206102 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.20, Z:0.15 [[ 0.88017114 -0.10605613 -0.46265631 6.14265862] [ 0.12769821 0.99169024 0.01560866 -0.20354983] [ 0.45715636 -0.07281867 0.88640031 0.1465155 ] [ 0. 0. 0. 1. ]] SLAMing on 109.90824100800002 meters Centerline goodness [0,1] 0.8836828026576926 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.20, Z:0.15 [[ 0.87999881 -0.10615796 -0.46296066 6.14345327] [ 0.1278535 0.99166986 0.0156326 -0.20371759] [ 0.45744461 -0.07294781 0.88624096 0.14705534] [ 0. 0. 0. 1. ]] SLAMing on 109.938241008 meters Centerline goodness [0,1] 0.8798644418277377 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.21, Z:0.15 [[ 0.87934143 -0.10198465 -0.46514275 6.14799052] [ 0.1257888 0.99184864 0.02033348 -0.20521843] [ 0.4592775 -0.07638982 0.88500213 0.15159798] [ 0. 0. 0. 1. ]] SLAMing on 109.968241008 meters Centerline goodness [0,1] 0.8843008407701799 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.20, Z:0.15 [[ 0.87926945 -0.10220505 -0.46523044 6.14867467] [ 0.12590156 0.99184 0.02005529 -0.20412 ] [ 0.45938441 -0.07620724 0.88496238 0.15138069] [ 0. 0. 0. 1. ]] SLAMing on 109.99824100800001 meters Centerline goodness [0,1] 0.8861872440358565 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.20, Z:0.15 [[ 0.87914242 -0.10245137 -0.46541628 6.14938606] [ 0.12606327 0.99182465 0.01979685 -0.2031796 ] [ 0.45958313 -0.07607615 0.88487048 0.15144246] [ 0. 0. 0. 1. ]] SLAMing on 110.02824100800001 meters Centerline goodness [0,1] 0.8847355596961445 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.20, Z:0.15 [[ 0.87910099 -0.1024274 -0.46549981 6.14956224] [ 0.12598731 0.99183649 0.0196871 -0.20260181] [ 0.45968319 -0.07595402 0.88482899 0.15143912] [ 0. 0. 0. 1. ]] SLAMing on 110.05824100800001 meters Centerline goodness [0,1] 0.8805164992826399 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.20, Z:0.15 [[ 0.87893629 -0.10238857 -0.46581926 6.14967846] [ 0.12601819 0.99183089 0.0197712 -0.20163554] [ 0.45998959 -0.07607932 0.88465898 0.15234989] [ 0. 0. 0. 1. ]] SLAMing on 110.08824100800001 meters Centerline goodness [0,1] 0.8776295020806428 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.20, Z:0.15 [[ 0.87866896 -0.10236938 -0.46632753 6.14998928] [ 0.1262362 0.99179581 0.02013672 -0.20161577] [ 0.46044031 -0.07656093 0.88438292 0.15397246] [ 0. 0. 0. 1. ]] SLAMing on 110.11824100800001 meters Centerline goodness [0,1] 0.8752160387141376 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.20, Z:0.15 [[ 0.87863929 -0.10198031 -0.46646866 6.14938869] [ 0.12605766 0.99180878 0.02061071 -0.20220077] [ 0.46054583 -0.07691132 0.88429757 0.15485779] [ 0. 0. 0. 1. ]] SLAMing on 110.14824100800001 meters Centerline goodness [0,1] 0.8744288957213873 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.20, Z:0.16 [[ 0.87857591 -0.10190366 -0.46660477 6.14948759] [ 0.12607181 0.99180349 0.02077828 -0.20205988] [ 0.46066286 -0.07708101 0.88422183 0.1553135 ] [ 0. 0. 0. 1. ]] SLAMing on 110.17824100800001 meters Centerline goodness [0,1] 0.8757986419505487 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.20, Z:0.16 [[ 0.87847729 -0.10233255 -0.46669659 6.15034273] [ 0.12637591 0.99177232 0.02041536 -0.19990855] [ 0.4607676 -0.07691364 0.88418183 0.15509477] [ 0. 0. 0. 1. ]] SLAMing on 110.20824100800002 meters Centerline goodness [0,1] 0.8745889686329454 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.20, Z:0.16 [[ 0.87839788 -0.10232956 -0.46684669 6.15074831] [ 0.12641311 0.99176656 0.02046488 -0.19943345] [ 0.46090877 -0.07699185 0.88410144 0.1553417 ] [ 0. 0. 0. 1. ]] SLAMing on 110.23824100800002 meters Centerline goodness [0,1] 0.8740324522676453 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.20, Z:0.16 [[ 0.87823428 -0.10240612 -0.46713759 6.15132233] [ 0.12655774 0.99174694 0.02052157 -0.19944792] [ 0.46118075 -0.07714262 0.88394645 0.15596127] [ 0. 0. 0. 1. ]] SLAMing on 110.26824100800002 meters Centerline goodness [0,1] 0.8703714318468416 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.20, Z:0.16 [[ 0.87799759 -0.10248054 -0.46756601 6.15229773] [ 0.12678914 0.9917132 0.02072277 -0.1997451 ] [ 0.46156771 -0.07747684 0.88371522 0.15697917] [ 0. 0. 0. 1. ]] SLAMing on 110.29824100800002 meters Centerline goodness [0,1] 0.8714150102120071 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.20, Z:0.16 [[ 0.87771125 -0.10250359 -0.46809826 6.15309531] [ 0.12704472 0.99167338 0.02106074 -0.20117245] [ 0.46204178 -0.07795466 0.88342542 0.15848124] [ 0. 0. 0. 1. ]] SLAMing on 110.328241008 meters Centerline goodness [0,1] 0.8713361139076657 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.20, Z:0.16 [[ 0.87748659 -0.10273947 -0.46846759 6.15432544] [ 0.12731044 0.99164082 0.02098875 -0.2010457 ] [ 0.46239521 -0.07805816 0.88323134 0.15898504] [ 0. 0. 0. 1. ]] SLAMing on 110.35824100800001 meters Centerline goodness [0,1] 0.8729418537708693 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.20, Z:0.16 [[ 0.87727385 -0.10312398 -0.46878144 6.15595681] [ 0.12764605 0.99160291 0.02073996 -0.20076908] [ 0.46270625 -0.07803272 0.88307067 0.15907291] [ 0. 0. 0. 1. ]] SLAMing on 110.38824100800001 meters Centerline goodness [0,1] 0.8736491147390204 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.20, Z:0.16 [[ 0.87686127 -0.10400825 -0.46935764 6.15883643] [ 0.12845937 0.9915075 0.0202747 -0.20004335] [ 0.46326289 -0.07807149 0.88277536 0.15945306] [ 0. 0. 0. 1. ]] SLAMing on 110.41824100800001 meters Centerline goodness [0,1] 0.8733325666973322 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.20, Z:0.16 [[ 0.87651652 -0.10498716 -0.46978345 6.16198844] [ 0.12926531 0.99141592 0.01962019 -0.19915194] [ 0.46369093 -0.07792412 0.88256363 0.15918541] [ 0. 0. 0. 1. ]] SLAMing on 110.44824100800001 meters Centerline goodness [0,1] 0.8796143966288568 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.20, Z:0.16 [[ 0.87580602 -0.10715891 -0.47061744 6.16818517] [ 0.13113551 0.99119469 0.01834595 -0.19819891] [ 0.46450757 -0.07778215 0.88214662 0.1589602 ] [ 0. 0. 0. 1. ]] SLAMing on 110.47824100800001 meters Centerline goodness [0,1] 0.8755348675841332 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.20, Z:0.16 [[ 0.87538816 -0.10761043 -0.47129137 6.17016998] [ 0.13179854 0.99110376 0.01850613 -0.19892146] [ 0.4651072 -0.07831556 0.8817834 0.16038171] [ 0. 0. 0. 1. ]] SLAMing on 110.50824100800001 meters Centerline goodness [0,1] 0.8831356667630894 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.20, Z:0.16 [[ 0.87499952 -0.10769184 -0.47199396 6.17121447] [ 0.13229106 0.9910263 0.01912985 -0.20061295] [ 0.4656983 -0.07917919 0.88139421 0.16260809] [ 0. 0. 0. 1. ]] SLAMing on 110.53824100800001 meters Centerline goodness [0,1] 0.8824569027958858 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.20, Z:0.16 [[ 0.87451645 -0.1129748 -0.47165419 6.17021992] [ 0.13629551 0.99054779 0.01544717 -0.2010343 ] [ 0.46545087 -0.07779315 0.88164829 0.16369244] [ 0. 0. 0. 1. ]] SLAMing on 110.56824100800002 meters Centerline goodness [0,1] 0.8809413401344772 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.20, Z:0.17 [[ 0.87409536 -0.11352253 -0.4723028 6.1719407 ] [ 0.13707491 0.99043745 0.01562467 -0.20144204] [ 0.46601263 -0.07839832 0.88129787 0.16536331] [ 0. 0. 0. 1. ]] SLAMing on 110.59824100800002 meters Centerline goodness [0,1] 0.8727483683828862 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.20, Z:0.17 [[ 0.8737267 -0.11422596 -0.47281506 6.17367728] [ 0.13786824 0.99032898 0.01551956 -0.20109303] [ 0.46646971 -0.07874604 0.88102501 0.16645357] [ 0. 0. 0. 1. ]] SLAMing on 110.62824100800002 meters Centerline goodness [0,1] 0.873621910177556 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.20, Z:0.17 [[ 0.87277829 -0.11602963 -0.4741257 6.17769622] [ 0.13989621 0.99004896 0.01523513 -0.19923937] [ 0.46763992 -0.07962528 0.88032535 0.16950901] [ 0. 0. 0. 1. ]] SLAMing on 110.65824100800002 meters Centerline goodness [0,1] 0.8707126303592121 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.20, Z:0.17 [[ 0.8724086 -0.11654112 -0.47468032 6.17915801] [ 0.14048394 0.98996716 0.01514182 -0.19783565] [ 0.46815329 -0.07989482 0.88002802 0.17061419] [ 0. 0. 0. 1. ]] SLAMing on 110.688241008 meters Centerline goodness [0,1] 0.8722869281234646 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.20, Z:0.17 [[ 0.87209225 -0.11707047 -0.47513116 6.18065629] [ 0.14099948 0.98989762 0.01489436 -0.19618106] [ 0.46858752 -0.0799825 0.87978892 0.17131782] [ 0. 0. 0. 1. ]] SLAMing on 110.718241008 meters Centerline goodness [0,1] 0.8697413344135178 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.19, Z:0.17 [[ 0.87183303 -0.1175462 -0.47548928 6.18197189] [ 0.14133013 0.98985732 0.01443212 -0.19403518] [ 0.4689701 -0.07978336 0.87960312 0.17148763] [ 0. 0. 0. 1. ]] SLAMing on 110.74824100800001 meters Centerline goodness [0,1] 0.8671836569345178 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.19, Z:0.17 [[ 0.87164557 -0.11799096 -0.47572275 6.18306861] [ 0.14149559 0.98984338 0.01375051 -0.19136466] [ 0.46926858 -0.07929825 0.8794878 0.17111203] [ 0. 0. 0. 1. ]] SLAMing on 110.77824100800001 meters Centerline goodness [0,1] 0.8747556628722548 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.19, Z:0.17 [[ 0.87169682 -0.11277815 -0.47689176 6.18409544] [ 0.1378059 0.9903011 0.01769928 -0.19072555] [ 0.47027034 -0.0811469 0.87878381 0.17267013] [ 0. 0. 0. 1. ]] SLAMing on 110.80824100800001 meters Centerline goodness [0,1] 0.8760950110578166 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.19, Z:0.17 [[ 0.87162048 -0.11247345 -0.47710319 6.18366027] [ 0.13751797 0.99033992 0.01776667 -0.18955756] [ 0.47049606 -0.08109605 0.87866768 0.17323183] [ 0. 0. 0. 1. ]] SLAMing on 110.83824100800001 meters Centerline goodness [0,1] 0.8756258992805755 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.19, Z:0.18 [[ 0.87122059 -0.10773954 -0.47892262 6.18676723] [ 0.13479389 0.99062146 0.02235457 -0.190728 ] [ 0.47202256 -0.0840316 0.87757244 0.1769055 ] [ 0. 0. 0. 1. ]] SLAMing on 110.86824100800001 meters Centerline goodness [0,1] 0.8743347639484979 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.19, Z:0.18 [[ 0.87084493 -0.10316734 -0.48060961 6.18994528] [ 0.13182866 0.99092737 0.02615631 -0.18967788] [ 0.47355074 -0.08613622 0.87654449 0.17940724] [ 0. 0. 0. 1. ]] SLAMing on 110.89824100800001 meters Centerline goodness [0,1] 0.8734263742523498 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.19, Z:0.18 [[ 0.8707926 -0.10336026 -0.48066299 6.19082803] [ 0.13175438 0.99095174 0.02560154 -0.18721961] [ 0.47366765 -0.08562308 0.8765316 0.1786729 ] [ 0. 0. 0. 1. ]] SLAMing on 110.92824100800001 meters Centerline goodness [0,1] 0.8708831161424619 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.18, Z:0.18 [[ 0.87071446 -0.10376217 -0.48071794 6.19212349] [ 0.13180411 0.99096461 0.02483598 -0.1844139 ] [ 0.47379742 -0.08498565 0.8765235 0.17764354] [ 0. 0. 0. 1. ]] SLAMing on 110.95824100800002 meters Centerline goodness [0,1] 0.8743685793745388 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.18, Z:0.18 [[ 0.87057636 -0.09929834 -0.48190936 6.19529297] [ 0.12872589 0.99127659 0.0282908 -0.18338795] [ 0.47489624 -0.08666352 0.87576423 0.17861767] [ 0. 0. 0. 1. ]] SLAMing on 110.98824100800002 meters Centerline goodness [0,1] 0.8722171740118128 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.18, Z:0.18 [[ 0.87051654 -0.09934244 -0.48200834 6.19577863] [ 0.12868314 0.9912876 0.02809882 -0.18262174] [ 0.47501748 -0.08648684 0.87571595 0.17857909] [ 0. 0. 0. 1. ]] SLAMing on 111.01824100800002 meters Centerline goodness [0,1] 0.871570046252944 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.18, Z:0.18 [[ 0.87048765 -0.09921422 -0.48208691 6.19596948] [ 0.12855808 0.99130319 0.02812116 -0.18252284] [ 0.47510428 -0.08645529 0.87567197 0.17873333] [ 0. 0. 0. 1. ]] SLAMing on 111.04824100800002 meters Centerline goodness [0,1] 0.8701217608492039 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.18, Z:0.18 [[ 0.87038551 -0.09902695 -0.48230978 6.19593316] [ 0.12848903 0.99130589 0.0283407 -0.18250854] [ 0.47531003 -0.08663885 0.87554217 0.17953238] [ 0. 0. 0. 1. ]] SLAMing on 111.078241008 meters Centerline goodness [0,1] 0.8723892651684757 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.18, Z:0.18 [[ 0.87020343 -0.09912134 -0.48261885 6.19673916] [ 0.12863394 0.99128697 0.02834537 -0.18270379] [ 0.47560415 -0.08674741 0.87537168 0.18017756] [ 0. 0. 0. 1. ]] SLAMing on 111.10824100800001 meters Centerline goodness [0,1] 0.8686036303910741 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.18, Z:0.18 [[ 0.86986771 -0.09904738 -0.48323884 6.19739803] [ 0.12900057 0.99121906 0.02904522 -0.18363139] [ 0.4761187 -0.08760359 0.87500663 0.18252022] [ 0. 0. 0. 1. ]] SLAMing on 111.13824100800001 meters Centerline goodness [0,1] 0.8675933527729808 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.18, Z:0.18 [[ 0.86969043 -0.0993029 -0.48350543 6.19830377] [ 0.12932816 0.99117605 0.02905616 -0.18387609] [ 0.47635364 -0.08780074 0.87485898 0.18319993] [ 0. 0. 0. 1. ]] SLAMing on 111.16824100800001 meters Centerline goodness [0,1] 0.8661781829541905 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.18, Z:0.18 [[ 0.86947234 -0.09952002 -0.48385289 6.19987983] [ 0.12967107 0.99112825 0.02915826 -0.18454361] [ 0.47665843 -0.08809403 0.87466347 0.18386902] [ 0. 0. 0. 1. ]] SLAMing on 111.19824100800001 meters Centerline goodness [0,1] 0.8661781829541905 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.18, Z:0.18 [[ 0.86947234 -0.09952002 -0.48385289 6.19987983] [ 0.12967107 0.99112825 0.02915826 -0.18454361] [ 0.47665843 -0.08809403 0.87466347 0.18386902] [ 0. 0. 0. 1. ]] SLAMing on 111.22824100800001 meters Centerline goodness [0,1] 0.8681218735788995 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.18, Z:0.18 [[ 0.86924037 -0.10014962 -0.48413969 6.20206832] [ 0.13011048 0.9910873 0.02858735 -0.18363953] [ 0.47696169 -0.08784093 0.8745236 0.18353709] [ 0. 0. 0. 1. ]] SLAMing on 111.25824100800001 meters Centerline goodness [0,1] 0.8670733437367002 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.18, Z:0.18 [[ 0.86906447 -0.10069819 -0.48434163 6.20414466] [ 0.1305069 0.9910484 0.02812504 -0.18294653] [ 0.47717386 -0.0876524 0.87442676 0.18316761] [ 0. 0. 0. 1. ]] SLAMing on 111.28824100800001 meters Centerline goodness [0,1] 0.8688632149479389 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.18, Z:0.18 [[ 0.8688161 -0.10119993 -0.48468253 6.20635673] [ 0.13089764 0.99100824 0.02772126 -0.18273574] [ 0.47751899 -0.08752848 0.87425075 0.1830851 ] [ 0. 0. 0. 1. ]] SLAMing on 111.31824100800002 meters Centerline goodness [0,1] 0.8769758467914821 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.18, Z:0.18 [[ 0.86819428 -0.10224243 -0.48557716 6.21097685] [ 0.13177569 0.99091274 0.02696496 -0.18323653] [ 0.47840763 -0.08739809 0.87377784 0.18345518] [ 0. 0. 0. 1. ]] SLAMing on 111.34824100800002 meters Centerline goodness [0,1] 0.8780948564559063 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.18, Z:0.18 [[ 0.86762747 -0.10808794 -0.48532419 6.21307948] [ 0.13572805 0.99050078 0.02204751 -0.18083868] [ 0.47833092 -0.08500113 0.87405626 0.18208518] [ 0. 0. 0. 1. ]] SLAMing on 111.37824100800002 meters Centerline goodness [0,1] 0.8816484778862723 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.18, Z:0.18 [[ 0.86715764 -0.11388525 -0.48483789 6.21452639] [ 0.13972039 0.9900391 0.01734344 -0.17888744] [ 0.4780333 -0.08278124 0.87443206 0.18079506] [ 0. 0. 0. 1. ]] SLAMing on 111.40824100800002 meters Centerline goodness [0,1] 0.8739968823970903 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.18, Z:0.18 [[ 0.86671539 -0.11438336 -0.48551094 6.21692364] [ 0.1404703 0.9899295 0.01754091 -0.18010366] [ 0.47861522 -0.08340285 0.8740546 0.18226863] [ 0. 0. 0. 1. ]] SLAMing on 111.438241008 meters Centerline goodness [0,1] 0.8830414401978547 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.18, Z:0.19 [[ 0.86548988 -0.11678472 -0.48712277 6.22397633] [ 0.14330153 0.98952652 0.01737642 -0.18029582] [ 0.4799916 -0.08484456 0.87316062 0.18595712] [ 0. 0. 0. 1. ]] SLAMing on 111.468241008 meters Centerline goodness [0,1] 0.8811964084649363 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.18, Z:0.19 [[ 0.86502766 -0.11780177 -0.48769857 6.22706169] [ 0.14432322 0.98938451 0.01700298 -0.17977925] [ 0.48051843 -0.08509427 0.87284649 0.18675202] [ 0. 0. 0. 1. ]] SLAMing on 111.49824100800001 meters Centerline goodness [0,1] 0.880645814646567 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.18, Z:0.19 [[ 0.86472901 -0.11840754 -0.48808134 6.22899383] [ 0.14495226 0.98929585 0.01680936 -0.17920709] [ 0.48086649 -0.08528403 0.87263627 0.18729602] [ 0. 0. 0. 1. ]] SLAMing on 111.52824100800001 meters Centerline goodness [0,1] 0.8715859669469411 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.18, Z:0.19 [[ 0.86434242 -0.11899187 -0.48862369 6.23062845] [ 0.14567631 0.98918966 0.01679961 -0.17808317] [ 0.48134248 -0.08570152 0.87233289 0.18866271] [ 0. 0. 0. 1. ]] SLAMing on 111.55824100800001 meters Centerline goodness [0,1] 0.8764487714418173 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.18, Z:0.19 [[ 0.86417462 -0.11919675 -0.48887049 6.2311643 ] [ 0.14597118 0.98914519 0.01685866 -0.17726067] [ 0.4815544 -0.08592983 0.87219346 0.18948094] [ 0. 0. 0. 1. ]] SLAMing on 111.58824100800001 meters Centerline goodness [0,1] 0.8687373591447558 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.18, Z:0.19 [[ 0.86361423 -0.11967517 -0.48974311 6.23251761] [ 0.14667058 0.98904009 0.01695432 -0.17583097] [ 0.48234656 -0.0864729 0.87170192 0.19189525] [ 0. 0. 0. 1. ]] SLAMing on 111.61824100800001 meters Centerline goodness [0,1] 0.8678296263991859 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.17, Z:0.19 [[ 0.86335771 -0.12024029 -0.49005688 6.23414123] [ 0.1470566 0.98899181 0.01641808 -0.17403904] [ 0.48268812 -0.08624078 0.87153583 0.19192312] [ 0. 0. 0. 1. ]] SLAMing on 111.64824100800001 meters Centerline goodness [0,1] 0.8727969571150663 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.17, Z:0.19 [[ 0.86299396 -0.12116387 -0.49046992 6.2363574 ] [ 0.14766113 0.98891631 0.0155152 -0.1709877 ] [ 0.48315382 -0.08581286 0.87132 0.19179325] [ 0. 0. 0. 1. ]] SLAMing on 111.67824100800001 meters Centerline goodness [0,1] 0.8720442244797546 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.17, Z:0.19 [[ 0.86246541 -0.1176312 -0.49225636 6.24138758] [ 0.14553737 0.98917764 0.01861387 -0.16876128] [ 0.48473941 -0.08769552 0.87025123 0.19396212] [ 0. 0. 0. 1. ]] SLAMing on 111.70824100800002 meters Centerline goodness [0,1] 0.8730733572835786 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.17, Z:0.19 [[ 0.86204617 -0.11849633 -0.49278294 6.24392268] [ 0.14619931 0.98909298 0.01791188 -0.16691941] [ 0.48528566 -0.08748539 0.86996789 0.19422801] [ 0. 0. 0. 1. ]] SLAMing on 111.73824100800002 meters Centerline goodness [0,1] 0.87656885657405 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.16, Z:0.19 [[ 0.86160458 -0.1193665 -0.49334489 6.24665369] [ 0.14687454 0.98900529 0.01721652 -0.16493141] [ 0.48586563 -0.08729364 0.86966339 0.19448118] [ 0. 0. 0. 1. ]] SLAMing on 111.76824100800002 meters Centerline goodness [0,1] 0.8711071418282389 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.16, Z:0.20 [[ 0.86092787 -0.11606276 -0.49531065 6.25268171] [ 0.1452147 0.98918534 0.02061698 -0.16461029] [ 0.48756117 -0.08967612 0.86847124 0.19732798] [ 0. 0. 0. 1. ]] SLAMing on 111.79824100800002 meters Centerline goodness [0,1] 0.8748128527006795 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.16, Z:0.20 [[ 0.86004519 -0.11792092 -0.496404 6.25823813] [ 0.14666114 0.98900121 0.01916036 -0.16046299] [ 0.48868474 -0.08928196 0.86788015 0.19778345] [ 0. 0. 0. 1. ]] SLAMing on 111.828241008 meters Centerline goodness [0,1] 0.872937246205685 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.16, Z:0.20 [[ 0.8594585 -0.11894883 -0.49717428 6.26118095] [ 0.14759439 0.98887388 0.01855661 -0.15910991] [ 0.48943538 -0.08932877 0.86745224 0.19883976] [ 0. 0. 0. 1. ]] SLAMing on 111.85824100800001 meters Centerline goodness [0,1] 0.8785232578246585 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.16, Z:0.20 [[ 0.85912269 -0.11932497 -0.4976643 6.2625136 ] [ 0.14802808 0.98881095 0.01845509 -0.15896494] [ 0.48989375 -0.08952348 0.86717337 0.19986552] [ 0. 0. 0. 1. ]] SLAMing on 111.88824100800001 meters Centerline goodness [0,1] 0.8756254880976484 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.16, Z:0.20 [[ 0.85880162 -0.11964149 -0.49814224 6.26378678] [ 0.14842484 0.98875228 0.01841179 -0.1586792 ] [ 0.49033646 -0.08974876 0.86689983 0.20086514] [ 0. 0. 0. 1. ]] SLAMing on 111.91824100800001 meters Centerline goodness [0,1] 0.8754227245136862 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.16, Z:0.20 [[ 0.85831393 -0.12038747 -0.49880261 6.26568285] [ 0.14933743 0.98861569 0.01836691 -0.15731671] [ 0.49091295 -0.09025448 0.86652098 0.20267499] [ 0. 0. 0. 1. ]] SLAMing on 111.94824100800001 meters Centerline goodness [0,1] 0.8754693005256166 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.16, Z:0.20 [[ 0.85797928 -0.12089346 -0.49925577 6.267108 ] [ 0.1499117 0.98853084 0.0182556 -0.15653743] [ 0.49132275 -0.0905072 0.86626232 0.20367486] [ 0. 0. 0. 1. ]] SLAMing on 111.97824100800001 meters Centerline goodness [0,1] 0.8777048802946593 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.16, Z:0.21 [[ 0.8575885 -0.12142652 -0.49979752 6.26870379] [ 0.15063773 0.98841895 0.01833725 -0.15596804] [ 0.49178271 -0.09101418 0.86594814 0.20516336] [ 0. 0. 0. 1. ]] SLAMing on 112.00824100800001 meters Centerline goodness [0,1] 0.8770936814138848 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.16, Z:0.21 [[ 0.85721023 -0.12189011 -0.50033331 6.2701178 ] [ 0.15123677 0.98832748 0.01833649 -0.15586521] [ 0.49225813 -0.09138702 0.86563869 0.20650723] [ 0. 0. 0. 1. ]] SLAMing on 112.03824100800001 meters Centerline goodness [0,1] 0.8767608676864576 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.16, Z:0.21 [[ 0.85659549 -0.12245681 -0.50124693 6.27197558] [ 0.152218 0.98816973 0.01871561 -0.1555478 ] [ 0.49302519 -0.09233051 0.86510187 0.2093843 ] [ 0. 0. 0. 1. ]] SLAMing on 112.06824100800002 meters Centerline goodness [0,1] 0.8734629229661627 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.15, Z:0.21 [[ 0.85619122 -0.12315509 -0.5017663 6.27412129] [ 0.15292112 0.98806665 0.01842347 -0.15481061] [ 0.4935096 -0.09250468 0.86480701 0.21024463] [ 0. 0. 0. 1. ]] SLAMing on 112.09824100800002 meters Centerline goodness [0,1] 0.867846624704048 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.15, Z:0.21 [[ 0.85553269 -0.12415699 -0.50264188 6.27726517] [ 0.15395752 0.98791307 0.01802352 -0.15375085] [ 0.49432874 -0.09280521 0.86430683 0.21168202] [ 0. 0. 0. 1. ]] SLAMing on 112.12824100800002 meters Centerline goodness [0,1] 0.8765382287673996 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.15, Z:0.21 [[ 0.85507043 -0.12496908 -0.50322687 6.2798673 ] [ 0.1547072 0.98780416 0.01756778 -0.1526994 ] [ 0.49489417 -0.09287451 0.86397575 0.21237362] [ 0. 0. 0. 1. ]] SLAMing on 112.15824100800002 meters Centerline goodness [0,1] 0.8713795786622093 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.15, Z:0.21 [[ 0.85456524 -0.12587525 -0.50385878 6.28277496] [ 0.15538994 0.98771042 0.01679548 -0.15146529] [ 0.49555244 -0.09264742 0.86362274 0.21281536] [ 0. 0. 0. 1. ]] SLAMing on 112.18824100800002 meters Centerline goodness [0,1] 0.8698794484114365 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.15, Z:0.21 [[ 0.85411547 -0.12652228 -0.50445899 6.28521021] [ 0.1559655 0.98762692 0.01636553 -0.15081326] [ 0.49614667 -0.09265625 0.86328055 0.21348193] [ 0. 0. 0. 1. ]] SLAMing on 112.218241008 meters Centerline goodness [0,1] 0.8726278639203888 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.15, Z:0.21 [[ 0.85339268 -0.12775727 -0.50537017 6.28961003] [ 0.15692748 0.9874907 0.01535834 -0.14930038] [ 0.49708621 -0.09241316 0.86276596 0.21397907] [ 0. 0. 0. 1. ]] SLAMing on 112.24824100800001 meters Centerline goodness [0,1] 0.8761422787738578 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.15, Z:0.21 [[ 0.85284643 -0.12868075 -0.50605754 6.29303713] [ 0.15770106 0.9873775 0.01469856 -0.14830233] [ 0.4977784 -0.09234142 0.86237447 0.21438694] [ 0. 0. 0. 1. ]] SLAMing on 112.27824100800001 meters Centerline goodness [0,1] 0.8739452086463992 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.15, Z:0.21 [[ 0.85238133 -0.12949575 -0.50663293 6.29601756] [ 0.15841998 0.98726991 0.01418578 -0.14729856] [ 0.49834645 -0.09235247 0.86204515 0.21476322] [ 0. 0. 0. 1. ]] SLAMing on 112.30824100800001 meters Centerline goodness [0,1] 0.8767769767509193 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.15, Z:0.22 [[ 0.85195519 -0.13014564 -0.50718287 6.29830811] [ 0.15895838 0.98719027 0.01369706 -0.14602303] [ 0.49890338 -0.09229025 0.86172962 0.21523726] [ 0. 0. 0. 1. ]] SLAMing on 112.33824100800001 meters Centerline goodness [0,1] 0.8733192609085388 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.14, Z:0.22 [[ 0.85162796 -0.13082131 -0.50755848 6.30037041] [ 0.15950062 0.98710956 0.01320088 -0.14465173] [ 0.49928887 -0.09219814 0.86151618 0.21542822] [ 0. 0. 0. 1. ]] SLAMing on 112.36824100800001 meters Centerline goodness [0,1] 0.8721426922188871 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.14, Z:0.22 [[ 0.85107874 -0.13155867 -0.5082886 6.30238631] [ 0.1604052 0.98696392 0.01312993 -0.14408001] [ 0.49993515 -0.09270673 0.8610867 0.21733894] [ 0. 0. 0. 1. ]] SLAMing on 112.39824100800001 meters Centerline goodness [0,1] 0.8726868558561159 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.14, Z:0.22 [[ 0.85072446 -0.13153228 -0.50888815 6.30281628] [ 0.16069684 0.98691073 0.01355527 -0.14460758] [ 0.50044422 -0.09330852 0.86072592 0.21926358] [ 0. 0. 0. 1. ]] SLAMing on 112.42824100800001 meters Centerline goodness [0,1] 0.8725450437402236 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.15, Z:0.22 [[ 0.85045605 -0.13155766 -0.50933004 6.30324973] [ 0.16097333 0.98686109 0.01388413 -0.14512448] [ 0.50081143 -0.0937964 0.86045926 0.22075335] [ 0. 0. 0. 1. ]] SLAMing on 112.45824100800002 meters Centerline goodness [0,1] 0.8655598299250861 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.15, Z:0.23 [[ 0.84977267 -0.13118542 -0.51056518 6.30287986] [ 0.16182097 0.9866935 0.01580844 -0.14582324] [ 0.5016975 -0.09605373 0.85969372 0.22650847] [ 0. 0. 0. 1. ]] SLAMing on 112.48824100800002 meters Centerline goodness [0,1] 0.8689396128286623 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.15, Z:0.23 [[ 0.84966492 -0.13108891 -0.51076925 6.30248914] [ 0.16190081 0.98667582 0.01609178 -0.14510573] [ 0.50185421 -0.09636657 0.85956723 0.22751214] [ 0. 0. 0. 1. ]] SLAMing on 112.51824100800002 meters Centerline goodness [0,1] 0.8653668132376765 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.14, Z:0.23 [[ 0.84938789 -0.13144004 -0.51113964 6.30327752] [ 0.16231253 0.98660941 0.01601582 -0.14382834] [ 0.50219006 -0.09656801 0.85934845 0.22836213] [ 0. 0. 0. 1. ]] SLAMing on 112.54824100800002 meters Centerline goodness [0,1] 0.860156024270442 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.14, Z:0.23 [[ 0.84871135 -0.13303805 -0.51184951 6.30716697] [ 0.16370043 0.9863952 0.01505583 -0.14076833] [ 0.50288291 -0.09656804 0.85894319 0.22893326] [ 0. 0. 0. 1. ]] SLAMing on 112.578241008 meters Centerline goodness [0,1] 0.8647686832740213 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.14, Z:0.23 [[ 0.84815432 -0.13392834 -0.51254019 6.30986514] [ 0.16452831 0.98626507 0.01454822 -0.1400554 ] [ 0.50355207 -0.09666651 0.85853998 0.22986067] [ 0. 0. 0. 1. ]] SLAMing on 112.60824100800001 meters Centerline goodness [0,1] 0.8628750872295883 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.14, Z:0.23 [[ 0.84754919 -0.1346484 -0.5133519 6.31227327] [ 0.16534147 0.98613234 0.01432524 -0.14018635] [ 0.50430404 -0.0970197 0.85805863 0.23142033] [ 0. 0. 0. 1. ]] SLAMing on 112.63824100800001 meters Centerline goodness [0,1] 0.8591708433525509 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.14, Z:0.23 [[ 0.84633768 -0.13636978 -0.51489398 6.31702982] [ 0.16737982 0.98579255 0.01403693 -0.13915054] [ 0.50566444 -0.09806285 0.85713894 0.23489697] [ 0. 0. 0. 1. ]] SLAMing on 112.66824100800001 meters Centerline goodness [0,1] 0.857772366208616 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.14, Z:0.24 [[ 0.8459592 -0.13710124 -0.51532154 6.3191632 ] [ 0.16800579 0.98569278 0.01355723 -0.13802702] [ 0.50609001 -0.09804586 0.85688967 0.23523568] [ 0. 0. 0. 1. ]] SLAMing on 112.69824100800001 meters Centerline goodness [0,1] 0.8584457698766577 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.14, Z:0.24 [[ 0.84552263 -0.13766099 -0.51588849 6.32110006] [ 0.16854238 0.98560557 0.0132334 -0.13702968] [ 0.50664085 -0.09813821 0.85655353 0.2360027 ] [ 0. 0. 0. 1. ]] SLAMing on 112.72824100800001 meters Centerline goodness [0,1] 0.8592945938132408 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.14, Z:0.24 [[ 0.84521746 -0.13801672 -0.51629335 6.32252253] [ 0.16886969 0.98555273 0.01299429 -0.13595277] [ 0.50704089 -0.0981693 0.85631322 0.23648901] [ 0. 0. 0. 1. ]] SLAMing on 112.75824100800001 meters Centerline goodness [0,1] 0.8577557660744622 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.13, Z:0.24 [[ 0.84484623 -0.13853197 -0.51676275 6.32437173] [ 0.16910355 0.98552192 0.01226907 -0.1328107 ] [ 0.50758136 -0.0977519 0.85604073 0.23643144] [ 0. 0. 0. 1. ]] SLAMing on 112.78824100800001 meters Centerline goodness [0,1] 0.8609357433192079 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.13, Z:0.24 [[ 0.8446591 -0.13835919 -0.51711482 6.32445024] [ 0.16898832 0.98554086 0.01233553 -0.13182387] [ 0.50793105 -0.09780569 0.85582714 0.23712545] [ 0. 0. 0. 1. ]] SLAMing on 112.81824100800002 meters Centerline goodness [0,1] 0.862446989585437 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.13, Z:0.24 [[ 0.84461632 -0.13800272 -0.51727993 6.32417096] [ 0.16862809 0.98560185 0.01239232 -0.13087888] [ 0.50812188 -0.09769468 0.85572654 0.23733632] [ 0. 0. 0. 1. ]] SLAMing on 112.84824100800002 meters Centerline goodness [0,1] 0.8599225139905295 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.13, Z:0.24 [[ 0.84507637 -0.13179577 -0.51814652 6.32293229] [ 0.16418246 0.98628515 0.01690354 -0.12993874] [ 0.5088124 -0.09935535 0.85512482 0.23871897] [ 0. 0. 0. 1. ]] SLAMing on 112.87824100800002 meters Centerline goodness [0,1] 0.8655671163960668 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.13, Z:0.24 [[ 0.84520789 -0.13086557 -0.51816776 6.32181336] [ 0.16316744 0.98645162 0.01701738 -0.12744458] [ 0.50892043 -0.09893133 0.85510969 0.23820024] [ 0. 0. 0. 1. ]] SLAMing on 112.90824100800002 meters Centerline goodness [0,1] 0.8586941032291162 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.12, Z:0.24 [[ 0.84535796 -0.12976534 -0.51819965 6.32005936] [ 0.16201747 0.98663736 0.01723549 -0.12488216] [ 0.50903856 -0.09852756 0.855086 0.23792476] [ 0. 0. 0. 1. ]] SLAMing on 112.93824100800002 meters Centerline goodness [0,1] 0.8549971607041453 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.12, Z:0.24 [[ 0.84558546 -0.12853786 -0.51813439 6.31791597] [ 0.16079868 0.98683012 0.01760933 -0.12300241] [ 0.50904716 -0.09820552 0.85511792 0.23770787] [ 0. 0. 0. 1. ]] SLAMing on 112.968241008 meters Centerline goodness [0,1] 0.8505053936974433 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.12, Z:0.24 [[ 0.84605151 -0.12181875 -0.51899617 6.3157815 ] [ 0.1559524 0.98750963 0.02244057 -0.12325455] [ 0.50978004 -0.09992458 0.85448194 0.23940417] [ 0. 0. 0. 1. ]] SLAMing on 112.99824100800001 meters Centerline goodness [0,1] 0.8528224098494903 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.12, Z:0.24 [[ 0.84610095 -0.12142606 -0.5190076 6.31526535] [ 0.15548765 0.98758322 0.02242725 -0.1221518 ] [ 0.50983994 -0.09967499 0.85447535 0.23918261] [ 0. 0. 0. 1. ]] SLAMing on 113.02824100800001 meters Centerline goodness [0,1] 0.8503994805341464 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.12, Z:0.24 [[ 0.84617774 -0.12112539 -0.51895267 6.31500438] [ 0.15511215 0.98764291 0.02239861 -0.12122511] [ 0.50982689 -0.09944907 0.85450947 0.23881384] [ 0. 0. 0. 1. ]] SLAMing on 113.05824100800001 meters Centerline goodness [0,1] 0.8527840269966254 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.12, Z:0.24 [[ 0.84607747 -0.1209977 -0.51914591 6.31567388] [ 0.1549244 0.98767484 0.0222898 -0.12055327] [ 0.51005034 -0.09928727 0.85439492 0.23878685] [ 0. 0. 0. 1. ]] SLAMing on 113.08824100800001 meters Centerline goodness [0,1] 0.8527840269966254 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.12, Z:0.24 [[ 0.84607747 -0.1209977 -0.51914591 6.31567388] [ 0.1549244 0.98767484 0.0222898 -0.12055327] [ 0.51005034 -0.09928727 0.85439492 0.23878685] [ 0. 0. 0. 1. ]] SLAMing on 113.11824100800001 meters Centerline goodness [0,1] 0.8510770446910025 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.12, Z:0.24 [[ 0.84585901 -0.12104429 -0.51949092 6.31672562] [ 0.15510872 0.98764276 0.02242886 -0.1213598 ] [ 0.51035656 -0.09954923 0.85418156 0.23948022] [ 0. 0. 0. 1. ]] SLAMing on 113.14824100800001 meters Centerline goodness [0,1] 0.8549029578777863 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.12, Z:0.24 [[ 0.8454823 -0.12640203 -0.51882773 6.31620551] [ 0.15891127 0.98712009 0.01846987 -0.12115154] [ 0.50981064 -0.09806352 0.85467927 0.23917421] [ 0. 0. 0. 1. ]] SLAMing on 113.17824100800001 meters Centerline goodness [0,1] 0.8582585811709442 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.12, Z:0.24 [[ 0.84496685 -0.13207326 -0.51825445 6.31610563] [ 0.16294773 0.98653163 0.0142613 -0.12014162] [ 0.50939087 -0.09649871 0.85510756 0.23898868] [ 0. 0. 0. 1. ]] SLAMing on 113.20824100800002 meters Centerline goodness [0,1] 0.860990099009901 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.12, Z:0.24 [[ 0.84396396 -0.13485992 -0.51917014 6.3225697 ] [ 0.16537355 0.98614963 0.01266878 -0.1188429 ] [ 0.51027093 -0.09654901 0.85457701 0.23970247] [ 0. 0. 0. 1. ]] SLAMing on 113.23824100800002 meters Centerline goodness [0,1] 0.8701350053663222 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.12, Z:0.24 [[ 0.84342709 -0.13619726 -0.51969323 6.32681276] [ 0.16636909 0.98599527 0.01160366 -0.11716678] [ 0.51083468 -0.09624773 0.85427414 0.23927102] [ 0. 0. 0. 1. ]] SLAMing on 113.26824100800002 meters Centerline goodness [0,1] 0.8708602727349728 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.11, Z:0.24 [[ 0.84298229 -0.13753547 -0.52006236 6.33080695] [ 0.16727413 0.98585536 0.01042001 -0.11491635] [ 0.51127314 -0.09577686 0.85406473 0.23839284] [ 0. 0. 0. 1. ]] SLAMing on 113.29824100800002 meters Centerline goodness [0,1] 0.8737654320987654 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.11, Z:0.24 [[ 0.84259245 -0.13478975 -0.52141124 6.33795697] [ 0.16572416 0.98608784 0.0128946 -0.11451167] [ 0.51241923 -0.09727533 0.85320809 0.23880365] [ 0. 0. 0. 1. ]] SLAMing on 113.328241008 meters Centerline goodness [0,1] 0.8676661584505054 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.11, Z:0.24 [[ 0.84238438 -0.13482938 -0.5217371 6.33903054] [ 0.16587369 0.9860614 0.01299382 -0.11492343] [ 0.51271286 -0.09748825 0.85300736 0.23937635] [ 0. 0. 0. 1. ]] SLAMing on 113.35824100800001 meters Centerline goodness [0,1] 0.8739813326565716 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.12, Z:0.24 [[ 0.8421979 -0.1347275 -0.52206436 6.33972861] [ 0.16593065 0.98604889 0.01321396 -0.1158618 ] [ 0.5130007 -0.09775525 0.85280372 0.24012524] [ 0. 0. 0. 1. ]] SLAMing on 113.38824100800001 meters Centerline goodness [0,1] 0.8700785177653505 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.12, Z:0.24 [[ 0.84204614 -0.1343527 -0.52240564 6.33967861] [ 0.16580733 0.98606353 0.01366203 -0.1168604 ] [ 0.51328962 -0.09812274 0.85258765 0.24119273] [ 0. 0. 0. 1. ]] SLAMing on 113.41824100800001 meters Centerline goodness [0,1] 0.8723025646819569 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.12, Z:0.24 [[ 0.8421346 -0.13317495 -0.52256459 6.33794652] [ 0.16523335 0.98614098 0.01496361 -0.11941648] [ 0.51332958 -0.09894647 0.85246838 0.24291346] [ 0. 0. 0. 1. ]] SLAMing on 113.44824100800001 meters Centerline goodness [0,1] 0.8701852479385519 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.12, Z:0.24 [[ 0.84214163 -0.13254022 -0.5227146 6.33745296] [ 0.16490288 0.98618619 0.01561511 -0.12044001] [ 0.51342429 -0.09934728 0.85236472 0.24368539] [ 0. 0. 0. 1. ]] SLAMing on 113.47824100800001 meters Centerline goodness [0,1] 0.8712286158631415 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.12, Z:0.24 [[ 0.84201561 -0.13228594 -0.52298197 6.33759552] [ 0.164846 0.98619027 0.01595427 -0.12099524] [ 0.51364921 -0.09964523 0.85219441 0.2444629 ] [ 0. 0. 0. 1. ]] SLAMing on 113.50824100800001 meters Centerline goodness [0,1] 0.8787955679607544 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.12, Z:0.25 [[ 0.84197386 -0.13177234 -0.52317881 6.33723206] [ 0.16461959 0.98621858 0.01653174 -0.12182341] [ 0.51379024 -0.10004478 0.85206257 0.24529378] [ 0. 0. 0. 1. ]] SLAMing on 113.53824100800001 meters Centerline goodness [0,1] 0.8785344147797679 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.12, Z:0.25 [[ 0.84205385 -0.13093569 -0.52326013 6.33555385] [ 0.1641704 0.98627864 0.01739335 -0.12237484] [ 0.51380287 -0.10054996 0.85199549 0.24643929] [ 0. 0. 0. 1. ]] SLAMing on 113.56824100800002 meters Centerline goodness [0,1] 0.876853679165492 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.12, Z:0.25 [[ 0.84189171 -0.13077239 -0.52356178 6.33594404] [ 0.16415416 0.98627742 0.01761428 -0.12282283] [ 0.5140737 -0.10077416 0.85180561 0.24712686] [ 0. 0. 0. 1. ]] SLAMing on 113.59824100800002 meters Centerline goodness [0,1] 0.8729948034342522 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.12, Z:0.25 [[ 0.84164297 -0.13096886 -0.52391247 6.33773793] [ 0.16429904 0.98625723 0.01739251 -0.12282397] [ 0.51443458 -0.1007166 0.85159452 0.24722686] [ 0. 0. 0. 1. ]] SLAMing on 113.62824100800002 meters Centerline goodness [0,1] 0.8807805098127679 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.12, Z:0.25 [[ 0.84154637 -0.13106757 -0.52404294 6.33845281] [ 0.16421951 0.98627664 0.01703954 -0.12127985] [ 0.51461797 -0.10039764 0.85152138 0.24682706] [ 0. 0. 0. 1. ]] SLAMing on 113.65824100800002 meters Centerline goodness [0,1] 0.8755811004986899 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.12, Z:0.25 [[ 0.84149972 -0.13099461 -0.52413608 6.33851548] [ 0.16395799 0.98632549 0.01672712 -0.11957352] [ 0.51477761 -0.10001217 0.85147024 0.24648881] [ 0. 0. 0. 1. ]] SLAMing on 113.68824100800002 meters Centerline goodness [0,1] 0.874814337359527 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.12, Z:0.25 [[ 0.84144816 -0.13061736 -0.52431297 6.33796428] [ 0.16355136 0.98639269 0.01674569 -0.11842905] [ 0.5149912 -0.09984273 0.85136096 0.24671324] [ 0. 0. 0. 1. ]] SLAMing on 113.718241008 meters Centerline goodness [0,1] 0.8765723270440251 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.12, Z:0.25 [[ 0.84148563 -0.13031712 -0.52432755 6.33743061] [ 0.16313913 0.98646269 0.01664277 -0.11689958] [ 0.51506073 -0.09954299 0.851354 0.24643462] [ 0. 0. 0. 1. ]] SLAMing on 113.74824100800001 meters Centerline goodness [0,1] 0.8768791467204166 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.12, Z:0.25 [[ 0.84145767 -0.1301745 -0.52440785 6.33720297] [ 0.16289263 0.98650593 0.01649353 -0.11512916] [ 0.51518442 -0.09930078 0.85130745 0.24627158] [ 0. 0. 0. 1. ]] SLAMing on 113.77824100800001 meters Centerline goodness [0,1] 0.8691979593543531 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.11, Z:0.25 [[ 0.84133298 -0.12995358 -0.52466263 6.33684694] [ 0.16273148 0.98653078 0.01659763 -0.11325598] [ 0.51543892 -0.09934326 0.85114842 0.24679582] [ 0. 0. 0. 1. ]] SLAMing on 113.80824100800001 meters Centerline goodness [0,1] 0.8700156372165755 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.11, Z:0.25 [[ 0.84127889 -0.12983381 -0.52477901 6.33677582] [ 0.16273407 0.9865268 0.01680747 -0.11275459] [ 0.51552638 -0.09953919 0.85107256 0.24719132] [ 0. 0. 0. 1. ]] SLAMing on 113.83824100800001 meters Centerline goodness [0,1] 0.8683558401781986 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.11, Z:0.25 [[ 0.84119713 -0.12977362 -0.52492494 6.33673485] [ 0.16283226 0.98650639 0.01705297 -0.11237318] [ 0.51562878 -0.09981962 0.85097768 0.24781224] [ 0. 0. 0. 1. ]] SLAMing on 113.86824100800001 meters Centerline goodness [0,1] 0.8669697899522999 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.11, Z:0.25 [[ 0.84114768 -0.12960319 -0.52504629 6.3364706 ] [ 0.16286843 0.98649409 0.01741489 -0.1126215 ] [ 0.51569803 -0.10016196 0.85089548 0.24850954] [ 0. 0. 0. 1. ]] SLAMing on 113.89824100800001 meters Centerline goodness [0,1] 0.8694011071967791 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.11, Z:0.25 [[ 0.84081252 -0.13432713 -0.52439539 6.33461479] [ 0.16622099 0.98598984 0.01395035 -0.11263871] [ 0.51517462 -0.09889515 0.85136059 0.24876663] [ 0. 0. 0. 1. ]] SLAMing on 113.92824100800001 meters Centerline goodness [0,1] 0.8705005742457772 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.11, Z:0.25 [[ 0.84047234 -0.13445056 -0.52490885 6.33546667] [ 0.16663553 0.98591515 0.01428003 -0.11400786] [ 0.51559563 -0.09947044 0.85103865 0.25035504] [ 0. 0. 0. 1. ]] SLAMing on 113.95824100800002 meters Centerline goodness [0,1] 0.8728480906185162 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.11, Z:0.25 [[ 0.83988954 -0.14018111 -0.52434226 6.3356866 ] [ 0.17063956 0.9852836 0.00991764 -0.11239951] [ 0.51523557 -0.09780326 0.85144984 0.24988366] [ 0. 0. 0. 1. ]] SLAMing on 113.98824100800002 meters Centerline goodness [0,1] 0.8696751003903288 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.11, Z:0.25 [[ 0.8395536 -0.14051365 -0.52479108 6.33706859] [ 0.17109831 0.98520391 0.00993082 -0.11276429] [ 0.51563081 -0.09812832 0.85117313 0.25083348] [ 0. 0. 0. 1. ]] SLAMing on 114.01824100800002 meters Centerline goodness [0,1] 0.8704908835904628 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.11, Z:0.25 [[ 0.8391888 -0.14100689 -0.52524205 6.33898964] [ 0.17165864 0.98510775 0.00979935 -0.11309736] [ 0.51603824 -0.09838584 0.85089645 0.25154756] [ 0. 0. 0. 1. ]] SLAMing on 114.04824100800002 meters Centerline goodness [0,1] 0.8712865726961307 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.11, Z:0.25 [[ 0.83876748 -0.14179344 -0.52570309 6.34147666] [ 0.17241636 0.98497909 0.00942292 -0.11295646] [ 0.51647044 -0.09854345 0.85061594 0.25207797] [ 0. 0. 0. 1. ]] SLAMing on 114.078241008 meters Centerline goodness [0,1] 0.871075917263146 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.11, Z:0.25 [[ 0.83797342 -0.14411635 -0.52633737 6.34694993] [ 0.17443921 0.98463447 0.00811931 -0.11174405] [ 0.51707979 -0.09861764 0.85023706 0.2523162 ] [ 0. 0. 0. 1. ]] SLAMing on 114.10824100800001 meters Centerline goodness [0,1] 0.8716845273254015 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.11, Z:0.25 [[ 0.83744794 -0.14508965 -0.526906 6.34985989] [ 0.17533197 0.9844802 0.00757918 -0.11120099] [ 0.51762886 -0.09873064 0.84988977 0.25286461] [ 0. 0. 0. 1. ]] SLAMing on 114.13824100800001 meters Centerline goodness [0,1] 0.8674501846058453 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.11, Z:0.25 [[ 0.83707841 -0.14555397 -0.52736494 6.35159783] [ 0.17592965 0.9843737 0.007561 -0.11179518] [ 0.51802365 -0.09910828 0.84960523 0.25379878] [ 0. 0. 0. 1. ]] SLAMing on 114.16824100800001 meters Centerline goodness [0,1] 0.8612796703451779 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.11, Z:0.25 [[ 8.36431899e-01 -1.51099263e-01 -5.26830800e-01 6.35137802e+00] [ 1.79888357e-01 9.83680894e-01 3.47531302e-03 -1.11103731e-01] [ 5.17708275e-01 -9.76775895e-02 8.49963076e-01 2.53963735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19824100800001 meters Centerline goodness [0,1] 0.8683184540626059 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.11, Z:0.26 [[ 8.36209157e-01 -1.51014608e-01 -5.27208530e-01 6.35148303e+00] [ 1.80056958e-01 9.83648724e-01 3.83140719e-03 -1.11611298e-01] [ 5.18009399e-01 -9.81314220e-02 8.49727301e-01 2.55239071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22824100800001 meters Centerline goodness [0,1] 0.8576712406121181 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.11, Z:0.26 [[ 8.36141066e-01 -1.50902180e-01 -5.27348698e-01 6.35115208e+00] [ 1.80074201e-01 9.83644711e-01 4.04533752e-03 -1.11181517e-01] [ 5.18113308e-01 -9.83443685e-02 8.49639327e-01 2.55844909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25824100800001 meters Centerline goodness [0,1] 0.8549873559988761 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.11, Z:0.26 [[ 8.36351871e-01 -1.50309528e-01 -5.27183644e-01 6.34898932e+00] [ 1.79542810e-01 9.83740525e-01 4.35406308e-03 -1.09013922e-01] [ 5.17957458e-01 -9.82935617e-02 8.49740224e-01 2.55981666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28824100800001 meters Centerline goodness [0,1] 0.8655379604672058 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.11, Z:0.26 [[ 8.36398262e-01 -1.49831113e-01 -5.27246228e-01 6.34775647e+00] [ 1.79109016e-01 9.83818705e-01 4.55160695e-03 -1.07781570e-01] [ 5.18032729e-01 -9.82415091e-02 8.49700358e-01 2.56323487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31824100800002 meters Centerline goodness [0,1] 0.8672571332473793 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.11, Z:0.26 [[ 8.36613783e-01 -1.49000692e-01 -5.27139613e-01 6.34582367e+00] [ 1.78292610e-01 9.83965617e-01 4.83836963e-03 -1.06370587e-01] [ 5.17966335e-01 -9.80329440e-02 8.49764919e-01 2.56256339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34824100800002 meters Centerline goodness [0,1] 0.8690161608856499 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.10, Z:0.26 [[ 0.83748306 -0.14229396 -0.52761212 6.34287272] [ 0.17317452 0.98484749 0.00927363 -0.10397336] [ 0.51829789 -0.09913548 0.84943478 0.25643991] [ 0. 0. 0. 1. ]] SLAMing on 114.37824100800002 meters Centerline goodness [0,1] 0.878961499072767 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.10, Z:0.26 [[ 0.83767963 -0.1415536 -0.52749921 6.34125783] [ 0.17225585 0.98500909 0.00922017 -0.10116599] [ 0.51828637 -0.09858837 0.84950549 0.25577626] [ 0. 0. 0. 1. ]] SLAMing on 114.40824100800002 meters Centerline goodness [0,1] 0.8691261278662289 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.10, Z:0.26 [[ 0.83789567 -0.14057411 -0.52741801 6.33958919] [ 0.17119707 0.98519205 0.00939063 -0.09914661] [ 0.51828795 -0.09816078 0.84955403 0.25527143] [ 0. 0. 0. 1. ]] SLAMing on 114.43824100800002 meters Centerline goodness [0,1] 0.8673286443249207 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.10, Z:0.25 [[ 0.83807947 -0.13981619 -0.52732744 6.33811273] [ 0.17036509 0.98533514 0.00950773 -0.09735091] [ 0.51826493 -0.09780642 0.84960895 0.25488952] [ 0. 0. 0. 1. ]] SLAMing on 114.468241008 meters Centerline goodness [0,1] 0.8680098684210527 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.10, Z:0.26 [[ 0.83862058 -0.13392201 -0.52799661 6.33750883] [ 0.16603782 0.9860253 0.01362175 -0.09653234] [ 0.51879376 -0.09909088 0.84913723 0.25520557] [ 0. 0. 0. 1. ]] SLAMing on 114.49824100800001 meters Centerline goodness [0,1] 0.8708458800985491 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.09, Z:0.25 [[ 0.83857811 -0.13406276 -0.52802834 6.3379926 ] [ 0.16598293 0.98603955 0.01325396 -0.09484509] [ 0.51887997 -0.09875817 0.84912332 0.25471178] [ 0. 0. 0. 1. ]] SLAMing on 114.52824100800001 meters Centerline goodness [0,1] 0.872131506249829 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.09, Z:0.25 [[ 0.83843615 -0.13440493 -0.52816677 6.33927044] [ 0.16615361 0.98601623 0.01284394 -0.09372153] [ 0.51905472 -0.09852564 0.84904352 0.25433468] [ 0. 0. 0. 1. ]] SLAMing on 114.55824100800001 meters Centerline goodness [0,1] 0.8700493691716951 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.09, Z:0.25 [[ 0.83827189 -0.13472355 -0.52834629 6.34056578] [ 0.16644295 0.98596976 0.01266424 -0.0934185 ] [ 0.51922729 -0.09855559 0.84893452 0.25436201] [ 0. 0. 0. 1. ]] SLAMing on 114.58824100800001 meters Centerline goodness [0,1] 0.8675363911013458 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.09, Z:0.26 [[ 0.83816757 -0.1344049 -0.52859289 6.34056646] [ 0.16637528 0.98597534 0.01311113 -0.09455867] [ 0.51941735 -0.09893411 0.84877421 0.2552116 ] [ 0. 0. 0. 1. ]] SLAMing on 114.61824100800001 meters Centerline goodness [0,1] 0.8685417639464938 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.10, Z:0.26 [[ 0.83802668 -0.13403174 -0.52891093 6.34054812] [ 0.16628677 0.98598348 0.01361226 -0.09613861] [ 0.51967297 -0.09935833 0.84856816 0.25632159] [ 0. 0. 0. 1. ]] SLAMing on 114.64824100800001 meters Centerline goodness [0,1] 0.8699755137975624 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.10, Z:0.26 [[ 0.83816692 -0.13305223 -0.52893602 6.3394978 ] [ 0.16573722 0.986062 0.014591 -0.09824602] [ 0.51962235 -0.09989408 0.84853626 0.25711656] [ 0. 0. 0. 1. ]] SLAMing on 114.67824100800001 meters Centerline goodness [0,1] 0.8704683195592287 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.10, Z:0.26 [[ 0.83824575 -0.13253798 -0.52894021 6.33893271] [ 0.16536399 0.98611901 0.01496851 -0.09856573] [ 0.5196141 -0.10001495 0.84852708 0.25727117] [ 0. 0. 0. 1. ]] SLAMing on 114.70824100800002 meters Centerline goodness [0,1] 0.8700751879699248 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.10, Z:0.26 [[ 0.83834454 -0.13194376 -0.5289322 6.33813813] [ 0.16494842 0.98618144 0.01543319 -0.09904977] [ 0.51958681 -0.10018486 0.84852374 0.25757393] [ 0. 0. 0. 1. ]] SLAMing on 114.73824100800002 meters Centerline goodness [0,1] 0.8655778204776283 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.10, Z:0.26 [[ 0.83854611 -0.13106508 -0.52883113 6.33693437] [ 0.16428822 0.98628153 0.01606597 -0.09983864] [ 0.51947069 -0.10035278 0.848575 0.25769492] [ 0. 0. 0. 1. ]] SLAMing on 114.76824100800002 meters Centerline goodness [0,1] 0.868584289400011 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.10, Z:0.26 [[ 0.83899525 -0.12974745 -0.52844354 6.33519708] [ 0.16302447 0.98648201 0.01662096 -0.09941656] [ 0.51914352 -0.10009413 0.84880573 0.25665577] [ 0. 0. 0. 1. ]] SLAMing on 114.79824100800002 meters Centerline goodness [0,1] 0.8668201249588952 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.10, Z:0.26 [[ 0.83918189 -0.12923201 -0.52827345 6.33437761] [ 0.16250245 0.98656516 0.01679682 -0.09892565] [ 0.51900549 -0.09994131 0.84890814 0.25621902] [ 0. 0. 0. 1. ]] SLAMing on 114.828241008 meters Centerline goodness [0,1] 0.8706799835818854 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.10, Z:0.26 [[ 0.83928152 -0.12855418 -0.52828057 6.33373646] [ 0.16195213 0.98664873 0.01719846 -0.09951208] [ 0.51901642 -0.09999051 0.84889567 0.2562873 ] [ 0. 0. 0. 1. ]] SLAMing on 114.85824100800001 meters Centerline goodness [0,1] 0.868558605402151 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.10, Z:0.26 [[ 0.83955032 -0.12729097 -0.52815932 6.33255037] [ 0.16086842 0.98681385 0.01788219 -0.10134424] [ 0.51891869 -0.09997715 0.84895698 0.2560728 ] [ 0. 0. 0. 1. ]] SLAMing on 114.88824100800001 meters Centerline goodness [0,1] 0.8719441850244465 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.10, Z:0.26 [[ 0.83963165 -0.1270448 -0.52808931 6.33249086] [ 0.16059815 0.98685702 0.01792925 -0.10131784] [ 0.51887082 -0.09986413 0.84899954 0.25574642] [ 0. 0. 0. 1. ]] SLAMing on 114.91824100800001 meters Centerline goodness [0,1] 0.869785671216357 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.10, Z:0.26 [[ 0.83965565 -0.12663469 -0.52814965 6.33224767] [ 0.1603298 0.98689449 0.01826517 -0.10198147] [ 0.51891497 -0.10001458 0.84895485 0.2560085 ] [ 0. 0. 0. 1. ]] SLAMing on 114.94824100800001 meters Centerline goodness [0,1] 0.8671244163691294 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.10, Z:0.26 [[ 0.83950921 -0.1263468 -0.52845129 6.33279506] [ 0.16028938 0.98689322 0.01868405 -0.103541 ] [ 0.51916432 -0.10039056 0.848758 0.25681344] [ 0. 0. 0. 1. ]] SLAMing on 114.97824100800001 meters Centerline goodness [0,1] 0.8645698018296897 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.11, Z:0.26 [[ 0.83902923 -0.1275683 -0.52891992 6.33743704] [ 0.16150408 0.98670392 0.01821543 -0.10580534] [ 0.51956365 -0.100706 0.84847623 0.25700622] [ 0. 0. 0. 1. ]] SLAMing on 115.00824100800001 meters Centerline goodness [0,1] 0.8645698018296897 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.11, Z:0.26 [[ 0.83902923 -0.1275683 -0.52891992 6.33743704] [ 0.16150408 0.98670392 0.01821543 -0.10580534] [ 0.51956365 -0.100706 0.84847623 0.25700622] [ 0. 0. 0. 1. ]] SLAMing on 115.03824100800001 meters Centerline goodness [0,1] 0.862017393231042 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.11, Z:0.26 [[ 0.83856319 -0.12846904 -0.52944072 6.34082242] [ 0.16244062 0.98655602 0.0178959 -0.10625861] [ 0.52002386 -0.10100952 0.84815816 0.25746994] [ 0. 0. 0. 1. ]] SLAMing on 115.06824100800002 meters Centerline goodness [0,1] 0.8617705790991791 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.11, Z:0.26 [[ 0.83809743 -0.12949684 -0.52992761 6.3444211 ] [ 0.16346833 0.98639356 0.01748832 -0.10675814] [ 0.5204525 -0.1012833 0.84786254 0.25780268] [ 0. 0. 0. 1. ]] SLAMing on 115.09824100800002 meters Centerline goodness [0,1] 0.8624291587954217 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.11, Z:0.26 [[ 0.83740248 -0.13089894 -0.53068122 6.34901836] [ 0.1648706 0.98617022 0.01691113 -0.10761384] [ 0.52112837 -0.10165515 0.84740277 0.25863441] [ 0. 0. 0. 1. ]] SLAMing on 115.12824100800002 meters Centerline goodness [0,1] 0.8690073519134542 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.11, Z:0.26 [[ 0.83633437 -0.13779657 -0.53061938 6.35381374] [ 0.17018883 0.98533393 0.01236127 -0.10961592] [ 0.52113394 -0.10064364 0.84752007 0.25880974] [ 0. 0. 0. 1. ]] SLAMing on 115.15824100800002 meters Centerline goodness [0,1] 0.8718064153066967 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.11, Z:0.26 [[ 0.83578385 -0.14357672 -0.52995385 6.35476215] [ 0.17429931 0.98465925 0.00811845 -0.10949098] [ 0.52065834 -0.09915586 0.84798762 0.25815289] [ 0. 0. 0. 1. ]] SLAMing on 115.18824100800002 meters Centerline goodness [0,1] 0.8755142293603833 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.11, Z:0.26 [[ 8.35022851e-01 -1.49560473e-01 -5.29498350e-01 6.35659324e+00] [ 1.78776044e-01 9.83881552e-01 4.02700326e-03 -1.10492491e-01] [ 5.20361378e-01 -9.80242603e-02 8.48301409e-01 2.58163910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.218241008 meters Centerline goodness [0,1] 0.8761051947685093 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.11, Z:0.26 [[ 8.34624030e-01 -1.55021451e-01 -5.28555654e-01 6.35630590e+00] [ 1.82522183e-01 9.83201724e-01 -1.51276357e-04 -1.09692609e-01] [ 5.19700281e-01 -9.63468727e-02 8.48898638e-01 2.57124891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24824100800001 meters Centerline goodness [0,1] 0.873967815573655 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.11, Z:0.26 [[ 8.34340380e-01 -1.55104259e-01 -5.28979015e-01 6.35740743e+00] [ 1.82924910e-01 9.83126855e-01 2.54217642e-04 -1.11176461e-01] [ 5.20014046e-01 -9.69755426e-02 8.48634866e-01 2.58405376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27824100800001 meters Centerline goodness [0,1] 0.8733467387918095 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.11, Z:0.26 [[ 8.34101081e-01 -1.55267383e-01 -5.29308441e-01 6.35860428e+00] [ 1.83247526e-01 9.83066726e-01 3.94404602e-04 -1.11787825e-01] [ 5.20284279e-01 -9.73234357e-02 8.48429383e-01 2.59106450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30824100800001 meters Centerline goodness [0,1] 0.8748768472906404 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.11, Z:0.26 [[ 8.33989170e-01 -1.55355753e-01 -5.29458831e-01 6.35956473e+00] [ 1.83398335e-01 9.83038585e-01 4.37286465e-04 -1.11647234e-01] [ 5.20410525e-01 -9.74665602e-02 8.48335520e-01 2.59251298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33824100800001 meters Centerline goodness [0,1] 0.8720024739253887 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.11, Z:0.26 [[ 8.33929618e-01 -1.55571510e-01 -5.29489280e-01 6.36084788e+00] [ 1.83413530e-01 9.83035846e-01 4.08016134e-05 -1.10114216e-01] [ 5.20500594e-01 -9.71495237e-02 8.48316628e-01 2.58430758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36824100800001 meters Centerline goodness [0,1] 0.8766288474500112 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.11, Z:0.26 [[ 8.33977492e-01 -1.55453182e-01 -5.29448629e-01 6.36092374e+00] [ 1.83217990e-01 9.83072310e-01 -4.16266132e-05 -1.09373561e-01] [ 5.20492758e-01 -9.69697978e-02 8.48341999e-01 2.58054377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39824100800001 meters Centerline goodness [0,1] 0.8784220131966868 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.11, Z:0.26 [[ 8.33943527e-01 -1.55210724e-01 -5.29573248e-01 6.36090351e+00] [ 1.83023440e-01 9.83108546e-01 7.97324676e-05 -1.09224312e-01] [ 5.20615610e-01 -9.69908101e-02 8.48264209e-01 2.58258773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42824100800001 meters Centerline goodness [0,1] 0.8806322113360097 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.11, Z:0.26 [[ 8.34024441e-01 -1.54549706e-01 -5.29639142e-01 6.35997723e+00] [ 1.82567441e-01 9.83193155e-01 5.91903954e-04 -1.09846960e-01] [ 5.20646100e-01 -9.71885253e-02 8.48222865e-01 2.58748880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45824100800002 meters Centerline goodness [0,1] 0.8769183203103041 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.11, Z:0.26 [[ 8.34333463e-01 -1.52975450e-01 -5.29609463e-01 6.35672047e+00] [ 1.81505803e-01 9.83388053e-01 1.89221543e-03 -1.11401561e-01] [ 5.20522156e-01 -9.77059295e-02 8.48239492e-01 2.59979498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48824100800002 meters Centerline goodness [0,1] 0.8768808316287932 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.11, Z:0.26 [[ 8.34297100e-01 -1.52563078e-01 -5.29785670e-01 6.35619814e+00] [ 1.81308012e-01 9.83423616e-01 2.32285508e-03 -1.11453844e-01] [ 5.20649357e-01 -9.79923380e-02 8.48128380e-01 2.60746740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51824100800002 meters Centerline goodness [0,1] 0.884773088616775 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.11, Z:0.26 [[ 8.34274670e-01 -1.52921783e-01 -5.29717569e-01 6.35688129e+00] [ 1.81418547e-01 9.83404273e-01 1.82920683e-03 -1.09063092e-01] [ 5.20646796e-01 -9.76266524e-02 8.48172123e-01 2.60013721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.54824100800002 meters Centerline goodness [0,1] 0.8728144781238671 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.11, Z:0.26 [[ 8.34152642e-01 -1.53138204e-01 -5.29847205e-01 6.35786183e+00] [ 1.81599822e-01 9.83371080e-01 1.68027683e-03 -1.08167322e-01] [ 5.20779104e-01 -9.76217654e-02 8.48091455e-01 2.59976787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.578241008 meters Centerline goodness [0,1] 0.8712017634420604 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.11, Z:0.26 [[ 0.83422241 -0.14807955 -0.53117361 6.35962679] [ 0.17869477 0.983884 0.00635965 -0.11083865] [ 0.52167149 -0.10022331 0.84723913 0.26271187] [ 0. 0. 0. 1. ]] SLAMing on 115.60824100800001 meters Centerline goodness [0,1] 0.8721644876522516 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.11, Z:0.26 [[ 0.83421887 -0.14759602 -0.53131374 6.35932552] [ 0.17842875 0.98392919 0.00682195 -0.11143539] [ 0.52176821 -0.10049264 0.84714767 0.26328187] [ 0. 0. 0. 1. ]] SLAMing on 115.63824100800001 meters Centerline goodness [0,1] 0.8712403122464396 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.11, Z:0.26 [[ 0.8343496 -0.14635018 -0.53145308 6.35732361] [ 0.17775711 0.98404118 0.00808533 -0.11338743] [ 0.52178842 -0.10121556 0.84704914 0.26482151] [ 0. 0. 0. 1. ]] SLAMing on 115.66824100800001 meters Centerline goodness [0,1] 0.871399435643841 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.11, Z:0.27 [[ 0.83441244 -0.14583607 -0.53149574 6.35659617] [ 0.17741722 0.98409895 0.00850808 -0.11351711] [ 0.52180362 -0.10139575 0.84701823 0.26524059] [ 0. 0. 0. 1. ]] SLAMing on 115.69824100800001 meters Centerline goodness [0,1] 0.8830769230769231 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.11, Z:0.27 [[ 0.83447822 -0.14536046 -0.53152276 6.35565988] [ 0.17711725 0.98414928 0.00892549 -0.11330408] [ 0.52180033 -0.10158997 0.84699698 0.26569019] [ 0. 0. 0. 1. ]] SLAMing on 115.72824100800001 meters Centerline goodness [0,1] 0.8853646980127652 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.11, Z:0.27 [[ 0.83480445 -0.14395538 -0.53139287 6.35278929] [ 0.17598457 0.98434408 0.00980645 -0.11344988] [ 0.52166173 -0.10170341 0.84706874 0.26609058] [ 0. 0. 0. 1. ]] SLAMing on 115.75824100800001 meters Centerline goodness [0,1] 0.8716442018491701 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.11, Z:0.27 [[ 0.8349218 -0.14361611 -0.5313003 6.35211655] [ 0.17560876 0.98441059 0.00986704 -0.11213225] [ 0.52160057 -0.1015392 0.84712611 0.26578029] [ 0. 0. 0. 1. ]] SLAMing on 115.78824100800001 meters Centerline goodness [0,1] 0.871815552341751 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.11, Z:0.26 [[ 0.83507824 -0.14346704 -0.53109465 6.35165793] [ 0.17524601 0.98447777 0.00961037 -0.10979883] [ 0.52147211 -0.10109763 0.84725799 0.26488828] [ 0. 0. 0. 1. ]] SLAMing on 115.81824100800002 meters Centerline goodness [0,1] 0.8720210847551672 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.11, Z:0.26 [[ 0.835251 -0.14296333 -0.53095881 6.35040214] [ 0.17468689 0.98457628 0.00969772 -0.10801087] [ 0.52138303 -0.10085157 0.84734214 0.26454582] [ 0. 0. 0. 1. ]] SLAMing on 115.84824100800002 meters Centerline goodness [0,1] 0.874332807876324 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.11, Z:0.27 [[ 0.83567973 -0.14109358 -0.53078432 6.34627229] [ 0.17309419 0.98484682 0.0107308 -0.10857194] [ 0.5212272 -0.10084319 0.847439 0.26513342] [ 0. 0. 0. 1. ]] SLAMing on 115.87824100800002 meters Centerline goodness [0,1] 0.8767510104645369 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.11, Z:0.27 [[ 0.83582156 -0.14041453 -0.53074106 6.34472531] [ 0.17257353 0.98493302 0.01119523 -0.10879575] [ 0.52117242 -0.10094907 0.84746008 0.26555152] [ 0. 0. 0. 1. ]] SLAMing on 115.90824100800002 meters Centerline goodness [0,1] 0.8806662799370183 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.11, Z:0.27 [[ 0.8360319 -0.1397134 -0.53059478 6.34321313] [ 0.17195695 0.98503653 0.01156944 -0.10819261] [ 0.52103884 -0.10091188 0.84754665 0.26548347] [ 0. 0. 0. 1. ]] SLAMing on 115.93824100800002 meters Centerline goodness [0,1] 0.877853944386091 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.11, Z:0.27 [[ 0.83607503 -0.13961433 -0.5305529 6.34306595] [ 0.17178896 0.9850667 0.01149562 -0.10657452] [ 0.52102504 -0.10075433 0.84757387 0.26518529] [ 0. 0. 0. 1. ]] SLAMing on 115.968241008 meters Centerline goodness [0,1] 0.8765571913929785 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.26 [[ 0.83559762 -0.14099126 -0.53094075 6.34700175] [ 0.17257579 0.98494498 0.01004874 -0.1028293 ] [ 0.52153065 -0.10002422 0.84734936 0.26410366] [ 0. 0. 0. 1. ]] SLAMing on 115.99824100800001 meters Centerline goodness [0,1] 0.8758932033457043 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.26 [[ 0.83528395 -0.14172624 -0.53123855 6.3495188 ] [ 0.17315534 0.98484856 0.00951548 -0.10188438] [ 0.52184093 -0.09993491 0.84716885 0.26395548] [ 0. 0. 0. 1. ]] SLAMing on 116.02824100800001 meters Centerline goodness [0,1] 0.8737831858407079 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.26 [[ 0.83505318 -0.14207892 -0.53150708 6.35137597] [ 0.17352719 0.98478438 0.00938338 -0.10178804] [ 0.52208668 -0.10006655 0.84700188 0.26413268] [ 0. 0. 0. 1. ]] SLAMing on 116.05824100800001 meters Centerline goodness [0,1] 0.8752285445177018 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.27 [[ 0.83459485 -0.14180237 -0.53230023 6.35204273] [ 0.17384228 0.98472024 0.01024273 -0.10405353] [ 0.52271436 -0.10108482 0.84649368 0.26680819] [ 0. 0. 0. 1. ]] SLAMing on 116.08824100800001 meters Centerline goodness [0,1] 0.8771506940403957 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.11, Z:0.27 [[ 0.83437913 -0.14126221 -0.53278181 6.35160021] [ 0.17380635 0.98471722 0.01110597 -0.10567149] [ 0.52307057 -0.10186745 0.84617977 0.26877684] [ 0. 0. 0. 1. ]] SLAMing on 116.11824100800001 meters Centerline goodness [0,1] 0.8757309536346756 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.11, Z:0.27 [[ 0.83425918 -0.14079232 -0.53309393 6.35129148] [ 0.17375055 0.98471851 0.01184066 -0.10698133] [ 0.52328039 -0.10250354 0.8459732 0.27022162] [ 0. 0. 0. 1. ]] SLAMing on 116.14824100800001 meters Centerline goodness [0,1] 0.8746324957008931 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.11, Z:0.27 [[ 0.83415313 -0.14047968 -0.53334231 6.35094822] [ 0.17380771 0.98470063 0.01247193 -0.1076922 ] [ 0.52343045 -0.1031025 0.84580756 0.2715306 ] [ 0. 0. 0. 1. ]] SLAMing on 116.17824100800001 meters Centerline goodness [0,1] 0.8733024134196128 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.11, Z:0.27 [[ 0.83405737 -0.14025025 -0.53355241 6.35112198] [ 0.17377406 0.98470228 0.01280622 -0.10771247] [ 0.5235942 -0.10339869 0.84567005 0.27215513] [ 0. 0. 0. 1. ]] SLAMing on 116.20824100800002 meters Centerline goodness [0,1] 0.8696636659855305 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.11, Z:0.27 [[ 0.83397628 -0.1402462 -0.5336802 6.35169734] [ 0.17381074 0.98469532 0.01284338 -0.10700297] [ 0.52371116 -0.10347043 0.84558884 0.27228013] [ 0. 0. 0. 1. ]] SLAMing on 116.23824100800002 meters Centerline goodness [0,1] 0.8699204946996466 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.11, Z:0.27 [[ 0.83392645 -0.14033705 -0.5337342 6.35215872] [ 0.1738134 0.9846972 0.0126619 -0.10566746] [ 0.52378964 -0.10332925 0.8455575 0.2720494 ] [ 0. 0. 0. 1. ]] SLAMing on 116.26824100800002 meters Centerline goodness [0,1] 0.8718882817243473 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.27 [[ 0.83430073 -0.13895857 -0.53350989 6.34992556] [ 0.17244407 0.98493179 0.01313095 -0.1048033 ] [ 0.52364619 -0.10295578 0.84569189 0.27141973] [ 0. 0. 0. 1. ]] SLAMing on 116.29824100800002 meters Centerline goodness [0,1] 0.8729804245933278 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.27 [[ 0.83455923 -0.13803238 -0.533346 6.34824653] [ 0.17158122 0.98507691 0.01354127 -0.10445614] [ 0.52351769 -0.10281315 0.84578879 0.27126916] [ 0. 0. 0. 1. ]] SLAMing on 116.328241008 meters Centerline goodness [0,1] 0.8771785144867777 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.27 [[ 0.83471943 -0.13719287 -0.5333119 6.3468858 ] [ 0.17072416 0.9852227 0.01376539 -0.10333773] [ 0.52354248 -0.10253946 0.84580667 0.27106995] [ 0. 0. 0. 1. ]] SLAMing on 116.35824100800001 meters Centerline goodness [0,1] 0.8796718072553646 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.27 [[ 0.83546316 -0.13057119 -0.5338094 6.3451136 ] [ 0.16574379 0.9860004 0.01822671 -0.10291582] [ 0.52395639 -0.10370334 0.84540837 0.2712101 ] [ 0. 0. 0. 1. ]] SLAMing on 116.38824100800001 meters Centerline goodness [0,1] 0.8820436996878593 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.10, Z:0.27 [[ 0.83554484 -0.13020229 -0.53377165 6.34482465] [ 0.16522705 0.98608938 0.01810421 -0.10163815] [ 0.52398935 -0.1033204 0.84543483 0.27067599] [ 0. 0. 0. 1. ]] SLAMing on 116.41824100800001 meters Centerline goodness [0,1] 0.8826025072535173 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.27 [[ 0.83552771 -0.13010039 -0.53382332 6.34512499] [ 0.16494614 0.98614134 0.01783305 -0.1004002 ] [ 0.52410516 -0.10295211 0.84540797 0.27021518] [ 0. 0. 0. 1. ]] SLAMing on 116.44824100800001 meters Centerline goodness [0,1] 0.8797830589774338 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.27 [[ 0.83568103 -0.12971685 -0.53367664 6.34511496] [ 0.16440967 0.98623275 0.01773178 -0.09895146] [ 0.52402927 -0.10255971 0.84550271 0.26933625] [ 0. 0. 0. 1. ]] SLAMing on 116.47824100800001 meters Centerline goodness [0,1] 0.8812245900297416 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.27 [[ 0.83561446 -0.12959824 -0.53380968 6.34518531] [ 0.16442564 0.9862261 0.01795261 -0.09883697] [ 0.52413041 -0.10277346 0.84541406 0.26981635] [ 0. 0. 0. 1. ]] SLAMing on 116.50824100800001 meters Centerline goodness [0,1] 0.8782303985983355 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.27 [[ 0.83544188 -0.12943041 -0.53412043 6.34557643] [ 0.16453097 0.98620085 0.01836981 -0.0996332 ] [ 0.52437241 -0.10322626 0.8452088 0.27085539] [ 0. 0. 0. 1. ]] SLAMing on 116.53824100800001 meters Centerline goodness [0,1] 0.8754939626783754 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.27 [[ 0.83487557 -0.13472408 -0.53369674 6.34554739] [ 0.16852306 0.98558618 0.01482789 -0.10021183] [ 0.52400646 -0.10231965 0.84554593 0.27150389] [ 0. 0. 0. 1. ]] SLAMing on 116.56824100800002 meters Centerline goodness [0,1] 0.8799539549416214 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.27 [[ 0.83455045 -0.13495575 -0.53414652 6.34684474] [ 0.1691062 0.98548026 0.01522321 -0.10163808] [ 0.52433639 -0.10303203 0.84525485 0.2729659 ] [ 0. 0. 0. 1. ]] SLAMing on 116.59824100800002 meters Centerline goodness [0,1] 0.8765122495659603 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.27 [[ 0.83415522 -0.14042134 -0.5333544 6.34671076] [ 0.17286999 0.98488249 0.0110656 -0.10008355] [ 0.52373757 -0.10143139 0.8458195 0.27205458] [ 0. 0. 0. 1. ]] SLAMing on 116.62824100800002 meters Centerline goodness [0,1] 0.8785615872141086 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.27 [[ 0.83370407 -0.14092045 -0.53392785 6.34843499] [ 0.17364722 0.98474381 0.01123721 -0.10102611] [ 0.52419859 -0.1020836 0.84545536 0.27363648] [ 0. 0. 0. 1. ]] SLAMing on 116.65824100800002 meters Centerline goodness [0,1] 0.8842891261976007 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.28 [[ 0.83283698 -0.14324372 -0.53466232 6.35304483] [ 0.17586391 0.98436147 0.01021649 -0.10135238] [ 0.52483755 -0.10253647 0.84500404 0.27517993] [ 0. 0. 0. 1. ]] SLAMing on 116.68824100800002 meters Centerline goodness [0,1] 0.8840102150094736 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.10, Z:0.28 [[ 0.83231946 -0.14386584 -0.5353008 6.35530023] [ 0.17659391 0.98423238 0.01006001 -0.10127362] [ 0.52541309 -0.102904 0.84460159 0.27633538] [ 0. 0. 0. 1. ]] SLAMing on 116.718241008 meters Centerline goodness [0,1] 0.8846851302340917 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.10, Z:0.28 [[ 0.83173951 -0.14441769 -0.53605309 6.3577597 ] [ 0.17736612 0.98409334 0.01007722 -0.10207536] [ 0.52607095 -0.10345928 0.84412412 0.27791221] [ 0. 0. 0. 1. ]] SLAMing on 116.74824100800001 meters Centerline goodness [0,1] 0.8889624541366659 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.10, Z:0.28 [[ 8.30726286e-01 -1.50652767e-01 -5.35908184e-01 6.36002860e+00] [ 1.81978808e-01 9.83286092e-01 5.67225649e-03 -1.01448482e-01] [ 5.26096523e-01 -1.02236025e-01 8.44257214e-01 2.78402572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77824100800001 meters Centerline goodness [0,1] 0.8917935142289874 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.10, Z:0.28 [[ 8.30216164e-01 -1.51420453e-01 -5.36482030e-01 6.36231868e+00] [ 1.82837636e-01 9.83127962e-01 5.45979124e-03 -1.00939665e-01] [ 5.26603760e-01 -1.02621913e-01 8.43894082e-01 2.79454691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80824100800001 meters Centerline goodness [0,1] 0.885917512130569 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.10, Z:0.28 [[ 8.29696163e-01 -1.52369839e-01 -5.37017420e-01 6.36473789e+00] [ 1.83799325e-01 9.82950685e-01 5.07536034e-03 -9.98123046e-02] [ 5.27088309e-01 -1.02914446e-01 8.43555885e-01 2.80337755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83824100800001 meters Centerline goodness [0,1] 0.8845157378314316 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.10, Z:0.28 [[ 8.29289682e-01 -1.52839781e-01 -5.37511512e-01 6.36624759e+00] [ 1.84440846e-01 9.82830404e-01 5.09627548e-03 -9.95977312e-02] [ 5.27503742e-01 -1.03365366e-01 8.43241011e-01 2.81485409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86824100800001 meters Centerline goodness [0,1] 0.8837350394352215 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.10, Z:0.28 [[ 8.28767608e-01 -1.52744135e-01 -5.38343274e-01 6.36690987e+00] [ 1.84952639e-01 9.82729721e-01 5.90061291e-03 -1.01643704e-01] [ 5.28144651e-01 -1.04458246e-01 8.42704991e-01 2.84433860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89824100800001 meters Centerline goodness [0,1] 0.8837350394352215 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.10, Z:0.28 [[ 8.28767608e-01 -1.52744135e-01 -5.38343274e-01 6.36690987e+00] [ 1.84952639e-01 9.82729721e-01 5.90061291e-03 -1.01643704e-01] [ 5.28144651e-01 -1.04458246e-01 8.42704991e-01 2.84433860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92824100800001 meters Centerline goodness [0,1] 0.8872841099426124 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.10, Z:0.29 [[ 8.28479070e-01 -1.52631580e-01 -5.38819109e-01 6.36748559e+00] [ 1.85063365e-01 9.82707169e-01 6.17828096e-03 -1.02030810e-01] [ 5.28558400e-01 -1.04834254e-01 8.42398835e-01 2.85684248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95824100800002 meters Centerline goodness [0,1] 0.8881209384293425 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.10, Z:0.29 [[ 8.28237097e-01 -1.52646111e-01 -5.39186865e-01 6.36812994e+00] [ 1.85137895e-01 9.82693101e-01 6.18300017e-03 -1.01201731e-01] [ 5.28911401e-01 -1.04944911e-01 8.42163461e-01 2.86313572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98824100800002 meters Centerline goodness [0,1] 0.8876509587081511 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.10, Z:0.29 [[ 8.28138361e-01 -1.52759437e-01 -5.39306415e-01 6.36845430e+00] [ 1.85110926e-01 9.82699934e-01 5.89788976e-03 -9.92325293e-02] [ 5.29075420e-01 -1.04715778e-01 8.42088954e-01 2.86149858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01824100800002 meters Centerline goodness [0,1] 0.8869574723953209 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.10, Z:0.29 [[ 0.82849336 -0.14697246 -0.54036825 6.36858671] [ 0.18099046 0.98343386 0.01001483 -0.09843205] [ 0.52994453 -0.10609871 0.84136904 0.28714406] [ 0. 0. 0. 1. ]] SLAMing on 117.04824100800002 meters Centerline goodness [0,1] 0.8904528096017458 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.10, Z:0.29 [[ 0.82868772 -0.14593343 -0.54035182 6.36705529] [ 0.18003424 0.98360474 0.01045864 -0.09762099] [ 0.52996635 -0.10594877 0.84137419 0.28705244] [ 0. 0. 0. 1. ]] SLAMing on 117.078241008 meters Centerline goodness [0,1] 0.8880180695022724 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.10, Z:0.29 [[ 0.82904967 -0.13973899 -0.54143296 6.36676539] [ 0.17590276 0.98428851 0.01530872 -0.09923724] [ 0.53078702 -0.10793124 0.84060454 0.28892442] [ 0. 0. 0. 1. ]] SLAMing on 117.10824100800001 meters Centerline goodness [0,1] 0.8847907506920697 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.10, Z:0.29 [[ 0.83003027 -0.13265513 -0.54171243 6.36441424] [ 0.17047489 0.98515983 0.01996043 -0.09906164] [ 0.53102548 -0.10891613 0.84032685 0.28844952] [ 0. 0. 0. 1. ]] SLAMing on 117.13824100800001 meters Centerline goodness [0,1] 0.8841656088800065 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.10, Z:0.29 [[ 0.83016719 -0.13090696 -0.54192787 6.36281902] [ 0.16889173 0.98541751 0.02068608 -0.09756092] [ 0.53131726 -0.10870004 0.84017038 0.2883855 ] [ 0. 0. 0. 1. ]] SLAMing on 117.16824100800001 meters Centerline goodness [0,1] 0.8833571178545464 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.10, Z:0.29 [[ 0.83036509 -0.12902136 -0.54207685 6.36052615] [ 0.16716892 0.98569458 0.02146482 -0.09601478] [ 0.53155279 -0.10844204 0.84005473 0.28839455] [ 0. 0. 0. 1. ]] SLAMing on 117.19824100800001 meters Centerline goodness [0,1] 0.8884637150017516 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.10, Z:0.29 [[ 0.83126171 -0.1206872 -0.54262194 6.35528187] [ 0.16109319 0.98655992 0.02735873 -0.0988171 ] [ 0.53202721 -0.11015496 0.83953138 0.29030376] [ 0. 0. 0. 1. ]] SLAMing on 117.22824100800001 meters Centerline goodness [0,1] 0.8954269526507487 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.29 [[ 0.83141356 -0.11943699 -0.54266592 6.353424 ] [ 0.16004902 0.98671069 0.02804149 -0.09949553] [ 0.53210507 -0.11016722 0.83948042 0.29074627] [ 0. 0. 0. 1. ]] SLAMing on 117.25824100800001 meters Centerline goodness [0,1] 0.898691226369365 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.29 [[ 0.83147883 -0.11891653 -0.54268022 6.35319264] [ 0.15938895 0.98681953 0.02797113 -0.0988255 ] [ 0.53220121 -0.10975463 0.83947352 0.29023551] [ 0. 0. 0. 1. ]] SLAMing on 117.28824100800001 meters Centerline goodness [0,1] 0.8967880661201452 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.29 [[ 0.83165523 -0.11858135 -0.54248322 6.3532267 ] [ 0.15877551 0.98692665 0.02767899 -0.09697526] [ 0.53210894 -0.10915243 0.83961052 0.28894475] [ 0. 0. 0. 1. ]] SLAMing on 117.31824100800002 meters Centerline goodness [0,1] 0.8904131654541061 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.29 [[ 0.83225044 -0.11256165 -0.54285272 6.35296479] [ 0.15429836 0.98751265 0.03179283 -0.09639791] [ 0.53249527 -0.11022088 0.83922592 0.28855919] [ 0. 0. 0. 1. ]] SLAMing on 117.34824100800002 meters Centerline goodness [0,1] 0.8824049987932098 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.29 [[ 0.83229913 -0.11190256 -0.54291434 6.35222558] [ 0.15378858 0.98757876 0.03220675 -0.09674505] [ 0.53256665 -0.11029968 0.83917027 0.28885364] [ 0. 0. 0. 1. ]] SLAMing on 117.37824100800002 meters Centerline goodness [0,1] 0.8870392390011891 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.29 [[ 0.83233902 -0.11481687 -0.54224426 6.34979525] [ 0.15534433 0.98742366 0.029371 -0.09722694] [ 0.53205252 -0.10868121 0.83970739 0.28797222] [ 0. 0. 0. 1. ]] SLAMing on 117.40824100800002 meters Centerline goodness [0,1] 0.8799978518299724 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.29 [[ 0.83223326 -0.114605 -0.54245137 6.35010089] [ 0.1553007 0.98742223 0.02964853 -0.09805977] [ 0.53223067 -0.10891757 0.83956386 0.28856403] [ 0. 0. 0. 1. ]] SLAMing on 117.43824100800002 meters Centerline goodness [0,1] 0.8810069884784544 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.29 [[ 0.83227402 -0.11424255 -0.54246529 6.34984671] [ 0.1551448 0.98743376 0.03007756 -0.09903943] [ 0.5322124 -0.10919344 0.83953961 0.2889372 ] [ 0. 0. 0. 1. ]] SLAMing on 117.468241008 meters Centerline goodness [0,1] 0.880096117500945 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.29 [[ 0.83217287 -0.11813985 -0.54178528 6.3478597 ] [ 0.15765736 0.98712716 0.02690942 -0.09846116] [ 0.5316319 -0.10780973 0.84008606 0.28835912] [ 0. 0. 0. 1. ]] SLAMing on 117.49824100800001 meters Centerline goodness [0,1] 0.8763986963606736 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.29 [[ 0.8321564 -0.12223075 -0.54090237 6.34583971] [ 0.16039629 0.98676625 0.02377808 -0.09978289] [ 0.53083779 -0.10654581 0.84074921 0.28785887] [ 0. 0. 0. 1. ]] SLAMing on 117.52824100800001 meters Centerline goodness [0,1] 0.8817169247487096 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.29 [[ 0.83205196 -0.12201749 -0.54111114 6.34647276] [ 0.16035364 0.98676632 0.02406124 -0.10089443] [ 0.53101435 -0.10678934 0.8406068 0.28834074] [ 0. 0. 0. 1. ]] SLAMing on 117.55824100800001 meters Centerline goodness [0,1] 0.8818407620711303 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.29 [[ 0.83197218 -0.1219888 -0.54124027 6.34752645] [ 0.16035395 0.98676569 0.02408479 -0.10096793] [ 0.53113925 -0.10682789 0.84052299 0.28823336] [ 0. 0. 0. 1. ]] SLAMing on 117.58824100800001 meters Centerline goodness [0,1] 0.8812188546687362 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.29 [[ 0.83181231 -0.1223286 -0.54140927 6.34921124] [ 0.16058097 0.9867365 0.023766 -0.10017685] [ 0.53132102 -0.10670888 0.84042322 0.28790831] [ 0. 0. 0. 1. ]] SLAMing on 117.61824100800001 meters Centerline goodness [0,1] 0.883019379319691 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.29 [[ 0.8312468 -0.1233742 -0.54204018 6.35329141] [ 0.16149543 0.98660307 0.02310013 -0.09999001] [ 0.53192855 -0.10673892 0.84003501 0.2882082 ] [ 0. 0. 0. 1. ]] SLAMing on 117.64824100800001 meters Centerline goodness [0,1] 0.8878032804781529 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.10, Z:0.29 [[ 0.83076188 -0.12910885 -0.54144769 6.35449748] [ 0.16535779 0.98605847 0.01858735 -0.09853421] [ 0.53149929 -0.10497426 0.84052894 0.28698831] [ 0. 0. 0. 1. ]] SLAMing on 117.67824100800001 meters Centerline goodness [0,1] 0.8892557923750785 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.10, Z:0.29 [[ 0.83014964 -0.12994223 -0.54218685 6.35790455] [ 0.16633268 0.98589818 0.01839073 -0.09976862] [ 0.5321513 -0.10545045 0.84005666 0.2882101 ] [ 0. 0. 0. 1. ]] SLAMing on 117.70824100800002 meters Centerline goodness [0,1] 0.8897393689986283 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.10, Z:0.29 [[ 0.8295032 -0.13597233 -0.5416973 6.35972595] [ 0.17053645 0.98525427 0.01383284 -0.09854378] [ 0.53182869 -0.10385352 0.84045981 0.28734779] [ 0. 0. 0. 1. ]] SLAMing on 117.73824100800002 meters Centerline goodness [0,1] 0.8903815448989705 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.10, Z:0.29 [[ 0.82829286 -0.14265812 -0.54182987 6.36382427] [ 0.17569975 0.98439883 0.00940952 -0.09988766] [ 0.53203434 -0.10299321 0.84043552 0.28829763] [ 0. 0. 0. 1. ]] SLAMing on 117.76824100800002 meters Centerline goodness [0,1] 0.8862660944206009 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.10, Z:0.29 [[ 8.27572712e-01 -1.48280684e-01 -5.41420581e-01 6.36477500e+00] [ 1.79787585e-01 9.83690621e-01 5.40241957e-03 -9.95315242e-02] [ 5.31789273e-01 -1.01811594e-01 8.40734541e-01 2.88348361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79824100800002 meters Centerline goodness [0,1] 0.8781828224247445 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.10, Z:0.29 [[ 8.26937903e-01 -1.49104174e-01 -5.42163859e-01 6.36778561e+00] [ 1.80804409e-01 9.83504833e-01 5.29239248e-03 -1.00452572e-01] [ 5.32431657e-01 -1.02402096e-01 8.40256116e-01 2.89860285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.828241008 meters Centerline goodness [0,1] 0.8723680934067455 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.10, Z:0.29 [[ 8.26253448e-01 -1.51373524e-01 -5.42578377e-01 6.37264205e+00] [ 1.83049839e-01 9.83093423e-01 4.48090992e-03 -1.00806928e-01] [ 5.32726943e-01 -1.03021252e-01 8.39993230e-01 2.90751530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85824100800001 meters Centerline goodness [0,1] 0.8721216309606081 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.10, Z:0.29 [[ 8.25877879e-01 -1.51454066e-01 -5.43127420e-01 6.37369023e+00] [ 1.83497023e-01 9.83008014e-01 4.90782004e-03 -1.01888482e-01] [ 5.33155297e-01 -1.03715525e-01 8.39635944e-01 2.92363924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88824100800001 meters Centerline goodness [0,1] 0.8666963515431497 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.10, Z:0.29 [[ 8.25490065e-01 -1.51353968e-01 -5.43744544e-01 6.37444521e+00] [ 1.83849941e-01 9.82938893e-01 5.50736148e-03 -1.03657778e-01] [ 5.33634099e-01 -1.04513675e-01 8.39232709e-01 2.94273009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91824100800001 meters Centerline goodness [0,1] 0.8714245965498052 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.11, Z:0.30 [[ 8.25146337e-01 -1.51141764e-01 -5.44324985e-01 6.37484528e+00] [ 1.84173971e-01 9.82873612e-01 6.27791470e-03 -1.05503777e-01] [ 5.34053808e-01 -1.05430692e-01 8.38850940e-01 2.96374983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94824100800001 meters Centerline goodness [0,1] 0.8668435754189944 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.11, Z:0.30 [[ 8.24593283e-01 -1.52248865e-01 -5.44854293e-01 6.37702550e+00] [ 1.85543729e-01 9.82616242e-01 6.23268482e-03 -1.05912916e-01] [ 5.34433758e-01 -1.06233727e-01 8.38507575e-01 2.98160161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97824100800001 meters Centerline goodness [0,1] 0.8682155353393982 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.11, Z:0.30 [[ 8.24207836e-01 -1.52800334e-01 -5.45282955e-01 6.37859032e+00] [ 1.86106395e-01 9.82511383e-01 5.98273128e-03 -1.05197061e-01] [ 5.34832546e-01 -1.06411659e-01 8.38230700e-01 2.98835341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00824100800001 meters Centerline goodness [0,1] 0.8684807891713141 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.11, Z:0.30 [[ 8.23907811e-01 -1.52932350e-01 -5.45699199e-01 6.37949059e+00] [ 1.86355404e-01 9.82463910e-01 6.02742053e-03 -1.05010362e-01] [ 5.35207981e-01 -1.06660033e-01 8.37959459e-01 2.99665802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03824100800001 meters Centerline goodness [0,1] 0.8668482075180372 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.10, Z:0.30 [[ 8.23622950e-01 -1.52979904e-01 -5.46115725e-01 6.38007599e+00] [ 1.86548211e-01 9.82426613e-01 6.14129852e-03 -1.04914845e-01] [ 5.35579126e-01 -1.06935026e-01 8.37687233e-01 3.00668870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06824100800002 meters Centerline goodness [0,1] 0.8681368136813681 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.10, Z:0.30 [[ 8.23340195e-01 -1.52846404e-01 -5.46579271e-01 6.37981845e+00] [ 1.86519871e-01 9.82431400e-01 6.23551089e-03 -1.04277495e-01] [ 5.36023563e-01 -1.07081842e-01 8.37384152e-01 3.01876690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09824100800002 meters Centerline goodness [0,1] 0.8640468086303412 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.10, Z:0.30 [[ 8.23093796e-01 -1.52975069e-01 -5.46914281e-01 6.38031677e+00] [ 1.86606680e-01 9.82416066e-01 6.05146880e-03 -1.02815764e-01] [ 5.36371653e-01 -1.07038785e-01 8.37166739e-01 3.02318863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.12824100800002 meters Centerline goodness [0,1] 0.8602683698910273 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.10, Z:0.30 [[ 0.82295861 -0.14873313 -0.54828604 6.38280554] [ 0.18375798 0.98292869 0.00917615 -0.09980409] [ 0.53756128 -0.10830353 0.83624053 0.30352821] [ 0. 0. 0. 1. ]] SLAMing on 118.15824100800002 meters Centerline goodness [0,1] 0.8588360261642534 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.10, Z:0.30 [[ 0.82287009 -0.14883034 -0.5483925 6.38275235] [ 0.18366098 0.98295008 0.00881911 -0.09726668] [ 0.53772991 -0.10797528 0.83617455 0.30332054] [ 0. 0. 0. 1. ]] SLAMing on 118.18824100800002 meters Centerline goodness [0,1] 0.8608811972243123 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.10, Z:0.30 [[ 0.82281288 -0.14878912 -0.54848953 6.38252453] [ 0.18343592 0.98299473 0.00852252 -0.09504526] [ 0.53789426 -0.10762512 0.83611399 0.30313135] [ 0. 0. 0. 1. ]] SLAMing on 118.218241008 meters Centerline goodness [0,1] 0.8531602115113093 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.09, Z:0.30 [[ 0.82299819 -0.14333546 -0.54966255 6.38218113] [ 0.17959602 0.98366235 0.0123958 -0.09311117] [ 0.5389056 -0.10891893 0.83529481 0.30470131] [ 0. 0. 0. 1. ]] SLAMing on 118.24824100800001 meters Centerline goodness [0,1] 0.8497081176341007 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.09, Z:0.30 [[ 0.82295822 -0.14313367 -0.54977498 6.38140064] [ 0.17921584 0.98373471 0.0121533 -0.09041731] [ 0.53909318 -0.10853004 0.83522438 0.30460108] [ 0. 0. 0. 1. ]] SLAMing on 118.27824100800001 meters Centerline goodness [0,1] 0.8490566037735849 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.09, Z:0.30 [[ 0.82294032 -0.14281532 -0.54988455 6.38008604] [ 0.17876568 0.98381826 0.01201918 -0.0873106 ] [ 0.53926994 -0.10819156 0.83515419 0.30461451] [ 0. 0. 0. 1. ]] SLAMing on 118.30824100800001 meters Centerline goodness [0,1] 0.8412431523566741 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.08, Z:0.31 [[ 0.82339152 -0.13712586 -0.55065679 6.37737734] [ 0.17473327 0.98448387 0.01611839 -0.08403826] [ 0.53990247 -0.10948981 0.83457612 0.30610001] [ 0. 0. 0. 1. ]] SLAMing on 118.33824100800001 meters Centerline goodness [0,1] 0.8433444417350782 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.08, Z:0.31 [[ 0.82348027 -0.13671227 -0.55062691 6.3756183 ] [ 0.17430561 0.98455786 0.01622894 -0.08218881] [ 0.53990535 -0.10934157 0.83459369 0.30630399] [ 0. 0. 0. 1. ]] SLAMing on 118.36824100800001 meters Centerline goodness [0,1] 0.8419033208138561 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.08, Z:0.31 [[ 0.82341035 -0.13656174 -0.55076881 6.37473033] [ 0.17414589 0.98458617 0.01622592 -0.08076879] [ 0.54006352 -0.10927471 0.83450011 0.30672396] [ 0. 0. 0. 1. ]] SLAMing on 118.39824100800001 meters Centerline goodness [0,1] 0.8381460810482892 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.08, Z:0.31 [[ 0.82319645 -0.13680115 -0.55102909 6.37500153] [ 0.17432559 0.9845581 0.0159983 -0.07904798] [ 0.54033157 -0.10922821 0.83433267 0.30717297] [ 0. 0. 0. 1. ]] SLAMing on 118.42824100800001 meters Centerline goodness [0,1] 0.839213464961968 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.08, Z:0.31 [[ 0.82297458 -0.13732594 -0.55122992 6.37580581] [ 0.17466011 0.98450682 0.01549717 -0.07679125] [ 0.54056145 -0.10903166 0.83420946 0.30718939] [ 0. 0. 0. 1. ]] SLAMing on 118.45824100800002 meters Centerline goodness [0,1] 0.8375718678967776 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.07, Z:0.31 [[ 0.82252764 -0.1384304 -0.55162062 6.37651386] [ 0.17543177 0.98438399 0.01455495 -0.07175755] [ 0.54099167 -0.10874363 0.83396813 0.30757961] [ 0. 0. 0. 1. ]] SLAMing on 118.48824100800002 meters Centerline goodness [0,1] 0.8350242257140563 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.07, Z:0.31 [[ 0.82232713 -0.13870873 -0.5518496 6.37658437] [ 0.17564364 0.98434976 0.014313 -0.07017547] [ 0.54122769 -0.10869884 0.83382082 0.30805249] [ 0. 0. 0. 1. ]] SLAMing on 118.51824100800002 meters Centerline goodness [0,1] 0.8332622146362278 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.07, Z:0.31 [[ 0.82203737 -0.1387943 -0.55225964 6.37666846] [ 0.1757808 0.98432593 0.01426784 -0.06946749] [ 0.54162319 -0.10880534 0.83355007 0.30902878] [ 0. 0. 0. 1. ]] SLAMing on 118.54824100800002 meters Centerline goodness [0,1] 0.8344047176326834 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.07, Z:0.31 [[ 0.8215975 -0.13960039 -0.55271085 6.37814752] [ 0.1762455 0.98425518 0.01338937 -0.06670428] [ 0.54213935 -0.10841347 0.83326553 0.30926343] [ 0. 0. 0. 1. ]] SLAMing on 118.578241008 meters Centerline goodness [0,1] 0.8343272110466196 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.06, Z:0.31 [[ 0.82126817 -0.14058341 -0.55295108 6.37996831] [ 0.17682829 0.98416338 0.01241773 -0.06349637] [ 0.54244848 -0.10797568 0.83312118 0.30886774] [ 0. 0. 0. 1. ]] SLAMing on 118.60824100800001 meters Centerline goodness [0,1] 0.8328230574324325 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.06, Z:0.31 [[ 0.82105929 -0.14131216 -0.55307551 6.38112594] [ 0.17721383 0.98410355 0.01163903 -0.0602556 ] [ 0.54263883 -0.10756896 0.83304983 0.3083644 ] [ 0. 0. 0. 1. ]] SLAMing on 118.63824100800001 meters Centerline goodness [0,1] 0.831856778569363 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.06, Z:0.31 [[ 0.82082212 -0.14170047 -0.55332814 6.38105969] [ 0.17733621 0.98408826 0.0110526 -0.05682311] [ 0.54295757 -0.10719734 0.83289003 0.308559 ] [ 0. 0. 0. 1. ]] SLAMing on 118.66824100800001 meters Centerline goodness [0,1] 0.8320574540288849 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.06, Z:0.31 [[ 0.82055229 -0.14174937 -0.55371568 6.38140926] [ 0.17740912 0.9840759 0.01098276 -0.05627284] [ 0.54334145 -0.10724614 0.83263337 0.30934791] [ 0. 0. 0. 1. ]] SLAMing on 118.69824100800001 meters Centerline goodness [0,1] 0.8341554284514876 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.06, Z:0.31 [[ 0.82032231 -0.14162372 -0.55408847 6.38168999] [ 0.1773498 0.98408602 0.01103446 -0.05591615] [ 0.54370798 -0.1073193 0.83238465 0.31006945] [ 0. 0. 0. 1. ]] SLAMing on 118.72824100800001 meters Centerline goodness [0,1] 0.8344000416276407 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.05, Z:0.31 [[ 0.82019979 -0.14174375 -0.55423914 6.38138804] [ 0.17709147 0.98413962 0.01038315 -0.0517353 ] [ 0.54397695 -0.10666728 0.83229272 0.30965869] [ 0. 0. 0. 1. ]] SLAMing on 118.75824100800001 meters Centerline goodness [0,1] 0.8306539722178867 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.05, Z:0.31 [[ 0.82011666 -0.14184064 -0.55433735 6.38118031] [ 0.17693865 0.9841716 0.00994846 -0.04852153] [ 0.54415199 -0.1062426 0.83223262 0.3093808 ] [ 0. 0. 0. 1. ]] SLAMing on 118.78824100800001 meters Centerline goodness [0,1] 0.8324699544135931 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.05, Z:0.31 [[ 0.82012412 -0.14175995 -0.55434695 6.38052897] [ 0.17662039 0.98423215 0.00960759 -0.04520128] [ 0.54424412 -0.10578839 0.83223023 0.30896893] [ 0. 0. 0. 1. ]] SLAMing on 118.81824100800002 meters Centerline goodness [0,1] 0.8324699544135931 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.05, Z:0.31 [[ 0.82012412 -0.14175995 -0.55434695 6.38052897] [ 0.17662039 0.98423215 0.00960759 -0.04520128] [ 0.54424412 -0.10578839 0.83223023 0.30896893] [ 0. 0. 0. 1. ]] SLAMing on 118.84824100800002 meters Centerline goodness [0,1] 0.8323347107438017 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.04, Z:0.31 [[ 0.82011252 -0.14162372 -0.55439893 6.37963694] [ 0.1762855 0.98429483 0.00933343 -0.04212945] [ 0.54437017 -0.10538695 0.83219872 0.30874398] [ 0. 0. 0. 1. ]] SLAMing on 118.87824100800002 meters Centerline goodness [0,1] 0.8311341582379217 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.04, Z:0.31 [[ 0.82019574 -0.14069683 -0.55451181 6.37734041] [ 0.17534203 0.98446111 0.00956558 -0.03890794] [ 0.54454946 -0.10507488 0.83212088 0.30899518] [ 0. 0. 0. 1. ]] SLAMing on 118.90824100800002 meters Centerline goodness [0,1] 0.831541310834448 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.04, Z:0.31 [[ 0.8199884 -0.14072129 -0.55481217 6.37717976] [ 0.1754027 0.98445051 0.00954384 -0.03819392] [ 0.5448421 -0.10514139 0.83192089 0.30976742] [ 0. 0. 0. 1. ]] SLAMing on 118.93824100800002 meters Centerline goodness [0,1] 0.8308713778372536 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.04, Z:0.31 [[ 0.81964815 -0.14098884 -0.55524684 6.378042 ] [ 0.17568493 0.98440173 0.00938352 -0.03781815] [ 0.54526298 -0.10523969 0.83163267 0.31057665] [ 0. 0. 0. 1. ]] SLAMing on 118.968241008 meters Centerline goodness [0,1] 0.8346476853748463 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.04, Z:0.31 [[ 0.8188903 -0.14285935 -0.55588658 6.3817498 ] [ 0.17715927 0.98414921 0.00805756 -0.03509063] [ 0.54592424 -0.10507872 0.8312191 0.31098496] [ 0. 0. 0. 1. ]] SLAMing on 118.99824100800001 meters Centerline goodness [0,1] 0.8357722324912713 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.03, Z:0.31 [[ 0.81856512 -0.14364252 -0.55616362 6.38325873] [ 0.17774453 0.98404845 0.00745154 -0.03311603] [ 0.54622159 -0.10495462 0.83103941 0.3110564 ] [ 0. 0. 0. 1. ]] SLAMing on 119.02824100800001 meters Centerline goodness [0,1] 0.8375083243686287 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.03, Z:0.31 [[ 0.81832797 -0.14417734 -0.55637418 6.3843031 ] [ 0.17813108 0.98398178 0.00701286 -0.03146706] [ 0.54645096 -0.10484635 0.83090228 0.3111151 ] [ 0. 0. 0. 1. ]] SLAMing on 119.05824100800001 meters Centerline goodness [0,1] 0.8402530543247189 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.03, Z:0.31 [[ 0.81813334 -0.14421336 -0.55665101 6.38455632] [ 0.17826258 0.98395746 0.00708297 -0.03107283] [ 0.54669945 -0.10502486 0.83071625 0.31174316] [ 0. 0. 0. 1. ]] SLAMing on 119.08824100800001 meters Centerline goodness [0,1] 0.8382454968265797 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.03, Z:0.31 [[ 0.81786363 -0.14428201 -0.55702942 6.38490671] [ 0.17857857 0.9838982 0.00734989 -0.03222171] [ 0.54699979 -0.10548473 0.83046024 0.31307534] [ 0. 0. 0. 1. ]] SLAMing on 119.11824100800001 meters Centerline goodness [0,1] 0.837812813456444 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.03, Z:0.31 [[ 0.81777844 -0.14410555 -0.55720015 6.38474864] [ 0.17851944 0.98390747 0.00754274 -0.03241098] [ 0.54714644 -0.10563935 0.83034397 0.31363384] [ 0. 0. 0. 1. ]] SLAMing on 119.14824100800001 meters Centerline goodness [0,1] 0.8385563832519908 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.03, Z:0.31 [[ 0.81768486 -0.1439457 -0.55737878 6.38457455] [ 0.17842231 0.9839243 0.0076457 -0.03180836] [ 0.54731796 -0.10570058 0.83022313 0.31403167] [ 0. 0. 0. 1. ]] SLAMing on 119.17824100800001 meters Centerline goodness [0,1] 0.8414899332292972 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.03, Z:0.31 [[ 0.81774181 -0.14327839 -0.55746716 6.38343102] [ 0.17777301 0.98404014 0.00785829 -0.02910631] [ 0.54744414 -0.10552867 0.8301618 0.31401581] [ 0. 0. 0. 1. ]] SLAMing on 119.20824100800002 meters Centerline goodness [0,1] 0.8406558216984757 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.03, Z:0.31 [[ 0.81772757 -0.1432996 -0.55748259 6.3830179 ] [ 0.1776897 0.98405652 0.00768969 -0.02743584] [ 0.54749245 -0.10534699 0.83015301 0.31393571] [ 0. 0. 0. 1. ]] SLAMing on 119.23824100800002 meters Centerline goodness [0,1] 0.83923273657289 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.03, Z:0.31 [[ 0.81771855 -0.14295537 -0.5575842 6.38229977] [ 0.17741258 0.98410506 0.00787407 -0.02688838] [ 0.54759579 -0.10536122 0.83008304 0.314249 ] [ 0. 0. 0. 1. ]] SLAMing on 119.26824100800002 meters Centerline goodness [0,1] 0.8388814913448734 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.03, Z:0.31 [[ 0.8176692 -0.14257117 -0.55775492 6.38197405] [ 0.17716331 0.98414766 0.00815753 -0.0270894 ] [ 0.54775017 -0.10548387 0.82996561 0.3147562 ] [ 0. 0. 0. 1. ]] SLAMing on 119.29824100800002 meters Centerline goodness [0,1] 0.8413957176843775 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.03, Z:0.32 [[ 0.81772927 -0.14163049 -0.55790648 6.38037346] [ 0.17647251 0.98426631 0.00879111 -0.02745487] [ 0.54788347 -0.1056439 0.82985726 0.31559934] [ 0. 0. 0. 1. ]] SLAMing on 119.32824100800002 meters Centerline goodness [0,1] 0.8441491948903054 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.03, Z:0.32 [[ 0.81775744 -0.14139952 -0.55792378 6.37987944] [ 0.17620714 0.98431372 0.00880624 -0.02633021] [ 0.54792683 -0.10551152 0.82984547 0.31553375] [ 0. 0. 0. 1. ]] SLAMing on 119.35824100800001 meters Centerline goodness [0,1] 0.8436258025068786 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.02, Z:0.32 [[ 0.81775825 -0.14141278 -0.55791923 6.37974456] [ 0.17605922 0.98434237 0.00855911 -0.0243821 ] [ 0.54797317 -0.10522611 0.82985111 0.31518846] [ 0. 0. 0. 1. ]] SLAMing on 119.38824100800001 meters Centerline goodness [0,1] 0.8425006980226921 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.02, Z:0.31 [[ 0.81780542 -0.14085399 -0.55799144 6.37934887] [ 0.17539402 0.98446116 0.00855371 -0.02225565] [ 0.54811607 -0.10486363 0.82980262 0.31480387] [ 0. 0. 0. 1. ]] SLAMing on 119.41824100800001 meters Centerline goodness [0,1] 0.8411018024879411 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.02, Z:0.32 [[ 0.8177366 -0.14062048 -0.55815117 6.37952985] [ 0.17521668 0.98449168 0.00867399 -0.02227584] [ 0.54827544 -0.10489043 0.82969394 0.31505974] [ 0. 0. 0. 1. ]] SLAMing on 119.44824100800001 meters Centerline goodness [0,1] 0.8385522570150468 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.02, Z:0.32 [[ 0.81775683 -0.14001577 -0.55827354 6.37921051] [ 0.17485744 0.98455074 0.00920379 -0.02354559] [ 0.54835995 -0.10514474 0.8296059 0.31557169] [ 0. 0. 0. 1. ]] SLAMing on 119.47824100800001 meters Centerline goodness [0,1] 0.8402036919159771 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.02, Z:0.32 [[ 0.81767398 -0.13965362 -0.55848557 6.37934426] [ 0.17474086 0.98456729 0.00963797 -0.02478585] [ 0.54852065 -0.10547097 0.82945824 0.31629292] [ 0. 0. 0. 1. ]] SLAMing on 119.50824100800001 meters Centerline goodness [0,1] 0.8441482312162301 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.03, Z:0.32 [[ 0.81753003 -0.13941303 -0.55875635 6.38004799] [ 0.17467872 0.98457552 0.00991925 -0.02584386] [ 0.54875495 -0.10571213 0.82927254 0.31679543] [ 0. 0. 0. 1. ]] SLAMing on 119.53824100800001 meters Centerline goodness [0,1] 0.8459300099548204 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.03, Z:0.32 [[ 0.81740795 -0.13963037 -0.55888068 6.3820006 ] [ 0.17485373 0.98454605 0.00975934 -0.0258648 ] [ 0.54888106 -0.10569973 0.82919066 0.31639155] [ 0. 0. 0. 1. ]] SLAMing on 119.56824100800002 meters Centerline goodness [0,1] 0.8456930175644326 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.03, Z:0.32 [[ 0.81724798 -0.1396994 -0.55909733 6.38314526] [ 0.17497571 0.9845243 0.00976769 -0.02582488] [ 0.54908036 -0.10581108 0.82904449 0.31654749] [ 0. 0. 0. 1. ]] SLAMing on 119.59824100800002 meters Centerline goodness [0,1] 0.8437979735953332 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.03, Z:0.32 [[ 0.81717397 -0.13949137 -0.55925742 6.38398126] [ 0.17491364 0.98453284 0.01001513 -0.02686797] [ 0.54921027 -0.10600585 0.82893356 0.31676147] [ 0. 0. 0. 1. ]] SLAMing on 119.62824100800002 meters Centerline goodness [0,1] 0.8427006736257521 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.03, Z:0.32 [[ 0.81716517 -0.13803888 -0.55963055 6.3834843 ] [ 0.17434647 0.98461471 0.01171264 -0.03329501] [ 0.54940367 -0.10714077 0.82865944 0.31889196] [ 0. 0. 0. 1. ]] SLAMing on 119.65824100800002 meters Centerline goodness [0,1] 0.8477766287487074 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.03, Z:0.32 [[ 0.81702708 -0.14215259 -0.55880175 6.38144774] [ 0.1770563 0.98416389 0.00851526 -0.03388813] [ 0.54874203 -0.10589657 0.82925756 0.31842075] [ 0. 0. 0. 1. ]] SLAMing on 119.68824100800002 meters Centerline goodness [0,1] 0.8447241896293233 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.04, Z:0.32 [[ 0.81703169 -0.14157851 -0.55894073 6.38153616] [ 0.17675613 0.98421285 0.00907426 -0.03522469] [ 0.54883193 -0.10621016 0.82915796 0.31885501] [ 0. 0. 0. 1. ]] SLAMing on 119.718241008 meters Centerline goodness [0,1] 0.841536831770147 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.04, Z:0.32 [[ 0.81733456 -0.136432 -0.55977721 6.3837529 ] [ 0.17331284 0.9847805 0.01303911 -0.03545841] [ 0.54947873 -0.10767389 0.82854056 0.31913449] [ 0. 0. 0. 1. ]] SLAMing on 119.74824100800001 meters Centerline goodness [0,1] 0.8468354430379746 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.04, Z:0.32 [[ 0.81743037 -0.13587962 -0.55977167 6.38348311] [ 0.17287079 0.98485366 0.01337739 -0.03582273] [ 0.54947546 -0.10770326 0.82853891 0.31905617] [ 0. 0. 0. 1. ]] SLAMing on 119.77824100800001 meters Centerline goodness [0,1] 0.8410002847601543 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.04, Z:0.32 [[ 0.81753938 -0.13482036 -0.55986858 6.38280262] [ 0.17219023 0.9849606 0.01425255 -0.03820402] [ 0.54952696 -0.10805593 0.82845883 0.3196501 ] [ 0. 0. 0. 1. ]] SLAMing on 119.80824100800001 meters Centerline goodness [0,1] 0.8424589736910654 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.04, Z:0.32 [[ 0.81789572 -0.13744315 -0.55870921 6.37895429] [ 0.17364904 0.98473498 0.01195921 -0.04109982] [ 0.54853679 -0.10680071 0.8292774 0.31867925] [ 0. 0. 0. 1. ]] SLAMing on 119.83824100800001 meters Centerline goodness [0,1] 0.8399157588206235 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.04, Z:0.32 [[ 0.81789877 -0.13717283 -0.55877117 6.37951403] [ 0.17350846 0.98475651 0.01222418 -0.0419396 ] [ 0.54857672 -0.10694966 0.82923178 0.31869514] [ 0. 0. 0. 1. ]] SLAMing on 119.86824100800001 meters Centerline goodness [0,1] 0.8412855248446398 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.04, Z:0.32 [[ 0.81784947 -0.13721243 -0.55883361 6.38061985] [ 0.17355346 0.98474881 0.01220546 -0.04220058] [ 0.54863599 -0.10696974 0.82918998 0.31846534] [ 0. 0. 0. 1. ]] SLAMing on 119.89824100800001 meters Centerline goodness [0,1] 0.8413897280966767 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.04, Z:0.32 [[ 0.81770908 -0.13723152 -0.55903432 6.38193591] [ 0.1736844 0.98472428 0.01232144 -0.04298369] [ 0.54880378 -0.10717089 0.82905296 0.3186513 ] [ 0. 0. 0. 1. ]] SLAMing on 119.92824100800001 meters Centerline goodness [0,1] 0.8440266353309831 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.04, Z:0.32 [[ 0.81749476 -0.13713901 -0.55937036 6.38298963] [ 0.17386785 0.98468726 0.0126875 -0.04479075] [ 0.54906492 -0.10762849 0.82882074 0.31951588] [ 0. 0. 0. 1. ]] SLAMing on 119.95824100800002 meters Centerline goodness [0,1] 0.840275224539104 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.05, Z:0.32 [[ 0.81707789 -0.14180023 -0.55881698 6.38276427] [ 0.17749967 0.98407183 0.00982333 -0.04873475] [ 0.54852309 -0.10721625 0.82923283 0.32023633] [ 0. 0. 0. 1. ]] SLAMing on 119.98824100800002 meters Centerline goodness [0,1] 0.8425321255529808 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.05, Z:0.32 [[ 8.16600926e-01 -1.47143834e-01 -5.58132259e-01 6.38289394e+00] [ 1.81318473e-01 9.83405975e-01 6.02492925e-03 -4.96524485e-02] [ 5.47984068e-01 -1.06119652e-01 8.29730126e-01 3.19964327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01824100800002 meters Centerline goodness [0,1] 0.8465889567308963 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.05, Z:0.32 [[ 8.16039996e-01 -1.52562362e-01 -5.57497489e-01 6.38344809e+00] [ 1.85254674e-01 9.82687970e-01 2.24938225e-03 -5.06150478e-02] [ 5.47502904e-01 -1.05114601e-01 8.30175578e-01 3.19797025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.04824100800002 meters Centerline goodness [0,1] 0.8472428419936373 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.05, Z:0.32 [[ 8.15356832e-01 -1.58453282e-01 -5.56853477e-01 6.38482613e+00] [ 1.89472005e-01 9.81884153e-01 -1.96725429e-03 -5.03226372e-02] [ 5.47077322e-01 -1.03904131e-01 8.30608413e-01 3.19245933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07824100800002 meters Centerline goodness [0,1] 0.8488715208549327 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.05, Z:0.32 [[ 8.14819743e-01 -1.59313130e-01 -5.57394038e-01 6.38811470e+00] [ 1.90486194e-01 9.81687577e-01 -2.12382766e-03 -5.16564127e-02] [ 5.47525157e-01 -1.04445332e-01 8.30245371e-01 3.20151793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10824100800001 meters Centerline goodness [0,1] 0.8556992401013198 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.05, Z:0.32 [[ 8.14053147e-01 -1.65494123e-01 -5.56712825e-01 6.39003659e+00] [ 1.95129485e-01 9.80757753e-01 -6.22200999e-03 -5.20482846e-02] [ 5.47030125e-01 -1.03566040e-01 8.30681719e-01 3.19869495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13824100800001 meters Centerline goodness [0,1] 0.8546960587842352 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.05, Z:0.32 [[ 0.81359577 -0.17066001 -0.55582109 6.38939898] [ 0.19872928 0.98000333 -0.01000696 -0.05219864] [ 0.5464143 -0.10231631 0.83124171 0.31934741] [ 0. 0. 0. 1. ]] SLAMing on 120.16824100800001 meters Centerline goodness [0,1] 0.8560818083961248 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.05, Z:0.32 [[ 0.81296845 -0.17554242 -0.55521812 6.38905613] [ 0.20242933 0.97920803 -0.013191 -0.05479078] [ 0.54598962 -0.10166856 0.83160016 0.32005357] [ 0. 0. 0. 1. ]] SLAMing on 120.19824100800001 meters Centerline goodness [0,1] 0.8616402970616726 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.06, Z:0.32 [[ 0.8128119 -0.17548198 -0.55546638 6.38989214] [ 0.20253359 0.97918933 -0.01297715 -0.05573466] [ 0.546184 -0.10195262 0.83143773 0.32056323] [ 0. 0. 0. 1. ]] SLAMing on 120.22824100800001 meters Centerline goodness [0,1] 0.8568970153267007 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.06, Z:0.32 [[ 0.81273214 -0.17540891 -0.55560614 6.39031773] [ 0.20253722 0.97919 -0.01286909 -0.05579668] [ 0.54630133 -0.1020718 0.83134602 0.32076865] [ 0. 0. 0. 1. ]] SLAMing on 120.25824100800001 meters Centerline goodness [0,1] 0.8657714544534143 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.05, Z:0.32 [[ 0.81282924 -0.17533443 -0.5554876 6.39004256] [ 0.2021979 0.97925542 -0.01322231 -0.05340126] [ 0.54628257 -0.10157094 0.83141969 0.31992696] [ 0. 0. 0. 1. ]] SLAMing on 120.28824100800001 meters Centerline goodness [0,1] 0.8592596526634446 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.05, Z:0.32 [[ 0.81298746 -0.17496669 -0.55537199 6.38891848] [ 0.20175318 0.97934746 -0.01319903 -0.05193344] [ 0.54621153 -0.10131742 0.83149729 0.3196005 ] [ 0. 0. 0. 1. ]] SLAMing on 120.31824100800002 meters Centerline goodness [0,1] 0.8565601991630912 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.05, Z:0.32 [[ 0.81328395 -0.17422939 -0.55516965 6.38723968] [ 0.20104733 0.9794969 -0.01287638 -0.05125189] [ 0.54603039 -0.10114322 0.83163746 0.31929264] [ 0. 0. 0. 1. ]] SLAMing on 120.34824100800002 meters Centerline goodness [0,1] 0.8624179647347197 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.05, Z:0.32 [[ 0.81371737 -0.17292563 -0.55494213 6.38453592] [ 0.19977794 0.97976314 -0.01236775 -0.05065269] [ 0.54585054 -0.10080134 0.83179701 0.31891499] [ 0. 0. 0. 1. ]] SLAMing on 120.37824100800002 meters Centerline goodness [0,1] 0.8610746362729135 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.05, Z:0.32 [[ 0.81382496 -0.17256726 -0.55489592 6.38392446] [ 0.19941646 0.97983825 -0.01225078 -0.04993294] [ 0.54582233 -0.10068539 0.83182957 0.31870972] [ 0. 0. 0. 1. ]] SLAMing on 120.40824100800002 meters Centerline goodness [0,1] 0.8594950315932985 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.05, Z:0.32 [[ 0.81391855 -0.17244783 -0.55479576 6.38374398] [ 0.19921222 0.97987892 -0.0123207 -0.04911173] [ 0.54575735 -0.10049405 0.83189535 0.31829084] [ 0. 0. 0. 1. ]] SLAMing on 120.43824100800002 meters Centerline goodness [0,1] 0.8599556077816948 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.05, Z:0.32 [[ 0.81399615 -0.17226875 -0.55473755 6.38348319] [ 0.19901894 0.97991878 -0.01227379 -0.04857436] [ 0.54571213 -0.10041246 0.83193486 0.31808915] [ 0. 0. 0. 1. ]] SLAMing on 120.468241008 meters Centerline goodness [0,1] 0.8593709383935534 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.05, Z:0.32 [[ 0.81437205 -0.17125961 -0.55449825 6.38143528] [ 0.19808962 0.98011306 -0.01178565 -0.047791 ] [ 0.54548938 -0.10024244 0.83210143 0.31767218] [ 0. 0. 0. 1. ]] SLAMing on 120.49824100800001 meters Centerline goodness [0,1] 0.8593709383935534 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.05, Z:0.32 [[ 0.81437205 -0.17125961 -0.55449825 6.38143528] [ 0.19808962 0.98011306 -0.01178565 -0.047791 ] [ 0.54548938 -0.10024244 0.83210143 0.31767218] [ 0. 0. 0. 1. ]] SLAMing on 120.52824100800001 meters Centerline goodness [0,1] 0.8605429817275747 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.05, Z:0.32 [[ 0.81482692 -0.16988111 -0.554254 6.37879402] [ 0.19687829 0.98036568 -0.01104886 -0.04806576] [ 0.5452486 -0.10011767 0.83227425 0.31749437] [ 0. 0. 0. 1. ]] SLAMing on 120.55824100800001 meters Centerline goodness [0,1] 0.8575995425719929 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.05, Z:0.32 [[ 0.81499307 -0.1688527 -0.55432397 6.37747786] [ 0.19620373 0.98051004 -0.01020539 -0.04981416] [ 0.54524343 -0.10044311 0.83223842 0.31812434] [ 0. 0. 0. 1. ]] SLAMing on 120.58824100800001 meters Centerline goodness [0,1] 0.8598908240187159 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.05, Z:0.32 [[ 0.81534775 -0.16780818 -0.55411954 6.37606182] [ 0.19539917 0.98067807 -0.00947004 -0.05098543] [ 0.54500203 -0.10055312 0.83238324 0.31796279] [ 0. 0. 0. 1. ]] SLAMing on 120.61824100800001 meters Centerline goodness [0,1] 0.8578667013121996 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.05, Z:0.32 [[ 0.815417 -0.16775424 -0.55403395 6.37606754] [ 0.19528536 0.9807002 -0.0095258 -0.0501541 ] [ 0.54493921 -0.10042722 0.83243957 0.31754277] [ 0. 0. 0. 1. ]] SLAMing on 120.64824100800001 meters Centerline goodness [0,1] 0.8581934410893405 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.05, Z:0.32 [[ 0.81548015 -0.16760407 -0.55398646 6.37605269] [ 0.19516942 0.98072434 -0.00941648 -0.04998481] [ 0.54488624 -0.10044226 0.83247242 0.31736734] [ 0. 0. 0. 1. ]] SLAMing on 120.67824100800001 meters Centerline goodness [0,1] 0.8601888358580618 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.05, Z:0.32 [[ 0.81544931 -0.1672379 -0.55414249 6.37627555] [ 0.19502703 0.98075661 -0.00899591 -0.05133727] [ 0.54498337 -0.10073706 0.83237321 0.31783839] [ 0. 0. 0. 1. ]] SLAMing on 120.70824100800002 meters Centerline goodness [0,1] 0.8601888358580618 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.05, Z:0.32 [[ 0.81544931 -0.1672379 -0.55414249 6.37627555] [ 0.19502703 0.98075661 -0.00899591 -0.05133727] [ 0.54498337 -0.10073706 0.83237321 0.31783839] [ 0. 0. 0. 1. ]] SLAMing on 120.73824100800002 meters Centerline goodness [0,1] 0.8650430324116463 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.06, Z:0.31 [[ 8.14038426e-01 -1.65765068e-01 -5.56653737e-01 6.35605614e+00] [ 1.96893092e-01 9.80416704e-01 -4.02458198e-03 -6.15178304e-02] [ 5.46419757e-01 -1.06325111e-01 8.30734867e-01 3.09175365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.76824100800002 meters Centerline goodness [0,1] 0.8647941153372949 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.06, Z:0.31 [[ 8.13981881e-01 -1.65505588e-01 -5.56813611e-01 6.35651687e+00] [ 1.96820221e-01 9.80432622e-01 -3.69779789e-03 -6.27332533e-02] [ 5.46530235e-01 -1.06582237e-01 8.30629237e-01 3.09572958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79824100800002 meters Centerline goodness [0,1] 0.8671197072660742 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.06, Z:0.31 [[ 8.13856788e-01 -1.65557696e-01 -5.56980950e-01 6.35747401e+00] [ 1.96974610e-01 9.80401988e-01 -3.59791647e-03 -6.31781239e-02] [ 5.46660893e-01 -1.06782917e-01 8.30517475e-01 3.09798043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.82824100800002 meters Centerline goodness [0,1] 0.8665843275345562 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.07, Z:0.31 [[ 8.13447397e-01 -1.66247040e-01 -5.57373532e-01 6.36022102e+00] [ 1.97864993e-01 9.80222672e-01 -3.59965761e-03 -6.51957081e-02] [ 5.46948605e-01 -1.07356578e-01 8.30254051e-01 3.10641064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85824100800001 meters Centerline goodness [0,1] 0.8680240531701656 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.07, Z:0.31 [[ 8.13159647e-01 -1.66201835e-01 -5.57806722e-01 6.36188586e+00] [ 1.98152688e-01 9.80165996e-01 -3.18321157e-03 -6.75892652e-02] [ 5.47272237e-01 -1.07942442e-01 8.29964775e-01 3.11656546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88824100800001 meters Centerline goodness [0,1] 0.8750265055131468 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.07, Z:0.31 [[ 0.81258376 -0.17139659 -0.55707346 6.36355247] [ 0.20194387 0.97937378 -0.00675856 -0.07033439] [ 0.54674153 -0.10700568 0.83043572 0.31115997] [ 0. 0. 0. 1. ]] SLAMing on 120.91824100800001 meters Centerline goodness [0,1] 0.8782710653946597 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.07, Z:0.31 [[ 0.81226718 -0.17135154 -0.55754882 6.36530019] [ 0.20220932 0.97932151 -0.00638554 -0.07248786] [ 0.54711372 -0.1075548 0.8301196 0.3121797 ] [ 0. 0. 0. 1. ]] SLAMing on 120.94824100800001 meters Centerline goodness [0,1] 0.8803868657992466 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.07, Z:0.31 [[ 8.11929379e-01 -1.71401010e-01 -5.58025427e-01 6.36741138e+00] [ 2.02526199e-01 9.79257792e-01 -6.10868877e-03 -7.44196743e-02] [ 5.47497783e-01 -1.08054945e-01 8.29801366e-01 3.13027598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97824100800001 meters Centerline goodness [0,1] 0.8826395395529381 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.08, Z:0.31 [[ 8.11506704e-01 -1.71651594e-01 -5.58562977e-01 6.36977118e+00] [ 2.03013787e-01 9.79157763e-01 -5.95625156e-03 -7.58386826e-02] [ 5.47943675e-01 -1.08562447e-01 8.29440730e-01 3.13971345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00824100800001 meters Centerline goodness [0,1] 0.887656740864055 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.08, Z:0.31 [[ 8.11024148e-01 -1.73147543e-01 -5.58802076e-01 6.37415910e+00] [ 2.04612856e-01 9.78822541e-01 -6.32558642e-03 -7.81754795e-02] [ 5.48063328e-01 -1.09207885e-01 8.29276930e-01 3.14437040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03824100800001 meters Centerline goodness [0,1] 0.8942504580234939 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.08, Z:0.32 [[ 8.10690906e-01 -1.73166211e-01 -5.59279643e-01 6.37580503e+00] [ 2.04964036e-01 9.78751458e-01 -5.94371830e-03 -8.05601498e-02] [ 5.48425017e-01 -1.09813695e-01 8.28957751e-01 3.15616386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06824100800002 meters Centerline goodness [0,1] 0.8927538582123842 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.08, Z:0.32 [[ 8.10366965e-01 -1.73229075e-01 -5.59729461e-01 6.37742146e+00] [ 2.05394810e-01 9.78663649e-01 -5.51664672e-03 -8.34361383e-02] [ 5.48742521e-01 -1.10495018e-01 8.28657044e-01 3.16964938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09824100800002 meters Centerline goodness [0,1] 0.8984453428114062 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.08, Z:0.32 [[ 0.80983263 -0.17854261 -0.55883239 6.37711796] [ 0.20903897 0.97786126 -0.00949002 -0.08337694] [ 0.54815492 -0.10913242 0.82922632 0.31636061] [ 0. 0. 0. 1. ]] SLAMing on 121.12824100800002 meters Centerline goodness [0,1] 0.9024363685858173 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.09, Z:0.32 [[ 0.80920039 -0.1838144 -0.55803852 6.37709744] [ 0.21294709 0.97697698 -0.01301983 -0.08505993] [ 0.54758402 -0.10829703 0.8297129 0.31651235] [ 0. 0. 0. 1. ]] SLAMing on 121.15824100800002 meters Centerline goodness [0,1] 0.8996158980086627 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.09, Z:0.32 [[ 0.8089758 -0.18371028 -0.55839832 6.37770667] [ 0.21320977 0.97692625 -0.01251768 -0.08648753] [ 0.5478136 -0.10892948 0.82947853 0.3177177 ] [ 0. 0. 0. 1. ]] SLAMing on 121.18824100800002 meters Centerline goodness [0,1] 0.8993023382569357 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.09, Z:0.32 [[ 0.80875642 -0.18364863 -0.55873628 6.37836454] [ 0.21345367 0.97687804 -0.01211714 -0.08757601] [ 0.5480425 -0.1094645 0.82925686 0.31875277] [ 0. 0. 0. 1. ]] SLAMing on 121.218241008 meters Centerline goodness [0,1] 0.8969738463645077 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.09, Z:0.32 [[ 0.80802725 -0.18419178 -0.55961178 6.38174713] [ 0.21453567 0.97664624 -0.01168584 -0.0904231 ] [ 0.54869518 -0.11061421 0.82867249 0.32115186] [ 0. 0. 0. 1. ]] SLAMing on 121.24824100800001 meters Centerline goodness [0,1] 0.8972142170989433 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.09, Z:0.32 [[ 0.80780684 -0.18403693 -0.55998081 6.38297452] [ 0.21466444 0.9766225 -0.01129897 -0.09225182] [ 0.54896929 -0.11108059 0.82842852 0.32201401] [ 0. 0. 0. 1. ]] SLAMing on 121.27824100800001 meters Centerline goodness [0,1] 0.8955072224968419 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.09, Z:0.32 [[ 0.80768596 -0.18367214 -0.56027488 6.38359771] [ 0.21459504 0.97664328 -0.01081034 -0.09381827] [ 0.54917426 -0.11150085 0.8282362 0.32277097] [ 0. 0. 0. 1. ]] SLAMing on 121.30824100800001 meters Centerline goodness [0,1] 0.9010744414827843 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.10, Z:0.33 [[ 8.07747308e-01 -1.78027401e-01 -5.62005810e-01 6.38541483e+00] [ 2.11404780e-01 9.77381605e-01 -5.76340036e-03 -9.75076622e-02] [ 5.50320184e-01 -1.14155344e-01 8.27113204e-01 3.26235785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33824100800001 meters Centerline goodness [0,1] 0.9017984820151799 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.10, Z:0.33 [[ 8.08278518e-01 -1.71880920e-01 -5.63154319e-01 6.38577684e+00] [ 2.07291717e-01 9.78278599e-01 -1.06184607e-03 -9.88540632e-02] [ 5.51104329e-01 -1.15878959e-01 8.26351067e-01 3.27617995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36824100800001 meters Centerline goodness [0,1] 0.9059700265760706 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.10, Z:0.33 [[ 8.08568857e-01 -1.71015637e-01 -5.63000937e-01 6.38418938e+00] [ 2.06464708e-01 9.78453803e-01 -6.92657980e-04 -9.85202739e-02] [ 5.50988863e-01 -1.15679762e-01 8.26455967e-01 3.27300698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39824100800001 meters Centerline goodness [0,1] 0.9056691704589067 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.10, Z:0.33 [[ 8.09116231e-01 -1.64206514e-01 -5.64240327e-01 6.38334996e+00] [ 2.02044494e-01 9.79365003e-01 4.71318076e-03 -1.02227293e-01] [ 5.51823294e-01 -1.17815163e-01 8.25597141e-01 3.29701374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42824100800001 meters Centerline goodness [0,1] 0.9069468032652167 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.10, Z:0.33 [[ 8.09601629e-01 -1.62960255e-01 -5.63905274e-01 6.38105146e+00] [ 2.00888944e-01 9.79599535e-01 5.32753704e-03 -1.02432766e-01] [ 5.51533167e-01 -1.17595518e-01 8.25822293e-01 3.29109904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45824100800002 meters Centerline goodness [0,1] 0.907865352143363 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.10, Z:0.33 [[ 0.81070222 -0.15600299 -0.56429157 6.37923862] [ 0.19565114 0.98062272 0.00998551 -0.1024683 ] [ 0.55179936 -0.11849957 0.82551518 0.32844442] [ 0. 0. 0. 1. ]] SLAMing on 121.48824100800002 meters Centerline goodness [0,1] 0.9056076035302104 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.10, Z:0.33 [[ 0.81101816 -0.15536937 -0.56401233 6.37804875] [ 0.19483554 0.98078511 0.00998416 -0.10084241] [ 0.55162366 -0.11798698 0.82570601 0.32735218] [ 0. 0. 0. 1. ]] SLAMing on 121.51824100800002 meters Centerline goodness [0,1] 0.9052176513771446 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.10, Z:0.33 [[ 0.8114691 -0.15432805 -0.56364949 6.37606118] [ 0.19378558 0.98098888 0.01039105 -0.1003852 ] [ 0.55133025 -0.11765916 0.82594871 0.32649353] [ 0. 0. 0. 1. ]] SLAMing on 121.54824100800002 meters Centerline goodness [0,1] 0.9008668713823745 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.10, Z:0.33 [[ 0.81244591 -0.15085393 -0.56318268 6.37030625] [ 0.19075897 0.98156024 0.012268 -0.1025326 ] [ 0.55094705 -0.11739923 0.82624135 0.32594712] [ 0. 0. 0. 1. ]] SLAMing on 121.57824100800002 meters Centerline goodness [0,1] 0.8987830055416712 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.10, Z:0.33 [[ 0.81280763 -0.14967728 -0.56297467 6.36818322] [ 0.18984572 0.98172675 0.01308383 -0.10394134] [ 0.55072894 -0.11751297 0.82637058 0.32602446] [ 0. 0. 0. 1. ]] SLAMing on 121.60824100800001 meters Centerline goodness [0,1] 0.8985530940897573 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.11, Z:0.33 [[ 0.81306142 -0.14884976 -0.56282757 6.36706885] [ 0.18919717 0.98184426 0.01364829 -0.10503218] [ 0.55057747 -0.11758229 0.82646165 0.3259394 ] [ 0. 0. 0. 1. ]] SLAMing on 121.63824100800001 meters Centerline goodness [0,1] 0.8985093302867091 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.11, Z:0.33 [[ 0.81321411 -0.14828454 -0.56275617 6.36672397] [ 0.18876479 0.98192193 0.01404223 -0.10581084] [ 0.55050038 -0.11764789 0.82650366 0.3258303 ] [ 0. 0. 0. 1. ]] SLAMing on 121.66824100800001 meters Centerline goodness [0,1] 0.8985278080697928 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.11, Z:0.33 [[ 0.8136187 -0.14704547 -0.56249644 6.36581193] [ 0.18782646 0.9820885 0.01494668 -0.10790471] [ 0.55022344 -0.11781262 0.82666459 0.32544902] [ 0. 0. 0. 1. ]] SLAMing on 121.69824100800001 meters Centerline goodness [0,1] 0.8972830229772406 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.11, Z:0.33 [[ 0.81378766 -0.14636527 -0.56242941 6.36524507] [ 0.18742866 0.98215434 0.01559992 -0.10943193] [ 0.5501092 -0.11811041 0.82669813 0.32565267] [ 0. 0. 0. 1. ]] SLAMing on 121.72824100800001 meters Centerline goodness [0,1] 0.8989896224090249 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.11, Z:0.33 [[ 0.81387262 -0.14560966 -0.56250261 6.36491498] [ 0.18707796 0.98220776 0.01642428 -0.11181972] [ 0.55010289 -0.11859911 0.82663236 0.32630938] [ 0. 0. 0. 1. ]] SLAMing on 121.75824100800001 meters Centerline goodness [0,1] 0.8996430532674354 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.11, Z:0.32 [[ 0.81385558 -0.15023887 -0.56130863 6.36313788] [ 0.1900761 0.98168539 0.01283997 -0.11222644] [ 0.54909942 -0.11714124 0.82750696 0.32492352] [ 0. 0. 0. 1. ]] SLAMing on 121.78824100800001 meters Centerline goodness [0,1] 0.9013136015962754 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.12, Z:0.33 [[ 0.81358973 -0.15427452 -0.5605989 6.36226628] [ 0.19320231 0.98110386 0.01039618 -0.11745814] [ 0.54840188 -0.11676722 0.82802222 0.32553837] [ 0. 0. 0. 1. ]] SLAMing on 121.81824100800002 meters Centerline goodness [0,1] 0.8973227909557497 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.12, Z:0.33 [[ 0.81340198 -0.15409825 -0.56091973 6.36379153] [ 0.1934352 0.98105154 0.01098598 -0.12003008] [ 0.54859825 -0.11743764 0.8277973 0.32651647] [ 0. 0. 0. 1. ]] SLAMing on 121.84824100800002 meters Centerline goodness [0,1] 0.9039799610353465 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.12, Z:0.33 [[ 0.81314445 -0.15407707 -0.56129882 6.36562448] [ 0.19372891 0.98098922 0.01136942 -0.12205938] [ 0.54887632 -0.11798479 0.82753512 0.32735841] [ 0. 0. 0. 1. ]] SLAMing on 121.87824100800002 meters Centerline goodness [0,1] 0.9054769575570808 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.12, Z:0.33 [[ 0.81264997 -0.1595358 -0.56048939 6.36802003] [ 0.19767864 0.98023741 0.00760153 -0.12486876] [ 0.54819995 -0.11697417 0.82812671 0.32640018] [ 0. 0. 0. 1. ]] SLAMing on 121.90824100800002 meters Centerline goodness [0,1] 0.9098835574056365 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.13, Z:0.33 [[ 8.12299956e-01 -1.64830519e-01 -5.59463744e-01 6.36827321e+00] [ 2.01256133e-01 9.79531973e-01 3.61700834e-03 -1.25439837e-01] [ 5.47416432e-01 -1.15533606e-01 8.28846932e-01 3.25140588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93824100800002 meters Centerline goodness [0,1] 0.9095981194596279 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.13, Z:0.32 [[ 8.11973940e-01 -1.69964323e-01 -5.58399901e-01 6.36966728e+00] [ 2.04716958e-01 9.78821181e-01 -2.50437314e-04 -1.27752567e-01] [ 5.46616216e-01 -1.14110581e-01 8.29571870e-01 3.23461118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.968241008 meters Centerline goodness [0,1] 0.9107097213938826 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.13, Z:0.32 [[ 8.11832051e-01 -1.69889563e-01 -5.58628908e-01 6.37122124e+00] [ 2.04771242e-01 9.78809854e-01 -8.90045678e-05 -1.28990694e-01] [ 5.46806601e-01 -1.14318879e-01 8.29417709e-01 3.23683065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99824100800001 meters Centerline goodness [0,1] 0.9102206008094397 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.13, Z:0.32 [[ 8.11754184e-01 -1.69555438e-01 -5.58843537e-01 6.37223720e+00] [ 2.04661013e-01 9.78832866e-01 3.00617504e-04 -1.30534708e-01] [ 5.46963449e-01 -1.14617512e-01 8.29273062e-01 3.24046138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02824100800001 meters Centerline goodness [0,1] 0.9096882946201537 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.13, Z:0.32 [[ 8.11598513e-01 -1.69387408e-01 -5.59120523e-01 6.37356237e+00] [ 2.04666666e-01 9.78831578e-01 5.46246773e-04 -1.32085065e-01] [ 5.47192297e-01 -1.14876667e-01 8.29086209e-01 3.24498757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05824100800001 meters Centerline goodness [0,1] 0.9064429453464441 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.13, Z:0.33 [[ 8.11440395e-01 -1.69015837e-01 -5.59462360e-01 6.37456267e+00] [ 2.04627462e-01 9.78839332e-01 1.07896281e-03 -1.34274610e-01] [ 5.47441401e-01 -1.15356877e-01 8.28855056e-01 3.25431565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08824100800001 meters Centerline goodness [0,1] 0.913216011042098 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.14, Z:0.32 [[ 8.11116787e-01 -1.73960688e-01 -5.58414933e-01 6.37506008e+00] [ 2.07945215e-01 9.78136837e-01 -2.66737618e-03 -1.35932076e-01] [ 5.46670235e-01 -1.13956160e-01 8.29557501e-01 3.24012911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11824100800001 meters Centerline goodness [0,1] 0.9110163386450739 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.14, Z:0.33 [[ 8.10830103e-01 -1.73859171e-01 -5.58862714e-01 6.37629896e+00] [ 2.08204616e-01 9.78082815e-01 -2.20107202e-03 -1.37679026e-01] [ 5.46996693e-01 -1.14573101e-01 8.29257272e-01 3.25290243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14824100800001 meters Centerline goodness [0,1] 0.9111957965240487 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.14, Z:0.33 [[ 8.09773961e-01 -1.69369786e-01 -5.61765082e-01 6.38131567e+00] [ 2.07142740e-01 9.78303966e-01 3.63793358e-03 -1.40599399e-01] [ 5.48960852e-01 -1.19311462e-01 8.27288799e-01 3.33712889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17824100800001 meters Centerline goodness [0,1] 0.9097972387499278 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.14, Z:0.34 [[ 0.80901843 -0.16453061 -0.56428615 6.38439526] [ 0.20534812 0.97864705 0.00906103 -0.14200841] [ 0.55074616 -0.12320564 0.82552955 0.34056577] [ 0. 0. 0. 1. ]] SLAMing on 122.20824100800002 meters Centerline goodness [0,1] 0.91063472776717 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.14, Z:0.34 [[ 0.8086459 -0.16491049 -0.56470908 6.38582192] [ 0.20586814 0.97853801 0.00903693 -0.14204278] [ 0.55109901 -0.12356329 0.82524057 0.34158681] [ 0. 0. 0. 1. ]] SLAMing on 122.23824100800002 meters Centerline goodness [0,1] 0.9108383510884669 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.14, Z:0.35 [[ 0.80725812 -0.16605969 -0.56635546 6.38969914] [ 0.20817017 0.97804204 0.00994728 -0.14311109] [ 0.5522676 -0.12592833 0.82410105 0.34729642] [ 0. 0. 0. 1. ]] SLAMing on 122.26824100800002 meters Centerline goodness [0,1] 0.9104239719477207 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.14, Z:0.35 [[ 0.80685383 -0.16622884 -0.5668817 6.39040201] [ 0.20869248 0.97792734 0.0102748 -0.14338065] [ 0.55266115 -0.12659421 0.82373513 0.34907009] [ 0. 0. 0. 1. ]] SLAMing on 122.29824100800002 meters Centerline goodness [0,1] 0.9115669811592948 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.14, Z:0.35 [[ 0.80643571 -0.16663785 -0.5673564 6.3915629 ] [ 0.2093288 0.97779051 0.01035206 -0.14297337] [ 0.55303066 -0.12711231 0.82340728 0.35046543] [ 0. 0. 0. 1. ]] SLAMing on 122.32824100800002 meters Centerline goodness [0,1] 0.9103609857688303 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.14, Z:0.35 [[ 0.806056 -0.16699249 -0.56779154 6.3925495 ] [ 0.20991659 0.97766329 0.01046529 -0.14276446] [ 0.55336132 -0.12762447 0.82310585 0.35183043] [ 0. 0. 0. 1. ]] SLAMing on 122.35824100800001 meters Centerline goodness [0,1] 0.9127080443828016 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.14, Z:0.35 [[ 0.80571175 -0.1673249 -0.56818215 6.39345978] [ 0.21044376 0.97754914 0.0105401 -0.14258742] [ 0.55366235 -0.12806267 0.82283532 0.35299483] [ 0. 0. 0. 1. ]] SLAMing on 122.38824100800001 meters Centerline goodness [0,1] 0.9105486694981364 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.14, Z:0.35 [[ 0.8054043 -0.16767374 -0.56851511 6.39423867] [ 0.21092965 0.97744442 0.01053953 -0.14200708] [ 0.55392473 -0.12840528 0.8226053 0.35396888] [ 0. 0. 0. 1. ]] SLAMing on 122.41824100800001 meters Centerline goodness [0,1] 0.9076865326865327 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.14, Z:0.35 [[ 0.80513463 -0.16818159 -0.56874703 6.39478755] [ 0.21144859 0.97733454 0.01032956 -0.14102413] [ 0.55411887 -0.12857744 0.82244764 0.35463142] [ 0. 0. 0. 1. ]] SLAMing on 122.44824100800001 meters Centerline goodness [0,1] 0.9089127176294246 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.14, Z:0.35 [[ 0.80500249 -0.16831511 -0.56889455 6.39489854] [ 0.2115508 0.97731379 0.01019916 -0.14064943] [ 0.55427181 -0.12856044 0.82234723 0.35494982] [ 0. 0. 0. 1. ]] SLAMing on 122.47824100800001 meters Centerline goodness [0,1] 0.9108043459465691 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.14, Z:0.36 [[ 0.8050366 -0.16801109 -0.56893615 6.39385078] [ 0.21131851 0.97736202 0.0103904 -0.14029857] [ 0.55431088 -0.12859139 0.82231606 0.35531673] [ 0. 0. 0. 1. ]] SLAMing on 122.50824100800001 meters Centerline goodness [0,1] 0.9115926576953002 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.14, Z:0.36 [[ 0.80518939 -0.16762793 -0.56883294 6.39257376] [ 0.21085092 0.97746274 0.01041583 -0.13919449] [ 0.55426702 -0.12832567 0.82238713 0.35502656] [ 0. 0. 0. 1. ]] SLAMing on 122.53824100800001 meters Centerline goodness [0,1] 0.907877016533425 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.14, Z:0.35 [[ 0.80599722 -0.16154959 -0.56944728 6.39100111] [ 0.2061371 0.97842017 0.01419369 -0.13668471] [ 0.55486572 -0.12882428 0.82190531 0.35441529] [ 0. 0. 0. 1. ]] SLAMing on 122.56824100800002 meters Centerline goodness [0,1] 0.9092748254737142 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.14, Z:0.35 [[ 0.80651365 -0.15591678 -0.57028562 6.39084259] [ 0.20205897 0.97920718 0.01804093 -0.13544821] [ 0.55561489 -0.12978158 0.82124834 0.35470644] [ 0. 0. 0. 1. ]] SLAMing on 122.59824100800002 meters Centerline goodness [0,1] 0.9040628874112476 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.13, Z:0.35 [[ 0.80795019 -0.14418132 -0.57133899 6.38861175] [ 0.19324067 0.98081334 0.02575332 -0.13232324] [ 0.55666375 -0.13121333 0.82031002 0.35395388] [ 0. 0. 0. 1. ]] SLAMing on 122.62824100800002 meters Centerline goodness [0,1] 0.9040628874112476 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.13, Z:0.35 [[ 0.80795019 -0.14418132 -0.57133899 6.38861175] [ 0.19324067 0.98081334 0.02575332 -0.13232324] [ 0.55666375 -0.13121333 0.82031002 0.35395388] [ 0. 0. 0. 1. ]] SLAMing on 122.65824100800002 meters Centerline goodness [0,1] 0.9046002805049088 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.13, Z:0.35 [[ 0.80831224 -0.14339189 -0.57102548 6.38647834] [ 0.19200178 0.98106508 0.02542902 -0.12910374] [ 0.55656684 -0.13019249 0.8205384 0.35229642] [ 0. 0. 0. 1. ]] SLAMing on 122.68824100800002 meters Centerline goodness [0,1] 0.9046002805049088 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.13, Z:0.35 [[ 0.80831224 -0.14339189 -0.57102548 6.38647834] [ 0.19200178 0.98106508 0.02542902 -0.12910374] [ 0.55656684 -0.13019249 0.8205384 0.35229642] [ 0. 0. 0. 1. ]] SLAMing on 122.718241008 meters Centerline goodness [0,1] 0.9014331920588892 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.13, Z:0.35 [[ 0.8090017 -0.14052503 -0.57076174 6.38075066] [ 0.18923044 0.98157378 0.02654708 -0.12884345] [ 0.55651423 -0.12948212 0.82068648 0.35168332] [ 0. 0. 0. 1. ]] SLAMing on 122.74824100800001 meters Centerline goodness [0,1] 0.9037125882123233 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.13, Z:0.35 [[ 0.80909631 -0.14031664 -0.57067889 6.37989769] [ 0.18893982 0.98163064 0.02651473 -0.12820218] [ 0.55647542 -0.12927694 0.82074513 0.35148543] [ 0. 0. 0. 1. ]] SLAMing on 122.77824100800001 meters Centerline goodness [0,1] 0.905480672830567 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.13, Z:0.35 [[ 0.80914654 -0.14073461 -0.57050473 6.38057458] [ 0.18902893 0.98162865 0.02594716 -0.12679722] [ 0.55637213 -0.12883695 0.82088434 0.35047755] [ 0. 0. 0. 1. ]] SLAMing on 122.80824100800001 meters Centerline goodness [0,1] 0.9056677779956854 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.12, Z:0.35 [[ 0.8080465 -0.15281746 -0.56895315 6.37998706] [ 0.19746601 0.98015913 0.01718295 -0.12441249] [ 0.55503877 -0.12623353 0.8221904 0.34957088] [ 0. 0. 0. 1. ]] SLAMing on 122.83824100800001 meters Centerline goodness [0,1] 0.9098218287763334 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.12, Z:0.35 [[ 0.80749989 -0.15867046 -0.5681264 6.37981787] [ 0.20143514 0.97941863 0.01276837 -0.12319882] [ 0.55440762 -0.12475108 0.82284225 0.34882132] [ 0. 0. 0. 1. ]] SLAMing on 122.86824100800001 meters Centerline goodness [0,1] 0.9124288238759081 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.12, Z:0.35 [[ 0.80692283 -0.15968272 -0.56866244 6.3825923 ] [ 0.20234603 0.9792387 0.01215155 -0.12261911] [ 0.55491587 -0.12487195 0.82248123 0.34956242] [ 0. 0. 0. 1. ]] SLAMing on 122.89824100800001 meters Centerline goodness [0,1] 0.9107993054388618 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.12, Z:0.35 [[ 0.80648697 -0.16082193 -0.56895965 6.3858554 ] [ 0.20318515 0.97907553 0.01126506 -0.12115261] [ 0.5552428 -0.12468928 0.82228828 0.34927763] [ 0. 0. 0. 1. ]] SLAMing on 122.92824100800001 meters Centerline goodness [0,1] 0.9087380267530509 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.12, Z:0.35 [[ 0.80593027 -0.16264278 -0.56923082 6.39106832] [ 0.20435628 0.97884899 0.00965194 -0.11847568] [ 0.5556212 -0.12410469 0.8221211 0.34799104] [ 0. 0. 0. 1. ]] SLAMing on 122.95824100800002 meters Centerline goodness [0,1] 0.9047072008966097 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.12, Z:0.35 [[ 0.80587226 -0.16257308 -0.56933285 6.39148803] [ 0.20435801 0.97884764 0.00975207 -0.11890304] [ 0.55570469 -0.12420665 0.82204927 0.34822675] [ 0. 0. 0. 1. ]] SLAMing on 122.98824100800002 meters Centerline goodness [0,1] 0.907015184624867 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.12, Z:0.35 [[ 0.80597625 -0.16186319 -0.56938791 6.39063349] [ 0.20391914 0.97893288 0.01036338 -0.12024523] [ 0.5557151 -0.12446173 0.82200365 0.34875557] [ 0. 0. 0. 1. ]] SLAMing on 123.01824100800002 meters Centerline goodness [0,1] 0.9056508435561295 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.12, Z:0.35 [[ 0.80602376 -0.16117224 -0.56951664 6.38965917] [ 0.20351131 0.97901118 0.01096636 -0.1213558 ] [ 0.55579568 -0.12474222 0.82190665 0.34949768] [ 0. 0. 0. 1. ]] SLAMing on 123.04824100800002 meters Centerline goodness [0,1] 0.9056847182881341 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.12, Z:0.35 [[ 0.806628 -0.15944716 -0.56914661 6.38635442] [ 0.20202366 0.97930754 0.01196552 -0.12285947] [ 0.5554617 -0.12463281 0.82214899 0.34908474] [ 0. 0. 0. 1. ]] SLAMing on 123.07824100800002 meters Centerline goodness [0,1] 0.9056847182881341 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.12, Z:0.35 [[ 0.806628 -0.15944716 -0.56914661 6.38635442] [ 0.20202366 0.97930754 0.01196552 -0.12285947] [ 0.5554617 -0.12463281 0.82214899 0.34908474] [ 0. 0. 0. 1. ]] SLAMing on 123.10824100800001 meters Centerline goodness [0,1] 0.9057321609739601 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.12, Z:0.35 [[ 0.80688243 -0.15853239 -0.5690415 6.3849877 ] [ 0.20130427 0.97944806 0.01257315 -0.12461726] [ 0.55535334 -0.12469554 0.82221268 0.34920671] [ 0. 0. 0. 1. ]] SLAMing on 123.13824100800001 meters Centerline goodness [0,1] 0.9059530188093963 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.13, Z:0.35 [[ 0.80673309 -0.15840772 -0.5692879 6.38544976] [ 0.20133925 0.97943817 0.01278171 -0.12556488] [ 0.55555758 -0.12493143 0.82203887 0.3499089 ] [ 0. 0. 0. 1. ]] SLAMing on 123.16824100800001 meters Centerline goodness [0,1] 0.9048627583869875 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.13, Z:0.35 [[ 0.80658569 -0.158631 -0.56943457 6.38621089] [ 0.20152502 0.97940212 0.01261541 -0.1253602 ] [ 0.55570423 -0.12493072 0.82193985 0.35009993] [ 0. 0. 0. 1. ]] SLAMing on 123.19824100800001 meters Centerline goodness [0,1] 0.9064776642005986 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.12, Z:0.35 [[ 0.80634765 -0.15924865 -0.56959928 6.38788152] [ 0.20193747 0.97932402 0.01207123 -0.12426876] [ 0.55589993 -0.12475705 0.82183389 0.34988789] [ 0. 0. 0. 1. ]] SLAMing on 123.22824100800001 meters Centerline goodness [0,1] 0.9043431695837209 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.12, Z:0.35 [[ 0.80588139 -0.16062822 -0.56987171 6.39192491] [ 0.20282071 0.97915605 0.01082583 -0.12260369] [ 0.55625439 -0.12430612 0.82166236 0.34910855] [ 0. 0. 0. 1. ]] SLAMing on 123.25824100800001 meters Centerline goodness [0,1] 0.9061987444149087 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.12, Z:0.35 [[ 0.80540123 -0.16150209 -0.57030337 6.39475819] [ 0.20357301 0.9790061 0.01025143 -0.12223466] [ 0.55667485 -0.12435489 0.82137018 0.3495503 ] [ 0. 0. 0. 1. ]] SLAMing on 123.28824100800001 meters Centerline goodness [0,1] 0.904169735425755 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.12, Z:0.35 [[ 0.80492685 -0.16221965 -0.57076926 6.39764527] [ 0.20424559 0.97887032 0.00983017 -0.12218671] [ 0.55711444 -0.12448968 0.82105165 0.35008691] [ 0. 0. 0. 1. ]] SLAMing on 123.31824100800002 meters Centerline goodness [0,1] 0.9013672152582359 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.12, Z:0.35 [[ 8.03867251e-01 -1.69066807e-01 -5.70275248e-01 6.40095973e+00] [ 2.08902092e-01 9.77925976e-01 4.54995702e-03 -1.19894374e-01] [ 5.56917731e-01 -1.22789254e-01 8.21441075e-01 3.49019779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34824100800002 meters Centerline goodness [0,1] 0.8996749914471434 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.12, Z:0.35 [[ 8.03265759e-01 -1.74859179e-01 -5.69375437e-01 6.40127655e+00] [ 2.12834315e-01 9.77088285e-01 1.92600972e-04 -1.18806316e-01] [ 5.56296391e-01 -1.21337341e-01 8.22077596e-01 3.48104375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37824100800002 meters Centerline goodness [0,1] 0.9008582589603946 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.12, Z:0.35 [[ 8.02557590e-01 -1.80459677e-01 -5.68626081e-01 6.40131196e+00] [ 2.16807676e-01 9.76206910e-01 -3.80801669e-03 -1.18642050e-01] [ 5.55783903e-01 -1.20226346e-01 8.22587308e-01 3.48019453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.40824100800002 meters Centerline goodness [0,1] 0.9062454925717582 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.12, Z:0.35 [[ 0.80174767 -0.18580001 -0.56804844 6.40117492] [ 0.22113365 0.97521932 -0.00686978 -0.12130566] [ 0.55524821 -0.1201068 0.82296645 0.34961743] [ 0. 0. 0. 1. ]] SLAMing on 123.43824100800002 meters Centerline goodness [0,1] 0.9126491233137872 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.12, Z:0.35 [[ 8.01222559e-01 -1.86215176e-01 -5.68653074e-01 6.40270719e+00] [ 2.22129289e-01 9.74996847e-01 -6.30298580e-03 -1.22989030e-01] [ 5.55608666e-01 -1.21264409e-01 8.22553313e-01 3.52063291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.468241008 meters Centerline goodness [0,1] 0.9147069856017543 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.12, Z:0.35 [[ 8.00586307e-01 -1.86963803e-01 -5.69303172e-01 6.40515180e+00] [ 2.23283304e-01 9.74734398e-01 -6.11711848e-03 -1.24206983e-01] [ 5.56063064e-01 -1.22218612e-01 8.22104908e-01 3.54203878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49824100800001 meters Centerline goodness [0,1] 0.9159981397511917 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.12, Z:0.35 [[ 0.79978795 -0.19319973 -0.56834242 6.40608025] [ 0.22760096 0.97369562 -0.01070698 -0.12234895] [ 0.55546111 -0.12079197 0.82272247 0.35327766] [ 0. 0. 0. 1. ]] SLAMing on 123.52824100800001 meters Centerline goodness [0,1] 0.9155329949238579 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.12, Z:0.37 [[ 7.99055013e-01 -1.93357036e-01 -5.69319017e-01 6.41684249e+00] [ 2.33505292e-01 9.72352298e-01 -2.50752932e-03 -1.22946927e-01] [ 5.54063503e-01 -1.30935349e-01 8.22112869e-01 3.69821082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55824100800001 meters Centerline goodness [0,1] 0.9097846903836109 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.12, Z:0.37 [[ 7.98764708e-01 -1.93226120e-01 -5.69770663e-01 6.41661306e+00] [ 2.33722306e-01 9.72301167e-01 -2.07952467e-03 -1.23357228e-01] [ 5.54390499e-01 -1.31507063e-01 8.21801112e-01 3.71532494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58824100800001 meters Centerline goodness [0,1] 0.9077284322820037 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.12, Z:0.37 [[ 7.98538500e-01 -1.93383449e-01 -5.70034301e-01 6.41650090e+00] [ 2.33988065e-01 9.72237317e-01 -2.04571409e-03 -1.22544867e-01] [ 5.54604227e-01 -1.31747642e-01 8.21618348e-01 3.72485449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61824100800001 meters Centerline goodness [0,1] 0.9134192876965772 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.12, Z:0.37 [[ 7.98250939e-01 -1.93562999e-01 -5.70376020e-01 6.41655657e+00] [ 2.34273073e-01 9.72168679e-01 -2.04634324e-03 -1.21299934e-01] [ 5.54897798e-01 -1.31990247e-01 8.21381159e-01 3.73529160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64824100800001 meters Centerline goodness [0,1] 0.9126292082924294 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.12, Z:0.37 [[ 7.97934795e-01 -1.93905399e-01 -5.70701988e-01 6.41695121e+00] [ 2.34548534e-01 9.72101570e-01 -2.35027570e-03 -1.19693606e-01] [ 5.55236029e-01 -1.31981948e-01 8.21153894e-01 3.74171422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67824100800001 meters Centerline goodness [0,1] 0.9125967709442542 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.12, Z:0.38 [[ 7.97433656e-01 -1.88870671e-01 -5.73085887e-01 6.41941418e+00] [ 2.32149976e-01 9.72676873e-01 2.46746756e-03 -1.20293799e-01] [ 5.56961356e-01 -1.35009517e-01 8.19491597e-01 3.79401771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70824100800002 meters Centerline goodness [0,1] 0.9101961234086478 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.12, Z:0.38 [[ 7.97644221e-01 -1.84162343e-01 -5.74323888e-01 6.42077931e+00] [ 2.28883982e-01 9.73436776e-01 5.74168748e-03 -1.17372964e-01] [ 5.58010591e-01 -1.36033362e-01 8.18608029e-01 3.80155413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73824100800002 meters Centerline goodness [0,1] 0.9128494177562874 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.11, Z:0.38 [[ 7.97520802e-01 -1.84446519e-01 -5.74404084e-01 6.42084440e+00] [ 2.28834536e-01 9.73451781e-01 5.13664612e-03 -1.14249602e-01] [ 5.58207242e-01 -1.35540074e-01 8.18555779e-01 3.79631040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.76824100800002 meters Centerline goodness [0,1] 0.9133373256908204 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.11, Z:0.38 [[ 7.97392122e-01 -1.84621026e-01 -5.74526657e-01 6.42064304e+00] [ 2.28814219e-01 9.73458480e-01 4.75826937e-03 -1.12091178e-01] [ 5.58399370e-01 -1.35254075e-01 8.18472039e-01 3.79639542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79824100800002 meters Centerline goodness [0,1] 0.9132853963362438 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.11, Z:0.38 [[ 7.97290650e-01 -1.84582558e-01 -5.74679823e-01 6.42030826e+00] [ 2.28657102e-01 9.73496385e-01 4.55160657e-03 -1.10563805e-01] [ 5.58608583e-01 -1.35033576e-01 8.18365679e-01 3.79744426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.82824100800002 meters Centerline goodness [0,1] 0.913481742290874 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.11, Z:0.38 [[ 7.97335520e-01 -1.83735789e-01 -5.74888883e-01 6.41797739e+00] [ 2.27589724e-01 9.73746986e-01 4.44120541e-03 -1.07413639e-01] [ 5.58980309e-01 -1.34379933e-01 8.18219437e-01 3.79572690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85824100800001 meters Centerline goodness [0,1] 0.9118578863996379 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.11, Z:0.38 [[ 7.97449343e-01 -1.83533297e-01 -5.74795680e-01 6.41671038e+00] [ 2.27206266e-01 9.73837300e-01 4.26919828e-03 -1.05168910e-01] [ 5.58973933e-01 -1.34001649e-01 8.18285830e-01 3.79153048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88824100800001 meters Centerline goodness [0,1] 0.9117448531893352 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.10, Z:0.38 [[ 7.97442596e-01 -1.83633987e-01 -5.74772882e-01 6.41627321e+00] [ 2.27052782e-01 9.73874760e-01 3.87119027e-03 -1.02971511e-01] [ 5.59045920e-01 -1.33590834e-01 8.18303824e-01 3.78748886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91824100800001 meters Centerline goodness [0,1] 0.9113087031148879 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.10, Z:0.38 [[ 7.97380836e-01 -1.83690981e-01 -5.74840348e-01 6.41554970e+00] [ 2.26810030e-01 9.73933103e-01 3.39441008e-03 -1.00427658e-01] [ 5.59232521e-01 -1.33086194e-01 8.18258549e-01 3.78456565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94824100800001 meters Centerline goodness [0,1] 0.9103234880450071 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.10, Z:0.38 [[ 7.97251060e-01 -1.83728811e-01 -5.75008236e-01 6.41540893e+00] [ 2.26861079e-01 9.73921357e-01 3.35268709e-03 -9.97182034e-02] [ 5.59396816e-01 -1.33119922e-01 8.18140751e-01 3.78938305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97824100800001 meters Centerline goodness [0,1] 0.9097898946656903 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.10, Z:0.38 [[ 7.96988568e-01 -1.83594183e-01 -5.75414980e-01 6.41526657e+00] [ 2.26990776e-01 9.73890014e-01 3.66433292e-03 -9.94647977e-02] [ 5.59718153e-01 -1.33534324e-01 8.17853394e-01 3.80351511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00824100800001 meters Centerline goodness [0,1] 0.9111605132823053 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.10, Z:0.38 [[ 7.96649534e-01 -1.83584608e-01 -5.75887326e-01 6.41547760e+00] [ 2.27269512e-01 9.73823887e-01 3.95055555e-03 -9.92733665e-02] [ 5.60087573e-01 -1.34028840e-01 8.17519529e-01 3.82023109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03824100800001 meters Centerline goodness [0,1] 0.9118243814462041 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.10, Z:0.38 [[ 7.96363580e-01 -1.83867996e-01 -5.76192336e-01 6.41562835e+00] [ 2.27784841e-01 9.73702826e-01 4.10759465e-03 -9.92741878e-02] [ 5.60284851e-01 -1.34519019e-01 8.17303811e-01 3.83404449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06824100800002 meters Centerline goodness [0,1] 0.9127006477048719 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.10, Z:0.38 [[ 7.96080900e-01 -1.84117974e-01 -5.76503055e-01 6.41649588e+00] [ 2.28146832e-01 9.73618111e-01 4.09840128e-03 -9.88335939e-02] [ 5.60539226e-01 -1.34790005e-01 8.17084714e-01 3.84231852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09824100800002 meters Centerline goodness [0,1] 0.9130434782608696 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.10, Z:0.38 [[ 7.95875331e-01 -1.84154133e-01 -5.76775270e-01 6.41693378e+00] [ 2.28298820e-01 9.73582157e-01 4.17531982e-03 -9.86440952e-02] [ 5.60769209e-01 -1.35000148e-01 8.16892193e-01 3.84954976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.12824100800002 meters Centerline goodness [0,1] 0.9143297812675266 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.10, Z:0.39 [[ 7.95543687e-01 -1.84423441e-01 -5.77146633e-01 6.41779818e+00] [ 2.28503516e-01 9.73535339e-01 3.88426777e-03 -9.72205679e-02] [ 5.61156293e-01 -1.34970139e-01 8.16631298e-01 3.85442741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15824100800002 meters Centerline goodness [0,1] 0.9127482886320278 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.10, Z:0.39 [[ 7.95417428e-01 -1.84639487e-01 -5.77251571e-01 6.41850914e+00] [ 2.28626081e-01 9.73507480e-01 3.64701854e-03 -9.61717848e-02] [ 5.61285338e-01 -1.34875666e-01 8.16558218e-01 3.85427449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.18824100800002 meters Centerline goodness [0,1] 0.9133120876663312 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.09, Z:0.39 [[ 7.95200387e-01 -1.84878130e-01 -5.77474174e-01 6.41952240e+00] [ 2.28735769e-01 9.73482897e-01 3.31629430e-03 -9.48148505e-02] [ 5.61548122e-01 -1.34726118e-01 8.16402217e-01 3.85441490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.218241008 meters Centerline goodness [0,1] 0.9130932120637223 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.09, Z:0.38 [[ 7.95221544e-01 -1.84984623e-01 -5.77410933e-01 6.41995564e+00] [ 2.28319627e-01 9.73582916e-01 2.54033604e-03 -9.19398024e-02] [ 5.61687496e-01 -1.33854379e-01 8.16449730e-01 3.84084294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24824100800001 meters Centerline goodness [0,1] 0.9122215096338845 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.09, Z:0.38 [[ 7.95324186e-01 -1.84550995e-01 -5.77408321e-01 6.41915549e+00] [ 2.27841449e-01 9.73694727e-01 2.61770514e-03 -9.10381703e-02] [ 5.61736337e-01 -1.33639473e-01 8.16451333e-01 3.83921518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27824100800001 meters Centerline goodness [0,1] 0.9127679092652823 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.09, Z:0.38 [[ 7.95553301e-01 -1.83844684e-01 -5.77318004e-01 6.41751965e+00] [ 2.27223570e-01 9.73837991e-01 3.00271879e-03 -9.05791429e-02] [ 5.61662171e-01 -1.33569081e-01 8.16513874e-01 3.83918530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30824100800001 meters Centerline goodness [0,1] 0.913649333739646 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.09, Z:0.38 [[ 7.95820671e-01 -1.83339663e-01 -5.77110065e-01 6.41608583e+00] [ 2.26702575e-01 9.73958764e-01 3.20445678e-03 -8.98242579e-02] [ 5.61493902e-01 -1.33382511e-01 8.16660091e-01 3.83514871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33824100800001 meters Centerline goodness [0,1] 0.9145670271316757 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.09, Z:0.38 [[ 7.95809054e-01 -1.83163822e-01 -5.77181915e-01 6.41635561e+00] [ 2.26074856e-01 9.74106505e-01 2.58384260e-03 -8.65334990e-02] [ 5.61763392e-01 -1.32542564e-01 8.16611511e-01 3.82372163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36824100800001 meters Centerline goodness [0,1] 0.9139796819787986 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:0.38 [[ 7.95699685e-01 -1.83456186e-01 -5.77239846e-01 6.41728393e+00] [ 2.26088062e-01 9.74104676e-01 2.06616249e-03 -8.46680054e-02] [ 5.61912983e-01 -1.32151083e-01 8.16572037e-01 3.81823242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39824100800001 meters Centerline goodness [0,1] 0.9126867939121067 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:0.38 [[ 7.95757658e-01 -1.83081074e-01 -5.77279023e-01 6.41686043e+00] [ 2.25716447e-01 9.74190599e-01 2.18218644e-03 -8.43255328e-02] [ 5.61980280e-01 -1.32037862e-01 8.16544039e-01 3.81822618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42824100800001 meters Centerline goodness [0,1] 0.9150146336075984 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:0.38 [[ 7.95794797e-01 -1.82290861e-01 -5.77477864e-01 6.41537336e+00] [ 2.25164021e-01 9.74317055e-01 2.72783051e-03 -8.46331439e-02] [ 5.62149273e-01 -1.32198031e-01 8.16401786e-01 3.82706991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45824100800002 meters Centerline goodness [0,1] 0.9140348939929328 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.08, Z:0.38 [[ 7.96104114e-01 -1.81239421e-01 -5.77382466e-01 6.41328391e+00] [ 2.24254407e-01 9.74525036e-01 3.30370730e-03 -8.46931499e-02] [ 5.62074906e-01 -1.32110658e-01 8.16467130e-01 3.82738417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48824100800002 meters Centerline goodness [0,1] 0.9102164621535916 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.08, Z:0.38 [[ 7.96146379e-01 -1.81300219e-01 -5.77305095e-01 6.41364472e+00] [ 2.24158764e-01 9.74547777e-01 3.07889640e-03 -8.34787590e-02] [ 5.62053192e-01 -1.31859249e-01 8.16522717e-01 3.82161567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51824100800002 meters Centerline goodness [0,1] 0.9102164621535916 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.08, Z:0.38 [[ 7.96146379e-01 -1.81300219e-01 -5.77305095e-01 6.41364472e+00] [ 2.24158764e-01 9.74547777e-01 3.07889640e-03 -8.34787590e-02] [ 5.62053192e-01 -1.31859249e-01 8.16522717e-01 3.82161567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.54824100800002 meters Centerline goodness [0,1] 0.9127472345590466 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.08, Z:0.38 [[ 7.96124831e-01 -1.81543062e-01 -5.77258496e-01 6.41445997e+00] [ 2.24199181e-01 9.74539549e-01 2.71913052e-03 -8.20638448e-02] [ 5.62067595e-01 -1.31585649e-01 8.16556940e-01 3.81539136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57824100800002 meters Centerline goodness [0,1] 0.910199801302572 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:0.38 [[ 7.96030725e-01 -1.81684078e-01 -5.77343902e-01 6.41532016e+00] [ 2.24252783e-01 9.74527747e-01 2.52177212e-03 -8.13315916e-02] [ 5.62179486e-01 -1.31478385e-01 8.16497189e-01 3.81368584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60824100800001 meters Centerline goodness [0,1] 0.9135492763611303 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:0.38 [[ 7.95826590e-01 -1.81563398e-01 -5.77663199e-01 6.41642935e+00] [ 2.24364461e-01 9.74501262e-01 2.80690018e-03 -8.20267870e-02] [ 5.62423887e-01 -1.31840898e-01 8.16270390e-01 3.82151883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63824100800001 meters Centerline goodness [0,1] 0.9108993184462791 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.08, Z:0.38 [[ 7.95568412e-01 -1.81365434e-01 -5.78080860e-01 6.41748939e+00] [ 2.24498879e-01 9.74468982e-01 3.23350405e-03 -8.35008683e-02] [ 5.62735421e-01 -1.32350979e-01 8.15973078e-01 3.83407580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66824100800001 meters Centerline goodness [0,1] 0.9138471786616337 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.09, Z:0.39 [[ 7.95208601e-01 -1.81230498e-01 -5.78617997e-01 6.41850450e+00] [ 2.24722907e-01 9.74415900e-01 3.64266319e-03 -8.51104848e-02] [ 5.63154415e-01 -1.32925396e-01 8.15590549e-01 3.85003631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69824100800001 meters Centerline goodness [0,1] 0.9145583666222814 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.09, Z:0.39 [[ 7.94879804e-01 -1.81099948e-01 -5.79110443e-01 6.41955162e+00] [ 2.24941534e-01 9.74363854e-01 4.04799953e-03 -8.71016227e-02] [ 5.63531191e-01 -1.33483664e-01 8.15239050e-01 3.86569199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72824100800001 meters Centerline goodness [0,1] 0.9106844741235393 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.09, Z:0.39 [[ 7.94519648e-01 -1.85759896e-01 -5.78127832e-01 6.41812594e+00] [ 2.28191536e-01 9.73615958e-01 7.67752475e-04 -8.82907256e-02] [ 5.62731866e-01 -1.32533872e-01 8.15945844e-01 3.86318747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75824100800001 meters Centerline goodness [0,1] 0.9153397841666434 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.09, Z:0.39 [[ 7.94245140e-01 -1.85746871e-01 -5.78509082e-01 6.41939058e+00] [ 2.28428215e-01 9.73560220e-01 1.02372680e-03 -8.91067539e-02] [ 5.63023275e-01 -1.32960887e-01 8.15675299e-01 3.87257013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78824100800001 meters Centerline goodness [0,1] 0.9153162717925794 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.09, Z:0.39 [[ 7.93832230e-01 -1.86201232e-01 -5.78929608e-01 6.42154766e+00] [ 2.28975394e-01 9.73431806e-01 8.87580391e-04 -8.92157465e-02] [ 5.63383226e-01 -1.33265225e-01 8.15377042e-01 3.88058777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81824100800002 meters Centerline goodness [0,1] 0.9145129224652088 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.09, Z:0.39 [[ 7.93444905e-01 -1.86608676e-01 -5.79329254e-01 6.42382867e+00] [ 2.29514236e-01 9.73304952e-01 8.28117115e-04 -8.99540972e-02] [ 5.63709498e-01 -1.33621376e-01 8.15093203e-01 3.88857700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84824100800002 meters Centerline goodness [0,1] 0.9115796538128128 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.09, Z:0.39 [[ 7.93127601e-01 -1.86711131e-01 -5.79730594e-01 6.42530475e+00] [ 2.29911609e-01 9.73210889e-01 1.10385254e-03 -9.12938207e-02] [ 5.63994025e-01 -1.34162290e-01 8.14807474e-01 3.90046700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87824100800002 meters Centerline goodness [0,1] 0.9163361183784848 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.09, Z:0.39 [[ 7.92463770e-01 -1.92084789e-01 -5.78882204e-01 6.42567225e+00] [ 2.33605389e-01 9.72327333e-01 -2.84251844e-03 -9.11399907e-02] [ 5.63408994e-01 -1.32977409e-01 8.15406226e-01 3.89520523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.90824100800002 meters Centerline goodness [0,1] 0.9141738493605994 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.09, Z:0.39 [[ 7.92206692e-01 -1.91965851e-01 -5.79273398e-01 6.42652027e+00] [ 2.33721183e-01 9.72300245e-01 -2.57729611e-03 -9.20483411e-02] [ 5.63722419e-01 -1.33346712e-01 8.15129246e-01 3.90605624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93824100800002 meters Centerline goodness [0,1] 0.9157311274302917 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.09, Z:0.39 [[ 7.92022086e-01 -1.91777576e-01 -5.79588109e-01 6.42705247e+00] [ 2.33750986e-01 9.72293796e-01 -2.29163441e-03 -9.28548095e-02] [ 5.63969406e-01 -1.33664267e-01 8.14906358e-01 3.91524864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.968241008 meters Centerline goodness [0,1] 0.9171597633136095 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.09, Z:0.39 [[ 7.91860873e-01 -1.91730695e-01 -5.79823851e-01 6.42785356e+00] [ 2.33868118e-01 9.72266044e-01 -2.10793779e-03 -9.36819757e-02] [ 5.64147198e-01 -1.33933119e-01 8.14739135e-01 3.92215279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99824100800001 meters Centerline goodness [0,1] 0.9160104243385644 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.09, Z:0.39 [[ 7.91487828e-01 -1.91639195e-01 -5.80363194e-01 6.42892567e+00] [ 2.34001044e-01 9.72234467e-01 -1.91130832e-03 -9.46111713e-02] [ 5.64615382e-01 -1.34292816e-01 8.14355518e-01 3.93522028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02824100800001 meters Centerline goodness [0,1] 0.915831776758929 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.09, Z:0.39 [[ 7.91403570e-01 -1.91724803e-01 -5.80449816e-01 6.42960342e+00] [ 2.34025073e-01 9.72228393e-01 -2.05361294e-03 -9.38301066e-02] [ 5.64723520e-01 -1.34214574e-01 8.14293432e-01 3.93411055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05824100800001 meters Centerline goodness [0,1] 0.9142495071810758 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.09, Z:0.39 [[ 7.91390446e-01 -1.91731398e-01 -5.80465532e-01 6.42958442e+00] [ 2.33977531e-01 9.72239653e-01 -2.13843059e-03 -9.24144922e-02] [ 5.64761611e-01 -1.34123559e-01 8.14282011e-01 3.93263048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08824100800001 meters Centerline goodness [0,1] 0.9130962461191081 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.10, Z:0.39 [[ 7.89220690e-01 -1.88991840e-01 -5.84305388e-01 6.40995406e+00] [ 2.35222876e-01 9.71935700e-01 3.34558612e-03 -9.96711640e-02] [ 5.67274978e-01 -1.40082400e-01 8.11526969e-01 3.85384027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11824100800001 meters Centerline goodness [0,1] 0.9147103529809154 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.10, Z:0.39 [[ 7.89062458e-01 -1.88640004e-01 -5.84632694e-01 6.41009183e+00] [ 2.35069742e-01 9.71971665e-01 3.64668209e-03 -1.00054386e-01] [ 5.67558503e-01 -1.40306916e-01 8.11289908e-01 3.86260440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14824100800001 meters Centerline goodness [0,1] 0.9116039224526601 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.10, Z:0.39 [[ 7.89058999e-01 -1.88459669e-01 -5.84695518e-01 6.40981644e+00] [ 2.34907515e-01 9.72010634e-01 3.71319048e-03 -9.98756398e-02] [ 5.67630474e-01 -1.40279297e-01 8.11244330e-01 3.86421182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17824100800001 meters Centerline goodness [0,1] 0.9119080485674845 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.10, Z:0.37 [[ 0.79269654 -0.18896067 -0.57959129 6.3908748 ] [ 0.23779976 0.97127635 0.00857504 -0.10327549] [ 0.56132297 -0.14462407 0.8148622 0.37207401] [ 0. 0. 0. 1. ]] SLAMing on 125.20824100800002 meters Centerline goodness [0,1] 0.9153119198964955 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.10, Z:0.37 [[ 0.79268678 -0.18858912 -0.57972563 6.38986705] [ 0.23755771 0.97133318 0.0088421 -0.10317591] [ 0.56143922 -0.14472731 0.81476378 0.37264433] [ 0. 0. 0. 1. ]] SLAMing on 125.23824100800002 meters Centerline goodness [0,1] 0.915246598878968 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.10, Z:0.37 [[ 0.7927587 -0.18805665 -0.57980026 6.3885401 ] [ 0.23722889 0.97140938 0.00928815 -0.1033611 ] [ 0.56147671 -0.14490863 0.81470571 0.37327404] [ 0. 0. 0. 1. ]] SLAMing on 125.26824100800002 meters Centerline goodness [0,1] 0.9171323736946091 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.10, Z:0.37 [[ 0.7928393 -0.18762257 -0.57983068 6.38765775] [ 0.23694109 0.97147626 0.0096327 -0.10340028] [ 0.56148443 -0.14502289 0.81468006 0.37365062] [ 0. 0. 0. 1. ]] SLAMing on 125.29824100800002 meters Centerline goodness [0,1] 0.9146793109253128 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.10, Z:0.37 [[ 0.7931318 -0.18694653 -0.57964898 6.38560766] [ 0.23636866 0.97161135 0.01006148 -0.10281121] [ 0.56131257 -0.14499093 0.81480417 0.37359492] [ 0. 0. 0. 1. ]] SLAMing on 125.32824100800002 meters Centerline goodness [0,1] 0.9178828019757521 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.10, Z:0.37 [[ 0.79321954 -0.18667473 -0.57961652 6.38486242] [ 0.2360919 0.97167769 0.01015332 -0.10215506] [ 0.56130507 -0.14489658 0.81482612 0.37351488] [ 0. 0. 0. 1. ]] SLAMing on 125.35824100800001 meters Centerline goodness [0,1] 0.9169257485365375 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.10, Z:0.37 [[ 0.79339773 -0.18626496 -0.57950445 6.38382789] [ 0.23565302 0.97178288 0.01028029 -0.10158859] [ 0.56123765 -0.14471833 0.81490423 0.37323141] [ 0. 0. 0. 1. ]] SLAMing on 125.38824100800001 meters Centerline goodness [0,1] 0.9145148669796557 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.10, Z:0.37 [[ 0.79344536 -0.18591119 -0.57955283 6.38290074] [ 0.23532862 0.97185997 0.01042313 -0.10088393] [ 0.56130642 -0.14465555 0.81486801 0.37336514] [ 0. 0. 0. 1. ]] SLAMing on 125.41824100800001 meters Centerline goodness [0,1] 0.9117671680107152 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.10, Z:0.37 [[ 0.79340355 -0.18580667 -0.57964359 6.38268716] [ 0.2351619 0.97190123 0.01033836 -0.09996712] [ 0.56143538 -0.14451258 0.81480453 0.37340538] [ 0. 0. 0. 1. ]] SLAMing on 125.44824100800001 meters Centerline goodness [0,1] 0.9160811756473058 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.10, Z:0.37 [[ 0.79335681 -0.18572056 -0.57973515 6.382699 ] [ 0.23501412 0.97193793 0.01024813 -0.09941901] [ 0.56156329 -0.14437637 0.81474053 0.37343089] [ 0. 0. 0. 1. ]] SLAMing on 125.47824100800001 meters Centerline goodness [0,1] 0.9146378958548789 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.10, Z:0.37 [[ 0.79309138 -0.18595338 -0.58002362 6.3836678 ] [ 0.23512499 0.97191468 0.0099044 -0.09841131] [ 0.56189172 -0.14423314 0.81453944 0.37365852] [ 0. 0. 0. 1. ]] SLAMing on 125.50824100800001 meters Centerline goodness [0,1] 0.9128774150380552 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.10, Z:0.37 [[ 0.79282167 -0.18653906 -0.58020425 6.38540068] [ 0.23551419 0.97182573 0.00937135 -0.097204 ] [ 0.5621093 -0.14407614 0.81441709 0.37352269] [ 0. 0. 0. 1. ]] SLAMing on 125.53824100800001 meters Centerline goodness [0,1] 0.9117278274680264 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.10, Z:0.37 [[ 0.79248075 -0.1870744 -0.58049758 6.38706696] [ 0.23593933 0.97172662 0.00894441 -0.09612507] [ 0.56241168 -0.14405048 0.81421285 0.37376567] [ 0. 0. 0. 1. ]] SLAMing on 125.56824100800002 meters Centerline goodness [0,1] 0.9140172804294941 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.09, Z:0.37 [[ 0.79162825 -0.18886355 -0.58108113 6.39210788] [ 0.23742517 0.97137503 0.00773581 -0.09486709] [ 0.56298669 -0.14408717 0.81380887 0.37420437] [ 0. 0. 0. 1. ]] SLAMing on 125.59824100800002 meters Centerline goodness [0,1] 0.9119651435593789 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.09, Z:0.37 [[ 0.79123153 -0.18942079 -0.58143996 6.39420497] [ 0.23797037 0.97124405 0.00742269 -0.09483015] [ 0.56331409 -0.14423854 0.81355545 0.37474088] [ 0. 0. 0. 1. ]] SLAMing on 125.62824100800002 meters Centerline goodness [0,1] 0.9132375505649324 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.09, Z:0.38 [[ 0.79072201 -0.18989566 -0.58197796 6.3958378 ] [ 0.23857197 0.97109753 0.00728016 -0.09495702] [ 0.56377488 -0.14460021 0.81317197 0.37606101] [ 0. 0. 0. 1. ]] SLAMing on 125.65824100800002 meters Centerline goodness [0,1] 0.9117259182356408 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.10, Z:0.38 [[ 0.79028689 -0.19001619 -0.58252938 6.39691484] [ 0.23902348 0.97098449 0.00754357 -0.09628151] [ 0.56419359 -0.14519978 0.81277464 0.37780107] [ 0. 0. 0. 1. ]] SLAMing on 125.68824100800002 meters Centerline goodness [0,1] 0.9140060920577617 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.10, Z:0.38 [[ 7.89478062e-01 -1.95214857e-01 -5.81906821e-01 6.39663185e+00] [ 2.42810692e-01 9.70065481e-01 3.99122374e-03 -9.72219206e-02] [ 5.63708574e-01 -1.44444181e-01 8.13245671e-01 3.78474475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.718241008 meters Centerline goodness [0,1] 0.9108547900392002 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.10, Z:0.38 [[ 7.89246419e-01 -1.95137272e-01 -5.82246971e-01 6.39694000e+00] [ 2.43038941e-01 9.70006776e-01 4.35062458e-03 -9.77122612e-02] [ 5.63934538e-01 -1.44942402e-01 8.13000330e-01 3.79674698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74824100800001 meters Centerline goodness [0,1] 0.9121073961499493 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.10, Z:0.38 [[ 7.89058054e-01 -1.95161470e-01 -5.82494110e-01 6.39713141e+00] [ 2.43239110e-01 9.69955835e-01 4.51810916e-03 -9.73079573e-02] [ 5.64111800e-01 -1.45250399e-01 8.12822366e-01 3.80491465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77824100800001 meters Centerline goodness [0,1] 0.9116886038924513 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.10, Z:0.38 [[ 7.89163978e-01 -1.94410920e-01 -5.82601588e-01 6.39522431e+00] [ 2.42866556e-01 9.70045357e-01 5.27655149e-03 -9.77024776e-02] [ 5.64124146e-01 -1.45658505e-01 8.12740763e-01 3.81458459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80824100800001 meters Centerline goodness [0,1] 0.9118740494564299 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.10, Z:0.38 [[ 7.89282055e-01 -1.93831979e-01 -5.82634536e-01 6.39386510e+00] [ 2.42463011e-01 9.70143848e-01 5.70992898e-03 -9.78174833e-02] [ 5.64132543e-01 -1.45774068e-01 8.12714215e-01 3.81850796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83824100800001 meters Centerline goodness [0,1] 0.9126450996374266 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.10, Z:0.38 [[ 7.89553154e-01 -1.92914196e-01 -5.82571823e-01 6.39161785e+00] [ 2.41783409e-01 9.70309297e-01 6.37589238e-03 -9.81219909e-02] [ 5.64044856e-01 -1.45890307e-01 8.12754218e-01 3.82155020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86824100800001 meters Centerline goodness [0,1] 0.9108135421930268 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.10, Z:0.38 [[ 0.78976175 -0.1922052 -0.58252342 6.38989182] [ 0.24121955 0.97044651 0.00683424 -0.09783561] [ 0.56399425 -0.14591346 0.81278518 0.38232665] [ 0. 0. 0. 1. ]] SLAMing on 125.89824100800001 meters Centerline goodness [0,1] 0.9118192026951151 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.10, Z:0.38 [[ 0.78993571 -0.19153461 -0.58250843 6.38830489] [ 0.24059524 0.97059937 0.00712676 -0.09699754] [ 0.56401729 -0.14577844 0.81279342 0.38226641] [ 0. 0. 0. 1. ]] SLAMing on 125.92824100800001 meters Centerline goodness [0,1] 0.9105618229152087 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.10, Z:0.38 [[ 0.79037694 -0.18866475 -0.58284638 6.38511444] [ 0.23820183 0.97117714 0.00865124 -0.09560116] [ 0.5644149 -0.14567282 0.81253631 0.38223012] [ 0. 0. 0. 1. ]] SLAMing on 125.95824100800002 meters Centerline goodness [0,1] 0.9069683005166876 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.09, Z:0.38 [[ 0.79048787 -0.18831841 -0.58280795 6.38457072] [ 0.23772598 0.97129427 0.00859101 -0.09438087] [ 0.56446018 -0.14533968 0.81256451 0.38173035] [ 0. 0. 0. 1. ]] SLAMing on 125.98824100800002 meters Centerline goodness [0,1] 0.9105548113418174 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.09, Z:0.38 [[ 0.7904248 -0.18831308 -0.58289521 6.38485769] [ 0.23748746 0.97135574 0.00822959 -0.09256447] [ 0.56464887 -0.14493517 0.81250566 0.38126708] [ 0. 0. 0. 1. ]] SLAMing on 126.01824100800002 meters Centerline goodness [0,1] 0.9125940373363054 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.09, Z:0.38 [[ 0.79049471 -0.18812249 -0.58286194 6.38476285] [ 0.23705003 0.97146493 0.00794768 -0.09076923] [ 0.5647348 -0.14445004 0.81253233 0.38049281] [ 0. 0. 0. 1. ]] SLAMing on 126.04824100800002 meters Centerline goodness [0,1] 0.9058434337818303 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.09, Z:0.38 [[ 0.79050258 -0.18798313 -0.58289622 6.38469685] [ 0.23650232 0.97160278 0.00739542 -0.08759845] [ 0.56495338 -0.1437024 0.81251295 0.37938632] [ 0. 0. 0. 1. ]] SLAMing on 126.07824100800002 meters Centerline goodness [0,1] 0.9080437437548573 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.09, Z:0.38 [[ 0.79024807 -0.18789726 -0.5832689 6.38509052] [ 0.23656027 0.97158776 0.0075139 -0.08796768] [ 0.56528508 -0.14391609 0.81224438 0.38036069] [ 0. 0. 0. 1. ]] SLAMing on 126.10824100800001 meters Centerline goodness [0,1] 0.9066117542297417 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.09, Z:0.38 [[ 7.89583577e-01 -1.93147635e-01 -5.82453230e-01 6.38480385e+00] [ 2.39898128e-01 9.70792510e-01 3.28497491e-03 -8.65839361e-02] [ 5.64806748e-01 -1.42323202e-01 8.12857579e-01 3.79448781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13824100800001 meters Centerline goodness [0,1] 0.9063248815826135 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.09, Z:0.38 [[ 7.89203960e-01 -1.93490776e-01 -5.82853694e-01 6.38628315e+00] [ 2.40370597e-01 9.70675806e-01 3.23342126e-03 -8.70912968e-02] [ 5.65136342e-01 -1.42652719e-01 8.12570684e-01 3.80448221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16824100800001 meters Centerline goodness [0,1] 0.9065181058495821 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.09, Z:0.38 [[ 7.88575348e-01 -1.95421238e-01 -5.83060426e-01 6.38981832e+00] [ 2.42032357e-01 9.70265809e-01 2.14421050e-03 -8.51544282e-02] [ 5.65304572e-01 -1.42810361e-01 8.12425961e-01 3.80647545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19824100800001 meters Centerline goodness [0,1] 0.9084791011985873 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.08, Z:0.38 [[ 7.88095599e-01 -1.96054497e-01 -5.83496325e-01 6.39165050e+00] [ 2.42769380e-01 9.70082076e-01 1.94778718e-03 -8.48866716e-02] [ 5.65657454e-01 -1.43190084e-01 8.12113443e-01 3.81681632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22824100800001 meters Centerline goodness [0,1] 0.9109530029737918 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.09, Z:0.38 [[ 7.87635254e-01 -1.96369362e-01 -5.84011798e-01 6.39296964e+00] [ 2.43357883e-01 9.69934346e-01 2.07505985e-03 -8.56727176e-02] [ 5.66045623e-01 -1.43758265e-01 8.11742517e-01 3.83231723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25824100800001 meters Centerline goodness [0,1] 0.9125006966505044 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.08, Z:0.38 [[ 7.86981492e-01 -2.01802915e-01 -5.83040063e-01 6.39256985e+00] [ 2.46978050e-01 9.69018948e-01 -2.03021019e-03 -8.42568953e-02] [ 5.65386570e-01 -1.42400360e-01 8.12440868e-01 3.82442963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28824100800001 meters Centerline goodness [0,1] 0.9141299790356394 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.08, Z:0.38 [[ 7.86478190e-01 -2.02374121e-01 -5.83521013e-01 6.39361933e+00] [ 2.47863046e-01 9.68793181e-01 -1.91902076e-03 -8.49589806e-02] [ 5.65699538e-01 -1.43124028e-01 8.12095773e-01 3.84301531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31824100800002 meters Centerline goodness [0,1] 0.9157612490573416 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.09, Z:0.39 [[ 7.86340246e-01 -2.02088345e-01 -5.83805891e-01 6.39315997e+00] [ 2.47827458e-01 9.68802940e-01 -1.55373361e-03 -8.50176963e-02] [ 5.65906855e-01 -1.43461367e-01 8.11891783e-01 3.85321842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34824100800002 meters Centerline goodness [0,1] 0.9147502644913414 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.09, Z:0.39 [[ 7.86267117e-01 -2.01691609e-01 -5.84041536e-01 6.39212780e+00] [ 2.47709641e-01 9.68833698e-01 -1.09526834e-03 -8.53029017e-02] [ 5.66060028e-01 -1.43811546e-01 8.11723034e-01 3.86400257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37824100800002 meters Centerline goodness [0,1] 0.9134845866547745 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.09, Z:0.39 [[ 7.86253135e-01 -2.01196727e-01 -5.84231020e-01 6.39125422e+00] [ 2.47429697e-01 9.68905610e-01 -6.81686654e-04 -8.56027676e-02] [ 5.66201866e-01 -1.44020126e-01 8.11587118e-01 3.87153712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.40824100800002 meters Centerline goodness [0,1] 0.9137667675729719 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.08, Z:0.39 [[ 7.86254690e-01 -2.01257162e-01 -5.84208111e-01 6.39084434e+00] [ 2.47184387e-01 9.68967799e-01 -1.13285896e-03 -8.28495350e-02] [ 5.66306844e-01 -1.43516408e-01 8.11603105e-01 3.86450818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43824100800002 meters Centerline goodness [0,1] 0.9137667675729719 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.08, Z:0.39 [[ 7.86254690e-01 -2.01257162e-01 -5.84208111e-01 6.39084434e+00] [ 2.47184387e-01 9.68967799e-01 -1.13285896e-03 -8.28495350e-02] [ 5.66306844e-01 -1.43516408e-01 8.11603105e-01 3.86450818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.468241008 meters Centerline goodness [0,1] 0.9147478222271542 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.08, Z:0.39 [[ 7.86200642e-01 -2.01101311e-01 -5.84334504e-01 6.39053652e+00] [ 2.47006037e-01 9.69013255e-01 -1.15264580e-03 -8.16559050e-02] [ 5.66459679e-01 -1.43427939e-01 8.11512081e-01 3.86568542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49824100800001 meters Centerline goodness [0,1] 0.9126625447084593 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.08, Z:0.39 [[ 7.86096931e-01 -2.00842122e-01 -5.84563133e-01 6.39019458e+00] [ 2.46816811e-01 9.69061601e-01 -1.03744278e-03 -8.10519266e-02] [ 5.66686048e-01 -1.43464478e-01 8.11347562e-01 3.87103894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52824100800001 meters Centerline goodness [0,1] 0.9104027031518307 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.08, Z:0.39 [[ 7.86410680e-01 -1.99848723e-01 -5.84481591e-01 6.38733947e+00] [ 2.45955869e-01 9.69280903e-01 -4.91424752e-04 -7.94207980e-02] [ 5.66625055e-01 -1.43370216e-01 8.11406821e-01 3.87089747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55824100800001 meters Centerline goodness [0,1] 0.9095025122853515 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.08, Z:0.39 [[ 7.86485539e-01 -1.99645082e-01 -5.84450458e-01 6.38622393e+00] [ 2.45632651e-01 9.69362811e-01 -5.85148630e-04 -7.72704352e-02] [ 5.66661360e-01 -1.43099904e-01 8.11429184e-01 3.86808236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58824100800001 meters Centerline goodness [0,1] 0.9060548540617864 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.08, Z:0.39 [[ 7.86592137e-01 -1.99288626e-01 -5.84428656e-01 6.38487957e+00] [ 2.45164213e-01 9.69481369e-01 -6.20038465e-04 -7.50865115e-02] [ 5.66716260e-01 -1.42793274e-01 8.11444860e-01 3.86498325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61824100800001 meters Centerline goodness [0,1] 0.9084214864679214 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.07, Z:0.39 [[ 7.86610039e-01 -1.98981632e-01 -5.84509159e-01 6.38410545e+00] [ 2.44767155e-01 9.69581657e-01 -6.71741643e-04 -7.32733342e-02] [ 5.66863023e-01 -1.42540245e-01 8.11386832e-01 3.86366473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64824100800001 meters Centerline goodness [0,1] 0.9025510622590436 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.07, Z:0.39 [[ 7.86599357e-01 -1.98462922e-01 -5.84699855e-01 6.38246372e+00] [ 2.44100494e-01 9.69749636e-01 -7.69718536e-04 -7.10121489e-02] [ 5.67165232e-01 -1.42120064e-01 8.11249337e-01 3.86489753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67824100800001 meters Centerline goodness [0,1] 0.903315747751688 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.07, Z:0.39 [[ 7.86670103e-01 -1.97968162e-01 -5.84772397e-01 6.38121810e+00] [ 2.43749806e-01 9.69838056e-01 -4.21313189e-04 -7.08890570e-02] [ 5.67217931e-01 -1.42206724e-01 8.11197304e-01 3.86946020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70824100800002 meters Centerline goodness [0,1] 0.9033296065010499 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.07, Z:0.39 [[ 7.86656909e-01 -1.97421632e-01 -5.84974877e-01 6.37984632e+00] [ 2.43369017e-01 9.69933770e-01 -6.49416704e-05 -7.06393698e-02] [ 5.67399709e-01 -1.42313674e-01 8.11051409e-01 3.87688739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73824100800002 meters Centerline goodness [0,1] 0.899093589603582 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.07, Z:0.38 [[ 0.78964524 -0.19658412 -0.58121862 6.36119175] [ 0.24618275 0.96920059 0.00665427 -0.07309456] [ 0.5620093 -0.14834051 0.81372025 0.37558882] [ 0. 0. 0. 1. ]] SLAMing on 126.76824100800002 meters Centerline goodness [0,1] 0.8955171100593003 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.07, Z:0.38 [[ 0.78955197 -0.19646755 -0.58138472 6.36062663] [ 0.24605655 0.96923283 0.00662493 -0.07206551] [ 0.56219558 -0.14828424 0.81360182 0.37595416] [ 0. 0. 0. 1. ]] SLAMing on 126.79824100800002 meters Centerline goodness [0,1] 0.8996399274440263 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.07, Z:0.38 [[ 0.78948323 -0.19625817 -0.58154876 6.36019066] [ 0.24588732 0.96927527 0.00669887 -0.07150103] [ 0.56236612 -0.14828412 0.81348397 0.3763608 ] [ 0. 0. 0. 1. ]] SLAMing on 126.82824100800002 meters Centerline goodness [0,1] 0.8979674686730358 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.07, Z:0.38 [[ 7.89409680e-01 -1.96798955e-01 -5.81465845e-01 6.36112417e+00] [ 2.45950056e-01 9.69264813e-01 5.85598040e-03 -6.81582699e-02] [ 5.62441933e-01 -1.47634325e-01 8.13549739e-01 3.75160006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85824100800001 meters Centerline goodness [0,1] 0.8999271117350107 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.07, Z:0.38 [[ 7.89197999e-01 -1.97137460e-01 -5.81638497e-01 6.36187978e+00] [ 2.46114463e-01 9.69225521e-01 5.43702748e-03 -6.62529894e-02] [ 5.62667033e-01 -1.47440537e-01 8.13429221e-01 3.75074790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88824100800001 meters Centerline goodness [0,1] 0.8960940871817005 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.06, Z:0.38 [[ 7.89034442e-01 -1.97304374e-01 -5.81803776e-01 6.36222143e+00] [ 2.46204563e-01 9.69203842e-01 5.21777646e-03 -6.48244685e-02] [ 5.62856965e-01 -1.47359750e-01 8.13312450e-01 3.75213846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91824100800001 meters Centerline goodness [0,1] 0.8959379895208772 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.06, Z:0.38 [[ 7.88832495e-01 -1.97305325e-01 -5.82077231e-01 6.36232066e+00] [ 2.46277365e-01 9.69185262e-01 5.23328367e-03 -6.42875674e-02] [ 5.63108119e-01 -1.47480631e-01 8.13116664e-01 3.75871689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94824100800001 meters Centerline goodness [0,1] 0.8971972701033153 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.06, Z:0.38 [[ 7.88082283e-01 -2.02518695e-01 -5.81302412e-01 6.36087213e+00] [ 2.49760584e-01 9.68306804e-01 1.25865702e-03 -6.19473857e-02] [ 5.62624179e-01 -1.46178355e-01 8.13686624e-01 3.75766734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97824100800001 meters Centerline goodness [0,1] 0.898890059142834 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.06, Z:0.38 [[ 7.87762550e-01 -2.02644976e-01 -5.81691652e-01 6.36109590e+00] [ 2.50100944e-01 9.68218752e-01 1.40193217e-03 -6.19263189e-02] [ 5.62920671e-01 -1.46586021e-01 8.13408173e-01 3.77015917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00824100800001 meters Centerline goodness [0,1] 0.9001133542049012 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.06, Z:0.38 [[ 7.87325021e-01 -2.03064145e-01 -5.82137668e-01 6.36237902e+00] [ 2.50637870e-01 9.68080055e-01 1.29027456e-03 -6.19522134e-02] [ 5.63293857e-01 -1.46921611e-01 8.13089214e-01 3.78121935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03824100800001 meters Centerline goodness [0,1] 0.9020490698301429 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.06, Z:0.38 [[ 0.78295129 -0.20248906 -0.58820528 6.35414231] [ 0.25699283 0.96636751 0.00940831 -0.06438436] [ 0.5665174 -0.15853078 0.80865693 0.38074049] [ 0. 0. 0. 1. ]] SLAMing on 127.06824100800002 meters Centerline goodness [0,1] 0.9030273595596567 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.06, Z:0.38 [[ 0.78252349 -0.20303321 -0.58858687 6.35564898] [ 0.25756656 0.96621736 0.00913658 -0.06371686] [ 0.56684782 -0.15874988 0.80838235 0.38149416] [ 0. 0. 0. 1. ]] SLAMing on 127.09824100800002 meters Centerline goodness [0,1] 0.9051244115669133 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.06, Z:0.38 [[ 0.78208417 -0.20369829 -0.58894087 6.3572251 ] [ 0.25820816 0.96604961 0.00875786 -0.06271467] [ 0.56716214 -0.15891872 0.80812867 0.38211432] [ 0. 0. 0. 1. ]] SLAMing on 127.12824100800002 meters Centerline goodness [0,1] 0.9036445734558942 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.06, Z:0.38 [[ 0.78160624 -0.20435137 -0.58934897 6.35881504] [ 0.25889743 0.96586786 0.00844904 -0.06179352] [ 0.56750666 -0.15918476 0.80783439 0.3829699 ] [ 0. 0. 0. 1. ]] SLAMing on 127.15824100800002 meters Centerline goodness [0,1] 0.9034206852110407 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.06, Z:0.38 [[ 0.77726872 -0.20317233 -0.59546146 6.348405 ] [ 0.26396188 0.9644086 0.01549751 -0.06453941] [ 0.57111949 -0.16922485 0.80323439 0.38306433] [ 0. 0. 0. 1. ]] SLAMing on 127.18824100800002 meters Centerline goodness [0,1] 0.9019208069535358 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.06, Z:0.38 [[ 0.77684982 -0.20375619 -0.5958085 6.3498884 ] [ 0.26449987 0.96426738 0.0151076 -0.06371464] [ 0.57144043 -0.16932761 0.80298443 0.38369163] [ 0. 0. 0. 1. ]] SLAMing on 127.21824100800002 meters Centerline goodness [0,1] 0.9042873260624295 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.06, Z:0.38 [[ 0.776436 -0.20412189 -0.5962226 6.35082154] [ 0.26489543 0.96416243 0.01487312 -0.06279906] [ 0.57181951 -0.16948467 0.80268138 0.38453081] [ 0. 0. 0. 1. ]] SLAMing on 127.24824100800001 meters Centerline goodness [0,1] 0.8957196979874789 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.06, Z:0.39 [[ 0.77600029 -0.20456315 -0.59663847 6.35173981] [ 0.26533567 0.96404602 0.01456873 -0.06202658] [ 0.57220672 -0.1696148 0.8023779 0.3854349 ] [ 0. 0. 0. 1. ]] SLAMing on 127.27824100800001 meters Centerline goodness [0,1] 0.8869586101993435 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.06, Z:0.38 [[ 0.77260075 -0.20392426 -0.60125118 6.33605516] [ 0.26901421 0.96294718 0.0190807 -0.06464801] [ 0.57508211 -0.17648687 0.79883224 0.38024736] [ 0. 0. 0. 1. ]] SLAMing on 127.30824100800001 meters Centerline goodness [0,1] 0.8949120051119572 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.06, Z:0.38 [[ 0.77229931 -0.20443874 -0.60146369 6.33655723] [ 0.26934337 0.96286523 0.01856595 -0.0625196 ] [ 0.57533288 -0.17633873 0.79868438 0.380398 ] [ 0. 0. 0. 1. ]] SLAMing on 127.33824100800001 meters Centerline goodness [0,1] 0.8905722563325625 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.06, Z:0.38 [[ 0.77206597 -0.20488079 -0.60161283 6.3367553 ] [ 0.26959494 0.96280383 0.01809315 -0.06014421] [ 0.57552819 -0.17616088 0.7985829 0.38042018] [ 0. 0. 0. 1. ]] SLAMing on 127.36824100800001 meters Centerline goodness [0,1] 0.8919993637665024 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.06, Z:0.38 [[ 0.77183503 -0.20530894 -0.60176318 6.33681941] [ 0.26980438 0.96275456 0.01758558 -0.05798956] [ 0.57573977 -0.17593151 0.79848094 0.38046312] [ 0. 0. 0. 1. ]] SLAMing on 127.39824100800001 meters Centerline goodness [0,1] 0.8902764915994179 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.06, Z:0.38 [[ 0.77183138 -0.20527608 -0.60177907 6.33609755] [ 0.26970281 0.96278466 0.0174955 -0.05665567] [ 0.57579225 -0.17580509 0.79847095 0.38046714] [ 0. 0. 0. 1. ]] SLAMing on 127.42824100800001 meters Centerline goodness [0,1] 0.8879991598624275 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.06, Z:0.36 [[ 0.7730818 -0.20495619 -0.60028118 6.31285956] [ 0.27079195 0.96242722 0.02013875 -0.0592641 ] [ 0.57359938 -0.17812022 0.79953545 0.3648212 ] [ 0. 0. 0. 1. ]] SLAMing on 127.45824100800002 meters Centerline goodness [0,1] 0.8965047067152634 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.06, Z:0.35 [[ 0.7738939 -0.20440217 -0.59942305 6.29154163] [ 0.2722327 0.9619457 0.02344827 -0.06294479] [ 0.57181955 -0.18132903 0.80008886 0.35061862] [ 0. 0. 0. 1. ]] SLAMing on 127.48824100800002 meters Centerline goodness [0,1] 0.900824505557585 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.06, Z:0.35 [[ 0.7741042 -0.20391947 -0.59931589 6.28976885] [ 0.27163692 0.96211294 0.02349632 -0.06093977] [ 0.57181822 -0.18098492 0.80016772 0.3503383 ] [ 0. 0. 0. 1. ]] SLAMing on 127.51824100800002 meters Centerline goodness [0,1] 0.9012259466170081 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.06, Z:0.33 [[ 0.77745084 -0.20048632 -0.59613373 6.26508189] [ 0.26964543 0.9625542 0.02794191 -0.06308832] [ 0.56820905 -0.18246819 0.8023988 0.33288513] [ 0. 0. 0. 1. ]] SLAMing on 127.54824100800002 meters Centerline goodness [0,1] 0.9045147364904798 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.06, Z:0.33 [[ 0.7777903 -0.19969251 -0.59595734 6.26253054] [ 0.26858249 0.96285259 0.02789865 -0.06002402] [ 0.56824792 -0.18176301 0.80253132 0.33185854] [ 0. 0. 0. 1. ]] SLAMing on 127.57824100800002 meters Centerline goodness [0,1] 0.9033202372698559 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.06, Z:0.31 [[ 0.77973004 -0.19795599 -0.59399874 6.23870942] [ 0.26730986 0.96314619 0.02991415 -0.064094 ] [ 0.56618593 -0.18210668 0.8039096 0.31319137] [ 0. 0. 0. 1. ]] SLAMing on 127.60824100800001 meters Centerline goodness [0,1] 0.9053203150890968 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.06, Z:0.31 [[ 0.78009071 -0.19677655 -0.59391706 6.2361536 ] [ 0.26592552 0.96352512 0.03004944 -0.06143724] [ 0.56634098 -0.18137899 0.8039649 0.3122766 ] [ 0. 0. 0. 1. ]] SLAMing on 127.63824100800001 meters Centerline goodness [0,1] 0.9057615574249626 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.07, Z:0.29 [[ 0.78245013 -0.19705612 -0.59071201 6.21196025] [ 0.26472412 0.9638848 0.02910727 -0.06533162] [ 0.56364256 -0.1791507 0.8063573 0.28953649] [ 0. 0. 0. 1. ]] SLAMing on 127.66824100800001 meters Centerline goodness [0,1] 0.9034857948821278 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.06, Z:0.29 [[ 0.78331572 -0.19089926 -0.59158596 6.2099665 ] [ 0.26007956 0.9650243 0.0329656 -0.06364765] [ 0.56460172 -0.17968189 0.8055677 0.2896348 ] [ 0. 0. 0. 1. ]] SLAMing on 127.69824100800001 meters Centerline goodness [0,1] 0.898552551946742 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.06, Z:0.29 [[ 0.78344333 -0.19042415 -0.59157011 6.20941123] [ 0.25939461 0.96521327 0.03282968 -0.06216001] [ 0.56473975 -0.1791703 0.80558489 0.28900092] [ 0. 0. 0. 1. ]] SLAMing on 127.72824100800001 meters Centerline goodness [0,1] 0.9028844942687996 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.06, Z:0.29 [[ 0.78342185 -0.19050263 -0.59157329 6.20981902] [ 0.25913351 0.96530066 0.03231812 -0.0601238 ] [ 0.5648894 -0.17861519 0.80560324 0.2881467 ] [ 0. 0. 0. 1. ]] SLAMing on 127.75824100800001 meters Centerline goodness [0,1] 0.9026999874419188 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.06, Z:0.29 [[ 0.7833449 -0.19084976 -0.5915633 6.21105947] [ 0.2588339 0.96541507 0.03128488 -0.05662509] [ 0.56513341 -0.17762349 0.80565136 0.28647563] [ 0. 0. 0. 1. ]] SLAMing on 127.78824100800001 meters Centerline goodness [0,1] 0.902821789648408 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.06, Z:0.29 [[ 0.78313919 -0.19106967 -0.59176464 6.21178864] [ 0.25891349 0.96540504 0.03093406 -0.0561289 ] [ 0.56538201 -0.17744152 0.80551703 0.28661591] [ 0. 0. 0. 1. ]] SLAMing on 127.81824100800002 meters Centerline goodness [0,1] 0.9017139123441897 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.05, Z:0.29 [[ 0.78268795 -0.19553385 -0.59090277 6.21099727] [ 0.26145404 0.96483707 0.02704102 -0.05461804] [ 0.56483747 -0.1756586 0.80628946 0.28523489] [ 0. 0. 0. 1. ]] SLAMing on 127.84824100800002 meters Centerline goodness [0,1] 0.9019036616605556 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.05, Z:0.28 [[ 0.7823298 -0.19958315 -0.59002258 6.20953403] [ 0.26375939 0.96430125 0.02353902 -0.05343863] [ 0.56426152 -0.17403927 0.80704353 0.28404008] [ 0. 0. 0. 1. ]] SLAMing on 127.87824100800002 meters Centerline goodness [0,1] 0.8970228642012654 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.06, Z:0.27 [[ 0.78215063 -0.19949737 -0.59028908 6.18828662] [ 0.26439321 0.96410384 0.02449501 -0.06179016] [ 0.56421328 -0.17522721 0.80682018 0.267803 ] [ 0. 0. 0. 1. ]] SLAMing on 127.90824100800002 meters Centerline goodness [0,1] 0.8973479017890938 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.06, Z:0.27 [[ 0.7816458 -0.20411794 -0.58937739 6.18770095] [ 0.26714417 0.96343577 0.02062786 -0.06019938] [ 0.56361674 -0.17357242 0.80759444 0.26646823] [ 0. 0. 0. 1. ]] SLAMing on 127.93824100800002 meters Centerline goodness [0,1] 0.8978544893988022 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.06, Z:0.27 [[ 0.78152649 -0.20376838 -0.5896565 6.18827067] [ 0.2670264 0.96346102 0.02097037 -0.06144805] [ 0.56383795 -0.17384275 0.80738185 0.26715397] [ 0. 0. 0. 1. ]] SLAMing on 127.96824100800002 meters Centerline goodness [0,1] 0.897013675690762 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.06, Z:0.27 [[ 0.7811554 -0.20824532 -0.58858316 6.1874813 ] [ 0.26992279 0.96272078 0.0176178 -0.06238665] [ 0.56297241 -0.17263425 0.80824469 0.2662453 ] [ 0. 0. 0. 1. ]] SLAMing on 127.99824100800001 meters Centerline goodness [0,1] 0.8956497305029759 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.07, Z:0.25 [[ 0.78179871 -0.21200202 -0.58638377 6.16600096] [ 0.27368623 0.96166502 0.01721162 -0.07140197] [ 0.56025586 -0.17394119 0.8098505 0.24964776] [ 0. 0. 0. 1. ]] SLAMing on 128.028241008 meters Centerline goodness [0,1] 0.8943826573857653 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.07, Z:0.25 [[ 0.78122516 -0.21664972 -0.58544868 6.16543882] [ 0.27690825 0.96079498 0.01395806 -0.07310297] [ 0.55947214 -0.17301995 0.8105893 0.24955805] [ 0. 0. 0. 1. ]] SLAMing on 128.058241008 meters Centerline goodness [0,1] 0.8920123679464056 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.07, Z:0.25 [[ 0.78061841 -0.22162186 -0.58439598 6.16532199] [ 0.28027254 0.95986447 0.01036789 -0.07403828] [ 0.55864318 -0.17188351 0.8114024 0.24896835] [ 0. 0. 0. 1. ]] SLAMing on 128.088241008 meters Centerline goodness [0,1] 0.8926344656300934 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.08, Z:0.25 [[ 0.7800202 -0.2263981 -0.583363 6.16571323] [ 0.28375614 0.95886881 0.0072844 -0.07646785] [ 0.55771941 -0.17121481 0.81217889 0.24873003] [ 0. 0. 0. 1. ]] SLAMing on 128.118241008 meters Centerline goodness [0,1] 0.8900497642062479 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.09, Z:0.24 [[ 0.77751526 -0.22466201 -0.58736446 6.14675134] [ 0.28537822 0.95834948 0.01120463 -0.08727915] [ 0.56038317 -0.17633279 0.80924499 0.24044078] [ 0. 0. 0. 1. ]] SLAMing on 128.148241008 meters Centerline goodness [0,1] 0.8927368173626891 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.09, Z:0.24 [[ 0.77712453 -0.22453606 -0.58792943 6.14884722] [ 0.28568183 0.95825374 0.01164738 -0.08981112] [ 0.56077032 -0.17701223 0.80882836 0.24195394] [ 0. 0. 0. 1. ]] SLAMing on 128.178241008 meters Centerline goodness [0,1] 0.8895173750229135 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.09, Z:0.24 [[ 0.77648647 -0.2295081 -0.5868516 6.14924191] [ 0.28895867 0.95730861 0.00794479 -0.09035153] [ 0.55997469 -0.17574488 0.80965553 0.24100859] [ 0. 0. 0. 1. ]] SLAMing on 128.208241008 meters Centerline goodness [0,1] 0.8918228054918702 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.09, Z:0.24 [[ 7.75927052e-01 -2.33792992e-01 -5.85899348e-01 6.14995751e+00] [ 2.91940799e-01 9.56423409e-01 4.98323298e-03 -9.38601097e-02] [ 5.59202807e-01 -1.74914549e-01 8.10368510e-01 2.40708216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.238241008 meters Centerline goodness [0,1] 0.8913181577554261 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.10, Z:0.23 [[ 0.77395399 -0.2322645 -0.58910817 6.13150583] [ 0.293427 0.95594278 0.00860186 -0.10411294] [ 0.56115579 -0.17951769 0.8080084 0.2306344 ] [ 0. 0. 0. 1. ]] SLAMing on 128.268241008 meters Centerline goodness [0,1] 0.89035005989618 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.11, Z:0.23 [[ 0.77371109 -0.23196293 -0.58954589 6.13372043] [ 0.29347089 0.95592538 0.00902801 -0.10711818] [ 0.56146771 -0.17999963 0.80768443 0.2316676 ] [ 0. 0. 0. 1. ]] SLAMing on 128.298241008 meters Centerline goodness [0,1] 0.89035005989618 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.11, Z:0.23 [[ 0.77371109 -0.23196293 -0.58954589 6.13372043] [ 0.29347089 0.95592538 0.00902801 -0.10711818] [ 0.56146771 -0.17999963 0.80768443 0.2316676 ] [ 0. 0. 0. 1. ]] SLAMing on 128.328241008 meters Centerline goodness [0,1] 0.889782226718492 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.11, Z:0.23 [[ 0.77373235 -0.23138778 -0.58974397 6.13448225] [ 0.29316378 0.95601474 0.00952985 -0.10899951] [ 0.56159883 -0.18026513 0.80753405 0.23211121] [ 0. 0. 0. 1. ]] SLAMing on 128.358241008 meters Centerline goodness [0,1] 0.8868404833998768 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.12, Z:0.21 [[ 0.77426692 -0.23227058 -0.58869442 6.11178309] [ 0.29412273 0.95571785 0.0097578 -0.11864223] [ 0.56035932 -0.18070356 0.80829677 0.21381737] [ 0. 0. 0. 1. ]] SLAMing on 128.388241008 meters Centerline goodness [0,1] 0.8861594572125828 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.13, Z:0.21 [[ 0.77222509 -0.22919705 -0.59256824 6.09353443] [ 0.29504765 0.95536512 0.01497943 -0.12873991] [ 0.56268579 -0.18640335 0.80538096 0.20559946] [ 0. 0. 0. 1. ]] SLAMing on 128.418241008 meters Centerline goodness [0,1] 0.8861153608717824 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.13, Z:0.21 [[ 0.77260276 -0.22776293 -0.5926289 6.09408761] [ 0.2940073 0.95566917 0.01600469 -0.13242157] [ 0.56271189 -0.18660249 0.8053166 0.20556864] [ 0. 0. 0. 1. ]] SLAMing on 128.448241008 meters Centerline goodness [0,1] 0.8836908483345909 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.14, Z:0.19 [[ 0.77349588 -0.22918343 -0.59091377 6.07159271] [ 0.2952829 0.95527554 0.01602059 -0.14168968] [ 0.56081381 -0.18687859 0.80657564 0.18721594] [ 0. 0. 0. 1. ]] SLAMing on 128.478241008 meters Centerline goodness [0,1] 0.887979470556456 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.14, Z:0.19 [[ 0.7734509 -0.23246521 -0.58968943 6.06894468] [ 0.29687832 0.95482704 0.01298435 -0.14241605] [ 0.560033 -0.18510877 0.80752571 0.18556736] [ 0. 0. 0. 1. ]] SLAMing on 128.508241008 meters Centerline goodness [0,1] 0.8890210281636846 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.14, Z:0.18 [[ 0.7734378 -0.23464547 -0.58884248 6.06542517] [ 0.29784054 0.95455416 0.01083366 -0.14384818] [ 0.55953997 -0.18376033 0.8081752 0.18485826] [ 0. 0. 0. 1. ]] SLAMing on 128.538241008 meters Centerline goodness [0,1] 0.8924057499321942 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.15, Z:0.18 [[ 0.77448032 -0.23202511 -0.58851048 6.06194908] [ 0.29587382 0.9551413 0.01279789 -0.1484465 ] [ 0.55914123 -0.18403656 0.80838829 0.18485212] [ 0. 0. 0. 1. ]] SLAMing on 128.568241008 meters Centerline goodness [0,1] 0.8930372539450139 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.15, Z:0.18 [[ 0.77470112 -0.23124482 -0.58852698 6.06173168] [ 0.29530892 0.95530833 0.01336564 -0.14968731] [ 0.55913399 -0.18415164 0.80836709 0.18484317] [ 0. 0. 0. 1. ]] SLAMing on 128.598241008 meters Centerline goodness [0,1] 0.8902761497151269 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.15, Z:0.18 [[ 0.77443842 -0.23559619 -0.58714527 6.0604833 ] [ 0.29766192 0.95462344 0.00956354 -0.1488105 ] [ 0.5582495 -0.18217716 0.80942509 0.18250933] [ 0. 0. 0. 1. ]] SLAMing on 128.628241008 meters Centerline goodness [0,1] 0.8949124726477025 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.15, Z:0.18 [[ 0.77449427 -0.2390347 -0.58567998 6.0589168 ] [ 0.29951475 0.95406823 0.00668802 -0.15190789] [ 0.55718 -0.18059963 0.81051479 0.18065955] [ 0. 0. 0. 1. ]] SLAMing on 128.658241008 meters Centerline goodness [0,1] 0.8958659095273366 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.15, Z:0.18 [[ 7.74019358e-01 -2.43740944e-01 -5.84366654e-01 6.05830562e+00] [ 3.02448211e-01 9.53160972e-01 3.03989765e-03 -1.51849458e-01] [ 5.56254540e-01 -1.79093589e-01 8.11484056e-01 1.79198324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.688241008 meters Centerline goodness [0,1] 0.8957651137833301 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.15, Z:0.18 [[ 7.73533252e-01 -2.48431914e-01 -5.83033355e-01 6.05790501e+00] [ 3.05457502e-01 9.52205592e-01 -4.74625719e-04 -1.52267015e-01] [ 5.55285533e-01 -1.77724773e-01 8.12448079e-01 1.77839997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.718241008 meters Centerline goodness [0,1] 0.8929321977657338 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.15, Z:0.18 [[ 7.72924622e-01 -2.53345523e-01 -5.81724655e-01 6.05773673e+00] [ 3.08650787e-01 9.51166405e-01 -4.14277973e-03 -1.52927947e-01] [ 5.54366503e-01 -1.76347716e-01 8.13375229e-01 1.76690469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.748241008 meters Centerline goodness [0,1] 0.8934876748834111 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.16, Z:0.18 [[ 0.77229008 -0.25751476 -0.58073589 6.05781403] [ 0.31179507 0.95012594 -0.00667294 -0.15782481] [ 0.55349062 -0.17591714 0.81406467 0.17731493] [ 0. 0. 0. 1. ]] SLAMing on 128.778241008 meters Centerline goodness [0,1] 0.8939867239359625 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.16, Z:0.18 [[ 0.77170123 -0.26217409 -0.57943245 6.05713233] [ 0.31494517 0.94905754 -0.00996616 -0.15909789] [ 0.55252761 -0.17479855 0.81495933 0.17662601] [ 0. 0. 0. 1. ]] SLAMing on 128.808241008 meters Centerline goodness [0,1] 0.8941509645580978 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.16, Z:0.18 [[ 0.77101347 -0.267058 -0.57811612 6.05667464] [ 0.31821798 0.94792156 -0.01349156 -0.15985035] [ 0.55161177 -0.17356478 0.81584295 0.17579612] [ 0. 0. 0. 1. ]] SLAMing on 128.838241008 meters Centerline goodness [0,1] 0.8938746838999719 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.16, Z:0.17 [[ 0.77024537 -0.2720183 -0.57682589 6.05685294] [ 0.32153832 0.94674202 -0.01710699 -0.16045932] [ 0.55075873 -0.17229505 0.81668797 0.17488301] [ 0. 0. 0. 1. ]] SLAMing on 128.868241008 meters Centerline goodness [0,1] 0.8926008905022547 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.16, Z:0.17 [[ 0.76946864 -0.27682649 -0.57557373 6.05838933] [ 0.32492038 0.94552179 -0.02037869 -0.16328237] [ 0.54985886 -0.17133487 0.81749593 0.17419755] [ 0. 0. 0. 1. ]] SLAMing on 128.898241008 meters Centerline goodness [0,1] 0.8956452845137376 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.16, Z:0.18 [[ 0.76925231 -0.27653278 -0.57600391 6.05996515] [ 0.32498831 0.94550851 -0.01990626 -0.16488272] [ 0.55012133 -0.1718816 0.81720452 0.17522798] [ 0. 0. 0. 1. ]] SLAMing on 128.928241008 meters Centerline goodness [0,1] 0.89501312335958 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.17, Z:0.18 [[ 0.7691236 -0.27623359 -0.57631926 6.06255747] [ 0.32511362 0.94547809 -0.01929531 -0.16825126] [ 0.55022725 -0.17252877 0.81699682 0.17609302] [ 0. 0. 0. 1. ]] SLAMing on 128.958241008 meters Centerline goodness [0,1] 0.8970588235294118 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.17, Z:0.18 [[ 0.76903364 -0.27560609 -0.57673958 6.06332869] [ 0.32488887 0.94556837 -0.01864608 -0.1707306 ] [ 0.55048568 -0.17303682 0.81671524 0.17731585] [ 0. 0. 0. 1. ]] SLAMing on 128.988241008 meters Centerline goodness [0,1] 0.90300542526624 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.17, Z:0.18 [[ 0.76895298 -0.27483594 -0.57721445 6.06327164] [ 0.32453589 0.94570307 -0.01794888 -0.17256266] [ 0.55080648 -0.17352496 0.81639532 0.17876503] [ 0. 0. 0. 1. ]] SLAMing on 129.018241008 meters Centerline goodness [0,1] 0.9012865698157541 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.17, Z:0.18 [[ 0.76894869 -0.27421854 -0.57751372 6.06258404] [ 0.32414833 0.94584413 -0.01751398 -0.17348857] [ 0.55104062 -0.17373275 0.81619309 0.17967881] [ 0. 0. 0. 1. ]] SLAMing on 129.048241008 meters Centerline goodness [0,1] 0.8992194674012856 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.17, Z:0.18 [[ 0.76882438 -0.27388269 -0.57783851 6.0627676 ] [ 0.32398074 0.94590592 -0.01727639 -0.17399922] [ 0.55131257 -0.17392604 0.81596825 0.18043942] [ 0. 0. 0. 1. ]] SLAMing on 129.078241008 meters Centerline goodness [0,1] 0.9025663082437276 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.17, Z:0.18 [[ 0.76858348 -0.27399413 -0.57810609 6.06379752] [ 0.32422763 0.94582239 -0.01721792 -0.17438978] [ 0.55150329 -0.17420456 0.81577993 0.18113912] [ 0. 0. 0. 1. ]] SLAMing on 129.108241008 meters Centerline goodness [0,1] 0.9029534657432317 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.17, Z:0.18 [[ 0.76831166 -0.27426774 -0.57833762 6.06475295] [ 0.32449108 0.9457284 -0.01741632 -0.17316795] [ 0.55172705 -0.17428424 0.81561159 0.18143667] [ 0. 0. 0. 1. ]] SLAMing on 129.138241008 meters Centerline goodness [0,1] 0.9000745926095938 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.17, Z:0.18 [[ 0.76810241 -0.27464333 -0.57843732 6.0656946 ] [ 0.32476597 0.94562817 -0.01773217 -0.17183114] [ 0.55185664 -0.17423663 0.81553408 0.1813243 ] [ 0. 0. 0. 1. ]] SLAMing on 129.168241008 meters Centerline goodness [0,1] 0.899042720388627 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.17, Z:0.18 [[ 0.7676901 -0.27537439 -0.57863707 6.06731575] [ 0.32528319 0.94543809 -0.01837551 -0.17014397] [ 0.55212568 -0.17411422 0.81537812 0.18135605] [ 0. 0. 0. 1. ]] SLAMing on 129.198241008 meters Centerline goodness [0,1] 0.8994891223236324 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.17, Z:0.18 [[ 0.76744838 -0.27574311 -0.57878211 6.06801539] [ 0.32551539 0.94535063 -0.01875949 -0.16914679] [ 0.55232483 -0.17400554 0.81526643 0.18147456] [ 0. 0. 0. 1. ]] SLAMing on 129.228241008 meters Centerline goodness [0,1] 0.8989114866800344 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.17, Z:0.18 [[ 0.76626457 -0.28164991 -0.57750492 6.06806541] [ 0.32944895 0.94388819 -0.02320494 -0.16714966] [ 0.55163575 -0.17247726 0.81605735 0.18063496] [ 0. 0. 0. 1. ]] SLAMing on 129.258241008 meters Centerline goodness [0,1] 0.8996606464971817 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.17, Z:0.18 [[ 0.76509467 -0.28758852 -0.57612757 6.06836301] [ 0.33339098 0.94238246 -0.0276722 -0.16500739] [ 0.55089073 -0.17090388 0.81689122 0.17952786] [ 0. 0. 0. 1. ]] SLAMing on 129.288241008 meters Centerline goodness [0,1] 0.9030958683392796 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.16, Z:0.18 [[ 0.76377666 -0.2935518 -0.57486742 6.06909793] [ 0.33741736 0.94080705 -0.03211889 -0.16289958] [ 0.55026788 -0.16943858 0.81761594 0.17872691] [ 0. 0. 0. 1. ]] SLAMing on 129.318241008 meters Centerline goodness [0,1] 0.9058711465188778 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.16, Z:0.18 [[ 0.76317115 -0.29403758 -0.57542306 6.07085816] [ 0.33817905 0.94053459 -0.03208773 -0.1633034 ] [ 0.55064029 -0.1701076 0.81722621 0.18042221] [ 0. 0. 0. 1. ]] SLAMing on 129.348241008 meters Centerline goodness [0,1] 0.9098755809589792 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.16, Z:0.18 [[ 0.76252508 -0.29446253 -0.57606191 6.07159335] [ 0.338934 0.94026617 -0.03198872 -0.16341452] [ 0.551071 -0.17085477 0.81677989 0.18266774] [ 0. 0. 0. 1. ]] SLAMing on 129.378241008 meters Centerline goodness [0,1] 0.9097629291675089 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.16, Z:0.18 [[ 0.76210653 -0.29479428 -0.57644598 6.07241677] [ 0.33935175 0.9401109 -0.03212292 -0.1630439 ] [ 0.55139281 -0.17113687 0.81650361 0.18374936] [ 0. 0. 0. 1. ]] SLAMing on 129.408241008 meters Centerline goodness [0,1] 0.9108699416960111 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.16, Z:0.18 [[ 0.76176962 -0.29502455 -0.57677341 6.07333126] [ 0.33963008 0.9400058 -0.03225687 -0.16253913] [ 0.55168692 -0.17131729 0.81626707 0.18444328] [ 0. 0. 0. 1. ]] SLAMing on 129.438241008 meters Centerline goodness [0,1] 0.9097720526785972 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.16, Z:0.18 [[ 0.76147092 -0.29583711 -0.57675163 6.07411539] [ 0.34013981 0.93979645 -0.03297795 -0.15979384] [ 0.55178523 -0.17106444 0.81625365 0.1839908 ] [ 0. 0. 0. 1. ]] SLAMing on 129.468241008 meters Centerline goodness [0,1] 0.9097640381457259 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.16, Z:0.18 [[ 0.76124339 -0.29626859 -0.57683049 6.07493375] [ 0.34039594 0.9396882 -0.03341697 -0.15829779] [ 0.55194121 -0.17091231 0.81618006 0.18382726] [ 0. 0. 0. 1. ]] SLAMing on 129.498241008 meters Centerline goodness [0,1] 0.9077356970185334 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.16, Z:0.18 [[ 0.76092619 -0.29668271 -0.57703614 6.07568461] [ 0.34067822 0.93957097 -0.03383408 -0.15673816] [ 0.55220439 -0.17083841 0.81601749 0.18406335] [ 0. 0. 0. 1. ]] SLAMing on 129.528241008 meters Centerline goodness [0,1] 0.9071619562404761 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.15, Z:0.18 [[ 0.76072999 -0.2969526 -0.57715599 6.07602911] [ 0.34077788 0.93952067 -0.03422498 -0.15493525] [ 0.55241318 -0.17064602 0.81591643 0.18398172] [ 0. 0. 0. 1. ]] SLAMing on 129.558241008 meters Centerline goodness [0,1] 0.9054957669680012 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.15, Z:0.18 [[ 0.76067825 -0.29689188 -0.57725541 6.07590486] [ 0.3404219 0.93963311 -0.03467774 -0.15290302] [ 0.55270383 -0.17013178 0.81582697 0.18340414] [ 0. 0. 0. 1. ]] SLAMing on 129.588241008 meters Centerline goodness [0,1] 0.9056241032998565 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.15, Z:0.18 [[ 0.76041413 -0.29696937 -0.57756345 6.07627312] [ 0.34053906 0.9395875 -0.03476328 -0.15214367] [ 0.55299502 -0.17024843 0.81560528 0.18409001] [ 0. 0. 0. 1. ]] SLAMing on 129.618241008 meters Centerline goodness [0,1] 0.9029942870266701 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.15, Z:0.18 [[ 0.76033505 -0.29668431 -0.57781401 6.07591756] [ 0.34040701 0.9396438 -0.03453393 -0.15210663] [ 0.55318503 -0.17043459 0.81543753 0.18479387] [ 0. 0. 0. 1. ]] SLAMing on 129.648241008 meters Centerline goodness [0,1] 0.902567932440972 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.15, Z:0.19 [[ 0.76028397 -0.29626988 -0.5780938 6.07523237] [ 0.3402489 0.93971623 -0.03411875 -0.15234197] [ 0.55335248 -0.17075584 0.81525669 0.18576837] [ 0. 0. 0. 1. ]] SLAMing on 129.678241008 meters Centerline goodness [0,1] 0.902522115026767 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.15, Z:0.19 [[ 0.76027035 -0.29553409 -0.5784882 6.07390914] [ 0.34011104 0.93980141 -0.03313294 -0.15385309] [ 0.55345594 -0.17156023 0.81501755 0.18761707] [ 0. 0. 0. 1. ]] SLAMing on 129.708241008 meters Centerline goodness [0,1] 0.9043620783851396 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.15, Z:0.19 [[ 0.76009658 -0.29547302 -0.57874769 6.07406947] [ 0.34029654 0.93974425 -0.03284823 -0.15414172] [ 0.55358058 -0.17197801 0.81484484 0.18858685] [ 0. 0. 0. 1. ]] SLAMing on 129.738241008 meters Centerline goodness [0,1] 0.9067400590579399 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.15, Z:0.19 [[ 0.7599331 -0.29543749 -0.57898046 6.0740177 ] [ 0.34048165 0.93968582 -0.03260066 -0.15415506] [ 0.55369119 -0.1723579 0.8146894 0.18950015] [ 0. 0. 0. 1. ]] SLAMing on 129.768241008 meters Centerline goodness [0,1] 0.90505509681503 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.15, Z:0.19 [[ 0.75981904 -0.29533701 -0.57918138 6.07394507] [ 0.3406834 0.93962656 -0.03219849 -0.15489342] [ 0.55372362 -0.17285246 0.81456257 0.19050014] [ 0. 0. 0. 1. ]] SLAMing on 129.798241008 meters Centerline goodness [0,1] 0.9075615777688465 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.16, Z:0.19 [[ 0.75963396 -0.29515775 -0.57951544 6.07361795] [ 0.34077132 0.9396058 -0.03187227 -0.15533447] [ 0.55392342 -0.17327098 0.81433778 0.19173005] [ 0. 0. 0. 1. ]] SLAMing on 129.828241008 meters Centerline goodness [0,1] 0.9077485464279547 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.16, Z:0.19 [[ 0.75949442 -0.29486227 -0.57984866 6.07311964] [ 0.34080553 0.93960883 -0.03141387 -0.15602583] [ 0.55409369 -0.17375697 0.81411836 0.19305446] [ 0. 0. 0. 1. ]] SLAMing on 129.858241008 meters Centerline goodness [0,1] 0.9103224136443383 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.16, Z:0.19 [[ 0.75931578 -0.29470179 -0.58016412 6.07272303] [ 0.34099158 0.93955602 -0.0309715 -0.15674614] [ 0.55422404 -0.17431393 0.81391054 0.19450597] [ 0. 0. 0. 1. ]] SLAMing on 129.888241008 meters Centerline goodness [0,1] 0.9091824405960531 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.16, Z:0.20 [[ 0.75921793 -0.29459157 -0.58034812 6.07266167] [ 0.341048 0.93954249 -0.03076006 -0.15661862] [ 0.55432337 -0.17457298 0.81378736 0.19513199] [ 0. 0. 0. 1. ]] SLAMing on 129.918241008 meters Centerline goodness [0,1] 0.9107199174288254 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.16, Z:0.20 [[ 0.75909842 -0.29453331 -0.580534 6.07281864] [ 0.34107065 0.93953644 -0.03069345 -0.15617081] [ 0.55447309 -0.17470376 0.81365729 0.1955691 ] [ 0. 0. 0. 1. ]] SLAMing on 129.948241008 meters Centerline goodness [0,1] 0.9047892830449031 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.15, Z:0.20 [[ 0.75904676 -0.29460062 -0.58056738 6.07276723] [ 0.34105022 0.93953844 -0.03085867 -0.15495846] [ 0.55455636 -0.17457946 0.81362722 0.19545325] [ 0. 0. 0. 1. ]] SLAMing on 129.978241008 meters Centerline goodness [0,1] 0.9029735304228257 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.15, Z:0.19 [[ 0.75912908 -0.29459213 -0.58046405 6.07270865] [ 0.34074686 0.93963564 -0.03124813 -0.15255988] [ 0.55463016 -0.17406994 0.81368608 0.19443744] [ 0. 0. 0. 1. ]] SLAMing on 130.008241008 meters Centerline goodness [0,1] 0.9048965832476288 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.15, Z:0.19 [[ 0.7590511 -0.29468688 -0.58051793 6.07298366] [ 0.34068315 0.93964917 -0.03153454 -0.15131995] [ 0.55477601 -0.17383635 0.81363659 0.19419096] [ 0. 0. 0. 1. ]] SLAMing on 130.038241008 meters Centerline goodness [0,1] 0.9039728488720303 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.15, Z:0.19 [[ 0.75897432 -0.29461839 -0.58065307 6.07324029] [ 0.34054099 0.93969611 -0.03167105 -0.15035731] [ 0.5549683 -0.17369866 0.81353485 0.19419842] [ 0. 0. 0. 1. ]] SLAMing on 130.068241008 meters Centerline goodness [0,1] 0.904290710568967 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.15, Z:0.19 [[ 0.75887601 -0.29452858 -0.5808271 6.07338556] [ 0.34037041 0.93975269 -0.03182545 -0.14912911] [ 0.55520734 -0.17354479 0.81340458 0.19425187] [ 0. 0. 0. 1. ]] SLAMing on 130.098241008 meters Centerline goodness [0,1] 0.9047334414937523 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.15, Z:0.19 [[ 0.75885315 -0.29481047 -0.58071394 6.07411936] [ 0.3400984 0.93982144 -0.03269159 -0.14624311] [ 0.55540524 -0.17269176 0.81345103 0.19270305] [ 0. 0. 0. 1. ]] SLAMing on 130.128241008 meters Centerline goodness [0,1] 0.9021819421558043 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.15, Z:0.19 [[ 0.75871609 -0.29495196 -0.58082117 6.07482269] [ 0.34006273 0.9398221 -0.03304168 -0.14513147] [ 0.55561428 -0.17244638 0.81336032 0.1924924 ] [ 0. 0. 0. 1. ]] SLAMing on 130.158241008 meters Centerline goodness [0,1] 0.9033438271079725 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.14, Z:0.19 [[ 0.75848955 -0.29497451 -0.58110554 6.07546646] [ 0.3400684 0.93981505 -0.03318356 -0.14446774] [ 0.55592003 -0.17244625 0.81315141 0.19291966] [ 0. 0. 0. 1. ]] SLAMing on 130.188241008 meters Centerline goodness [0,1] 0.9038336029057065 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.14, Z:0.19 [[ 0.7585171 -0.29457271 -0.58127337 6.07511095] [ 0.33963532 0.93997272 -0.03315327 -0.14447936] [ 0.55614716 -0.17227364 0.81303268 0.19308983] [ 0. 0. 0. 1. ]] SLAMing on 130.218241008 meters Centerline goodness [0,1] 0.904843013683075 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.14, Z:0.19 [[ 0.75832969 -0.29449137 -0.58155903 6.07553337] [ 0.33967212 0.93996264 -0.03306188 -0.14460006] [ 0.5563802 -0.17246758 0.81283209 0.19381735] [ 0. 0. 0. 1. ]] SLAMing on 130.248241008 meters Centerline goodness [0,1] 0.904843013683075 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.14, Z:0.19 [[ 0.75832969 -0.29449137 -0.58155903 6.07553337] [ 0.33967212 0.93996264 -0.03306188 -0.14460006] [ 0.5563802 -0.17246758 0.81283209 0.19381735] [ 0. 0. 0. 1. ]] SLAMing on 130.278241008 meters Centerline goodness [0,1] 0.9045714933923203 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.14, Z:0.19 [[ 0.75807346 -0.29469321 -0.5817908 6.07654121] [ 0.33990834 0.93987338 -0.0331714 -0.14440791] [ 0.55658507 -0.17260919 0.81266175 0.19432197] [ 0. 0. 0. 1. ]] SLAMing on 130.308241008 meters Centerline goodness [0,1] 0.9053693181818182 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.14, Z:0.19 [[ 0.75789745 -0.29480217 -0.58196489 6.07743945] [ 0.34010041 0.93980447 -0.03315521 -0.14444984] [ 0.55670743 -0.17279825 0.81253775 0.19476009] [ 0. 0. 0. 1. ]] SLAMing on 130.338241008 meters Centerline goodness [0,1] 0.9078551563652875 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.15, Z:0.20 [[ 0.75773269 -0.29453168 -0.58231629 6.07802342] [ 0.34017389 0.93979404 -0.03269398 -0.14560788] [ 0.55688679 -0.1733155 0.81230465 0.19589102] [ 0. 0. 0. 1. ]] SLAMing on 130.368241008 meters Centerline goodness [0,1] 0.90549881944642 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.15, Z:0.20 [[ 0.75749836 -0.29456758 -0.58260293 6.07867976] [ 0.34034799 0.93973372 -0.03261576 -0.14585271] [ 0.55709916 -0.17358135 0.81210223 0.19669277] [ 0. 0. 0. 1. ]] SLAMing on 130.398241008 meters Centerline goodness [0,1] 0.9034146062924684 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.15, Z:0.20 [[ 0.75732433 -0.29473478 -0.5827446 6.0798765 ] [ 0.3405197 0.93966779 -0.03272261 -0.1457296 ] [ 0.55723083 -0.17365439 0.81199628 0.19684632] [ 0. 0. 0. 1. ]] SLAMing on 130.428241008 meters Centerline goodness [0,1] 0.9046873665936193 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.15, Z:0.20 [[ 0.75717645 -0.29475243 -0.58292781 6.08073189] [ 0.34059826 0.93963973 -0.03271094 -0.14572073] [ 0.55738376 -0.17377625 0.81186524 0.19716832] [ 0. 0. 0. 1. ]] SLAMing on 130.458241008 meters Centerline goodness [0,1] 0.9064579031888048 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.15, Z:0.20 [[ 0.75740807 -0.29378824 -0.58311362 6.07935746] [ 0.33998162 0.93988959 -0.03193835 -0.14743416] [ 0.55744553 -0.17405755 0.81176256 0.1979923 ] [ 0. 0. 0. 1. ]] SLAMing on 130.488241008 meters Centerline goodness [0,1] 0.9070166409332647 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.15, Z:0.20 [[ 0.75741907 -0.29306606 -0.58346262 6.07842362] [ 0.33964673 0.94003358 -0.03125655 -0.14881347] [ 0.55763469 -0.17449686 0.81153829 0.1993098 ] [ 0. 0. 0. 1. ]] SLAMing on 130.518241008 meters Centerline goodness [0,1] 0.9060505925250684 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.15, Z:0.20 [[ 0.75743419 -0.29278672 -0.58358322 6.07801859] [ 0.33951906 0.9400887 -0.03098469 -0.14913965] [ 0.5576919 -0.17466876 0.811462 0.19980892] [ 0. 0. 0. 1. ]] SLAMing on 130.548241008 meters Centerline goodness [0,1] 0.9059494935083464 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.15, Z:0.20 [[ 0.75722169 -0.29306708 -0.58371826 6.07880451] [ 0.33967941 0.94001999 -0.03131013 -0.14812477] [ 0.5578828 -0.17456836 0.81135237 0.19984271] [ 0. 0. 0. 1. ]] SLAMing on 130.578241008 meters Centerline goodness [0,1] 0.9057223666542867 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.15, Z:0.20 [[ 0.75696079 -0.29394503 -0.58361517 6.080492 ] [ 0.34017451 0.93981308 -0.03213526 -0.14571235] [ 0.55793517 -0.17420588 0.81139427 0.19891206] [ 0. 0. 0. 1. ]] SLAMing on 130.608241008 meters Centerline goodness [0,1] 0.9066434960970885 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.14, Z:0.20 [[ 0.75663604 -0.29446208 -0.58377563 6.0817821 ] [ 0.3405587 0.93965888 -0.03257231 -0.14457848] [ 0.55814127 -0.17416448 0.8112614 0.19905134] [ 0. 0. 0. 1. ]] SLAMing on 130.638241008 meters Centerline goodness [0,1] 0.9059887391230166 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.14, Z:0.20 [[ 0.75637291 -0.29479265 -0.58394975 6.08261652] [ 0.34076022 0.93957288 -0.03294356 -0.14356765] [ 0.55837487 -0.17406923 0.81112108 0.19921133] [ 0. 0. 0. 1. ]] SLAMing on 130.668241008 meters Centerline goodness [0,1] 0.9050099629945916 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.14, Z:0.20 [[ 0.75611793 -0.29496173 -0.58419453 6.08337484] [ 0.34091251 0.93951135 -0.03312223 -0.14301609] [ 0.55862718 -0.17411491 0.81093752 0.19965947] [ 0. 0. 0. 1. ]] SLAMing on 130.698241008 meters Centerline goodness [0,1] 0.9045137405667094 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.14, Z:0.20 [[ 0.75576515 -0.29516978 -0.58454584 6.08443399] [ 0.34113132 0.93942507 -0.033316 -0.14313435] [ 0.5589709 -0.17422782 0.81067639 0.20046661] [ 0. 0. 0. 1. ]] SLAMing on 130.728241008 meters Centerline goodness [0,1] 0.9025122181256966 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.20 [[ 0.7555509 -0.29521409 -0.58480038 6.08515136] [ 0.3412612 0.93937825 -0.03330622 -0.1433807 ] [ 0.55918122 -0.17440513 0.81049319 0.20109405] [ 0. 0. 0. 1. ]] SLAMing on 130.758241008 meters Centerline goodness [0,1] 0.9057968942145451 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.20 [[ 0.75515177 -0.29564278 -0.58509926 6.08665908] [ 0.34167136 0.93921867 -0.03360026 -0.14294553] [ 0.55946982 -0.17453836 0.81026531 0.20167721] [ 0. 0. 0. 1. ]] SLAMing on 130.788241008 meters Centerline goodness [0,1] 0.9004348821240559 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.20 [[ 0.75468422 -0.29636727 -0.58533594 6.08886559] [ 0.3422074 0.93900108 -0.0342208 -0.14179723] [ 0.55977301 -0.17448039 0.81006838 0.20180131] [ 0. 0. 0. 1. ]] SLAMing on 130.818241008 meters Centerline goodness [0,1] 0.9038599101547969 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.20 [[ 0.75388982 -0.29760298 -0.58573255 6.0921516 ] [ 0.34314811 0.93862007 -0.03523836 -0.14000668] [ 0.56026736 -0.17442718 0.80973801 0.20219766] [ 0. 0. 0. 1. ]] SLAMing on 130.848241008 meters Centerline goodness [0,1] 0.9059547666762096 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.20 [[ 0.75366762 -0.29755503 -0.58604277 6.09246036] [ 0.34322874 0.93859368 -0.03515593 -0.14013929] [ 0.56051686 -0.17465084 0.8095171 0.20304637] [ 0. 0. 0. 1. ]] SLAMing on 130.878241008 meters Centerline goodness [0,1] 0.9031038827167563 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.20 [[ 0.75339973 -0.29748574 -0.58642228 6.09258005] [ 0.34335599 0.93855315 -0.03499503 -0.14041185] [ 0.560799 -0.17498636 0.8092492 0.20423867] [ 0. 0. 0. 1. ]] SLAMing on 130.908241008 meters Centerline goodness [0,1] 0.9067799041689382 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.21 [[ 0.75303567 -0.29752971 -0.5868674 6.09283626] [ 0.34361321 0.93846343 -0.03487626 -0.14045827] [ 0.56113032 -0.17539232 0.80893158 0.20560502] [ 0. 0. 0. 1. ]] SLAMing on 130.938241008 meters Centerline goodness [0,1] 0.9107800276115969 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.20 [[ 0.75189439 -0.30333521 -0.58535679 6.09271338] [ 0.34749898 0.93686381 -0.03912357 -0.13900561] [ 0.56026715 -0.17399409 0.80983132 0.20462754] [ 0. 0. 0. 1. ]] SLAMing on 130.968241008 meters Centerline goodness [0,1] 0.9132576630560036 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.21 [[ 0.75153359 -0.30332081 -0.58582741 6.09322035] [ 0.34783257 0.93675355 -0.03879809 -0.13971589] [ 0.56054417 -0.17461178 0.80950661 0.20624189] [ 0. 0. 0. 1. ]] SLAMing on 130.998241008 meters Centerline goodness [0,1] 0.9144211433496122 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.21 [[ 0.75123847 -0.30328561 -0.58622402 6.09322905] [ 0.3480747 0.93667429 -0.03853942 -0.13999212] [ 0.56078941 -0.17509746 0.8092318 0.20762975] [ 0. 0. 0. 1. ]] SLAMing on 131.028241008 meters Centerline goodness [0,1] 0.9144920447679604 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.21 [[ 0.75053242 -0.30426486 -0.58662081 6.09497452] [ 0.34898881 0.9363093 -0.03913704 -0.13837096] [ 0.56116655 -0.17535048 0.80891552 0.20862558] [ 0. 0. 0. 1. ]] SLAMing on 131.058241008 meters Centerline goodness [0,1] 0.9169273149875176 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.14, Z:0.21 [[ 0.75007299 -0.30470757 -0.58697853 6.09620017] [ 0.34944658 0.93612697 -0.03941291 -0.13725453] [ 0.56149585 -0.17555509 0.80864258 0.20942421] [ 0. 0. 0. 1. ]] SLAMing on 131.088241008 meters Centerline goodness [0,1] 0.9142988479328871 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.14, Z:0.21 [[ 0.74947016 -0.30502896 -0.58758133 6.09757468] [ 0.34987611 0.9359583 -0.03960759 -0.13635834] [ 0.56203308 -0.17589596 0.80819516 0.21078714] [ 0. 0. 0. 1. ]] SLAMing on 131.118241008 meters Centerline goodness [0,1] 0.9149827784156143 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.14, Z:0.21 [[ 0.74903297 -0.30529626 -0.58799983 6.09858943] [ 0.35017268 0.93583817 -0.03982487 -0.13546562] [ 0.56243107 -0.17607133 0.80788005 0.21165561] [ 0. 0. 0. 1. ]] SLAMing on 131.148241008 meters Centerline goodness [0,1] 0.9125154325418473 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.13, Z:0.21 [[ 0.74854061 -0.30619184 -0.58816113 6.10078814] [ 0.35061387 0.93562828 -0.0408613 -0.13258228] [ 0.56281158 -0.17563111 0.80771086 0.21108751] [ 0. 0. 0. 1. ]] SLAMing on 131.178241008 meters Centerline goodness [0,1] 0.9045706251972571 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.13, Z:0.21 [[ 0.74844001 -0.30602556 -0.58837566 6.10102558] [ 0.35048921 0.93567654 -0.04082559 -0.13222276] [ 0.56302297 -0.17566381 0.80755641 0.21138341] [ 0. 0. 0. 1. ]] SLAMing on 131.208241008 meters Centerline goodness [0,1] 0.9123344987676965 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.13, Z:0.21 [[ 0.7484133 -0.30570153 -0.58857804 6.10080878] [ 0.35022465 0.93578094 -0.04070297 -0.13211851] [ 0.56322307 -0.17567189 0.80741511 0.21173437] [ 0. 0. 0. 1. ]] SLAMing on 131.238241008 meters Centerline goodness [0,1] 0.9130359860995434 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.13, Z:0.21 [[ 0.74855212 -0.30497904 -0.58877628 6.09976866] [ 0.34966095 0.93600944 -0.04029342 -0.13248528] [ 0.5633888 -0.17571034 0.80729111 0.21215115] [ 0. 0. 0. 1. ]] SLAMing on 131.268241008 meters Centerline goodness [0,1] 0.9154845154845155 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.13, Z:0.21 [[ 0.7499697 -0.29820778 -0.59043845 6.09791228] [ 0.34524222 0.93785512 -0.03515097 -0.13456604] [ 0.56422801 -0.17748212 0.80631684 0.21397775] [ 0. 0. 0. 1. ]] SLAMing on 131.298241008 meters Centerline goodness [0,1] 0.916461775973469 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.13, Z:0.21 [[ 0.75029762 -0.29741795 -0.59042023 6.09617694] [ 0.34456561 0.93812073 -0.03469933 -0.1345241 ] [ 0.56420566 -0.17740369 0.80634974 0.21390708] [ 0. 0. 0. 1. ]] SLAMing on 131.328241008 meters Centerline goodness [0,1] 0.9158571428571428 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.13, Z:0.21 [[ 0.75053903 -0.29650955 -0.59057027 6.09467311] [ 0.34386816 0.93839741 -0.03413195 -0.13474087] [ 0.56431007 -0.17746095 0.80626408 0.21423745] [ 0. 0. 0. 1. ]] SLAMing on 131.358241008 meters Centerline goodness [0,1] 0.9128175849272052 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.21 [[ 0.75122153 -0.29457077 -0.59067273 6.09155195] [ 0.34226765 0.93902296 -0.03299609 -0.136385 ] [ 0.56437493 -0.17738079 0.80623631 0.21439071] [ 0. 0. 0. 1. ]] SLAMing on 131.388241008 meters Centerline goodness [0,1] 0.9117605050418488 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.21 [[ 0.75158447 -0.29372714 -0.59063114 6.09045444] [ 0.34159375 0.93928782 -0.03243608 -0.13736119] [ 0.56429999 -0.17737745 0.8062895 0.2142656 ] [ 0. 0. 0. 1. ]] SLAMing on 131.418241008 meters Centerline goodness [0,1] 0.9126552572834984 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.21 [[ 0.75169865 -0.29307731 -0.59080862 6.08992556] [ 0.34111885 0.93947453 -0.03202406 -0.1379483 ] [ 0.56443518 -0.17746352 0.80617593 0.21461851] [ 0. 0. 0. 1. ]] SLAMing on 131.448241008 meters Centerline goodness [0,1] 0.9089142301866301 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.22 [[ 0.75176515 -0.29234197 -0.59108826 6.09013601] [ 0.34082609 0.93960718 -0.03123973 -0.14031597] [ 0.56452346 -0.17797337 0.8060017 0.21561269] [ 0. 0. 0. 1. ]] SLAMing on 131.478241008 meters Centerline goodness [0,1] 0.9148680024077737 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.22 [[ 0.75161775 -0.29207615 -0.59140703 6.0906206 ] [ 0.34087512 0.93960322 -0.03082125 -0.14147063] [ 0.5646901 -0.17843015 0.80578395 0.21664604] [ 0. 0. 0. 1. ]] SLAMing on 131.508241008 meters Centerline goodness [0,1] 0.91485642230756 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.22 [[ 0.7515716 -0.29165262 -0.59167464 6.09032997] [ 0.34077299 0.93965665 -0.03031738 -0.14254785] [ 0.56481316 -0.17884106 0.80560659 0.21761082] [ 0. 0. 0. 1. ]] SLAMing on 131.538241008 meters Centerline goodness [0,1] 0.9119695102730894 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.22 [[ 0.75164381 -0.29103521 -0.59188689 6.08936212] [ 0.34050003 0.93977563 -0.02968989 -0.14357544] [ 0.56488168 -0.17922129 0.80547403 0.2184745 ] [ 0. 0. 0. 1. ]] SLAMing on 131.568241008 meters Centerline goodness [0,1] 0.9192379315284344 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.22 [[ 0.75191018 -0.29047138 -0.59182553 6.08796377] [ 0.34006461 0.9399461 -0.02928126 -0.14363422] [ 0.56478946 -0.17924204 0.80553408 0.21840331] [ 0. 0. 0. 1. ]] SLAMing on 131.598241008 meters Centerline goodness [0,1] 0.9166928998654953 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.22 [[ 0.75184362 -0.29041538 -0.59193756 6.08776842] [ 0.34003673 0.93995667 -0.02926563 -0.14306037] [ 0.56489485 -0.17927733 0.80545233 0.21863338] [ 0. 0. 0. 1. ]] SLAMing on 131.628241008 meters Centerline goodness [0,1] 0.9172409848723155 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.22 [[ 0.75180994 -0.29026442 -0.59205438 6.0877356 ] [ 0.33997929 0.93998182 -0.02912482 -0.14277724] [ 0.56497425 -0.1793899 0.80537157 0.21887501] [ 0. 0. 0. 1. ]] SLAMing on 131.658241008 meters Centerline goodness [0,1] 0.917408929998858 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.22 [[ 0.75171059 -0.29022739 -0.59219866 6.08805937] [ 0.33998332 0.93998081 -0.02911034 -0.14263354] [ 0.56510399 -0.17945511 0.80526601 0.21912302] [ 0. 0. 0. 1. ]] SLAMing on 131.688241008 meters Centerline goodness [0,1] 0.919534976720272 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.22 [[ 0.75148566 -0.29033261 -0.59243251 6.08934504] [ 0.34009549 0.93993649 -0.0292309 -0.14284432] [ 0.56533562 -0.17951702 0.80508961 0.21948403] [ 0. 0. 0. 1. ]] SLAMing on 131.718241008 meters Centerline goodness [0,1] 0.9179119403411526 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.22 [[ 0.7513115 -0.29024832 -0.59269464 6.0899432 ] [ 0.34010793 0.93993397 -0.02916722 -0.14301136] [ 0.56555956 -0.17966648 0.80489896 0.2200581 ] [ 0. 0. 0. 1. ]] SLAMing on 131.748241008 meters Centerline goodness [0,1] 0.9180727033143316 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.22 [[ 0.75117537 -0.29034195 -0.59282131 6.0906652 ] [ 0.340144 0.93991576 -0.02933293 -0.14264446] [ 0.56571867 -0.17961044 0.80479965 0.22010037] [ 0. 0. 0. 1. ]] SLAMing on 131.778241008 meters Centerline goodness [0,1] 0.9188394208527286 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.22 [[ 0.75067969 -0.29126033 -0.59299867 6.09351984] [ 0.34063098 0.93970724 -0.03034524 -0.14072955] [ 0.56608351 -0.17921416 0.80463143 0.21958757] [ 0. 0. 0. 1. ]] SLAMing on 131.808241008 meters Centerline goodness [0,1] 0.9189204626588605 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.22 [[ 0.75038098 -0.29139568 -0.59331016 6.09478219] [ 0.34072079 0.93966701 -0.03058183 -0.13997312] [ 0.5664254 -0.17920508 0.80439282 0.21993757] [ 0. 0. 0. 1. ]] SLAMing on 131.838241008 meters Centerline goodness [0,1] 0.9107515508418856 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.14, Z:0.22 [[ 0.75024182 -0.29162019 -0.59337582 6.09563778] [ 0.34087348 0.93960483 -0.03079026 -0.13954664] [ 0.56651785 -0.17916594 0.80433643 0.21992399] [ 0. 0. 0. 1. ]] SLAMing on 131.868241008 meters Centerline goodness [0,1] 0.9179611650485437 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.14, Z:0.22 [[ 0.7498915 -0.29170927 -0.59377474 6.09665073] [ 0.34103227 0.93954421 -0.03088133 -0.13916477] [ 0.56688599 -0.1793387 0.8040385 0.22067061] [ 0. 0. 0. 1. ]] SLAMing on 131.898241008 meters Centerline goodness [0,1] 0.91231679094883 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.14, Z:0.22 [[ 0.74958803 -0.29191397 -0.59405725 6.09782131] [ 0.34130642 0.9394418 -0.03096835 -0.13910125] [ 0.56712231 -0.17954205 0.80382644 0.22127583] [ 0. 0. 0. 1. ]] SLAMing on 131.928241008 meters Centerline goodness [0,1] 0.9149839375860487 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.14, Z:0.22 [[ 0.74902164 -0.29227374 -0.59459452 6.09920127] [ 0.34208802 0.93916583 -0.03071368 -0.14040854] [ 0.56739966 -0.18039845 0.80343887 0.22336347] [ 0. 0. 0. 1. ]] SLAMing on 131.958241008 meters Centerline goodness [0,1] 0.9166116864117495 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.14, Z:0.23 [[ 0.74860839 -0.29214301 -0.59517892 6.09961238] [ 0.34244588 0.93905179 -0.03020866 -0.14175932] [ 0.56772907 -0.18120211 0.80302521 0.22543764] [ 0. 0. 0. 1. ]] SLAMing on 131.988241008 meters Centerline goodness [0,1] 0.9184130447264167 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.14, Z:0.23 [[ 0.74822135 -0.29221237 -0.59563138 6.1003747 ] [ 0.34288444 0.93890184 -0.02989311 -0.14273229] [ 0.56797453 -0.18186607 0.80270148 0.22705034] [ 0. 0. 0. 1. ]] SLAMing on 132.018241008 meters Centerline goodness [0,1] 0.9204201171480509 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.14, Z:0.23 [[ 0.74687073 -0.29841919 -0.59424751 6.1005358 ] [ 0.34715934 0.93717831 -0.03431037 -0.14080915] [ 0.56715475 -0.18067316 0.80355006 0.22651228] [ 0. 0. 0. 1. ]] SLAMing on 132.048241008 meters Centerline goodness [0,1] 0.9212673335831868 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.14, Z:0.23 [[ 0.74626409 -0.29890803 -0.59476374 6.10199123] [ 0.34794365 0.93688869 -0.03427529 -0.14107177] [ 0.56747258 -0.18136585 0.80316953 0.22826547] [ 0. 0. 0. 1. ]] SLAMing on 132.078241008 meters Centerline goodness [0,1] 0.9176739344167486 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.14, Z:0.23 [[ 0.74574058 -0.29929112 -0.59522753 6.10306534] [ 0.34862542 0.93663878 -0.03417776 -0.14143311] [ 0.56774228 -0.18202371 0.80283004 0.22985839] [ 0. 0. 0. 1. ]] SLAMing on 132.108241008 meters Centerline goodness [0,1] 0.9176739344167486 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.14, Z:0.23 [[ 0.74574058 -0.29929112 -0.59522753 6.10306534] [ 0.34862542 0.93663878 -0.03417776 -0.14143311] [ 0.56774228 -0.18202371 0.80283004 0.22985839] [ 0. 0. 0. 1. ]] SLAMing on 132.138241008 meters Centerline goodness [0,1] 0.9133897029014884 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.14, Z:0.23 [[ 0.74513789 -0.29991872 -0.59566625 6.10480544] [ 0.34940413 0.93634159 -0.03436843 -0.14117711] [ 0.56805482 -0.18251902 0.80249644 0.23114779] [ 0. 0. 0. 1. ]] SLAMing on 132.168241008 meters Centerline goodness [0,1] 0.9025960899823847 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.14, Z:0.23 [[ 0.74461011 -0.30035635 -0.59610557 6.10608824] [ 0.34996341 0.93612664 -0.03453297 -0.14077322] [ 0.5684025 -0.18290154 0.80216309 0.23231715] [ 0. 0. 0. 1. ]] SLAMing on 132.198241008 meters Centerline goodness [0,1] 0.9035229569737222 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.14, Z:0.23 [[ 0.74383846 -0.30129781 -0.59659364 6.10775376] [ 0.35074945 0.9358041 -0.03529169 -0.13863037] [ 0.56892809 -0.18300358 0.80176713 0.23328932] [ 0. 0. 0. 1. ]] SLAMing on 132.228241008 meters Centerline goodness [0,1] 0.8907029740098653 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.14, Z:0.23 [[ 0.74373719 -0.30145356 -0.59664121 6.10752583] [ 0.35074147 0.93579548 -0.03559829 -0.13715991] [ 0.56906538 -0.18279104 0.80171817 0.23315294] [ 0. 0. 0. 1. ]] SLAMing on 132.258241008 meters Centerline goodness [0,1] 0.8898554064174203 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.15, Z:0.23 [[ 0.74175729 -0.2959319 -0.60184752 6.08833797] [ 0.35061193 0.93609717 -0.0281667 -0.14582973] [ 0.57172319 -0.19012206 0.79811415 0.22708457] [ 0. 0. 0. 1. ]] SLAMing on 132.288241008 meters Centerline goodness [0,1] 0.9099142857142857 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.23 [[ 0.74249746 -0.29101368 -0.60333121 6.08848724] [ 0.34722458 0.93745247 -0.02485886 -0.14373115] [ 0.5728286 -0.19103378 0.79710318 0.22771318] [ 0. 0. 0. 1. ]] SLAMing on 132.318241008 meters Centerline goodness [0,1] 0.9113238730267282 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.23 [[ 0.7425178 -0.29138214 -0.60312832 6.08816954] [ 0.34719915 0.93744585 -0.02545632 -0.14116327] [ 0.57281766 -0.19050387 0.79723786 0.22667644] [ 0. 0. 0. 1. ]] SLAMing on 132.348241008 meters Centerline goodness [0,1] 0.9170763590894881 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.14, Z:0.23 [[ 0.74264802 -0.29116978 -0.60307055 6.08702918] [ 0.34688004 0.93756271 -0.02550308 -0.13955984] [ 0.57284218 -0.19025333 0.79728007 0.22636058] [ 0. 0. 0. 1. ]] SLAMing on 132.378241008 meters Centerline goodness [0,1] 0.9138402003186888 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.15, Z:0.21 [[ 0.74435355 -0.28937903 -0.60182852 6.06600756] [ 0.3484356 0.93712675 -0.01964937 -0.14727612] [ 0.56967572 -0.1950724 0.79838357 0.21304217] [ 0. 0. 0. 1. ]] SLAMing on 132.408241008 meters Centerline goodness [0,1] 0.9166122483745492 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.15, Z:0.21 [[ 0.74464632 -0.28860177 -0.60183957 6.06303268] [ 0.34775005 0.93738977 -0.0192436 -0.14661656] [ 0.569712 -0.19496007 0.79838513 0.21323659] [ 0. 0. 0. 1. ]] SLAMing on 132.438241008 meters Centerline goodness [0,1] 0.9205367528156827 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.15, Z:0.21 [[ 0.74472924 -0.28814376 -0.60195642 6.06171891] [ 0.34750624 0.93748863 -0.01882768 -0.14686233] [ 0.56975238 -0.19516209 0.79830695 0.21385781] [ 0. 0. 0. 1. ]] SLAMing on 132.468241008 meters Centerline goodness [0,1] 0.9209891264230758 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.15, Z:0.21 [[ 0.74465767 -0.28782188 -0.6021989 6.06124042] [ 0.34741957 0.93752755 -0.01848607 -0.14724615] [ 0.56989875 -0.19544989 0.79813204 0.21469965] [ 0. 0. 0. 1. ]] SLAMing on 132.498241008 meters Centerline goodness [0,1] 0.9180532328013833 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.15, Z:0.22 [[ 0.74446956 -0.28749974 -0.60258525 6.06117694] [ 0.34741327 0.93753753 -0.01809403 -0.1478365 ] [ 0.57014831 -0.19587566 0.79784938 0.21590483] [ 0. 0. 0. 1. ]] SLAMing on 132.528241008 meters Centerline goodness [0,1] 0.9199818398501788 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.15, Z:0.22 [[ 0.74419927 -0.28791693 -0.6027199 6.06238575] [ 0.34780761 0.93738662 -0.01833573 -0.14723496] [ 0.57026074 -0.19598514 0.79774214 0.21612458] [ 0. 0. 0. 1. ]] SLAMing on 132.558241008 meters Centerline goodness [0,1] 0.9194887635673195 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.15, Z:0.22 [[ 0.7438936 -0.28817997 -0.60297149 6.06294047] [ 0.34810297 0.93727384 -0.01849505 -0.14639811] [ 0.57047931 -0.19613782 0.79754831 0.21671405] [ 0. 0. 0. 1. ]] SLAMing on 132.588241008 meters Centerline goodness [0,1] 0.9175647624193135 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.15, Z:0.22 [[ 0.74380157 -0.28786067 -0.60323748 6.06262616] [ 0.34808797 0.93728773 -0.018069 -0.14716585] [ 0.57060844 -0.19653995 0.79735692 0.21774152] [ 0. 0. 0. 1. ]] SLAMing on 132.618241008 meters Centerline goodness [0,1] 0.9196576319543509 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.15, Z:0.22 [[ 0.74333743 -0.29205223 -0.60179312 6.05947794] [ 0.35079267 0.93621657 -0.02104845 -0.14824284] [ 0.56955593 -0.19545851 0.7983746 0.21730638] [ 0. 0. 0. 1. ]] SLAMing on 132.648241008 meters Centerline goodness [0,1] 0.9195451558526899 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.15, Z:0.22 [[ 0.74334604 -0.29161766 -0.60199319 6.05883162] [ 0.35062541 0.93628915 -0.0206023 -0.14888634] [ 0.56964769 -0.19575947 0.79823539 0.21807773] [ 0. 0. 0. 1. ]] SLAMing on 132.678241008 meters Centerline goodness [0,1] 0.9205118704933452 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.15, Z:0.24 [[ 7.46335940e-01 -2.82816526e-01 -6.02492719e-01 6.07730971e+00] [ 3.50444152e-01 9.36567345e-01 -5.52314867e-03 -1.45236300e-01] [ 5.65837044e-01 -2.07017926e-01 7.98105268e-01 2.35351572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.708241008 meters Centerline goodness [0,1] 0.91890589569161 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.14, Z:0.23 [[ 7.46598077e-01 -2.82717070e-01 -6.02214554e-01 6.07622730e+00] [ 3.50168461e-01 9.36669950e-01 -5.60844064e-03 -1.44008089e-01] [ 5.65661878e-01 -2.06689293e-01 7.98314584e-01 2.34472673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.738241008 meters Centerline goodness [0,1] 0.9215791404464261 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.14, Z:0.24 [[ 7.47605678e-01 -2.76534333e-01 -6.03833182e-01 6.07499974e+00] [ 3.46040596e-01 9.38218723e-01 -1.23838025e-03 -1.44124692e-01] [ 5.66870052e-01 -2.08024974e-01 7.97109750e-01 2.35976475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.768241008 meters Centerline goodness [0,1] 0.9208531740441239 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.14, Z:0.23 [[ 7.48037834e-01 -2.75960599e-01 -6.03560392e-01 6.07334911e+00] [ 3.45199536e-01 9.38528441e-01 -1.28331475e-03 -1.43036336e-01] [ 5.66812737e-01 -2.07388799e-01 7.97316253e-01 2.34803592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.798241008 meters Centerline goodness [0,1] 0.918455177069562 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.14, Z:0.23 [[ 7.48534189e-01 -2.75529009e-01 -6.03142050e-01 6.07192535e+00] [ 3.44451564e-01 9.38803073e-01 -1.38227352e-03 -1.41895095e-01] [ 5.66612466e-01 -2.06718544e-01 7.97632595e-01 2.33225233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.828241008 meters Centerline goodness [0,1] 0.9207865168539326 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.14, Z:0.23 [[ 7.48926378e-01 -2.75078130e-01 -6.02860932e-01 6.07041350e+00] [ 3.43796633e-01 9.39043114e-01 -1.37984829e-03 -1.41058749e-01] [ 5.66491973e-01 -2.06228154e-01 7.97845093e-01 2.32208234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.858241008 meters Centerline goodness [0,1] 0.9181317755434477 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.14, Z:0.23 [[ 7.49721096e-01 -2.73527351e-01 -6.02578681e-01 6.06714021e+00] [ 3.42190451e-01 9.39630297e-01 -7.75311185e-04 -1.41094319e-01] [ 5.66413253e-01 -2.05615403e-01 7.98059103e-01 2.31127597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.888241008 meters Centerline goodness [0,1] 0.9211627580396011 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.14, Z:0.23 [[ 7.50039599e-01 -2.73171811e-01 -6.02343558e-01 6.06651362e+00] [ 3.41714134e-01 9.39803673e-01 -7.11785547e-04 -1.40793088e-01] [ 5.66279128e-01 -2.05295440e-01 7.98236639e-01 2.30262512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.918241008 meters Centerline goodness [0,1] 0.9211509821002051 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.14, Z:0.23 [[ 7.50107436e-01 -2.73010195e-01 -6.02332356e-01 6.06677727e+00] [ 3.41447509e-01 9.39900507e-01 -7.97076612e-04 -1.40393216e-01] [ 5.66350097e-01 -2.05066990e-01 7.98245011e-01 2.29806658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.948241008 meters Centerline goodness [0,1] 0.915813744235744 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.14, Z:0.23 [[ 7.50171064e-01 -2.73174536e-01 -6.02178584e-01 6.06823649e+00] [ 3.41269410e-01 9.39964670e-01 -1.26868687e-03 -1.39648569e-01] [ 5.66373167e-01 -2.04553398e-01 7.98360409e-01 2.28560134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.978241008 meters Centerline goodness [0,1] 0.9154520594288291 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.14, Z:0.23 [[ 7.50009918e-01 -2.73296114e-01 -6.02324130e-01 6.06921971e+00] [ 3.41353404e-01 9.39933937e-01 -1.43087990e-03 -1.39500686e-01] [ 5.66535945e-01 -2.04532218e-01 7.98250334e-01 2.28709427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.008241008 meters Centerline goodness [0,1] 0.9164720119325698 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.14, Z:0.23 [[ 7.49440269e-01 -2.78104619e-01 -6.00830346e-01 6.06823983e+00] [ 3.43964091e-01 9.38966246e-01 -5.57613149e-03 -1.37955021e-01] [ 5.65710162e-01 -2.02485086e-01 7.99357118e-01 2.26375340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.038241008 meters Centerline goodness [0,1] 0.9161843999661237 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.14, Z:0.22 [[ 0.74905007 -0.28258831 -0.5992227 6.0663524 ] [ 0.34643825 0.93802663 -0.00930499 -0.1370893 ] [ 0.56471633 -0.20062376 0.80052831 0.22418675] [ 0. 0. 0. 1. ]] SLAMing on 133.068241008 meters Centerline goodness [0,1] 0.917650381248235 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.14, Z:0.22 [[ 0.74893053 -0.28244575 -0.59943929 6.06661255] [ 0.34645804 0.93802113 -0.00912032 -0.13779057] [ 0.56486272 -0.20085007 0.80036826 0.22493935] [ 0. 0. 0. 1. ]] SLAMing on 133.098241008 meters Centerline goodness [0,1] 0.91828231292517 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.14, Z:0.22 [[ 0.74833087 -0.28736698 -0.59784707 6.06634434] [ 0.34967806 0.93678534 -0.01258899 -0.1394832 ] [ 0.56367203 -0.19963328 0.80151132 0.22374968] [ 0. 0. 0. 1. ]] SLAMing on 133.128241008 meters Centerline goodness [0,1] 0.9168347203681086 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.14, Z:0.22 [[ 0.74726968 -0.2934165 -0.59623384 6.06741793] [ 0.35352237 0.93526819 -0.01718549 -0.13764016] [ 0.56268105 -0.19793981 0.80262686 0.2218304 ] [ 0. 0. 0. 1. ]] SLAMing on 133.158241008 meters Centerline goodness [0,1] 0.913165823432437 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.14, Z:0.22 [[ 0.74629943 -0.29494787 -0.59669331 6.07176467] [ 0.35487432 0.93473697 -0.01819389 -0.13634825] [ 0.56311755 -0.19817304 0.80226309 0.22264955] [ 0. 0. 0. 1. ]] SLAMing on 133.188241008 meters Centerline goodness [0,1] 0.9137813211845103 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.13, Z:0.22 [[ 0.74496846 -0.29759693 -0.59704109 6.07849135] [ 0.35727446 0.93379258 -0.01965626 -0.13459424] [ 0.56336219 -0.19866424 0.8019698 0.2234586 ] [ 0. 0. 0. 1. ]] SLAMing on 133.218241008 meters Centerline goodness [0,1] 0.9156643716252892 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.13, Z:0.22 [[ 0.74391016 -0.30356385 -0.59535424 6.07901215] [ 0.3610473 0.93223354 -0.02419677 -0.13249923] [ 0.56235445 -0.19695082 0.8030989 0.22154324] [ 0. 0. 0. 1. ]] SLAMing on 133.248241008 meters Centerline goodness [0,1] 0.91335585069842 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.13, Z:0.22 [[ 0.74301709 -0.30898226 -0.59367968 6.07843526] [ 0.36439578 0.93081146 -0.02838557 -0.13091946] [ 0.56137449 -0.19524341 0.80420066 0.21975992] [ 0. 0. 0. 1. ]] SLAMing on 133.278241008 meters Centerline goodness [0,1] 0.9138947730005152 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.13, Z:0.22 [[ 0.74281809 -0.3088947 -0.5939742 6.07837259] [ 0.36449606 0.93077744 -0.02821326 -0.13126237] [ 0.5615727 -0.19554394 0.80398922 0.22077352] [ 0. 0. 0. 1. ]] SLAMing on 133.308241008 meters Centerline goodness [0,1] 0.916235751221324 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.13, Z:0.22 [[ 0.7431462 -0.30761464 -0.59422804 6.07542377] [ 0.36384495 0.93106927 -0.02696026 -0.1332809 ] [ 0.56156084 -0.19617146 0.80384462 0.2223508 ] [ 0. 0. 0. 1. ]] SLAMing on 133.338241008 meters Centerline goodness [0,1] 0.9165091908606768 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.13, Z:0.22 [[ 0.74308765 -0.30744568 -0.59438867 6.07481755] [ 0.36384637 0.93107549 -0.0267256 -0.1333295 ] [ 0.56163739 -0.1964067 0.80373369 0.22304414] [ 0. 0. 0. 1. ]] SLAMing on 133.368241008 meters Centerline goodness [0,1] 0.9178437919127929 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.13, Z:0.22 [[ 0.74295962 -0.30755977 -0.59448969 6.07497259] [ 0.36399436 0.93101658 -0.02676266 -0.13290629] [ 0.56171087 -0.19650732 0.80365775 0.22333717] [ 0. 0. 0. 1. ]] SLAMing on 133.398241008 meters Centerline goodness [0,1] 0.9208291636883488 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.13, Z:0.22 [[ 0.74289843 -0.30793248 -0.59437321 6.07542558] [ 0.36423642 0.93091408 -0.02703355 -0.13172259] [ 0.56163489 -0.19640919 0.80373483 0.22285904] [ 0. 0. 0. 1. ]] SLAMing on 133.428241008 meters Centerline goodness [0,1] 0.9191540508828664 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.13, Z:0.22 [[ 0.74267291 -0.30836455 -0.59443103 6.07616248] [ 0.36454416 0.93078309 -0.02739332 -0.13050393] [ 0.56173349 -0.19635208 0.80367988 0.22280037] [ 0. 0. 0. 1. ]] SLAMing on 133.458241008 meters Centerline goodness [0,1] 0.9213820301783264 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.13, Z:0.22 [[ 0.74240437 -0.30877719 -0.59455227 6.07690839] [ 0.36483505 0.93065794 -0.02777016 -0.12936832] [ 0.56189958 -0.19629682 0.80357726 0.22291585] [ 0. 0. 0. 1. ]] SLAMing on 133.488241008 meters Centerline goodness [0,1] 0.9223832895788152 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.13, Z:0.22 [[ 0.74211989 -0.30915863 -0.59470918 6.07762536] [ 0.36510127 0.93054236 -0.02814197 -0.12826359] [ 0.56210242 -0.19624436 0.8034482 0.22310128] [ 0. 0. 0. 1. ]] SLAMing on 133.518241008 meters Centerline goodness [0,1] 0.923142832662154 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.13, Z:0.22 [[ 0.74166861 -0.30997031 -0.59484962 6.07962582] [ 0.36561477 0.93031674 -0.02892423 -0.12662977] [ 0.56236421 -0.19603361 0.80331645 0.22294836] [ 0. 0. 0. 1. ]] SLAMing on 133.548241008 meters Centerline goodness [0,1] 0.9162477148080439 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.13, Z:0.22 [[ 0.74123024 -0.31058893 -0.59507331 6.08111561] [ 0.36608383 0.93011543 -0.02946049 -0.12556178] [ 0.56263697 -0.19600971 0.80313127 0.22325179] [ 0. 0. 0. 1. ]] SLAMing on 133.578241008 meters Centerline goodness [0,1] 0.9195789233446495 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.13, Z:0.22 [[ 0.74077279 -0.31099954 -0.59542839 6.08237103] [ 0.3665303 0.92993151 -0.02971407 -0.12513028] [ 0.56294868 -0.19623117 0.80285871 0.22415049] [ 0. 0. 0. 1. ]] SLAMing on 133.608241008 meters Centerline goodness [0,1] 0.9186754739641417 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.12, Z:0.23 [[ 0.74016679 -0.31156431 -0.59588657 6.0842168 ] [ 0.36710236 0.92969309 -0.03011011 -0.12470231] [ 0.56337286 -0.19646486 0.80250394 0.22521422] [ 0. 0. 0. 1. ]] SLAMing on 133.638241008 meters Centerline goodness [0,1] 0.9191711030969145 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.12, Z:0.22 [[ 0.73886246 -0.31764077 -0.59429505 6.08450224] [ 0.37094051 0.92800334 -0.03482727 -0.12222275] [ 0.56257035 -0.19471555 0.80349266 0.22370699] [ 0. 0. 0. 1. ]] SLAMing on 133.668241008 meters Centerline goodness [0,1] 0.9175517448684549 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.12, Z:0.22 [[ 0.73860246 -0.31767105 -0.59460198 6.0846684 ] [ 0.37109747 0.92794195 -0.03479099 -0.12196343] [ 0.5628082 -0.19495858 0.80326713 0.22456592] [ 0. 0. 0. 1. ]] SLAMing on 133.698241008 meters Centerline goodness [0,1] 0.9209344885762489 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.12, Z:0.23 [[ 0.73847283 -0.31755747 -0.59482361 6.08438303] [ 0.37106406 0.92795753 -0.03473149 -0.1215534 ] [ 0.5630003 -0.1950694 0.80310559 0.22514946] [ 0. 0. 0. 1. ]] SLAMing on 133.728241008 meters Centerline goodness [0,1] 0.9177458170983268 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.12, Z:0.23 [[ 0.73855788 -0.3172734 -0.5948696 6.08326386] [ 0.37086856 0.92804353 -0.03452122 -0.12122656] [ 0.56301755 -0.19512251 0.80308059 0.22539001] [ 0. 0. 0. 1. ]] SLAMing on 133.758241008 meters Centerline goodness [0,1] 0.9229272758482577 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.12, Z:0.23 [[ 0.73871775 -0.31701277 -0.59481005 6.08180822] [ 0.37057971 0.92816192 -0.0344402 -0.12008237] [ 0.56299802 -0.19498295 0.80312818 0.22519517] [ 0. 0. 0. 1. ]] SLAMing on 133.788241008 meters Centerline goodness [0,1] 0.9230044804657401 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.12, Z:0.22 [[ 0.73920021 -0.31633652 -0.59457064 6.07892035] [ 0.36983355 0.92846878 -0.03418861 -0.1180152 ] [ 0.56285539 -0.19461994 0.80331618 0.22427989] [ 0. 0. 0. 1. ]] SLAMing on 133.818241008 meters Centerline goodness [0,1] 0.9232326111744584 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.12, Z:0.22 [[ 0.73927001 -0.31624527 -0.59453241 6.07842819] [ 0.36969944 0.92852178 -0.03419984 -0.11731791] [ 0.56285182 -0.19451538 0.803344 0.22408472] [ 0. 0. 0. 1. ]] SLAMing on 133.848241008 meters Centerline goodness [0,1] 0.9235592544034658 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.12, Z:0.22 [[ 0.73928585 -0.31606088 -0.59461075 6.07769131] [ 0.36943609 0.92862367 -0.03427913 -0.11629681] [ 0.56300391 -0.19432859 0.80328264 0.22403524] [ 0. 0. 0. 1. ]] SLAMing on 133.878241008 meters Centerline goodness [0,1] 0.9213479945305378 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.12, Z:0.22 [[ 0.73936647 -0.31592146 -0.5945846 6.07729321] [ 0.36921418 0.92870987 -0.03433455 -0.11560855] [ 0.56304361 -0.19414325 0.80329963 0.22374493] [ 0. 0. 0. 1. ]] SLAMing on 133.908241008 meters Centerline goodness [0,1] 0.9243616051071591 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.11, Z:0.22 [[ 0.7394421 -0.31582311 -0.5945428 6.07697658] [ 0.36896186 0.92880401 -0.03450017 -0.11451855] [ 0.56310968 -0.19385274 0.80332347 0.2233253 ] [ 0. 0. 0. 1. ]] SLAMing on 133.938241008 meters Centerline goodness [0,1] 0.9196978731862453 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.11, Z:0.22 [[ 0.73951529 -0.31567242 -0.5945318 6.07623802] [ 0.36868522 0.92890939 -0.03462004 -0.11354321] [ 0.56319477 -0.19359304 0.80332645 0.22302219] [ 0. 0. 0. 1. ]] SLAMing on 133.968241008 meters Centerline goodness [0,1] 0.9170777343085559 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.11, Z:0.22 [[ 0.73968404 -0.3155192 -0.5944032 6.07540631] [ 0.36832697 0.92904474 -0.03480109 -0.1123122 ] [ 0.56320758 -0.19319292 0.80341379 0.22230733] [ 0. 0. 0. 1. ]] SLAMing on 133.998241008 meters Centerline goodness [0,1] 0.9176741018218968 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.11, Z:0.22 [[ 0.7396365 -0.31551979 -0.59446203 6.07557957] [ 0.36829511 0.92905468 -0.03487292 -0.11189223] [ 0.56329082 -0.19314417 0.80336715 0.22228757] [ 0. 0. 0. 1. ]] SLAMing on 134.028241008 meters Centerline goodness [0,1] 0.9169314571039492 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.11, Z:0.22 [[ 0.73943481 -0.31571935 -0.59460698 6.07588127] [ 0.3684678 0.92897966 -0.03504657 -0.11115802] [ 0.56344267 -0.19317888 0.80325232 0.22255283] [ 0. 0. 0. 1. ]] SLAMing on 134.058241008 meters Centerline goodness [0,1] 0.9169314571039492 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.11, Z:0.22 [[ 0.73943481 -0.31571935 -0.59460698 6.07588127] [ 0.3684678 0.92897966 -0.03504657 -0.11115802] [ 0.56344267 -0.19317888 0.80325232 0.22255283] [ 0. 0. 0. 1. ]] SLAMing on 134.088241008 meters Centerline goodness [0,1] 0.9176757507869439 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.11, Z:0.22 [[ 0.73913026 -0.31589467 -0.59489245 6.07680068] [ 0.36870095 0.9288832 -0.03515126 -0.11099017] [ 0.56368969 -0.19335605 0.80303634 0.22318996] [ 0. 0. 0. 1. ]] SLAMing on 134.118241008 meters Centerline goodness [0,1] 0.9168916039210115 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.11, Z:0.22 [[ 0.73878814 -0.31596767 -0.59527852 6.07780595] [ 0.36890172 0.92880306 -0.03516257 -0.11128327] [ 0.56400675 -0.19362158 0.8027497 0.224144 ] [ 0. 0. 0. 1. ]] SLAMing on 134.148241008 meters Centerline goodness [0,1] 0.9172595068712323 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.11, Z:0.22 [[ 0.73756992 -0.32170177 -0.59371592 6.07867121] [ 0.37264777 0.927135 -0.03942488 -0.11040909] [ 0.56313786 -0.19216831 0.80370833 0.22293259] [ 0. 0. 0. 1. ]] SLAMing on 134.178241008 meters Centerline goodness [0,1] 0.9196940178776072 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.11, Z:0.22 [[ 0.73721056 -0.32167395 -0.59417712 6.07978028] [ 0.37283955 0.92706323 -0.03929946 -0.11109203] [ 0.56348137 -0.19256075 0.80337357 0.22413035] [ 0. 0. 0. 1. ]] SLAMing on 134.208241008 meters Centerline goodness [0,1] 0.9199265802454973 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.11, Z:0.23 [[ 0.73672627 -0.32180582 -0.59470616 6.08148821] [ 0.37314769 0.92693819 -0.03932428 -0.11145061] [ 0.56391063 -0.192942 0.80298081 0.22533404] [ 0. 0. 0. 1. ]] SLAMing on 134.238241008 meters Centerline goodness [0,1] 0.9161294036380382 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.11, Z:0.23 [[ 0.73609342 -0.32214059 -0.59530826 6.08438321] [ 0.37384564 0.92666259 -0.03919031 -0.1129497 ] [ 0.56427469 -0.19370567 0.80254109 0.2270528 ] [ 0. 0. 0. 1. ]] SLAMing on 134.268241008 meters Centerline goodness [0,1] 0.9184595029912563 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.23 [[ 0.73588943 -0.32189075 -0.59569547 6.08534058] [ 0.37390799 0.92665294 -0.03882197 -0.11411369] [ 0.56449939 -0.19416661 0.80227163 0.22811255] [ 0. 0. 0. 1. ]] SLAMing on 134.298241008 meters Centerline goodness [0,1] 0.920500403551251 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.23 [[ 0.73549508 -0.32176646 -0.59624939 6.08691556] [ 0.37407113 0.92659603 -0.03860809 -0.11495974] [ 0.56490511 -0.19464363 0.80187036 0.22948201] [ 0. 0. 0. 1. ]] SLAMing on 134.328241008 meters Centerline goodness [0,1] 0.9187212764112496 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.23 [[ 0.73531161 -0.32136656 -0.59669118 6.08762401] [ 0.37398557 0.92664721 -0.03820653 -0.1162266 ] [ 0.56520052 -0.19506019 0.80156091 0.23063037] [ 0. 0. 0. 1. ]] SLAMing on 134.358241008 meters Centerline goodness [0,1] 0.9187315889793797 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.23 [[ 0.73533569 -0.32087513 -0.59692593 6.08744196] [ 0.37369863 0.92677811 -0.03783737 -0.11668599] [ 0.56535896 -0.19524724 0.80140362 0.23124869] [ 0. 0. 0. 1. ]] SLAMing on 134.388241008 meters Centerline goodness [0,1] 0.9167601783915983 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.23 [[ 0.73617301 -0.31473358 -0.59915947 6.08733512] [ 0.37011065 0.92840362 -0.03293667 -0.11864248] [ 0.5666281 -0.19750821 0.79995194 0.23470423] [ 0. 0. 0. 1. ]] SLAMing on 134.418241008 meters Centerline goodness [0,1] 0.9167964469054624 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.23 [[ 0.7363322 -0.31453107 -0.5990702 6.08650206] [ 0.36987283 0.92850066 -0.03287266 -0.11808551] [ 0.56657655 -0.19737459 0.80002143 0.23441163] [ 0. 0. 0. 1. ]] SLAMing on 134.448241008 meters Centerline goodness [0,1] 0.9185315491982928 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.23 [[ 0.73636249 -0.31428479 -0.59916221 6.0858436 ] [ 0.36969114 0.92857802 -0.03273114 -0.11775303] [ 0.56665576 -0.19740298 0.79995832 0.23462381] [ 0. 0. 0. 1. ]] SLAMing on 134.478241008 meters Centerline goodness [0,1] 0.9172274949669255 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.23 [[ 0.73629798 -0.31447703 -0.59914062 6.08578526] [ 0.36973704 0.92855026 -0.03299909 -0.11643743] [ 0.56670963 -0.19722731 0.79996349 0.23431321] [ 0. 0. 0. 1. ]] SLAMing on 134.508241008 meters Centerline goodness [0,1] 0.9175929915266408 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.23 [[ 0.73616391 -0.31461402 -0.59923344 6.08599555] [ 0.36985199 0.92850012 -0.03312143 -0.11582023] [ 0.56680879 -0.19724488 0.7998889 0.23446798] [ 0. 0. 0. 1. ]] SLAMing on 134.538241008 meters Centerline goodness [0,1] 0.9154642723960873 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.24 [[ 0.7360685 -0.31435629 -0.59948585 6.08601481] [ 0.36978055 0.92853735 -0.03287441 -0.11616656] [ 0.56697928 -0.19748039 0.79970994 0.23514625] [ 0. 0. 0. 1. ]] SLAMing on 134.568241008 meters Centerline goodness [0,1] 0.9164657251119531 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.24 [[ 0.73597124 -0.31423337 -0.59966968 6.08595583] [ 0.36973508 0.92855807 -0.03280064 -0.11607768] [ 0.56713518 -0.19757859 0.79957513 0.23559373] [ 0. 0. 0. 1. ]] SLAMing on 134.598241008 meters Centerline goodness [0,1] 0.918062355063128 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.23 [[ 0.73587676 -0.31452084 -0.59963492 6.08604776] [ 0.36967864 0.92856003 -0.03337625 -0.11394243] [ 0.56729455 -0.19711141 0.79957738 0.23488708] [ 0. 0. 0. 1. ]] SLAMing on 134.628241008 meters Centerline goodness [0,1] 0.9154048340094851 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.23 [[ 0.73576146 -0.31475204 -0.59965509 6.08652396] [ 0.36975265 0.92851916 -0.03369196 -0.11299292] [ 0.56739586 -0.19693482 0.79954901 0.23464565] [ 0. 0. 0. 1. ]] SLAMing on 134.658241008 meters Centerline goodness [0,1] 0.9124628231525966 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.23 [[ 0.73565424 -0.31483474 -0.59974322 6.08703405] [ 0.36981685 0.92849013 -0.03378716 -0.11277322] [ 0.56749303 -0.19693948 0.79947889 0.23473213] [ 0. 0. 0. 1. ]] SLAMing on 134.688241008 meters Centerline goodness [0,1] 0.9142464734327163 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.24 [[ 0.73559652 -0.31454909 -0.59996385 6.08706216] [ 0.36975469 0.92852661 -0.03346358 -0.11342533] [ 0.56760834 -0.19722375 0.79932695 0.235402 ] [ 0. 0. 0. 1. ]] SLAMing on 134.718241008 meters Centerline goodness [0,1] 0.9118204804045512 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.23 [[ 0.73445291 -0.32031572 -0.59831159 6.08662555] [ 0.37343536 0.92688513 -0.03781507 -0.11145133] [ 0.56667887 -0.19565732 0.80037071 0.23399664] [ 0. 0. 0. 1. ]] SLAMing on 134.748241008 meters Centerline goodness [0,1] 0.9121708920726981 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.23 [[ 0.73430659 -0.32010592 -0.59860341 6.08692307] [ 0.37344477 0.92689191 -0.03755514 -0.11222814] [ 0.56686228 -0.19596832 0.80016472 0.23488546] [ 0. 0. 0. 1. ]] SLAMing on 134.778241008 meters Centerline goodness [0,1] 0.9112480562114842 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.24 [[ 0.73434012 -0.31959971 -0.59883271 6.08665394] [ 0.37323362 0.92699722 -0.03705145 -0.11343956] [ 0.5669579 -0.19629614 0.80001661 0.23567023] [ 0. 0. 0. 1. ]] SLAMing on 134.808241008 meters Centerline goodness [0,1] 0.9123845265588915 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.24 [[ 0.73429293 -0.31923602 -0.59908452 6.08624912] [ 0.37314354 0.9270498 -0.03664095 -0.11417156] [ 0.56707829 -0.19663933 0.79984698 0.23653235] [ 0. 0. 0. 1. ]] SLAMing on 134.838241008 meters Centerline goodness [0,1] 0.9118468403627465 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.25 [[ 0.73402623 -0.31218052 -0.60311592 6.09414593] [ 0.37263735 0.92759532 -0.02661445 -0.11322291] [ 0.56775602 -0.20520782 0.79720942 0.25027366] [ 0. 0. 0. 1. ]] SLAMing on 134.868241008 meters Centerline goodness [0,1] 0.9118198333285273 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.25 [[ 0.73390434 -0.31210243 -0.60330464 6.09439678] [ 0.37261994 0.92760311 -0.02658656 -0.11292694] [ 0.56792499 -0.20529135 0.79706754 0.25070212] [ 0. 0. 0. 1. ]] SLAMing on 134.898241008 meters Centerline goodness [0,1] 0.9090516745310162 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.25 [[ 0.73406902 -0.31183771 -0.60324117 6.09373873] [ 0.37237018 0.92770763 -0.02643853 -0.11275875] [ 0.56787597 -0.20522132 0.7971205 0.25045872] [ 0. 0. 0. 1. ]] SLAMing on 134.928241008 meters Centerline goodness [0,1] 0.9112870716959401 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.25 [[ 0.73398346 -0.31165939 -0.6034374 6.09396552] [ 0.37228427 0.92774513 -0.02633245 -0.11252363] [ 0.56804287 -0.20532266 0.79697547 0.25096805] [ 0. 0. 0. 1. ]] SLAMing on 134.958241008 meters Centerline goodness [0,1] 0.9110036554126011 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.25 [[ 0.73395168 -0.31139557 -0.60361224 6.09375494] [ 0.37212791 0.92781263 -0.02616389 -0.11261912] [ 0.56818638 -0.20541792 0.79684862 0.25137003] [ 0. 0. 0. 1. ]] SLAMing on 134.988241008 meters Centerline goodness [0,1] 0.9093101369391094 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.25 [[ 0.73401422 -0.31113791 -0.60366905 6.09344097] [ 0.37191865 0.92790039 -0.02602652 -0.11261079] [ 0.56824259 -0.20541194 0.79681008 0.25144054] [ 0. 0. 0. 1. ]] SLAMing on 135.018241008 meters Centerline goodness [0,1] 0.909791893596285 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.25 [[ 0.73408846 -0.31094769 -0.60367679 6.09312514] [ 0.37176222 0.92796627 -0.02591224 -0.11247248] [ 0.56824905 -0.20540235 0.79680794 0.25138173] [ 0. 0. 0. 1. ]] SLAMing on 135.048241008 meters Centerline goodness [0,1] 0.9099804305283757 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.25 [[ 0.73428453 -0.3103334 -0.60375443 6.0919748 ] [ 0.37138961 0.92813013 -0.02538141 -0.11342409] [ 0.56823938 -0.20559095 0.7967662 0.25182432] [ 0. 0. 0. 1. ]] SLAMing on 135.078241008 meters Centerline goodness [0,1] 0.9094438373497441 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.25 [[ 0.73435799 -0.30971163 -0.60398432 6.0911555 ] [ 0.37103924 0.92828394 -0.02487598 -0.11470904] [ 0.56837332 -0.205834 0.79660789 0.25264321] [ 0. 0. 0. 1. ]] SLAMing on 135.108241008 meters Centerline goodness [0,1] 0.9092925452241042 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.25 [[ 0.73447687 -0.30906555 -0.60417068 6.09012414] [ 0.37071731 0.92842864 -0.02426801 -0.11594185] [ 0.56842977 -0.20615223 0.79648532 0.25345738] [ 0. 0. 0. 1. ]] SLAMing on 135.138241008 meters Centerline goodness [0,1] 0.9103680082737223 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.25 [[ 0.73463657 -0.30858344 -0.60422295 6.08911888] [ 0.37045089 0.9285468 -0.0238114 -0.11654284] [ 0.56839709 -0.2063422 0.79645944 0.25382193] [ 0. 0. 0. 1. ]] SLAMing on 135.168241008 meters Centerline goodness [0,1] 0.9061958655733918 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.25 [[ 0.73471218 -0.30846487 -0.60419156 6.08855551] [ 0.37034735 0.92859013 -0.02373209 -0.1161447 ] [ 0.56836683 -0.20632449 0.79648562 0.25371992] [ 0. 0. 0. 1. ]] SLAMing on 135.198241008 meters Centerline goodness [0,1] 0.9094592264812367 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.25 [[ 0.73487852 -0.30853116 -0.60395536 6.08816943] [ 0.37018378 0.92864923 -0.02397051 -0.11488165] [ 0.56825833 -0.20595907 0.7966576 0.25271432] [ 0. 0. 0. 1. ]] SLAMing on 135.228241008 meters Centerline goodness [0,1] 0.9103638241707793 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.25 [[ 0.73492464 -0.30853374 -0.60389793 6.08819996] [ 0.37005979 0.9286947 -0.02412261 -0.11428327] [ 0.56827945 -0.20575004 0.79669655 0.25229787] [ 0. 0. 0. 1. ]] SLAMing on 135.258241008 meters Centerline goodness [0,1] 0.9091716315307058 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.25 [[ 0.7347807 -0.30877993 -0.60394725 6.08861369] [ 0.37009901 0.9286685 -0.02452629 -0.11312493] [ 0.56844002 -0.20549883 0.79664683 0.25203363] [ 0. 0. 0. 1. ]] SLAMing on 135.288241008 meters Centerline goodness [0,1] 0.9090492423157353 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.25 [[ 0.73485535 -0.30868348 -0.60390573 6.08870205] [ 0.36989165 0.92874845 -0.02462711 -0.11266375] [ 0.56847849 -0.20528232 0.7966752 0.25159403] [ 0. 0. 0. 1. ]] SLAMing on 135.318241008 meters Centerline goodness [0,1] 0.9135600984939587 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.25 [[ 0.73476355 -0.3089243 -0.60389428 6.08999546] [ 0.3698609 0.92874826 -0.02509148 -0.11222913] [ 0.56861713 -0.20492057 0.79666939 0.2509749 ] [ 0. 0. 0. 1. ]] SLAMing on 135.348241008 meters Centerline goodness [0,1] 0.9113638311855302 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.25 [[ 0.7345416 -0.30910988 -0.6040693 6.09093232] [ 0.37000492 0.92868529 -0.02529808 -0.11200428] [ 0.56881015 -0.20492612 0.79653016 0.25122576] [ 0. 0. 0. 1. ]] SLAMing on 135.378241008 meters Centerline goodness [0,1] 0.9125168623173847 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.25 [[ 0.73431809 -0.30944662 -0.60416862 6.09210066] [ 0.37024248 0.92858214 -0.02560685 -0.11147028] [ 0.56894415 -0.20488532 0.79644495 0.25122355] [ 0. 0. 0. 1. ]] SLAMing on 135.408241008 meters Centerline goodness [0,1] 0.913225630577635 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.25 [[ 0.73400652 -0.3102377 -0.60414155 6.09377296] [ 0.37071129 0.92837461 -0.02633869 -0.10986002] [ 0.56904093 -0.20462932 0.79644163 0.25066151] [ 0. 0. 0. 1. ]] SLAMing on 135.438241008 meters Centerline goodness [0,1] 0.9129397562658083 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.25 [[ 0.73394417 -0.31021378 -0.60422956 6.09394178] [ 0.37076544 0.92835519 -0.02626061 -0.11013671] [ 0.56908606 -0.20475362 0.79637743 0.25097033] [ 0. 0. 0. 1. ]] SLAMing on 135.468241008 meters Centerline goodness [0,1] 0.9139463315022003 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.25 [[ 0.73398461 -0.30968279 -0.60445278 6.09327211] [ 0.37058752 0.92844271 -0.02567146 -0.11147597] [ 0.56914978 -0.2051602 0.79622724 0.25191652] [ 0. 0. 0. 1. ]] SLAMing on 135.498241008 meters Centerline goodness [0,1] 0.9135887699919457 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.25 [[ 0.73407385 -0.30879678 -0.60479759 6.0922634 ] [ 0.37026753 0.92859648 -0.02470891 -0.11311953] [ 0.56924295 -0.20579875 0.79599582 0.25345737] [ 0. 0. 0. 1. ]] SLAMing on 135.528241008 meters Centerline goodness [0,1] 0.9165495280989128 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.25 [[ 0.73451335 -0.30758415 -0.60488192 6.08946515] [ 0.36969928 0.92885683 -0.02339726 -0.11545923] [ 0.56904533 -0.20643881 0.79597138 0.25468228] [ 0. 0. 0. 1. ]] SLAMing on 135.558241008 meters Centerline goodness [0,1] 0.9193362857307183 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.25 [[ 0.73475935 -0.30705381 -0.60485259 6.08795095] [ 0.36935604 0.92900512 -0.02292585 -0.11597483] [ 0.56895063 -0.20656098 0.79600738 0.25487524] [ 0. 0. 0. 1. ]] SLAMing on 135.588241008 meters Centerline goodness [0,1] 0.9147284593048328 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.25 [[ 0.73498411 -0.30673917 -0.60473915 6.08705289] [ 0.36906915 0.92912423 -0.0227186 -0.11582437] [ 0.56884648 -0.20649275 0.79609951 0.25456475] [ 0. 0. 0. 1. ]] SLAMing on 135.618241008 meters Centerline goodness [0,1] 0.9134421893865348 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.25 [[ 0.73505249 -0.306708 -0.60467184 6.08678442] [ 0.36894338 0.92917197 -0.02280861 -0.11522973] [ 0.56883971 -0.20632415 0.79614806 0.25419103] [ 0. 0. 0. 1. ]] SLAMing on 135.648241008 meters Centerline goodness [0,1] 0.9148739835053925 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.25 [[ 0.73507961 -0.30663436 -0.60467623 6.08714066] [ 0.36890915 0.92918753 -0.02272825 -0.1158584 ] [ 0.56882687 -0.20636352 0.79614703 0.25421808] [ 0. 0. 0. 1. ]] SLAMing on 135.678241008 meters Centerline goodness [0,1] 0.915585164676703 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.26 [[ 0.73489169 -0.30632397 -0.60506184 6.08747743] [ 0.3689048 0.92919813 -0.02236232 -0.11708506] [ 0.56907245 -0.20677634 0.79586437 0.25543453] [ 0. 0. 0. 1. ]] SLAMing on 135.708241008 meters Centerline goodness [0,1] 0.9183867346057518 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.26 [[ 0.73473663 -0.30604802 -0.60538971 6.08780012] [ 0.36891703 0.92920174 -0.02200814 -0.11834257] [ 0.56926471 -0.20716839 0.79562488 0.25652689] [ 0. 0. 0. 1. ]] SLAMing on 135.738241008 meters Centerline goodness [0,1] 0.9190878573909017 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.26 [[ 0.73455228 -0.30606204 -0.60560629 6.08844203] [ 0.36904722 0.9291514 -0.02195073 -0.11885305] [ 0.56941821 -0.20737335 0.79546162 0.25715141] [ 0. 0. 0. 1. ]] SLAMing on 135.768241008 meters Centerline goodness [0,1] 0.9208660163825292 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.26 [[ 0.73416878 -0.30695038 -0.60562172 6.09126497] [ 0.36956916 0.9289235 -0.02279851 -0.11767119] [ 0.56957426 -0.20708116 0.79542602 0.25648492] [ 0. 0. 0. 1. ]] SLAMing on 135.798241008 meters Centerline goodness [0,1] 0.9203408992086268 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.26 [[ 0.73390808 -0.30743694 -0.60569089 6.09289661] [ 0.36983583 0.92880447 -0.02331767 -0.1167323 ] [ 0.56973712 -0.20689316 0.79535831 0.2561498 ] [ 0. 0. 0. 1. ]] SLAMing on 135.828241008 meters Centerline goodness [0,1] 0.9185279481541488 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.26 [[ 0.73376099 -0.30772085 -0.60572493 6.09381022] [ 0.36996414 0.92874482 -0.02365578 -0.11588931] [ 0.56984327 -0.20673882 0.79532239 0.2558816 ] [ 0. 0. 0. 1. ]] SLAMing on 135.858241008 meters Centerline goodness [0,1] 0.9181354359925789 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.26 [[ 0.73372276 -0.3077611 -0.60575079 6.0941902 ] [ 0.36998215 0.92873617 -0.02371362 -0.11569389] [ 0.5698808 -0.20671776 0.79530097 0.25581793] [ 0. 0. 0. 1. ]] SLAMing on 135.888241008 meters Centerline goodness [0,1] 0.9200162285913003 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.26 [[ 0.73377722 -0.30752073 -0.60580689 6.09388306] [ 0.36987841 0.92878394 -0.02345956 -0.11642578] [ 0.56987801 -0.2068608 0.79526578 0.25615087] [ 0. 0. 0. 1. ]] SLAMing on 135.918241008 meters Centerline goodness [0,1] 0.9200162285913003 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.26 [[ 0.73377722 -0.30752073 -0.60580689 6.09388306] [ 0.36987841 0.92878394 -0.02345956 -0.11642578] [ 0.56987801 -0.2068608 0.79526578 0.25615087] [ 0. 0. 0. 1. ]] SLAMing on 135.948241008 meters Centerline goodness [0,1] 0.9197963080840229 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.26 [[ 0.73395203 -0.30695147 -0.60588383 6.0929203 ] [ 0.36956509 0.92892196 -0.0229267 -0.11765227] [ 0.56985618 -0.20708641 0.79522271 0.25665349] [ 0. 0. 0. 1. ]] SLAMing on 135.978241008 meters Centerline goodness [0,1] 0.9175508080136452 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.26 [[ 0.73393296 -0.30700132 -0.60588167 6.09289399] [ 0.36957549 0.92891603 -0.02299923 -0.1173761 ] [ 0.56987399 -0.20703912 0.79522226 0.25659924] [ 0. 0. 0. 1. ]] SLAMing on 136.008241008 meters Centerline goodness [0,1] 0.9196374447940421 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.26 [[ 0.73393883 -0.30688486 -0.60593355 6.09270025] [ 0.36951173 0.92894369 -0.02290637 -0.11739349] [ 0.56990777 -0.20708768 0.7951854 0.25673309] [ 0. 0. 0. 1. ]] SLAMing on 136.038241008 meters Centerline goodness [0,1] 0.9214931078420017 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.26 [[ 0.73401127 -0.30646159 -0.60606002 6.09198821] [ 0.36941367 0.92899615 -0.02235394 -0.11847071] [ 0.56987805 -0.20747881 0.79510474 0.2574897 ] [ 0. 0. 0. 1. ]] SLAMing on 136.068241008 meters Centerline goodness [0,1] 0.9189415847310585 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.26 [[ 0.73390826 -0.30620767 -0.60631307 6.09201182] [ 0.36939467 0.92901099 -0.02204882 -0.11886846] [ 0.57002302 -0.207787 0.79492032 0.258407 ] [ 0. 0. 0. 1. ]] SLAMing on 136.098241008 meters Centerline goodness [0,1] 0.9225046317739695 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.26 [[ 0.73390821 -0.30614637 -0.60634407 6.09174009] [ 0.36937402 0.92902075 -0.02198373 -0.11896506] [ 0.57003646 -0.20783371 0.79489847 0.25856612] [ 0. 0. 0. 1. ]] SLAMing on 136.128241008 meters Centerline goodness [0,1] 0.9258370438905916 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.26 [[ 0.73371719 -0.3063249 -0.60648508 6.09193658] [ 0.36957376 0.92893889 -0.02208544 -0.11869258] [ 0.5701529 -0.2079365 0.79478807 0.25899173] [ 0. 0. 0. 1. ]] SLAMing on 136.158241008 meters Centerline goodness [0,1] 0.9206013556572621 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.26 [[ 0.73332763 -0.3069289 -0.60665084 6.09367835] [ 0.37012719 0.92870962 -0.02245662 -0.11836067] [ 0.57029506 -0.20806991 0.79465116 0.259359 ] [ 0. 0. 0. 1. ]] SLAMing on 136.188241008 meters Centerline goodness [0,1] 0.9238622850015953 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.26 [[ 0.7329159 -0.30691493 -0.60715526 6.09494058] [ 0.37031332 0.92863664 -0.02240602 -0.11824818] [ 0.57070336 -0.20841595 0.79426725 0.2606886 ] [ 0. 0. 0. 1. ]] SLAMing on 136.218241008 meters Centerline goodness [0,1] 0.9264906229166063 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.12, Z:0.26 [[ 0.73269467 -0.30700745 -0.60737546 6.09545067] [ 0.37050969 0.92855851 -0.02239784 -0.11854045] [ 0.57085996 -0.20862772 0.7940991 0.26137724] [ 0. 0. 0. 1. ]] SLAMing on 136.248241008 meters Centerline goodness [0,1] 0.9257557366626207 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.12, Z:0.26 [[ 0.73252702 -0.30702571 -0.60756842 6.09586065] [ 0.37064857 0.92850481 -0.0223263 -0.11876506] [ 0.57098494 -0.20883975 0.79395349 0.26195682] [ 0. 0. 0. 1. ]] SLAMing on 136.278241008 meters Centerline goodness [0,1] 0.9269850486282479 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.12, Z:0.26 [[ 0.73238161 -0.30730449 -0.60760278 6.09649589] [ 0.37091745 0.92839421 -0.02245971 -0.11838657] [ 0.57099687 -0.2089214 0.79392344 0.26204096] [ 0. 0. 0. 1. ]] SLAMing on 136.308241008 meters Centerline goodness [0,1] 0.9280998436323623 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.12, Z:0.26 [[ 0.73239485 -0.30714133 -0.60766931 6.09625172] [ 0.3708628 0.9284204 -0.02227901 -0.11855459] [ 0.57101539 -0.20904491 0.7938776 0.26230197] [ 0. 0. 0. 1. ]] SLAMing on 136.338241008 meters Centerline goodness [0,1] 0.9268201006187474 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.12, Z:0.26 [[ 0.73235074 -0.30717717 -0.60770436 6.09623302] [ 0.37082363 0.92843282 -0.02241289 -0.11801231] [ 0.5710974 -0.20893704 0.79384701 0.26222777] [ 0. 0. 0. 1. ]] SLAMing on 136.368241008 meters Centerline goodness [0,1] 0.925717420174375 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.12, Z:0.26 [[ 0.73261317 -0.30732044 -0.60731548 6.09552325] [ 0.37050344 0.928548 -0.02293055 -0.11614024] [ 0.57096861 -0.20821325 0.79412977 0.26060825] [ 0. 0. 0. 1. ]] SLAMing on 136.398241008 meters Centerline goodness [0,1] 0.9244439315696853 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.26 [[ 0.7326537 -0.30722999 -0.60731236 6.09499079] [ 0.37030838 0.92862308 -0.02304096 -0.11554958] [ 0.57104314 -0.20801181 0.79412897 0.26041349] [ 0. 0. 0. 1. ]] SLAMing on 136.428241008 meters Centerline goodness [0,1] 0.9258523953388001 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.26 [[ 0.73270502 -0.30730971 -0.60721009 6.09469654] [ 0.37020076 0.92865992 -0.02328396 -0.11472459] [ 0.57104706 -0.20772936 0.79420008 0.25990449] [ 0. 0. 0. 1. ]] SLAMing on 136.458241008 meters Centerline goodness [0,1] 0.924280332441837 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.26 [[ 0.73282142 -0.30731867 -0.60706507 6.09459372] [ 0.37006245 0.92871149 -0.02342532 -0.11415974] [ 0.57098734 -0.20748541 0.79430678 0.25930844] [ 0. 0. 0. 1. ]] SLAMing on 136.488241008 meters Centerline goodness [0,1] 0.9221679125934445 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73282611 -0.30748502 -0.60697516 6.09513549] [ 0.37000094 0.92872743 -0.02376279 -0.11305577] [ 0.57102118 -0.20716739 0.79436546 0.25864056] [ 0. 0. 0. 1. ]] SLAMing on 136.518241008 meters Centerline goodness [0,1] 0.9237134729764676 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73285917 -0.30747836 -0.60693863 6.09505829] [ 0.36998134 0.92873527 -0.02376151 -0.11300175] [ 0.57099146 -0.20714212 0.79439341 0.25854146] [ 0. 0. 0. 1. ]] SLAMing on 136.548241008 meters Centerline goodness [0,1] 0.9240291332009097 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73284014 -0.30725343 -0.6070755 6.09502754] [ 0.36990783 0.92877044 -0.02353018 -0.11345072] [ 0.57106351 -0.20731812 0.79429571 0.25895821] [ 0. 0. 0. 1. ]] SLAMing on 136.578241008 meters Centerline goodness [0,1] 0.923037145565802 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.26 [[ 0.73283775 -0.30699801 -0.60720759 6.09491947] [ 0.3698304 0.92880837 -0.02324847 -0.11414332] [ 0.57111673 -0.20752647 0.79420303 0.25944418] [ 0. 0. 0. 1. ]] SLAMing on 136.608241008 meters Centerline goodness [0,1] 0.9275366501212051 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.26 [[ 0.7328761 -0.30651416 -0.60740571 6.09473531] [ 0.36971811 0.92886802 -0.02264324 -0.11582281] [ 0.57114021 -0.2079742 0.79406901 0.26036304] [ 0. 0. 0. 1. ]] SLAMing on 136.638241008 meters Centerline goodness [0,1] 0.926986688180718 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.26 [[ 0.7328813 -0.30608975 -0.60761342 6.09450512] [ 0.36955017 0.92894496 -0.02222487 -0.11682974] [ 0.57124223 -0.20825545 0.7939219 0.26109892] [ 0. 0. 0. 1. ]] SLAMing on 136.668241008 meters Centerline goodness [0,1] 0.9275692183583508 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.26 [[ 0.73284135 -0.30599384 -0.6077099 6.09466625] [ 0.36952392 0.92895749 -0.02213698 -0.11709116] [ 0.57131045 -0.20834045 0.79385051 0.26134444] [ 0. 0. 0. 1. ]] SLAMing on 136.698241008 meters Centerline goodness [0,1] 0.9266524765575562 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.12, Z:0.26 [[ 0.73286423 -0.30581261 -0.60777353 6.09461935] [ 0.36940836 0.92900652 -0.02200777 -0.11722885] [ 0.57135583 -0.20838792 0.79380539 0.26142496] [ 0. 0. 0. 1. ]] SLAMing on 136.728241008 meters Centerline goodness [0,1] 0.9275528978840847 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.12, Z:0.26 [[ 0.73271871 -0.30604028 -0.60783438 6.09601181] [ 0.36950331 0.92896167 -0.02230492 -0.11719841] [ 0.57148105 -0.20825358 0.7937505 0.26123273] [ 0. 0. 0. 1. ]] SLAMing on 136.758241008 meters Centerline goodness [0,1] 0.9257005052824988 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.12, Z:0.26 [[ 0.7325875 -0.30599955 -0.60801302 6.09664592] [ 0.36940041 0.92899889 -0.0224586 -0.1164931 ] [ 0.57171575 -0.20814737 0.79360933 0.26138014] [ 0. 0. 0. 1. ]] SLAMing on 136.788241008 meters Centerline goodness [0,1] 0.9264819643010629 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.12, Z:0.26 [[ 0.73265952 -0.3060379 -0.60790692 6.09627092] [ 0.36930373 0.92903363 -0.02261136 -0.11566025] [ 0.5716859 -0.20793587 0.79368627 0.26091542] [ 0. 0. 0. 1. ]] SLAMing on 136.818241008 meters Centerline goodness [0,1] 0.9271373335242732 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.12, Z:0.26 [[ 0.73264768 -0.30600955 -0.60793546 6.09608973] [ 0.36925663 0.92905165 -0.02264001 -0.11531032] [ 0.5717315 -0.20789705 0.7936636 0.2609214 ] [ 0. 0. 0. 1. ]] SLAMing on 136.848241008 meters Centerline goodness [0,1] 0.9252079938245132 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73219626 -0.30660496 -0.60817928 6.09755813] [ 0.36973621 0.9288487 -0.02313488 -0.11466659] [ 0.5719998 -0.20792663 0.7934625 0.26140309] [ 0. 0. 0. 1. ]] SLAMing on 136.878241008 meters Centerline goodness [0,1] 0.9249527734844581 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73211248 -0.30695593 -0.6081031 6.09811032] [ 0.3698779 0.9287826 -0.02352084 -0.11352036] [ 0.57201544 -0.207704 0.79350954 0.26090002] [ 0. 0. 0. 1. ]] SLAMing on 136.908241008 meters Centerline goodness [0,1] 0.9247382573373762 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73207667 -0.30751385 -0.60786427 6.09827135] [ 0.3700619 0.92869347 -0.02413766 -0.11153122] [ 0.57194225 -0.20727679 0.79367399 0.25989479] [ 0. 0. 0. 1. ]] SLAMing on 136.938241008 meters Centerline goodness [0,1] 0.9255158243200822 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73188111 -0.30792223 -0.60789304 6.09871364] [ 0.37028039 0.92859513 -0.02456658 -0.10996275] [ 0.57205111 -0.20711106 0.79363879 0.25973079] [ 0. 0. 0. 1. ]] SLAMing on 136.968241008 meters Centerline goodness [0,1] 0.9257578352457613 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73170704 -0.30803564 -0.60804511 6.09861212] [ 0.37041896 0.92853781 -0.02464386 -0.1096794 ] [ 0.57218406 -0.20719936 0.79351989 0.26025765] [ 0. 0. 0. 1. ]] SLAMing on 136.998241008 meters Centerline goodness [0,1] 0.9267910107232489 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.7316875 -0.30768314 -0.60824706 6.09807948] [ 0.37029734 0.92859577 -0.02428508 -0.11029868] [ 0.57228775 -0.20746318 0.79337617 0.26098847] [ 0. 0. 0. 1. ]] SLAMing on 137.028241008 meters Centerline goodness [0,1] 0.9263275030673096 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73160861 -0.30736438 -0.60850307 6.09748362] [ 0.37026829 0.9286178 -0.02388248 -0.11089496] [ 0.5724074 -0.20783676 0.79319206 0.26200669] [ 0. 0. 0. 1. ]] SLAMing on 137.058241008 meters Centerline goodness [0,1] 0.9282099665494468 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73155456 -0.30702503 -0.60873931 6.09706855] [ 0.37020109 0.92865466 -0.02348777 -0.11189148] [ 0.57251993 -0.20817337 0.79302255 0.26293951] [ 0. 0. 0. 1. ]] SLAMing on 137.088241008 meters Centerline goodness [0,1] 0.9261872919215776 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73150492 -0.30690158 -0.60886121 6.09725439] [ 0.37015529 0.92867537 -0.02339043 -0.11222458] [ 0.57261297 -0.20826298 0.79293185 0.26323027] [ 0. 0. 0. 1. ]] SLAMing on 137.118241008 meters Centerline goodness [0,1] 0.9270809578107184 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.7314732 -0.30742314 -0.60863616 6.09806826] [ 0.37033737 0.92858848 -0.02395146 -0.11056701] [ 0.57253576 -0.20788086 0.79308786 0.262176 ] [ 0. 0. 0. 1. ]] SLAMing on 137.148241008 meters Centerline goodness [0,1] 0.9272053584152772 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73135487 -0.30800945 -0.60848191 6.09896412] [ 0.37056965 0.92847912 -0.02458977 -0.10866116] [ 0.57253664 -0.20750108 0.79318668 0.26126109] [ 0. 0. 0. 1. ]] SLAMing on 137.178241008 meters Centerline goodness [0,1] 0.924684284044585 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73154029 -0.30774776 -0.60839142 6.09919317] [ 0.37018362 0.92863222 -0.02462272 -0.1091317 ] [ 0.57254946 -0.20720403 0.79325507 0.26071615] [ 0. 0. 0. 1. ]] SLAMing on 137.208241008 meters Centerline goodness [0,1] 0.9254327183552425 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73169868 -0.30699262 -0.60858242 6.09819991] [ 0.36975866 0.92881856 -0.02397131 -0.1106512 ] [ 0.57262167 -0.20748884 0.79312849 0.26152837] [ 0. 0. 0. 1. ]] SLAMing on 137.238241008 meters Centerline goodness [0,1] 0.925921688642279 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73176012 -0.30633756 -0.60883859 6.09749084] [ 0.36937637 0.92898353 -0.02346705 -0.11162866] [ 0.57278986 -0.20771834 0.79294695 0.26235243] [ 0. 0. 0. 1. ]] SLAMing on 137.268241008 meters Centerline goodness [0,1] 0.9284960497418784 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73191204 -0.30596279 -0.60884442 6.09679888] [ 0.36910352 0.92909895 -0.02318885 -0.11186579] [ 0.57277164 -0.20775442 0.79295066 0.26240044] [ 0. 0. 0. 1. ]] SLAMing on 137.298241008 meters Centerline goodness [0,1] 0.9274200450771732 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73214285 -0.30586274 -0.60861715 6.09700828] [ 0.36886825 0.92919126 -0.0232342 -0.11169895] [ 0.57262821 -0.20748879 0.79312378 0.26147245] [ 0. 0. 0. 1. ]] SLAMing on 137.328241008 meters Centerline goodness [0,1] 0.9282591925944973 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73214784 -0.30589296 -0.60859595 6.09772049] [ 0.36882192 0.92920695 -0.02334174 -0.11156321] [ 0.57265166 -0.20737392 0.79313689 0.2611463 ] [ 0. 0. 0. 1. ]] SLAMing on 137.358241008 meters Centerline goodness [0,1] 0.9269135238530277 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73202898 -0.30598016 -0.60869509 6.09873565] [ 0.36888396 0.92917948 -0.02345465 -0.11161533] [ 0.57276364 -0.20736837 0.79305748 0.26117335] [ 0. 0. 0. 1. ]] SLAMing on 137.388241008 meters Centerline goodness [0,1] 0.9257396026868658 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73191129 -0.30578678 -0.60893375 6.09938945] [ 0.36890086 0.92917913 -0.02320119 -0.11249292] [ 0.57290315 -0.20765498 0.7928817 0.26185983] [ 0. 0. 0. 1. ]] SLAMing on 137.418241008 meters Centerline goodness [0,1] 0.9258898098488542 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73112103 -0.3109624 -0.60725977 6.09803814] [ 0.37225641 0.92774038 -0.02688781 -0.11246342] [ 0.5717405 -0.2063981 0.79404825 0.2607861 ] [ 0. 0. 0. 1. ]] SLAMing on 137.448241008 meters Centerline goodness [0,1] 0.9251019119251306 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73041255 -0.31624927 -0.60537915 6.09652801] [ 0.37548388 0.92631468 -0.03087024 -0.11088269] [ 0.57053428 -0.20476211 0.79533837 0.25872913] [ 0. 0. 0. 1. ]] SLAMing on 137.478241008 meters Centerline goodness [0,1] 0.9238403947104213 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73036475 -0.31593299 -0.60560191 6.09638716] [ 0.37544471 0.9263439 -0.03046724 -0.11180982] [ 0.57062124 -0.20511784 0.7951843 0.25957775] [ 0. 0. 0. 1. ]] SLAMing on 137.508241008 meters Centerline goodness [0,1] 0.9251891767943132 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.73021355 -0.31600591 -0.60574618 6.09656456] [ 0.3756043 0.92628011 -0.03043955 -0.11166587] [ 0.57070972 -0.20529349 0.79507547 0.26001341] [ 0. 0. 0. 1. ]] SLAMing on 137.538241008 meters Centerline goodness [0,1] 0.9216902055345045 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.72999796 -0.31628191 -0.60586198 6.09749758] [ 0.37585002 0.9261739 -0.03063784 -0.11131542] [ 0.57082374 -0.20534767 0.79497962 0.2602131 ] [ 0. 0. 0. 1. ]] SLAMing on 137.568241008 meters Centerline goodness [0,1] 0.9214070351758794 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.72961266 -0.31701621 -0.60594232 6.09919336] [ 0.37640654 0.92592919 -0.031197 -0.11000789] [ 0.57094964 -0.20531893 0.79489663 0.26014418] [ 0. 0. 0. 1. ]] SLAMing on 137.598241008 meters Centerline goodness [0,1] 0.9174051449711779 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.72928574 -0.31741773 -0.60612564 6.100191 ] [ 0.37672408 0.92578815 -0.03154804 -0.10890239] [ 0.57115784 -0.20533459 0.794743 0.26031606] [ 0. 0. 0. 1. ]] SLAMing on 137.628241008 meters Centerline goodness [0,1] 0.9194301928974749 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.72908506 -0.31777763 -0.60617848 6.10117001] [ 0.37702251 0.92565828 -0.03179264 -0.10841263] [ 0.57121713 -0.20536339 0.79469294 0.26035059] [ 0. 0. 0. 1. ]] SLAMing on 137.658241008 meters Centerline goodness [0,1] 0.9148284839641805 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.72792452 -0.32362832 -0.60447548 6.10032672] [ 0.38085975 0.92393096 -0.03601978 -0.10678738] [ 0.57015063 -0.2040007 0.795809 0.25923231] [ 0. 0. 0. 1. ]] SLAMing on 137.688241008 meters Centerline goodness [0,1] 0.9162009572120483 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.72765455 -0.32338969 -0.60492806 6.10002621] [ 0.38106852 0.92386455 -0.03551171 -0.10771115] [ 0.57035572 -0.20467878 0.79548787 0.26100944] [ 0. 0. 0. 1. ]] SLAMing on 137.718241008 meters Centerline goodness [0,1] 0.9149754571289147 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.72747939 -0.32316169 -0.60526049 6.09969724] [ 0.38121225 0.92382253 -0.03505928 -0.10861019] [ 0.57048309 -0.20522781 0.79525505 0.26237302] [ 0. 0. 0. 1. ]] SLAMing on 137.748241008 meters Centerline goodness [0,1] 0.9064962604235322 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.72627008 -0.32918296 -0.60346528 6.09875197] [ 0.38510994 0.92202609 -0.03947444 -0.10577407] [ 0.56940504 -0.20373137 0.79641159 0.26085873] [ 0. 0. 0. 1. ]] SLAMing on 137.778241008 meters Centerline goodness [0,1] 0.8956371986222732 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.11, Z:0.26 [[ 0.72598218 -0.32940846 -0.60368862 6.0990653 ] [ 0.38543537 0.92188809 -0.03952125 -0.10526102] [ 0.56955198 -0.20399122 0.79623999 0.26156174] [ 0. 0. 0. 1. ]] SLAMing on 137.808241008 meters Centerline goodness [0,1] 0.9061592849136321 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.10, Z:0.26 [[ 0.7257794 -0.32966487 -0.60379246 6.09942127] [ 0.38567196 0.92178176 -0.03969294 -0.10426591] [ 0.56965025 -0.2040575 0.79615271 0.26175048] [ 0. 0. 0. 1. ]] SLAMing on 137.838241008 meters Centerline goodness [0,1] 0.8911320429613463 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.10, Z:0.26 [[ 0.72556365 -0.33013193 -0.60379657 6.09967563] [ 0.3859949 0.92163015 -0.04007256 -0.10262621] [ 0.56970636 -0.20398721 0.79613057 0.26159463] [ 0. 0. 0. 1. ]] SLAMing on 137.868241008 meters Centerline goodness [0,1] 0.8911320429613463 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.10, Z:0.26 [[ 0.72556365 -0.33013193 -0.60379657 6.09967563] [ 0.3859949 0.92163015 -0.04007256 -0.10262621] [ 0.56970636 -0.20398721 0.79613057 0.26159463] [ 0. 0. 0. 1. ]] SLAMing on 137.898241008 meters Centerline goodness [0,1] 0.8803067731372436 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.10, Z:0.26 [[ 0.72535969 -0.33052599 -0.60382605 6.10038854] [ 0.38627298 0.92149947 -0.04039686 -0.10152524] [ 0.5697776 -0.20393943 0.79609183 0.26147522] [ 0. 0. 0. 1. ]] SLAMing on 137.92824100800001 meters Centerline goodness [0,1] 0.8981417756366139 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.10, Z:0.26 [[ 0.72507239 -0.33022242 -0.60433698 6.10014301] [ 0.38621834 0.92153242 -0.04016702 -0.10162384] [ 0.57018017 -0.20428203 0.79571567 0.26289976] [ 0. 0. 0. 1. ]] SLAMing on 137.958241008 meters Centerline goodness [0,1] 0.8924295926276806 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.10, Z:0.26 [[ 0.72514861 -0.3299468 -0.60439606 6.09922923] [ 0.38603928 0.92161666 -0.03995496 -0.10140952] [ 0.57020449 -0.20434734 0.79568147 0.26314022] [ 0. 0. 0. 1. ]] SLAMing on 137.988241008 meters Centerline goodness [0,1] 0.8985797732218532 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.10, Z:0.26 [[ 0.72523404 -0.32969343 -0.60443182 6.09815946] [ 0.38583408 0.92170894 -0.03980825 -0.10085733] [ 0.57023473 -0.2043401 0.79566166 0.26324857] [ 0. 0. 0. 1. ]] SLAMing on 138.018241008 meters Centerline goodness [0,1] 0.9010872977369367 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.10, Z:0.26 [[ 0.72536584 -0.32937447 -0.60444757 6.09690278] [ 0.38558429 0.9218225 -0.03959835 -0.1003573 ] [ 0.57023606 -0.2043422 0.79566017 0.26333228] [ 0. 0. 0. 1. ]] SLAMing on 138.048241008 meters Centerline goodness [0,1] 0.9023188240656336 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.10, Z:0.26 [[ 0.72572931 -0.32912702 -0.60414599 6.09451242] [ 0.38509622 0.92202198 -0.03970354 -0.09809954] [ 0.57010339 -0.20384031 0.79588395 0.26221419] [ 0. 0. 0. 1. ]] SLAMing on 138.078241008 meters Centerline goodness [0,1] 0.905264655663062 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.10, Z:0.26 [[ 0.72646882 -0.32343782 -0.60632584 6.0951294 ] [ 0.38167959 0.92361715 -0.03538427 -0.09907072] [ 0.57145756 -0.20571663 0.79442868 0.26492186] [ 0. 0. 0. 1. ]] SLAMing on 138.108241008 meters Centerline goodness [0,1] 0.9062738125476251 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.10, Z:0.27 [[ 0.72742907 -0.31785322 -0.60812522 6.09470461] [ 0.37796524 0.92528345 -0.03150901 -0.09850322] [ 0.57270344 -0.20692963 0.79321554 0.26630821] [ 0. 0. 0. 1. ]] SLAMing on 138.138241008 meters Centerline goodness [0,1] 0.9078750176728404 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.10, Z:0.27 [[ 0.72834436 -0.31169559 -0.61021336 6.09497345] [ 0.37421696 0.92695315 -0.02682405 -0.10045268] [ 0.57400013 -0.20881505 0.79178288 0.26914924] [ 0. 0. 0. 1. ]] SLAMing on 138.168241008 meters Centerline goodness [0,1] 0.9125536480686696 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.10, Z:0.27 [[ 0.72852999 -0.31147353 -0.61010514 6.09393583] [ 0.37381884 0.9271106 -0.02693335 -0.09937557] [ 0.57402397 -0.20844704 0.79186256 0.26855399] [ 0. 0. 0. 1. ]] SLAMing on 138.198241008 meters Centerline goodness [0,1] 0.9112903225806451 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.10, Z:0.27 [[ 0.7287865 -0.31114792 -0.60996493 6.0924611 ] [ 0.37331158 0.92731313 -0.02699682 -0.09791181] [ 0.57402849 -0.20803205 0.79196841 0.26781443] [ 0. 0. 0. 1. ]] SLAMing on 138.228241008 meters Centerline goodness [0,1] 0.9090247452692868 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.10, Z:0.27 [[ 0.73045411 -0.30509283 -0.61102794 6.090416 ] [ 0.36885264 0.92920289 -0.02301566 -0.09680721] [ 0.57479084 -0.20856739 0.79127437 0.26706343] [ 0. 0. 0. 1. ]] SLAMing on 138.258241008 meters Centerline goodness [0,1] 0.9093618562157043 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.10, Z:0.27 [[ 0.73098365 -0.3045216 -0.61067953 6.08847549] [ 0.36801132 0.92953648 -0.02301318 -0.09518969] [ 0.57465691 -0.20791473 0.79154337 0.26552354] [ 0. 0. 0. 1. ]] SLAMing on 138.288241008 meters Centerline goodness [0,1] 0.9111605281445448 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.09, Z:0.26 [[ 0.73138409 -0.30395489 -0.61048238 6.08677824] [ 0.36721856 0.92984973 -0.02302206 -0.09377674] [ 0.57465455 -0.20734249 0.79169517 0.26440445] [ 0. 0. 0. 1. ]] SLAMing on 138.318241008 meters Centerline goodness [0,1] 0.9126548795767785 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.10, Z:0.25 [[ 0.7360347 -0.3024386 -0.60562679 6.06960553] [ 0.36819052 0.92959943 -0.01675249 -0.10035126] [ 0.56805692 -0.21065563 0.79557246 0.2466174 ] [ 0. 0. 0. 1. ]] SLAMing on 138.348241008 meters Centerline goodness [0,1] 0.91056977932444 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.10, Z:0.25 [[ 0.7379766 -0.29538846 -0.60674228 6.06620057] [ 0.36308553 0.93167901 -0.01196324 -0.10146208] [ 0.56882285 -0.21147075 0.79480859 0.24648852] [ 0. 0. 0. 1. ]] SLAMing on 138.378241008 meters Centerline goodness [0,1] 0.9117484221016499 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.10, Z:0.25 [[ 0.73848966 -0.29430296 -0.60664552 6.06372282] [ 0.36215882 0.93204793 -0.01129806 -0.1022016 ] [ 0.56874775 -0.21135852 0.79489218 0.24635761] [ 0. 0. 0. 1. ]] SLAMing on 138.408241008 meters Centerline goodness [0,1] 0.9108604291086043 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.10, Z:0.25 [[ 0.73884479 -0.29333944 -0.60667977 6.06183915] [ 0.36146568 0.93232535 -0.01058345 -0.10364195] [ 0.56872747 -0.21147439 0.79487587 0.24677947] [ 0. 0. 0. 1. ]] SLAMing on 138.438241008 meters Centerline goodness [0,1] 0.9083460630467991 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.11, Z:0.25 [[ 0.73915593 -0.29250191 -0.60670515 6.06049384] [ 0.36090218 0.93255106 -0.00990592 -0.105164 ] [ 0.56868104 -0.2116392 0.79486523 0.24715769] [ 0. 0. 0. 1. ]] SLAMing on 138.468241008 meters Centerline goodness [0,1] 0.9102762004520646 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.11, Z:0.25 [[ 0.73917503 -0.29224395 -0.60680619 6.06062193] [ 0.36074996 0.93261201 -0.00971126 -0.1058029 ] [ 0.56875279 -0.21172698 0.7947905 0.24741675] [ 0. 0. 0. 1. ]] SLAMing on 138.498241008 meters Centerline goodness [0,1] 0.9139758169392103 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.11, Z:0.25 [[ 0.73908384 -0.29228135 -0.60689924 6.06156313] [ 0.36084714 0.93257468 -0.00968514 -0.10620236] [ 0.56880965 -0.21183972 0.79471977 0.24757282] [ 0. 0. 0. 1. ]] SLAMing on 138.528241008 meters Centerline goodness [0,1] 0.9129541162093101 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.11, Z:0.25 [[ 0.73825892 -0.29779148 -0.60522228 6.06267759] [ 0.3643664 0.93115485 -0.01370279 -0.10623847] [ 0.56763623 -0.21040645 0.79593858 0.24567965] [ 0. 0. 0. 1. ]] SLAMing on 138.558241008 meters Centerline goodness [0,1] 0.9114316000892658 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.11, Z:0.24 [[ 0.73725126 -0.30339417 -0.60366594 6.06347503] [ 0.36791364 0.9296873 -0.01791871 -0.10516925] [ 0.56665699 -0.20888634 0.79703598 0.24403299] [ 0. 0. 0. 1. ]] SLAMing on 138.588241008 meters Centerline goodness [0,1] 0.9106922818416041 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.10, Z:0.24 [[ 0.73623476 -0.30926057 -0.60192714 6.06450464] [ 0.37167078 0.92809816 -0.0222406 -0.10389547] [ 0.56552561 -0.20734443 0.79824124 0.24209413] [ 0. 0. 0. 1. ]] SLAMing on 138.618241008 meters Centerline goodness [0,1] 0.9104196001126443 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.10, Z:0.24 [[ 0.7348291 -0.31537799 -0.60046891 6.06769956] [ 0.37592333 0.926273 -0.02645719 -0.10424741] [ 0.56454215 -0.20628876 0.7992103 0.2411699 ] [ 0. 0. 0. 1. ]] SLAMing on 138.648241008 meters Centerline goodness [0,1] 0.9121474748045055 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.10, Z:0.24 [[ 0.73383998 -0.32072938 -0.59884184 6.06773157] [ 0.37944278 0.9247195 -0.03028251 -0.10418528] [ 0.56347321 -0.2050037 0.80029458 0.24005832] [ 0. 0. 0. 1. ]] SLAMing on 138.67824100800001 meters Centerline goodness [0,1] 0.912033100946551 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.10, Z:0.24 [[ 0.73280368 -0.32592656 -0.5973028 6.06749227] [ 0.38294304 0.92314922 -0.03391375 -0.10471939] [ 0.56245301 -0.20388083 0.80129846 0.23943052] [ 0. 0. 0. 1. ]] SLAMing on 138.708241008 meters Centerline goodness [0,1] 0.911523043243397 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.11, Z:0.24 [[ 0.73177402 -0.3309753 -0.59578699 6.06706545] [ 0.38636732 0.921586 -0.03741041 -0.10543375] [ 0.56145087 -0.20281666 0.80227073 0.23894936] [ 0. 0. 0. 1. ]] SLAMing on 138.738241008 meters Centerline goodness [0,1] 0.9130198189941574 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.11, Z:0.24 [[ 0.73019694 -0.33639337 -0.59468641 6.06894941] [ 0.39043628 0.91972318 -0.04085076 -0.10726138] [ 0.5606888 -0.20235805 0.80291923 0.2398213 ] [ 0. 0. 0. 1. ]] SLAMing on 138.768241008 meters Centerline goodness [0,1] 0.9145225349680539 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.11, Z:0.24 [[ 0.72957164 -0.33658833 -0.59534319 6.07131199] [ 0.39098185 0.91949716 -0.04072062 -0.10827062] [ 0.56112246 -0.20305977 0.80243898 0.24159869] [ 0. 0. 0. 1. ]] SLAMing on 138.798241008 meters Centerline goodness [0,1] 0.9132941312118068 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.11, Z:0.24 [[ 0.72900356 -0.33687471 -0.59587687 6.07367403] [ 0.39151428 0.91927064 -0.04071936 -0.10893518] [ 0.56148943 -0.20360974 0.80204282 0.24297388] [ 0. 0. 0. 1. ]] SLAMing on 138.828241008 meters Centerline goodness [0,1] 0.9130359612724758 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.11, Z:0.24 [[ 0.7285289 -0.33715882 -0.59629654 6.07581371] [ 0.39198197 0.91906971 -0.04075534 -0.10924624] [ 0.56177912 -0.20404605 0.80172903 0.24397625] [ 0. 0. 0. 1. ]] SLAMing on 138.858241008 meters Centerline goodness [0,1] 0.9140002895613146 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.11, Z:0.25 [[ 0.72780797 -0.33766094 -0.5968925 6.0788584 ] [ 0.3927245 0.91874742 -0.04087352 -0.10967002] [ 0.56219483 -0.20466623 0.80127942 0.24553217] [ 0. 0. 0. 1. ]] SLAMing on 138.888241008 meters Centerline goodness [0,1] 0.9129439712613708 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.11, Z:0.25 [[ 0.72758114 -0.33702922 -0.59752573 6.07925355] [ 0.39265755 0.91880906 -0.04012426 -0.11122851] [ 0.5625351 -0.20542933 0.80084521 0.2475691 ] [ 0. 0. 0. 1. ]] SLAMing on 138.918241008 meters Centerline goodness [0,1] 0.9139706949078775 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.26 [[ 0.72752335 -0.33091648 -0.60100255 6.08803645] [ 0.39307234 0.91901167 -0.03019422 -0.11036927] [ 0.56232012 -0.21427047 0.79867656 0.2616077 ] [ 0. 0. 0. 1. ]] SLAMing on 138.948241008 meters Centerline goodness [0,1] 0.9121328002781157 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.26 [[ 0.72721844 -0.33155141 -0.60102164 6.08878854] [ 0.39349946 0.9188109 -0.03073597 -0.10874528] [ 0.56241579 -0.21414992 0.79864153 0.26147551] [ 0. 0. 0. 1. ]] SLAMing on 138.978241008 meters Centerline goodness [0,1] 0.909391687949849 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.26 [[ 0.72705309 -0.33188011 -0.60104027 6.08920579] [ 0.39368363 0.91872067 -0.03107316 -0.10766486] [ 0.56250068 -0.21402787 0.79861446 0.26131473] [ 0. 0. 0. 1. ]] SLAMing on 139.008241008 meters Centerline goodness [0,1] 0.9103954081632653 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.26 [[ 0.72687796 -0.33202496 -0.60117208 6.08927493] [ 0.39379092 0.91866888 -0.03124406 -0.10684994] [ 0.56265189 -0.21402549 0.79850857 0.26155851] [ 0. 0. 0. 1. ]] SLAMing on 139.038241008 meters Centerline goodness [0,1] 0.9118208092485549 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.26 [[ 0.72652422 -0.33248522 -0.60134527 6.09031471] [ 0.39405771 0.91853629 -0.03177421 -0.10532949] [ 0.56292192 -0.21388 0.79835723 0.2616325 ] [ 0. 0. 0. 1. ]] SLAMing on 139.068241008 meters Centerline goodness [0,1] 0.9103795417727378 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.10, Z:0.26 [[ 0.72629514 -0.3326925 -0.60150733 6.09054792] [ 0.39424674 0.91844888 -0.03195566 -0.10412658] [ 0.56308514 -0.21393306 0.7982279 0.26191601] [ 0. 0. 0. 1. ]] SLAMing on 139.098241008 meters Centerline goodness [0,1] 0.9102678958471808 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.10, Z:0.26 [[ 0.72612594 -0.33284901 -0.60162501 6.09064297] [ 0.39442014 0.91837125 -0.03204699 -0.10324366] [ 0.56318192 -0.21402287 0.79813554 0.26214083] [ 0. 0. 0. 1. ]] SLAMing on 139.128241008 meters Centerline goodness [0,1] 0.9091564943872104 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.10, Z:0.27 [[ 0.72557305 -0.32790462 -0.60499777 6.0936576 ] [ 0.39286749 0.91919766 -0.02703331 -0.10423611] [ 0.56497688 -0.21806932 0.79576812 0.26983402] [ 0. 0. 0. 1. ]] SLAMing on 139.158241008 meters Centerline goodness [0,1] 0.9102386317674929 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.27 [[ 0.72511769 -0.32775718 -0.60562328 6.09381636] [ 0.39332014 0.91902133 -0.02643962 -0.10555609] [ 0.56524649 -0.219032 0.79531213 0.27242247] [ 0. 0. 0. 1. ]] SLAMing on 139.188241008 meters Centerline goodness [0,1] 0.9098948098485724 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.27 [[ 0.72474632 -0.32777595 -0.60605751 6.09447777] [ 0.39358647 0.91891097 -0.02631198 -0.10537617] [ 0.56553733 -0.21946653 0.79498552 0.27373531] [ 0. 0. 0. 1. ]] SLAMing on 139.218241008 meters Centerline goodness [0,1] 0.9030252198056455 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.10, Z:0.27 [[ 0.72445506 -0.32799047 -0.60628963 6.09489909] [ 0.39383135 0.91880167 -0.02646437 -0.10486248] [ 0.56573998 -0.21960362 0.79480345 0.2743098 ] [ 0. 0. 0. 1. ]] SLAMing on 139.248241008 meters Centerline goodness [0,1] 0.9065932481909649 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.10, Z:0.27 [[ 0.7242454 -0.32800055 -0.60653461 6.09489447] [ 0.393907 0.9187683 -0.02649672 -0.10437037] [ 0.56595572 -0.21972811 0.79461543 0.27491461] [ 0. 0. 0. 1. ]] SLAMing on 139.278241008 meters Centerline goodness [0,1] 0.9101924241987134 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.11, Z:0.28 [[ 0.72513425 -0.32163329 -0.60887794 6.09401849] [ 0.39007902 0.92052567 -0.02169901 -0.10607177] [ 0.5674669 -0.22177581 0.79296709 0.27853909] [ 0. 0. 0. 1. ]] SLAMing on 139.308241008 meters Centerline goodness [0,1] 0.9119017487344685 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.10, Z:0.28 [[ 0.72541536 -0.32138246 -0.6086755 6.09227253] [ 0.38960738 0.9207227 -0.02181285 -0.10449366] [ 0.56743162 -0.2213211 0.79311937 0.27765889] [ 0. 0. 0. 1. ]] SLAMing on 139.338241008 meters Centerline goodness [0,1] 0.9130484624423236 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.10, Z:0.28 [[ 0.72568004 -0.32108 -0.60851961 6.09073928] [ 0.38900695 0.92097117 -0.02203847 -0.10247307] [ 0.56750513 -0.22072548 0.79323275 0.27670252] [ 0. 0. 0. 1. ]] SLAMing on 139.368241008 meters Centerline goodness [0,1] 0.9107000114194359 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.10, Z:0.28 [[ 0.72601639 -0.32062456 -0.60835852 6.08864825] [ 0.38832506 0.92125732 -0.02210435 -0.10065711] [ 0.56754194 -0.22019274 0.79335446 0.27588599] [ 0. 0. 0. 1. ]] SLAMing on 139.398241008 meters Centerline goodness [0,1] 0.9117454721219186 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.11, Z:0.26 [[ 0.73056919 -0.31802093 -0.604261 6.06909221] [ 0.3886237 0.92127434 -0.0150068 -0.10583661] [ 0.56146263 -0.22386664 0.79664512 0.25969684] [ 0. 0. 0. 1. ]] SLAMing on 139.42824100800001 meters Centerline goodness [0,1] 0.9115159770702083 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.10, Z:0.26 [[ 0.73082901 -0.31783963 -0.60404215 6.06776118] [ 0.38822309 0.92144104 -0.01514096 -0.10446805] [ 0.56140163 -0.22343766 0.79680853 0.25891059] [ 0. 0. 0. 1. ]] SLAMing on 139.458241008 meters Centerline goodness [0,1] 0.9095612348750424 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.10, Z:0.26 [[ 0.73091092 -0.31774004 -0.60399544 6.06705893] [ 0.3879709 0.92154467 -0.01529725 -0.10337343] [ 0.56146933 -0.22315173 0.79684095 0.25850938] [ 0. 0. 0. 1. ]] SLAMing on 139.488241008 meters Centerline goodness [0,1] 0.9097126063243564 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.10, Z:0.26 [[ 0.7307836 -0.31798989 -0.60401801 6.06697898] [ 0.38802058 0.92151723 -0.01568511 -0.10192075] [ 0.56160071 -0.222909 0.7968163 0.25826798] [ 0. 0. 0. 1. ]] SLAMing on 139.518241008 meters Centerline goodness [0,1] 0.9067335606978776 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.09, Z:0.27 [[ 7.31834003e-01 -3.12917135e-01 -6.05393969e-01 6.08233389e+00] [ 3.90130417e-01 9.20749534e-01 -4.30728077e-03 -9.40511151e-02] [ 5.58764037e-01 -2.33030387e-01 7.95914310e-01 2.72678518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.548241008 meters Centerline goodness [0,1] 0.9104603688582289 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.09, Z:0.27 [[ 7.31492489e-01 -3.13260503e-01 -6.05629091e-01 6.08278747e+00] [ 3.90412041e-01 9.20628515e-01 -4.64488311e-03 -9.32289517e-02] [ 5.59014469e-01 -2.33047192e-01 7.95733516e-01 2.73175906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.578241008 meters Centerline goodness [0,1] 0.9086668165467626 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.09, Z:0.27 [[ 7.31256333e-01 -3.13513935e-01 -6.05783120e-01 6.08310008e+00] [ 3.90639377e-01 9.20530985e-01 -4.85614917e-03 -9.27729865e-02] [ 5.59164603e-01 -2.33091651e-01 7.95615001e-01 2.73595948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.608241008 meters Centerline goodness [0,1] 0.9104968647189495 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.09, Z:0.27 [[ 7.30961304e-01 -3.13781148e-01 -6.06000794e-01 6.08324173e+00] [ 3.90910539e-01 9.20414751e-01 -5.06322803e-03 -9.20346595e-02] [ 5.59360816e-01 -2.33191073e-01 7.95447925e-01 2.74170141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.638241008 meters Centerline goodness [0,1] 0.9094825174825175 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.09, Z:0.27 [[ 7.30311666e-01 -3.14990345e-01 -6.06156707e-01 6.08395648e+00] [ 3.91870356e-01 9.20001235e-01 -5.94567981e-03 -8.95301630e-02] [ 5.59537751e-01 -2.33192645e-01 7.95323013e-01 2.74592562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.668241008 meters Centerline goodness [0,1] 0.9102080714983941 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.09, Z:0.27 [[ 0.72989807 -0.3156129 -0.60633102 6.08489301] [ 0.39240447 0.91977055 -0.00639285 -0.08849141] [ 0.55970308 -0.23326088 0.79518666 0.27498829] [ 0. 0. 0. 1. ]] SLAMing on 139.698241008 meters Centerline goodness [0,1] 0.9079715023000112 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.09, Z:0.28 [[ 0.729481 -0.31611178 -0.606573 6.08575195] [ 0.39291342 0.91955113 -0.00669016 -0.08771703] [ 0.55988973 -0.23345033 0.79499965 0.27565643] [ 0. 0. 0. 1. ]] SLAMing on 139.728241008 meters Centerline goodness [0,1] 0.9079715023000112 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.09, Z:0.28 [[ 0.729481 -0.31611178 -0.606573 6.08575195] [ 0.39291342 0.91955113 -0.00669016 -0.08771703] [ 0.55988973 -0.23345033 0.79499965 0.27565643] [ 0. 0. 0. 1. ]] SLAMing on 139.758241008 meters Centerline goodness [0,1] 0.9054490751058614 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.09, Z:0.28 [[ 0.72900485 -0.31671212 -0.60683223 6.08675201] [ 0.39341177 0.91933424 -0.00719344 -0.08670525] [ 0.5601599 -0.23349089 0.79479739 0.27621968] [ 0. 0. 0. 1. ]] SLAMing on 139.788241008 meters Centerline goodness [0,1] 0.906659572084687 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.08, Z:0.29 [[ 7.29203806e-01 -3.11639156e-01 -6.09214942e-01 6.10107988e+00] [ 3.95037059e-01 9.18660581e-01 2.90852881e-03 -8.15229094e-02] [ 5.58755341e-01 -2.42783389e-01 7.92999808e-01 2.90413826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.818241008 meters Centerline goodness [0,1] 0.9098804736371761 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.08, Z:0.29 [[ 7.28391361e-01 -3.13069352e-01 -6.09453530e-01 6.10296095e+00] [ 3.95859161e-01 9.18310187e-01 1.38750208e-03 -7.77910524e-02] [ 5.59233001e-01 -2.42268408e-01 7.92820578e-01 2.90205174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.848241008 meters Centerline goodness [0,1] 0.9093976575571667 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.08, Z:0.29 [[ 7.28316459e-01 -3.13259722e-01 -6.09445225e-01 6.10342324e+00] [ 3.95696917e-01 9.18380789e-01 8.21839436e-04 -7.55709881e-02] [ 5.59445338e-01 -2.41754156e-01 7.92827751e-01 2.89669392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.878241008 meters Centerline goodness [0,1] 0.906384395549513 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.07, Z:0.29 [[ 7.28386075e-01 -3.12641249e-01 -6.09679568e-01 6.10163894e+00] [ 3.94676675e-01 9.18820002e-01 3.54220580e-04 -7.08556628e-02] [ 5.60075038e-01 -2.40884314e-01 7.92647904e-01 2.88479880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.908241008 meters Centerline goodness [0,1] 0.9081455327834937 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.07, Z:0.29 [[ 7.28613909e-01 -3.12424312e-01 -6.09518516e-01 6.09998926e+00] [ 3.94155955e-01 9.19043565e-01 9.18059166e-05 -6.90949213e-02] [ 5.60145387e-01 -2.40312244e-01 7.92771828e-01 2.87597938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.938241008 meters Centerline goodness [0,1] 0.9069159187269423 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.07, Z:0.29 [[ 7.28827709e-01 -3.12400574e-01 -6.09275021e-01 6.09850908e+00] [ 3.93791003e-01 9.19199969e-01 -2.50795672e-04 -6.70713387e-02] [ 5.60123929e-01 -2.39744235e-01 7.92958943e-01 2.86511469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.968241008 meters Centerline goodness [0,1] 0.9069799357725139 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.06, Z:0.29 [[ 7.28990333e-01 -3.12416891e-01 -6.09072065e-01 6.09723687e+00] [ 3.93474093e-01 9.19335496e-01 -6.19182984e-04 -6.49592310e-02] [ 5.60135012e-01 -2.39202700e-01 7.93114643e-01 2.85506891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.998241008 meters Centerline goodness [0,1] 0.9063191541676912 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.06, Z:0.28 [[ 7.29272068e-01 -3.11680613e-01 -6.09112015e-01 6.09444949e+00] [ 3.92484069e-01 9.19758515e-01 -7.27663978e-04 -6.09174763e-02] [ 5.60462761e-01 -2.38536097e-01 7.93083869e-01 2.84428904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.028241008 meters Centerline goodness [0,1] 0.9034180163588105 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.06, Z:0.28 [[ 7.29320184e-01 -3.11884232e-01 -6.08950159e-01 6.09315018e+00] [ 3.92332990e-01 9.19822451e-01 -1.21808052e-03 -5.83878491e-02] [ 5.60505928e-01 -2.38022866e-01 7.93207552e-01 2.83539381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.058241008 meters Centerline goodness [0,1] 0.9013893411483773 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.06, Z:0.28 [[ 7.29521032e-01 -3.11753013e-01 -6.08776743e-01 6.09127819e+00] [ 3.91981473e-01 9.19972063e-01 -1.38857820e-03 -5.64946136e-02] [ 5.60490490e-01 -2.37616208e-01 7.93340374e-01 2.82810705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.088241008 meters Centerline goodness [0,1] 0.9005320881746118 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.06, Z:0.28 [[ 7.29713900e-01 -3.11485113e-01 -6.08682716e-01 6.08952865e+00] [ 3.91591196e-01 9.20138218e-01 -1.41258679e-03 -5.53827805e-02] [ 5.60512229e-01 -2.37324009e-01 7.93412475e-01 2.82480581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.118241008 meters Centerline goodness [0,1] 0.9028790579592718 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.05, Z:0.28 [[ 7.29904854e-01 -3.11082033e-01 -6.08659899e-01 6.08781264e+00] [ 3.91145252e-01 9.20328023e-01 -1.31221849e-03 -5.46342325e-02] [ 5.60574969e-01 -2.37116635e-01 7.93430151e-01 2.82339986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.148241008 meters Centerline goodness [0,1] 0.9001832488951169 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.05, Z:0.28 [[ 7.30161032e-01 -3.11041224e-01 -6.08373425e-01 6.08621322e+00] [ 3.90783474e-01 9.20481244e-01 -1.59893307e-03 -5.27484358e-02] [ 5.60493661e-01 -2.36574802e-01 7.93649305e-01 2.81266678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17824100800001 meters Centerline goodness [0,1] 0.8983195975596703 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.05, Z:0.28 [[ 7.31198048e-01 -3.06087863e-01 -6.09638938e-01 6.08531657e+00] [ 3.87165656e-01 9.22009043e-01 1.44182734e-03 -4.89006753e-02] [ 5.61651288e-01 -2.37085520e-01 7.92677921e-01 2.81037379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.208241008 meters Centerline goodness [0,1] 0.8948606877373122 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.06, Z:0.26 [[ 7.33089348e-01 -3.07590622e-01 -6.06603674e-01 6.06302309e+00] [ 3.88509608e-01 9.21441842e-01 2.28383904e-03 -5.66090775e-02] [ 5.58247519e-01 -2.37345614e-01 7.95001111e-01 2.61665100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.238241008 meters Centerline goodness [0,1] 0.8918421263309583 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.06, Z:0.26 [[ 7.33310113e-01 -3.07138924e-01 -6.06565709e-01 6.06119170e+00] [ 3.88086011e-01 9.21619743e-01 2.50937361e-03 -5.63440336e-02] [ 5.58252207e-01 -2.37239815e-01 7.95029398e-01 2.61723303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.268241008 meters Centerline goodness [0,1] 0.8895769384759109 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.06, Z:0.26 [[ 7.33381513e-01 -3.06779547e-01 -6.06661245e-01 6.06003655e+00] [ 3.87779786e-01 9.21748194e-01 2.66546112e-03 -5.62384853e-02] [ 5.58371198e-01 -2.37205767e-01 7.94955992e-01 2.62136680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.298241008 meters Centerline goodness [0,1] 0.8884894959661315 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.06, Z:0.24 [[ 7.34437085e-01 -3.09412250e-01 -6.04041577e-01 6.03878225e+00] [ 3.89722254e-01 9.20930007e-01 2.11814952e-03 -6.29493342e-02] [ 5.55624633e-01 -2.36964093e-01 7.96949990e-01 2.42382115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.328241008 meters Centerline goodness [0,1] 0.8906216847018884 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.06, Z:0.24 [[ 7.34102023e-01 -3.09930789e-01 -6.04183023e-01 6.03940145e+00] [ 3.89989251e-01 9.20818199e-01 1.49290448e-03 -6.11318187e-02] [ 5.55880026e-01 -2.36720829e-01 7.96844179e-01 2.42272088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.358241008 meters Centerline goodness [0,1] 0.8905721664581059 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.07, Z:0.23 [[ 7.33138683e-01 -3.10437185e-01 -6.05092080e-01 6.01969997e+00] [ 3.91631304e-01 9.20118977e-01 2.44741861e-03 -7.03780617e-02] [ 5.55996936e-01 -2.38767298e-01 7.96151735e-01 2.28067745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.388241008 meters Centerline goodness [0,1] 0.8868465788355291 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.07, Z:0.23 [[ 7.33107634e-01 -3.10304620e-01 -6.05197687e-01 6.01870345e+00] [ 3.91472327e-01 9.20186748e-01 2.40112066e-03 -6.97400390e-02] [ 5.56149813e-01 -2.38678427e-01 7.96071601e-01 2.28373386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.418241008 meters Centerline goodness [0,1] 0.8900458363140185 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.07, Z:0.23 [[ 7.33190264e-01 -3.10396512e-01 -6.05050446e-01 6.01806928e+00] [ 3.91405072e-01 9.20215815e-01 2.21900411e-03 -6.85378483e-02] [ 5.56088218e-01 -2.38446766e-01 7.96184046e-01 2.27806847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.448241008 meters Centerline goodness [0,1] 0.8900968414386363 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.07, Z:0.23 [[ 7.33133442e-01 -3.10707910e-01 -6.04959462e-01 6.01818690e+00] [ 3.91487134e-01 9.20181770e-01 1.82583393e-03 -6.67795870e-02] [ 5.56105367e-01 -2.38172426e-01 7.96254178e-01 2.27132355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.478241008 meters Centerline goodness [0,1] 0.8867660641245547 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.08, Z:0.21 [[ 7.31668187e-01 -3.10311760e-01 -6.06933502e-01 5.99872141e+00] [ 3.92184662e-01 9.19883196e-01 2.46891515e-03 -7.64535183e-02] [ 5.57541796e-01 -2.39836437e-01 7.94748784e-01 2.12264688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.508241008 meters Centerline goodness [0,1] 0.8866355066149093 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.07, Z:0.21 [[ 7.30858466e-01 -3.15393908e-01 -6.05287193e-01 5.99746435e+00] [ 3.94993530e-01 9.18682225e-01 -1.75521882e-03 -7.41111611e-02] [ 5.56620170e-01 -2.37801708e-01 7.96005235e-01 2.10150522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.538241008 meters Centerline goodness [0,1] 0.8884813299907639 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.09, Z:0.19 [[ 7.32140081e-01 -3.17729212e-01 -6.02510622e-01 5.97375863e+00] [ 3.95842226e-01 9.18312757e-01 -3.25775103e-03 -8.52846735e-02] [ 5.54328273e-01 -2.36114016e-01 7.98104214e-01 1.88594424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.568241008 meters Centerline goodness [0,1] 0.8835647111509181 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.09, Z:0.18 [[ 7.31951535e-01 -3.16741461e-01 -6.03259311e-01 5.95501295e+00] [ 3.97282276e-01 9.17696439e-01 1.97031006e-04 -9.39218553e-02] [ 5.53546514e-01 -2.39808449e-01 7.97545086e-01 1.75510022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.598241008 meters Centerline goodness [0,1] 0.8833097595473833 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.10, Z:0.16 [[ 7.33587164e-01 -3.15951878e-01 -6.01684538e-01 5.93349126e+00] [ 3.97516987e-01 9.17590471e-01 2.82361673e-03 -1.02548352e-01] [ 5.51207872e-01 -2.41251194e-01 7.98728830e-01 1.58384094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.628241008 meters Centerline goodness [0,1] 0.8813545963271419 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.11, Z:0.13 [[ 7.35224741e-01 -3.19219978e-01 -5.97949150e-01 5.90853513e+00] [ 3.98095719e-01 9.17343850e-01 -2.41930024e-04 -1.13811911e-01] [ 5.48602205e-01 -2.37863124e-01 8.01534001e-01 1.34323317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.658241008 meters Centerline goodness [0,1] 0.8808260207030634 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.12, Z:0.11 [[ 7.36571758e-01 -3.21672173e-01 -5.94969797e-01 5.88586153e+00] [ 3.99369113e-01 9.16789375e-01 -1.24648461e-03 -1.24262269e-01] [ 5.45862947e-01 -2.36694435e-01 8.03747092e-01 1.13609548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.688241008 meters Centerline goodness [0,1] 0.8821571761746285 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.13, Z:0.10 [[ 7.37689924e-01 -3.23702441e-01 -5.92478106e-01 5.86432095e+00] [ 4.01080573e-01 9.16042118e-01 -1.10041518e-03 -1.34507699e-01] [ 5.43091106e-01 -2.36819693e-01 8.05585801e-01 9.50377284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.718241008 meters Centerline goodness [0,1] 0.8816116947420817 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.13, Z:0.09 [[ 7.38098463e-01 -3.23060308e-01 -5.92319759e-01 5.86287288e+00] [ 4.00486263e-01 9.16302485e-01 -7.13581249e-04 -1.34823028e-01] [ 5.42974597e-01 -2.36689233e-01 8.05702671e-01 9.46720187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.748241008 meters Centerline goodness [0,1] 0.8821924993443483 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.15, Z:0.07 [[ 7.38431281e-01 -3.25754829e-01 -5.90426147e-01 5.84120672e+00] [ 4.01861307e-01 9.15696804e-01 -2.61793231e-03 -1.45670345e-01] [ 5.41504140e-01 -2.35336260e-01 8.07087425e-01 7.45296647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.778241008 meters Centerline goodness [0,1] 0.8821555001966698 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.16, Z:0.05 [[ 7.38512397e-01 -3.28304286e-01 -5.88910634e-01 5.81927775e+00] [ 4.03197818e-01 9.15101655e-01 -4.52565879e-03 -1.56696399e-01] [ 5.40398889e-01 -2.34105227e-01 8.08185488e-01 5.49490060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.808241008 meters Centerline goodness [0,1] 0.881261789981136 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.17, Z:0.04 [[ 7.37963095e-01 -3.28533990e-01 -5.89470854e-01 5.79895390e+00] [ 4.04233118e-01 9.14648489e-01 -3.70500847e-03 -1.68017850e-01] [ 5.40375848e-01 -2.35549482e-01 8.07781149e-01 3.95343165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.838241008 meters Centerline goodness [0,1] 0.8770265654150353 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.17, Z:0.04 [[ 0.7371838 -0.33344537 -0.58768549 5.79766305] [ 0.40711683 0.91334497 -0.00753927 -0.16662845] [ 0.53927352 -0.23369883 0.80905434 0.03763131] [ 0. 0. 0. 1. ]] SLAMing on 140.868241008 meters Centerline goodness [0,1] 0.8816378085363928 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.18, Z:0.02 [[ 0.73673381 -0.33614887 -0.58670881 5.77668492] [ 0.4099054 0.91209422 -0.00785444 -0.17842751] [ 0.53777398 -0.23470848 0.80975989 0.02194726] [ 0. 0. 0. 1. ]] SLAMing on 140.898241008 meters Centerline goodness [0,1] 0.8783519847972973 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.18, Z:0.02 [[ 0.73572398 -0.34109806 -0.58511737 5.77664138] [ 0.41312592 0.91060282 -0.01137928 -0.17923282] [ 0.53669098 -0.23335514 0.81086878 0.02116699] [ 0. 0. 0. 1. ]] SLAMing on 140.92824100800001 meters Centerline goodness [0,1] 0.8779676235244408 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.18, Z:0.02 [[ 0.73536305 -0.34143717 -0.58537325 5.77823402] [ 0.41356672 0.91040137 -0.01148529 -0.17956619] [ 0.53684612 -0.23364504 0.81068258 0.02180864] [ 0. 0. 0. 1. ]] SLAMing on 140.958241008 meters Centerline goodness [0,1] 0.8800127054712936 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.18, Z:0.02 [[ 0.73434439 -0.34641922 -0.58372257 5.77721697] [ 0.4167707 0.90888656 -0.01508002 -0.17886711] [ 0.53576161 -0.23220454 0.81181313 0.02078487] [ 0. 0. 0. 1. ]] SLAMing on 140.988241008 meters Centerline goodness [0,1] 0.8791734176206539 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.19, Z:0.01 [[ 0.73272798 -0.34935937 -0.58400148 5.75836268] [ 0.42094046 0.90697355 -0.01442608 -0.19048248] [ 0.53471378 -0.23525946 0.81162439 0.00847369] [ 0. 0. 0. 1. ]] SLAMing on 141.018241008 meters Centerline goodness [0,1] 0.8769362019781919 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.20, Z:-0.01 [[ 0.7319433 -0.35296253 -0.58281769 5.73832339] [ 0.42496181 0.90509607 -0.01444199 -0.20305915] [ 0.53260348 -0.23710455 0.81247459 -0.00601852] [ 0. 0. 0. 1. ]] SLAMing on 141.048241008 meters Centerline goodness [0,1] 0.88055711497848 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.20, Z:-0.01 [[ 0.73091567 -0.35792036 -0.58108115 5.73741927] [ 0.42821912 0.90349808 -0.01787754 -0.20349291] [ 0.53140444 -0.23576309 0.81364924 -0.00676993] [ 0. 0. 0. 1. ]] SLAMing on 141.078241008 meters Centerline goodness [0,1] 0.8820562352436145 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.21, Z:-0.01 [[ 0.72982836 -0.36242473 -0.5796541 5.73712901] [ 0.4314285 0.90190935 -0.02071149 -0.20602843] [ 0.53030181 -0.23496347 0.81459939 -0.00627717] [ 0. 0. 0. 1. ]] SLAMing on 141.108241008 meters Centerline goodness [0,1] 0.8811995696611081 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.21, Z:-0.00 [[ 7.29728510e-01 -3.61838205e-01 -5.80146029e-01 5.73792080e+00] [ 4.31245069e-01 9.02009800e-01 -2.01497289e-02 -2.07917102e-01] [ 5.30588345e-01 -2.35481282e-01 8.14263209e-01 -4.93353704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.138241008 meters Centerline goodness [0,1] 0.8791677852348994 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.21, Z:-0.00 [[ 7.29767058e-01 -3.61473225e-01 -5.80325037e-01 5.73835194e+00] [ 4.31066256e-01 9.02102351e-01 -1.98300821e-02 -2.09016348e-01] [ 5.30680624e-01 -2.35687200e-01 8.14143488e-01 -4.47990685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.168241008 meters Centerline goodness [0,1] 0.8776730406679235 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.21, Z:-0.00 [[ 7.29950145e-01 -3.60884389e-01 -5.80461233e-01 5.73815439e+00] [ 4.30644249e-01 9.02312466e-01 -1.94356670e-02 -2.09872326e-01] [ 5.30771435e-01 -2.35785224e-01 8.14055902e-01 -4.21797422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.198241008 meters Centerline goodness [0,1] 0.877374550760667 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.21, Z:-0.00 [[ 7.30256865e-01 -3.60365622e-01 -5.80397734e-01 5.73799656e+00] [ 4.30168210e-01 9.02545670e-01 -1.91474612e-02 -2.10662202e-01] [ 5.30735548e-01 -2.35686089e-01 8.14108006e-01 -4.56832724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.228241008 meters Centerline goodness [0,1] 0.8812006916675673 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.21, Z:-0.01 [[ 7.30707272e-01 -3.59457594e-01 -5.80393936e-01 5.73844101e+00] [ 4.29315415e-01 9.02960342e-01 -1.87322018e-02 -2.11863730e-01] [ 5.30806139e-01 -2.35484307e-01 8.14120374e-01 -5.25321108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.258241008 meters Centerline goodness [0,1] 0.8811650063787628 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.22, Z:-0.02 [[ 0.7298382 -0.35811043 -0.58231704 5.71897175] [ 0.42957803 0.90287273 -0.01683907 -0.22474537] [ 0.53178842 -0.23786081 0.81278737 -0.01888449] [ 0. 0. 0. 1. ]] SLAMing on 141.288241008 meters Centerline goodness [0,1] 0.8873939986953685 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.23, Z:-0.02 [[ 0.73022905 -0.35732459 -0.58230977 5.71916412] [ 0.4288878 0.90320881 -0.0164043 -0.22611482] [ 0.53180898 -0.23776666 0.81280147 -0.01927033] [ 0. 0. 0. 1. ]] SLAMing on 141.318241008 meters Centerline goodness [0,1] 0.8873899653884937 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.23, Z:-0.02 [[ 0.72957775 -0.36189188 -0.58030214 5.71757145] [ 0.43139628 0.90193848 -0.02010519 -0.22513758] [ 0.53067274 -0.23567189 0.81415306 -0.02167999] [ 0. 0. 0. 1. ]] SLAMing on 141.348241008 meters Centerline goodness [0,1] 0.8841657810839533 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.23, Z:-0.02 [[ 0.72901217 -0.36619421 -0.57831052 5.71569674] [ 0.43388436 0.90066558 -0.02336383 -0.2251376 ] [ 0.52942008 -0.23388738 0.81548211 -0.0236275 ] [ 0. 0. 0. 1. ]] SLAMing on 141.378241008 meters Centerline goodness [0,1] 0.8863611446113364 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.24, Z:-0.04 [[ 0.73006747 -0.36933084 -0.57497498 5.6925572 ] [ 0.43623155 0.89951704 -0.02389828 -0.23982503] [ 0.52602616 -0.23337487 0.81782189 -0.04249698] [ 0. 0. 0. 1. ]] SLAMing on 141.408241008 meters Centerline goodness [0,1] 0.8884918780749251 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.24, Z:-0.04 [[ 0.72955231 -0.37278874 -0.57339514 5.69073253] [ 0.43866428 0.89827828 -0.02588004 -0.24452932] [ 0.52471619 -0.23264712 0.8188701 -0.04208788] [ 0. 0. 0. 1. ]] SLAMing on 141.438241008 meters Centerline goodness [0,1] 0.8888980761810263 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.26, Z:-0.06 [[ 0.72990152 -0.37607394 -0.57079958 5.67067595] [ 0.44267742 0.89634631 -0.0244947 -0.2571854 ] [ 0.52084592 -0.23480137 0.82072398 -0.05708659] [ 0. 0. 0. 1. ]] SLAMing on 141.468241008 meters Centerline goodness [0,1] 0.8874771632619166 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-0.08 [[ 0.73026692 -0.3793797 -0.56813842 5.64874148] [ 0.44547698 0.89494412 -0.02500541 -0.27202696] [ 0.51793868 -0.23483197 0.82255302 -0.07553919] [ 0. 0. 0. 1. ]] SLAMing on 141.498241008 meters Centerline goodness [0,1] 0.8849800399201597 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.29, Z:-0.08 [[ 0.72728137 -0.37812215 -0.57278744 5.6324529 ] [ 0.44738108 0.89406875 -0.02216402 -0.28521927] [ 0.52049205 -0.24013478 0.81940424 -0.08283688] [ 0. 0. 0. 1. ]] SLAMing on 141.528241008 meters Centerline goodness [0,1] 0.8849633898493834 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.30, Z:-0.09 [[ 0.72342912 -0.38090261 -0.57581551 5.61719021] [ 0.45219799 0.89165337 -0.02170818 -0.30015623] [ 0.52169655 -0.24467829 0.81729141 -0.09056839] [ 0. 0. 0. 1. ]] SLAMing on 141.558241008 meters Centerline goodness [0,1] 0.8886362998512531 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.32, Z:-0.11 [[ 0.72322739 -0.38735611 -0.57174941 5.59361548] [ 0.45625207 0.88948543 -0.02548951 -0.31701817] [ 0.51843629 -0.24242714 0.82003225 -0.1109389 ] [ 0. 0. 0. 1. ]] SLAMing on 141.588241008 meters Centerline goodness [0,1] 0.8938593038295001 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.33, Z:-0.12 [[ 0.71979634 -0.3894963 -0.57461802 5.57558861] [ 0.46021447 0.88745404 -0.02505904 -0.33248541] [ 0.51970749 -0.24641012 0.81803801 -0.11923895] [ 0. 0. 0. 1. ]] SLAMing on 141.618241008 meters Centerline goodness [0,1] 0.8925294517444495 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.33, Z:-0.12 [[ 0.71832124 -0.39465096 -0.57294433 5.57690417] [ 0.46381128 0.88547772 -0.02843057 -0.3340194 ] [ 0.5185496 -0.24531576 0.81910103 -0.1194774 ] [ 0. 0. 0. 1. ]] SLAMing on 141.648241008 meters Centerline goodness [0,1] 0.9033552463075215 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.35, Z:-0.13 [[ 0.71523539 -0.39723993 -0.57501198 5.55788861] [ 0.46685774 0.88382767 -0.02987496 -0.34950486] [ 0.52007902 -0.24708116 0.81759936 -0.13201148] [ 0. 0. 0. 1. ]] SLAMing on 141.67824100800001 meters Centerline goodness [0,1] 0.9033552463075215 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.36, Z:-0.15 [[ 0.71502432 -0.39985695 -0.5734585 5.53853492] [ 0.46947694 0.88243744 -0.02992599 -0.35989396] [ 0.51800737 -0.24782773 0.81868784 -0.14892729] [ 0. 0. 0. 1. ]] SLAMing on 141.708241008 meters Centerline goodness [0,1] 0.904495990836197 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.37, Z:-0.16 [[ 0.71077013 -0.40341882 -0.57624567 5.52388488] [ 0.47420701 0.87986509 -0.03106654 -0.37489432] [ 0.51955128 -0.25117857 0.81668586 -0.1584843 ] [ 0. 0. 0. 1. ]] SLAMing on 141.738241008 meters Centerline goodness [0,1] 0.9042412384185993 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.39, Z:-0.17 [[ 0.70813806 -0.40200766 -0.58045701 5.50607773] [ 0.47543213 0.87927595 -0.02894974 -0.39017974] [ 0.5220199 -0.2554675 0.81377612 -0.16729173] [ 0. 0. 0. 1. ]] SLAMing on 141.768241008 meters Centerline goodness [0,1] 0.9046246938481487 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.39, Z:-0.17 [[ 0.70700906 -0.40731993 -0.57812513 5.50610857] [ 0.47854509 0.87744353 -0.03297647 -0.38933144] [ 0.52070413 -0.25334428 0.81528148 -0.16986227] [ 0. 0. 0. 1. ]] SLAMing on 141.798241008 meters Centerline goodness [0,1] 0.9044714859669913 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.39, Z:-0.17 [[ 0.70684446 -0.40689035 -0.57862868 5.50817972] [ 0.47832715 0.87756945 -0.03278725 -0.39015151] [ 0.52112767 -0.25359832 0.81493181 -0.16871786] [ 0. 0. 0. 1. ]] SLAMing on 141.828241008 meters Centerline goodness [0,1] 0.9057727903748265 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.41, Z:-0.19 [[ 0.70725709 -0.40845089 -0.57702278 5.48698179] [ 0.47951801 0.8769119 -0.03298472 -0.40542005] [ 0.51947078 -0.25336413 0.81606172 -0.18760694] [ 0. 0. 0. 1. ]] SLAMing on 141.858241008 meters Centerline goodness [0,1] 0.905264985961967 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.42, Z:-0.21 [[ 0.70833404 -0.40982477 -0.57472301 5.46496446] [ 0.48115639 0.87606183 -0.03168899 -0.41963709] [ 0.51647983 -0.25408527 0.81773423 -0.205437 ] [ 0. 0. 0. 1. ]] SLAMing on 141.888241008 meters Centerline goodness [0,1] 0.9058911993521706 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.42, Z:-0.21 [[ 0.70861647 -0.40919013 -0.57482704 5.46450073] [ 0.48074013 0.87630898 -0.0311687 -0.42088001] [ 0.51648003 -0.25425577 0.8176811 -0.20508826] [ 0. 0. 0. 1. ]] SLAMing on 141.918241008 meters Centerline goodness [0,1] 0.9053146529265328 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.42, Z:-0.20 [[ 0.70885923 -0.40869447 -0.57488035 5.46418555] [ 0.48039581 0.87651167 -0.03077591 -0.42171813] [ 0.51646728 -0.25435432 0.8176585 -0.20495407] [ 0. 0. 0. 1. ]] SLAMing on 141.948241008 meters Centerline goodness [0,1] 0.9037267080745341 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.42, Z:-0.20 [[ 0.70948043 -0.40766615 -0.57484417 5.46229902] [ 0.4796187 0.876965 -0.02997136 -0.42342041] [ 0.51633653 -0.25444192 0.81771382 -0.204811 ] [ 0. 0. 0. 1. ]] SLAMing on 141.978241008 meters Centerline goodness [0,1] 0.9049069079519749 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.42, Z:-0.20 [[ 0.70976747 -0.40724135 -0.57479093 5.46139387] [ 0.47926093 0.87717069 -0.02967403 -0.42393388] [ 0.51627425 -0.25441318 0.81776209 -0.2048901 ] [ 0. 0. 0. 1. ]] SLAMing on 142.008241008 meters Centerline goodness [0,1] 0.9051474840948526 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.42, Z:-0.21 [[ 0.71008453 -0.4068595 -0.57466973 5.46041489] [ 0.47890043 0.87737598 -0.0294238 -0.42425095] [ 0.51617278 -0.25431619 0.81785631 -0.20519596] [ 0. 0. 0. 1. ]] SLAMing on 142.038241008 meters Centerline goodness [0,1] 0.9031540638900122 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.44, Z:-0.23 [[ 0.7124062 -0.40880703 -0.5703983 5.4382512 ] [ 0.480334 0.87662693 -0.02836323 -0.43597726] [ 0.5116216 -0.25377556 0.82087837 -0.22620226] [ 0. 0. 0. 1. ]] SLAMing on 142.068241008 meters Centerline goodness [0,1] 0.9003582365516842 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.44, Z:-0.23 [[ 0.71254014 -0.40895702 -0.57012341 5.43812824] [ 0.48030949 0.87663492 -0.02853103 -0.43532849] [ 0.51145805 -0.25350618 0.8210635 -0.22705859] [ 0. 0. 0. 1. ]] SLAMing on 142.098241008 meters Centerline goodness [0,1] 0.9014011116257526 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.44, Z:-0.23 [[ 0.71257776 -0.40890352 -0.57011476 5.4377425 ] [ 0.48023791 0.876674 -0.02853502 -0.43514542] [ 0.51147286 -0.2534573 0.82106937 -0.22709726] [ 0. 0. 0. 1. ]] SLAMing on 142.128241008 meters Centerline goodness [0,1] 0.904268557372305 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.45, Z:-0.24 [[ 0.71396234 -0.41154125 -0.56647293 5.41526923] [ 0.48296126 0.87522106 -0.02713883 -0.44893162] [ 0.50695779 -0.25420838 0.82363335 -0.2443765 ] [ 0. 0. 0. 1. ]] SLAMing on 142.158241008 meters Centerline goodness [0,1] 0.9032099763293112 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.46, Z:-0.26 [[ 0.71521951 -0.41414577 -0.56297809 5.39360605] [ 0.48548148 0.87385806 -0.02607347 -0.46178659] [ 0.50276116 -0.25466718 0.82606043 -0.26261788] [ 0. 0. 0. 1. ]] SLAMing on 142.188241008 meters Centerline goodness [0,1] 0.902140849966685 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.46, Z:-0.26 [[ 0.71511804 -0.41426188 -0.56302157 5.39403349] [ 0.48556551 0.87380772 -0.0261954 -0.46142911] [ 0.50282435 -0.25465106 0.82602694 -0.26268238] [ 0. 0. 0. 1. ]] SLAMing on 142.218241008 meters Centerline goodness [0,1] 0.9022280092592593 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.46, Z:-0.26 [[ 0.71489494 -0.41459178 -0.56306205 5.39524944] [ 0.48573397 0.87370168 -0.02660591 -0.46035001] [ 0.50297886 -0.25447794 0.82598623 -0.26294711] [ 0. 0. 0. 1. ]] SLAMing on 142.248241008 meters Centerline goodness [0,1] 0.9065398953847932 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.46, Z:-0.26 [[ 0.71453328 -0.41564195 -0.5627468 5.39718303] [ 0.48628297 0.87336484 -0.02761757 -0.45797801] [ 0.50296229 -0.25392051 0.82616785 -0.26443649] [ 0. 0. 0. 1. ]] SLAMing on 142.278241008 meters Centerline goodness [0,1] 0.9070183539189657 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.47, Z:-0.29 [[ 0.71539762 -0.41861135 -0.55943792 5.37388809] [ 0.48782285 0.87246017 -0.02901917 -0.47113427] [ 0.50023506 -0.25214636 0.82836411 -0.28560828] [ 0. 0. 0. 1. ]] SLAMing on 142.308241008 meters Centerline goodness [0,1] 0.9030859916782247 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.47, Z:-0.29 [[ 0.71544061 -0.41854388 -0.55943342 5.37362635] [ 0.48770481 0.87252428 -0.02907561 -0.47068683] [ 0.50028866 -0.2520365 0.82836517 -0.28579452] [ 0. 0. 0. 1. ]] SLAMing on 142.338241008 meters Centerline goodness [0,1] 0.9032826168548085 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.47, Z:-0.29 [[ 0.7155293 -0.41826199 -0.55953082 5.373549 ] [ 0.48739704 0.87269624 -0.02907578 -0.47020035] [ 0.50046173 -0.25190909 0.82829938 -0.28563223] [ 0. 0. 0. 1. ]] SLAMing on 142.368241008 meters Centerline goodness [0,1] 0.9031878230901781 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.47, Z:-0.29 [[ 0.71618187 -0.41785488 -0.55899985 5.37132627] [ 0.48665527 0.87310741 -0.02915654 -0.46891926] [ 0.50025011 -0.25115883 0.82865497 -0.28702954] [ 0. 0. 0. 1. ]] SLAMing on 142.398241008 meters Centerline goodness [0,1] 0.9010803220907241 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.46, Z:-0.28 [[ 0.71920591 -0.41746537 -0.55539673 5.3900095 ] [ 0.48363921 0.87471138 -0.03119487 -0.45539726] [ 0.49883461 -0.2461761 0.83100022 -0.27937628] [ 0. 0. 0. 1. ]] SLAMing on 142.42824100800001 meters Centerline goodness [0,1] 0.9031770045385779 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.45, Z:-0.28 [[ 0.71947516 -0.41754121 -0.55499083 5.38897293] [ 0.48342372 0.87482084 -0.03146429 -0.45385589] [ 0.49865518 -0.24565796 0.83126119 -0.28074899] [ 0. 0. 0. 1. ]] SLAMing on 142.458241008 meters Centerline goodness [0,1] 0.9002396302847036 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.45, Z:-0.28 [[ 0.72029475 -0.41673285 -0.55453513 5.38601889] [ 0.48247307 0.87535715 -0.03113827 -0.45372906] [ 0.49839263 -0.24511954 0.83157754 -0.28204995] [ 0. 0. 0. 1. ]] SLAMing on 142.488241008 meters Centerline goodness [0,1] 0.9013472032742156 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.45, Z:-0.28 [[ 0.72072195 -0.41625229 -0.55434097 5.384224 ] [ 0.48193713 0.87565929 -0.03094218 -0.4534732 ] [ 0.49829357 -0.24485679 0.8317143 -0.28265338] [ 0. 0. 0. 1. ]] SLAMing on 142.518241008 meters Centerline goodness [0,1] 0.8971448033149798 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.45, Z:-0.28 [[ 0.72111577 -0.41616134 -0.55389691 5.38274181] [ 0.48155312 0.87586373 -0.03113409 -0.45185649] [ 0.49809502 -0.2442795 0.83200293 -0.28410456] [ 0. 0. 0. 1. ]] SLAMing on 142.548241008 meters Centerline goodness [0,1] 0.8939518530070605 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.44, Z:-0.27 [[ 0.72409487 -0.41360655 -0.5519205 5.4022304 ] [ 0.47739202 0.87811699 -0.03173976 -0.43840059] [ 0.49777854 -0.24049985 0.83329247 -0.27472958] [ 0. 0. 0. 1. ]] SLAMing on 142.578241008 meters Centerline goodness [0,1] 0.8912626832018038 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.44, Z:-0.28 [[ 0.72497843 -0.41274855 -0.55140268 5.39936689] [ 0.47597496 0.87887398 -0.032068 -0.43578677] [ 0.49784949 -0.23920526 0.83362265 -0.27757981] [ 0. 0. 0. 1. ]] SLAMing on 142.608241008 meters Centerline goodness [0,1] 0.890065628256767 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.44, Z:-0.28 [[ 0.72540368 -0.41226062 -0.55120838 5.39795621] [ 0.47543233 0.87917473 -0.03187316 -0.43581039] [ 0.49774853 -0.23894138 0.83375861 -0.27816766] [ 0. 0. 0. 1. ]] SLAMing on 142.638241008 meters Centerline goodness [0,1] 0.8914200433644017 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.44, Z:-0.28 [[ 0.72568441 -0.41190376 -0.55110564 5.3967654 ] [ 0.47503575 0.87939341 -0.03175328 -0.43566507] [ 0.49771797 -0.23875202 0.8338311 -0.27851785] [ 0. 0. 0. 1. ]] SLAMing on 142.668241008 meters Centerline goodness [0,1] 0.8898450462611435 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.43, Z:-0.28 [[ 0.72583681 -0.41186697 -0.55093241 5.39625628] [ 0.47487248 0.87947803 -0.03185149 -0.43487426] [ 0.49765153 -0.23850366 0.83394182 -0.27909998] [ 0. 0. 0. 1. ]] SLAMing on 142.698241008 meters Centerline goodness [0,1] 0.8855989232839838 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.43, Z:-0.28 [[ 0.72611495 -0.41167056 -0.55071267 5.39541824] [ 0.47465507 0.87960124 -0.03168946 -0.43478938] [ 0.49745316 -0.23838837 0.83409312 -0.27960641] [ 0. 0. 0. 1. ]] SLAMing on 142.728241008 meters Centerline goodness [0,1] 0.8876417106297003 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.43, Z:-0.28 [[ 0.72529981 -0.41616546 -0.54840358 5.39256911] [ 0.47745791 0.87796561 -0.03478975 -0.43455773] [ 0.49595778 -0.23660663 0.83548979 -0.2812553 ] [ 0. 0. 0. 1. ]] SLAMing on 142.758241008 meters Centerline goodness [0,1] 0.8833352138102223 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.43, Z:-0.28 [[ 0.72410869 -0.42118373 -0.54614181 5.39121766] [ 0.48067588 0.87606122 -0.03830717 -0.43412137] [ 0.49458801 -0.23477864 0.8368164 -0.28270922] [ 0. 0. 0. 1. ]] SLAMing on 142.788241008 meters Centerline goodness [0,1] 0.888259975782152 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.43, Z:-0.28 [[ 0.72274004 -0.42646393 -0.54385233 5.39041859] [ 0.48409007 0.87400787 -0.04203632 -0.43308435] [ 0.49325819 -0.23289219 0.83812743 -0.28434149] [ 0. 0. 0. 1. ]] SLAMing on 142.818241008 meters Centerline goodness [0,1] 0.8851349445838856 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.43, Z:-0.28 [[ 0.72225102 -0.42658581 -0.54440611 5.39208532] [ 0.48449695 0.87378834 -0.04191226 -0.43377585] [ 0.49357489 -0.23349193 0.83777405 -0.28284362] [ 0. 0. 0. 1. ]] SLAMing on 142.848241008 meters Centerline goodness [0,1] 0.8885557504101375 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.43, Z:-0.28 [[ 0.72025539 -0.43245452 -0.54241614 5.39369482] [ 0.48846504 0.87136478 -0.04610125 -0.43233461] [ 0.49257901 -0.23174665 0.83884409 -0.28393698] [ 0. 0. 0. 1. ]] SLAMing on 142.878241008 meters Centerline goodness [0,1] 0.8934969671321766 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.43, Z:-0.28 [[ 0.71967978 -0.43287768 -0.54284245 5.3958112 ] [ 0.48892147 0.87109084 -0.04643867 -0.43197036] [ 0.49296735 -0.23198636 0.83854965 -0.28313541] [ 0. 0. 0. 1. ]] SLAMing on 142.908241008 meters Centerline goodness [0,1] 0.8923864471972397 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.43, Z:-0.28 [[ 0.71920385 -0.43333329 -0.54310965 5.39768809] [ 0.48933087 0.87083983 -0.0468326 -0.43128376] [ 0.49325563 -0.23207813 0.83835471 -0.28279165] [ 0. 0. 0. 1. ]] SLAMing on 142.938241008 meters Centerline goodness [0,1] 0.8951084644831986 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.43, Z:-0.28 [[ 0.7189007 -0.43363149 -0.54327296 5.39894919] [ 0.48960942 0.87067067 -0.04706596 -0.43089164] [ 0.49342112 -0.23215581 0.83823582 -0.28256929] [ 0. 0. 0. 1. ]] SLAMing on 142.968241008 meters Centerline goodness [0,1] 0.8968788943015747 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.43, Z:-0.28 [[ 0.71827809 -0.43405867 -0.54375514 5.40073175] [ 0.49015075 0.87035332 -0.04730046 -0.43073902] [ 0.49379026 -0.23254711 0.83790991 -0.28132695] [ 0. 0. 0. 1. ]] SLAMing on 142.998241008 meters Centerline goodness [0,1] 0.8964069988373082 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.43, Z:-0.28 [[ 0.71805216 -0.4341871 -0.54395097 5.40150499] [ 0.4903597 0.87023446 -0.04732181 -0.43058412] [ 0.4939114 -0.2327521 0.83778159 -0.28090244] [ 0. 0. 0. 1. ]] SLAMing on 143.028241008 meters Centerline goodness [0,1] 0.8937650901860531 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.44, Z:-0.29 [[ 0.7152081 -0.43181801 -0.5495549 5.38536507] [ 0.49189933 0.86958411 -0.04311071 -0.44182016] [ 0.49650018 -0.23949256 0.83434458 -0.28605737] [ 0. 0. 0. 1. ]] SLAMing on 143.058241008 meters Centerline goodness [0,1] 0.8956872320490616 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.44, Z:-0.29 [[ 0.71500464 -0.43217748 -0.54953707 5.38611985] [ 0.49213042 0.86943663 -0.04344639 -0.44095879] [ 0.49656421 -0.23937954 0.83433891 -0.28629683] [ 0. 0. 0. 1. ]] SLAMing on 143.088241008 meters Centerline goodness [0,1] 0.9022102578634174 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.45, Z:-0.29 [[ 0.71221313 -0.43017883 -0.55470589 5.37016071] [ 0.49345452 0.86884101 -0.04022351 -0.45198761] [ 0.49925453 -0.24507442 0.83107367 -0.29323043] [ 0. 0. 0. 1. ]] SLAMing on 143.118241008 meters Centerline goodness [0,1] 0.8998470514926642 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.45, Z:-0.29 [[ 0.71195143 -0.43061512 -0.55470333 5.37168321] [ 0.49373348 0.86866297 -0.04064362 -0.45125193] [ 0.499352 -0.24493932 0.83105494 -0.29355446] [ 0. 0. 0. 1. ]] SLAMing on 143.148241008 meters Centerline goodness [0,1] 0.9012041365632526 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.45, Z:-0.29 [[ 0.71167818 -0.43090744 -0.55482695 5.37288741] [ 0.49396147 0.86851981 -0.04093177 -0.45076239] [ 0.499516 -0.24493289 0.83095827 -0.29343234] [ 0. 0. 0. 1. ]] SLAMing on 143.17824100800001 meters Centerline goodness [0,1] 0.901715095676825 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.45, Z:-0.29 [[ 0.71141052 -0.43117201 -0.55496466 5.37378845] [ 0.49416088 0.86839275 -0.04121956 -0.45006806] [ 0.49970001 -0.2449178 0.83085208 -0.29329121] [ 0. 0. 0. 1. ]] SLAMing on 143.208241008 meters Centerline goodness [0,1] 0.9008168358953996 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.46, Z:-0.30 [[ 0.70921462 -0.429464 -0.55908434 5.35598647] [ 0.49460816 0.86821792 -0.03950211 -0.46220708] [ 0.50237177 -0.2485122 0.82816924 -0.30403002] [ 0. 0. 0. 1. ]] SLAMing on 143.238241008 meters Centerline goodness [0,1] 0.8997306110874805 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.46, Z:-0.30 [[ 0.70908396 -0.42967243 -0.55908992 5.35664268] [ 0.49467676 0.86816463 -0.03981301 -0.46142558] [ 0.50248864 -0.24833803 0.82815058 -0.30431935] [ 0. 0. 0. 1. ]] SLAMing on 143.268241008 meters Centerline goodness [0,1] 0.9036295014046937 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.47, Z:-0.32 [[ 0.70944052 -0.43183767 -0.55696532 5.33598884] [ 0.49715063 0.86679581 -0.03881082 -0.47389304] [ 0.49953518 -0.24936169 0.82962844 -0.32064456] [ 0. 0. 0. 1. ]] SLAMing on 143.298241008 meters Centerline goodness [0,1] 0.9022594855762399 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.47, Z:-0.32 [[ 0.70937392 -0.43147998 -0.55732726 5.33568769] [ 0.4970255 0.86688081 -0.03851379 -0.47488052] [ 0.49975423 -0.24968518 0.82939919 -0.31943797] [ 0. 0. 0. 1. ]] SLAMing on 143.328241008 meters Centerline goodness [0,1] 0.9023218802398614 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.47, Z:-0.32 [[ 0.70854464 -0.43587254 -0.55495912 5.33279508] [ 0.49952475 0.8652886 -0.04184084 -0.47463862] [ 0.49843708 -0.24756972 0.83082472 -0.32130573] [ 0. 0. 0. 1. ]] SLAMing on 143.358241008 meters Centerline goodness [0,1] 0.903755801702782 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.49, Z:-0.33 [[ 0.71038145 -0.4366268 -0.55201017 5.31235422] [ 0.50242384 0.86384183 -0.03670932 -0.48728095] [ 0.49287775 -0.25126545 0.83302893 -0.33437279] [ 0. 0. 0. 1. ]] SLAMing on 143.388241008 meters Centerline goodness [0,1] 0.902625975869411 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.49, Z:-0.33 [[ 0.71056848 -0.43649448 -0.55187408 5.3116438 ] [ 0.50229158 0.86392438 -0.03657657 -0.48712236] [ 0.49274294 -0.25121155 0.83312493 -0.33468771] [ 0. 0. 0. 1. ]] SLAMing on 143.418241008 meters Centerline goodness [0,1] 0.8982728793851564 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.49, Z:-0.33 [[ 0.71067877 -0.4363588 -0.55183937 5.31095786] [ 0.50220118 0.86398316 -0.03642897 -0.48662449] [ 0.49267602 -0.25124509 0.83315439 -0.33471147] [ 0. 0. 0. 1. ]] SLAMing on 143.448241008 meters Centerline goodness [0,1] 0.8936103866651548 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.49, Z:-0.33 [[ 0.71023685 -0.43253502 -0.55540713 5.31697272] [ 0.50065535 0.86500149 -0.03341614 -0.48541356] [ 0.49488165 -0.25433417 0.83090691 -0.32922821] [ 0. 0. 0. 1. ]] SLAMing on 143.478241008 meters Centerline goodness [0,1] 0.8967462162008957 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.49, Z:-0.33 [[ 0.70993146 -0.43247174 -0.55584667 5.31778759] [ 0.5007706 0.86493661 -0.03336862 -0.48558494] [ 0.49520312 -0.25466224 0.83061484 -0.32817166] [ 0. 0. 0. 1. ]] SLAMing on 143.508241008 meters Centerline goodness [0,1] 0.9043846197535071 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.50, Z:-0.34 [[ 0.70974942 -0.43532108 -0.55385135 5.29848544] [ 0.50405459 0.86306302 -0.03242218 -0.49697671] [ 0.49212268 -0.25615969 0.83198407 -0.34346002] [ 0. 0. 0. 1. ]] SLAMing on 143.538241008 meters Centerline goodness [0,1] 0.9043846197535071 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.50, Z:-0.34 [[ 0.70974942 -0.43532108 -0.55385135 5.29848544] [ 0.50405459 0.86306302 -0.03242218 -0.49697671] [ 0.49212268 -0.25615969 0.83198407 -0.34346002] [ 0. 0. 0. 1. ]] SLAMing on 143.568241008 meters Centerline goodness [0,1] 0.9045074086641782 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.49, Z:-0.35 [[ 0.70866888 -0.44045176 -0.55117208 5.29687612] [ 0.50685474 0.86125595 -0.03655759 -0.49464937] [ 0.49080209 -0.25345696 0.83359036 -0.34673778] [ 0. 0. 0. 1. ]] SLAMing on 143.598241008 meters Centerline goodness [0,1] 0.8978023536083936 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.49, Z:-0.35 [[ 0.70870654 -0.44025687 -0.55127935 5.29697483] [ 0.50663371 0.86138428 -0.036598 -0.49432855] [ 0.49097589 -0.25335946 0.83351764 -0.34671074] [ 0. 0. 0. 1. ]] SLAMing on 143.628241008 meters Centerline goodness [0,1] 0.9008091438918123 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.49, Z:-0.35 [[ 0.70843361 -0.44075718 -0.55123038 5.29830395] [ 0.50679688 0.86125719 -0.0373226 -0.49246024] [ 0.49120133 -0.25292125 0.8335179 -0.34749408] [ 0. 0. 0. 1. ]] SLAMing on 143.658241008 meters Centerline goodness [0,1] 0.9024507857264423 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.49, Z:-0.35 [[ 0.70816731 -0.44150546 -0.55097367 5.29933027] [ 0.5070716 0.86105524 -0.03823968 -0.4898052 ] [ 0.49130179 -0.25230301 0.83364605 -0.34887933] [ 0. 0. 0. 1. ]] SLAMing on 143.688241008 meters Centerline goodness [0,1] 0.9020727879421995 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.49, Z:-0.35 [[ 0.70818835 -0.44213938 -0.55043804 5.29984634] [ 0.50716913 0.8609615 -0.03904838 -0.48747143] [ 0.49117078 -0.25151157 0.83396235 -0.35092636] [ 0. 0. 0. 1. ]] SLAMing on 143.718241008 meters Centerline goodness [0,1] 0.9021931923759114 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.49, Z:-0.35 [[ 0.70873281 -0.44213233 -0.54974249 5.2985753 ] [ 0.50659041 0.86127766 -0.03958482 -0.48546526] [ 0.49098265 -0.25043921 0.83439573 -0.35356281] [ 0. 0. 0. 1. ]] SLAMing on 143.748241008 meters Centerline goodness [0,1] 0.903565708505437 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.49, Z:-0.35 [[ 0.70885634 -0.44196184 -0.54972031 5.29776676] [ 0.50637687 0.86140336 -0.03958188 -0.48529673] [ 0.4910246 -0.25030779 0.83441048 -0.35356603] [ 0. 0. 0. 1. ]] SLAMing on 143.778241008 meters Centerline goodness [0,1] 0.9028730462161251 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.49, Z:-0.35 [[ 0.71003641 -0.44033839 -0.54950014 5.29372134] [ 0.50495688 0.86228521 -0.03850683 -0.48731755] [ 0.49078187 -0.25013262 0.83460579 -0.35392771] [ 0. 0. 0. 1. ]] SLAMing on 143.808241008 meters Centerline goodness [0,1] 0.901910577112468 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.50, Z:-0.37 [[ 0.71114771 -0.44228607 -0.5464906 5.27198034] [ 0.50666537 0.86131562 -0.03775724 -0.50042972] [ 0.48740039 -0.25003688 0.83661366 -0.37176573] [ 0. 0. 0. 1. ]] SLAMing on 143.838241008 meters Centerline goodness [0,1] 0.9011121721058248 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.50, Z:-0.37 [[ 0.71160454 -0.44170146 -0.54636874 5.27045786] [ 0.50612012 0.86165161 -0.03740222 -0.50107979] [ 0.48730012 -0.24991262 0.8367092 -0.37201201] [ 0. 0. 0. 1. ]] SLAMing on 143.868241008 meters Centerline goodness [0,1] 0.8962788348206769 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.50, Z:-0.37 [[ 0.71169852 -0.44162251 -0.54631015 5.2707441 ] [ 0.50582817 0.86180993 -0.03770295 -0.50030656] [ 0.48746598 -0.24950593 0.83673395 -0.37226508] [ 0. 0. 0. 1. ]] SLAMing on 143.898241008 meters Centerline goodness [0,1] 0.9011763384710407 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.50, Z:-0.37 [[ 0.71232184 -0.44115461 -0.54587564 5.2695582 ] [ 0.50492678 0.86232491 -0.03800909 -0.4995474 ] [ 0.48749005 -0.24855253 0.83700364 -0.37421778] [ 0. 0. 0. 1. ]] SLAMing on 143.92824100800001 meters Centerline goodness [0,1] 0.9032077164647824 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.50, Z:-0.38 [[ 0.71246028 -0.44113685 -0.54570929 5.26929136] [ 0.50468719 0.86245313 -0.03828098 -0.49861731] [ 0.48753583 -0.24813881 0.83709972 -0.37505775] [ 0. 0. 0. 1. ]] SLAMing on 143.958241008 meters Centerline goodness [0,1] 0.9022780258981489 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.50, Z:-0.38 [[ 0.7114355 -0.44575323 -0.54328959 5.26836727] [ 0.50689397 0.86095452 -0.04261244 -0.49591659] [ 0.48674226 -0.24507422 0.83846324 -0.37867155] [ 0. 0. 0. 1. ]] SLAMing on 143.988241008 meters Centerline goodness [0,1] 0.9022607130806434 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.49, Z:-0.38 [[ 0.7099867 -0.45120602 -0.54067737 5.26787778] [ 0.51011927 0.85882684 -0.04684854 -0.49375536] [ 0.48548658 -0.24254811 0.83992452 -0.38144757] [ 0. 0. 0. 1. ]] SLAMing on 144.018241008 meters Centerline goodness [0,1] 0.9022842639593909 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.49, Z:-0.38 [[ 0.70815855 -0.45687814 -0.53830645 5.26847549] [ 0.51375643 0.85641843 -0.05100785 -0.49203592] [ 0.48431994 -0.24043676 0.84120411 -0.38324435] [ 0. 0. 0. 1. ]] SLAMing on 144.048241008 meters Centerline goodness [0,1] 0.9026021675321743 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.49, Z:-0.38 [[ 0.70684896 -0.461603 -0.53599181 5.26688 ] [ 0.51665514 0.85445599 -0.05452004 -0.49116495] [ 0.48314802 -0.23838549 0.84246089 -0.38481658] [ 0. 0. 0. 1. ]] SLAMing on 144.078241008 meters Centerline goodness [0,1] 0.9030229197948834 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.49, Z:-0.39 [[ 0.70543919 -0.466461 -0.53363816 5.26582619] [ 0.51963331 0.85240649 -0.05817554 -0.49022917] [ 0.48201325 -0.23625686 0.84370962 -0.38650627] [ 0. 0. 0. 1. ]] SLAMing on 144.108241008 meters Centerline goodness [0,1] 0.9038314501741568 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.49, Z:-0.39 [[ 0.70530955 -0.46620387 -0.53403407 5.26650139] [ 0.51960108 0.85244335 -0.05792287 -0.49094357] [ 0.48223766 -0.23663112 0.84347647 -0.38555879] [ 0. 0. 0. 1. ]] SLAMing on 144.138241008 meters Centerline goodness [0,1] 0.9046514259846085 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.49, Z:-0.39 [[ 0.70521289 -0.46624769 -0.53412346 5.26748909] [ 0.51967858 0.85239541 -0.05793296 -0.49126471] [ 0.4822955 -0.23671745 0.84341917 -0.38542866] [ 0. 0. 0. 1. ]] SLAMing on 144.168241008 meters Centerline goodness [0,1] 0.904528034066714 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.49, Z:-0.39 [[ 0.70403665 -0.47074587 -0.5317243 5.26576952] [ 0.52242436 0.85048455 -0.06122759 -0.49087073] [ 0.48104593 -0.23467926 0.8447014 -0.38701421] [ 0. 0. 0. 1. ]] SLAMing on 144.198241008 meters Centerline goodness [0,1] 0.9041271104542096 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.51, Z:-0.40 [[ 0.70414857 -0.47311295 -0.52947043 5.24613572] [ 0.5259441 0.84848992 -0.05871675 -0.5050432 ] [ 0.47702997 -0.23712653 0.84629393 -0.40053226] [ 0. 0. 0. 1. ]] SLAMing on 144.228241008 meters Centerline goodness [0,1] 0.9034892987249544 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.51, Z:-0.40 [[ 0.70399508 -0.47294984 -0.52982013 5.24675259] [ 0.5259986 0.84847241 -0.0584811 -0.50565838] [ 0.47719639 -0.23751424 0.84609136 -0.3996005 ] [ 0. 0. 0. 1. ]] SLAMing on 144.258241008 meters Centerline goodness [0,1] 0.9050476325892223 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.52, Z:-0.41 [[ 0.7012172 -0.47142995 -0.53483478 5.23017569] [ 0.52706046 0.8479539 -0.05640435 -0.51918719] [ 0.48010594 -0.24233857 0.84307195 -0.40717843] [ 0. 0. 0. 1. ]] SLAMing on 144.288241008 meters Centerline goodness [0,1] 0.9029128975365535 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.53, Z:-0.41 [[ 0.69869338 -0.46917861 -0.54009166 5.21324938] [ 0.52795232 0.84759849 -0.05332112 -0.53305696] [ 0.482798 -0.24788753 0.83991539 -0.41346205] [ 0. 0. 0. 1. ]] SLAMing on 144.318241008 meters Centerline goodness [0,1] 0.902363325740319 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.55, Z:-0.43 [[ 0.69877693 -0.47199177 -0.53752634 5.19181346] [ 0.53046327 0.84603132 -0.05328916 -0.54789492] [ 0.47991617 -0.24790075 0.84156146 -0.43028815] [ 0. 0. 0. 1. ]] SLAMing on 144.348241008 meters Centerline goodness [0,1] 0.9035434751672122 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.56, Z:-0.45 [[ 0.69903565 -0.47531627 -0.53425051 5.16831623] [ 0.5324942 0.84466127 -0.05474737 -0.5647274 ] [ 0.47728303 -0.24621493 0.84355149 -0.44919314] [ 0. 0. 0. 1. ]] SLAMing on 144.378241008 meters Centerline goodness [0,1] 0.9025036315474665 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.58, Z:-0.46 [[ 0.6974326 -0.47522994 -0.536418 5.14948412] [ 0.53342983 0.84410157 -0.05426922 -0.57915356] [ 0.47858164 -0.24829224 0.84220578 -0.46158174] [ 0. 0. 0. 1. ]] SLAMing on 144.408241008 meters Centerline goodness [0,1] 0.903852710535288 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.59, Z:-0.47 [[ 0.69530147 -0.4742259 -0.5400608 5.13159516] [ 0.53443782 0.8435651 -0.05267003 -0.59304841] [ 0.48055393 -0.25200737 0.83997631 -0.47127215] [ 0. 0. 0. 1. ]] SLAMing on 144.438241008 meters Centerline goodness [0,1] 0.9008973080757727 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.61, Z:-0.49 [[ 0.69581238 -0.47781109 -0.53622914 5.10739136] [ 0.53604229 0.84239418 -0.05505188 -0.61024105] [ 0.47802071 -0.24913571 0.84227525 -0.49228217] [ 0. 0. 0. 1. ]] SLAMing on 144.468241008 meters Centerline goodness [0,1] 0.903760556950468 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.61, Z:-0.50 [[ 0.69457522 -0.48269348 -0.53345315 5.10577928] [ 0.53875765 0.84039594 -0.05894786 -0.6088186 ] [ 0.47676562 -0.24645824 0.843773 -0.49512563] [ 0. 0. 0. 1. ]] SLAMing on 144.498241008 meters Centerline goodness [0,1] 0.9041283617883857 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.61, Z:-0.50 [[ 0.69304985 -0.48765839 -0.53091543 5.10564484] [ 0.54155007 0.8382996 -0.06306586 -0.60655732] [ 0.47582078 -0.24380951 0.84507485 -0.49775999] [ 0. 0. 0. 1. ]] SLAMing on 144.528241008 meters Centerline goodness [0,1] 0.9041779552260089 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.60, Z:-0.50 [[ 0.69158627 -0.49266441 -0.52819523 5.10473094] [ 0.54432608 0.8361761 -0.06722091 -0.60364426] [ 0.47478158 -0.24102138 0.846458 -0.50072804] [ 0. 0. 0. 1. ]] SLAMing on 144.558241008 meters Centerline goodness [0,1] 0.903276487559631 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.60, Z:-0.50 [[ 0.69132204 -0.4927727 -0.52844007 5.10547323] [ 0.54449106 0.83606146 -0.06731056 -0.60342075] [ 0.47497718 -0.24119762 0.84629805 -0.5001836 ] [ 0. 0. 0. 1. ]] SLAMing on 144.588241008 meters Centerline goodness [0,1] 0.90651137563872 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.60, Z:-0.50 [[ 0.68995036 -0.49773916 -0.52557039 5.10374707] [ 0.54728447 0.83390492 -0.0712902 -0.60142382] [ 0.47375966 -0.23844981 0.84775791 -0.50312354] [ 0. 0. 0. 1. ]] SLAMing on 144.618241008 meters Centerline goodness [0,1] 0.9083476272155517 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.60, Z:-0.50 [[ 0.68855781 -0.50210618 -0.52323755 5.10227013] [ 0.54978751 0.83194429 -0.07484915 -0.59998303] [ 0.4728867 -0.2361315 0.84889344 -0.50481219] [ 0. 0. 0. 1. ]] SLAMing on 144.648241008 meters Centerline goodness [0,1] 0.9061848902588692 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.62, Z:-0.52 [[ 0.68906695 -0.50285215 -0.52184908 5.08196811] [ 0.55220208 0.83065814 -0.07127353 -0.61584785] [ 0.46931823 -0.23905391 0.85005507 -0.51772908] [ 0. 0. 0. 1. ]] SLAMing on 144.67824100800001 meters Centerline goodness [0,1] 0.9081402325780736 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.62, Z:-0.52 [[ 0.68774744 -0.50736399 -0.51921599 5.07970179] [ 0.55489454 0.82856514 -0.07464489 -0.61529129] [ 0.4680764 -0.23677329 0.85137706 -0.51952394] [ 0. 0. 0. 1. ]] SLAMing on 144.708241008 meters Centerline goodness [0,1] 0.9063206386448825 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.62, Z:-0.52 [[ 0.68757395 -0.5066662 -0.52012636 5.080594 ] [ 0.5546152 0.8287939 -0.07417985 -0.61608804] [ 0.46866198 -0.23746585 0.85086187 -0.51714913] [ 0. 0. 0. 1. ]] SLAMing on 144.738241008 meters Centerline goodness [0,1] 0.9111955869322892 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.63, Z:-0.52 [[ 0.68449471 -0.50555989 -0.52523918 5.06513452] [ 0.55662145 0.82770119 -0.0712972 -0.62938285] [ 0.4707861 -0.24355684 0.84796257 -0.52273522] [ 0. 0. 0. 1. ]] SLAMing on 144.768241008 meters Centerline goodness [0,1] 0.9090545100955214 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.63, Z:-0.52 [[ 0.68403751 -0.50599182 -0.52541885 5.06650468] [ 0.55687393 0.82747958 -0.07189548 -0.62741692] [ 0.4711519 -0.24341286 0.84780072 -0.52264776] [ 0. 0. 0. 1. ]] SLAMing on 144.798241008 meters Centerline goodness [0,1] 0.9070908831502354 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.63, Z:-0.52 [[ 0.68370381 -0.50641987 -0.52544078 5.06764589] [ 0.55710487 0.8272779 -0.07242538 -0.62555014] [ 0.4713632 -0.24320811 0.84774203 -0.52290639] [ 0. 0. 0. 1. ]] SLAMing on 144.828241008 meters Centerline goodness [0,1] 0.9069807231664195 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.62, Z:-0.52 [[ 0.6831299 -0.50723937 -0.52539676 5.06908849] [ 0.55748785 0.82692573 -0.0734924 -0.62294083] [ 0.47174234 -0.24269745 0.84767748 -0.52357403] [ 0. 0. 0. 1. ]] SLAMing on 144.858241008 meters Centerline goodness [0,1] 0.9063932792254022 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.62, Z:-0.53 [[ 0.68156693 -0.51205265 -0.522751 5.06771793] [ 0.56004878 0.82480517 -0.07772906 -0.61983476] [ 0.4709691 -0.2397885 0.84893438 -0.52652304] [ 0. 0. 0. 1. ]] SLAMing on 144.888241008 meters Centerline goodness [0,1] 0.9049582045116226 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.62, Z:-0.53 [[ 0.68137662 -0.51206805 -0.52298396 5.06790602] [ 0.56006735 0.82477901 -0.07787272 -0.61934447] [ 0.47122232 -0.23984559 0.84877772 -0.52604522] [ 0. 0. 0. 1. ]] SLAMing on 144.918241008 meters Centerline goodness [0,1] 0.9035029931544124 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.62, Z:-0.53 [[ 0.68119237 -0.51209578 -0.52319677 5.06804257] [ 0.5600858 0.82475151 -0.07803105 -0.618921 ] [ 0.4714667 -0.23988093 0.84863201 -0.52557075] [ 0. 0. 0. 1. ]] SLAMing on 144.948241008 meters Centerline goodness [0,1] 0.9036264991433467 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.62, Z:-0.53 [[ 0.68091599 -0.51247446 -0.52318577 5.06797856] [ 0.56022438 0.82460335 -0.07860003 -0.61684751] [ 0.47170124 -0.2395814 0.84858629 -0.5258682 ] [ 0. 0. 0. 1. ]] SLAMing on 144.978241008 meters Centerline goodness [0,1] 0.9036134261902043 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.63, Z:-0.54 [[ 0.68079614 -0.51153729 -0.52425777 5.04766926] [ 0.5612035 0.82423095 -0.07545846 -0.63296363] [ 0.4707093 -0.24284347 0.84820977 -0.53766711] [ 0. 0. 0. 1. ]] SLAMing on 145.008241008 meters Centerline goodness [0,1] 0.905142400547914 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.65, Z:-0.55 [[ 0.67981301 -0.51017487 -0.5268547 5.02746172] [ 0.56202263 0.82392515 -0.07264926 -0.64915597] [ 0.47115267 -0.24671635 0.84684485 -0.5475739 ] [ 0. 0. 0. 1. ]] SLAMing on 145.038241008 meters Centerline goodness [0,1] 0.9068363844393592 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.66, Z:-0.55 [[ 0.67758404 -0.50848102 -0.53134445 5.00917066] [ 0.56340769 0.82326192 -0.06936556 -0.66409685] [ 0.47270673 -0.25236255 0.84431125 -0.55375429] [ 0. 0. 0. 1. ]] SLAMing on 145.068241008 meters Centerline goodness [0,1] 0.9072032446018508 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.66, Z:-0.56 [[ 0.67613485 -0.51308377 -0.52875959 5.00669161] [ 0.56611521 0.82110027 -0.07285542 -0.66206304] [ 0.47154558 -0.25007876 0.84563904 -0.55573714] [ 0. 0. 0. 1. ]] SLAMing on 145.098241008 meters Centerline goodness [0,1] 0.9100831452327209 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.66, Z:-0.55 [[ 0.67601362 -0.51253757 -0.52944388 5.00679292] [ 0.56588812 0.82128697 -0.07251449 -0.66202094] [ 0.47199176 -0.25058522 0.8452401 -0.55395538] [ 0. 0. 0. 1. ]] SLAMing on 145.128241008 meters Centerline goodness [0,1] 0.9095199954230792 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.68, Z:-0.57 [[ 0.67593404 -0.51310082 -0.52899973 4.98388717] [ 0.56698346 0.82062111 -0.07148954 -0.6803025 ] [ 0.47078969 -0.25161188 0.84560542 -0.56826136] [ 0. 0. 0. 1. ]] SLAMing on 145.158241008 meters Centerline goodness [0,1] 0.9090909090909091 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.68, Z:-0.57 [[ 0.67404977 -0.51806408 -0.52656103 4.98233972] [ 0.57013513 0.81811282 -0.07508229 -0.67894715] [ 0.46968376 -0.24960174 0.84681529 -0.56919868] [ 0. 0. 0. 1. ]] SLAMing on 145.188241008 meters Centerline goodness [0,1] 0.9098833885903739 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.69, Z:-0.57 [[ 0.67070271 -0.51649723 -0.53234246 4.96757933] [ 0.57246898 0.81682449 -0.07125317 -0.69090493] [ 0.47163243 -0.25695985 0.84352504 -0.57248575] [ 0. 0. 0. 1. ]] SLAMing on 145.218241008 meters Centerline goodness [0,1] 0.9101046687391268 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.70, Z:-0.58 [[ 0.66830576 -0.51567033 -0.53614506 4.95021042] [ 0.57410722 0.81586093 -0.06907852 -0.70493846] [ 0.47304155 -0.26163918 0.84129462 -0.58036842] [ 0. 0. 0. 1. ]] SLAMing on 145.248241008 meters Centerline goodness [0,1] 0.9106 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.70, Z:-0.58 [[ 0.66773503 -0.51588595 -0.53664851 4.95112502] [ 0.57448742 0.81558203 -0.06921092 -0.70418514] [ 0.47338582 -0.26208326 0.84096268 -0.57893403] [ 0. 0. 0. 1. ]] SLAMing on 145.278241008 meters Centerline goodness [0,1] 0.9099660087406095 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.72, Z:-0.59 [[ 0.66492001 -0.51526216 -0.54072755 4.93439316] [ 0.57657425 0.81429728 -0.06694835 -0.71762433] [ 0.47480893 -0.26725428 0.83852945 -0.58591337] [ 0. 0. 0. 1. ]] SLAMing on 145.308241008 meters Centerline goodness [0,1] 0.9038921814451789 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.73, Z:-0.60 [[ 0.66219895 -0.51638914 -0.54298693 4.91335976] [ 0.57806693 0.81312475 -0.06831376 -0.73288776] [ 0.47679259 -0.26864548 0.83695784 -0.59814318] [ 0. 0. 0. 1. ]] SLAMing on 145.338241008 meters Centerline goodness [0,1] 0.9062677738596292 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.73, Z:-0.60 [[ 0.66155011 -0.51678904 -0.54339722 4.91468564] [ 0.57826055 0.81291897 -0.06911939 -0.73026838] [ 0.47745806 -0.26849923 0.83662534 -0.597535 ] [ 0. 0. 0. 1. ]] SLAMing on 145.368241008 meters Centerline goodness [0,1] 0.9090495938192353 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.73, Z:-0.60 [[ 0.6610183 -0.51682205 -0.54401267 4.91610591] [ 0.57812952 0.81295017 -0.06984466 -0.72764854] [ 0.47835245 -0.26834119 0.83616502 -0.59652678] [ 0. 0. 0. 1. ]] SLAMing on 145.398241008 meters Centerline goodness [0,1] 0.9077734607640169 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.73, Z:-0.60 [[ 0.6606763 -0.51695454 -0.54430216 4.91704588] [ 0.57799721 0.81298248 -0.07055994 -0.72539941] [ 0.4789844 -0.26798785 0.83591654 -0.59620878] [ 0. 0. 0. 1. ]] SLAMing on 145.42824100800001 meters Centerline goodness [0,1] 0.9060781312014515 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.74, Z:-0.61 [[ 0.66030905 -0.51592186 -0.54572574 4.89737209] [ 0.57879889 0.81263614 -0.06792899 -0.73936905] [ 0.47852251 -0.27101133 0.835206 -0.60797379] [ 0. 0. 0. 1. ]] SLAMing on 145.458241008 meters Centerline goodness [0,1] 0.9060781312014515 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.75, Z:-0.62 [[ 0.65807761 -0.5151454 -0.54914395 4.88042543] [ 0.58002784 0.81187584 -0.06652312 -0.75324604] [ 0.48010579 -0.27474141 0.83307598 -0.61744296] [ 0. 0. 0. 1. ]] SLAMing on 145.488241008 meters Centerline goodness [0,1] 0.9090499013250635 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.77, Z:-0.63 [[ 0.66040748 -0.51181689 -0.54945921 4.85672496] [ 0.57811906 0.81352172 -0.06293462 -0.768767 ] [ 0.47920801 -0.27609035 0.83314693 -0.63289601] [ 0. 0. 0. 1. ]] SLAMing on 145.518241008 meters Centerline goodness [0,1] 0.9081526768937376 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.78, Z:-0.65 [[ 0.66170198 -0.51090733 -0.54874784 4.83780834] [ 0.57906755 0.81315504 -0.05881887 -0.78092102] [ 0.47626807 -0.2788415 0.83391615 -0.64678867] [ 0. 0. 0. 1. ]] SLAMing on 145.548241008 meters Centerline goodness [0,1] 0.9064216602068985 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.80, Z:-0.67 [[ 0.6645363 -0.51071372 -0.54549335 4.80813358] [ 0.57617232 0.81503667 -0.06116112 -0.80089463] [ 0.47583291 -0.27365438 0.83588057 -0.67055018] [ 0. 0. 0. 1. ]] SLAMing on 145.578241008 meters Centerline goodness [0,1] 0.9044371450840664 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.82, Z:-0.69 [[ 0.66580417 -0.51059681 -0.54405487 4.78594847] [ 0.57582454 0.81533122 -0.06050701 -0.81677879] [ 0.47447961 -0.27299433 0.8368651 -0.6886304 ] [ 0. 0. 0. 1. ]] SLAMing on 145.608241008 meters Centerline goodness [0,1] 0.9062491347564858 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.84, Z:-0.71 [[ 0.66775582 -0.51063199 -0.54162453 4.76008892] [ 0.57437854 0.81628122 -0.06143497 -0.83568919] [ 0.4734886 -0.27007395 0.8383726 -0.70966147] [ 0. 0. 0. 1. ]] SLAMing on 145.638241008 meters Centerline goodness [0,1] 0.9043797230955927 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.83, Z:-0.71 [[ 0.66804409 -0.51030736 -0.54157501 4.75899142] [ 0.57377302 0.8166817 -0.06176985 -0.83382247] [ 0.47381601 -0.26947615 0.83837998 -0.71043975] [ 0. 0. 0. 1. ]] SLAMing on 145.668241008 meters Centerline goodness [0,1] 0.9014573404226012 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.86, Z:-0.74 [[ 0.67201129 -0.50915093 -0.53774172 4.72870227] [ 0.57019008 0.81909485 -0.06298328 -0.85585835] [ 0.47252947 -0.26428952 0.8407538 -0.73528064] [ 0. 0. 0. 1. ]] SLAMing on 145.698241008 meters Centerline goodness [0,1] 0.9056088682991397 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.85, Z:-0.74 [[ 0.67247616 -0.50887488 -0.53742178 4.72767274] [ 0.56962331 0.81947432 -0.06317533 -0.85496396] [ 0.47255169 -0.26364407 0.84094394 -0.73641159] [ 0. 0. 0. 1. ]] SLAMing on 145.728241008 meters Centerline goodness [0,1] 0.9034037880867417 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.88, Z:-0.76 [[ 0.67516352 -0.508618 -0.53428639 4.70128234] [ 0.568126 0.82051362 -0.06316846 -0.87609879] [ 0.47051788 -0.26089295 0.84293997 -0.75717973] [ 0. 0. 0. 1. ]] SLAMing on 145.758241008 meters Centerline goodness [0,1] 0.9077544515278083 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.89, Z:-0.77 [[ 0.67703146 -0.50887886 -0.53166786 4.67942548] [ 0.56842376 0.82043897 -0.0614355 -0.89246506] [ 0.46746426 -0.26061888 0.84472183 -0.77466086] [ 0. 0. 0. 1. ]] SLAMing on 145.788241008 meters Centerline goodness [0,1] 0.90623973727422 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.92, Z:-0.80 [[ 0.68098251 -0.50761909 -0.52781217 4.6506493 ] [ 0.56581877 0.82228441 -0.06080682 -0.91542329] [ 0.46487842 -0.25723765 0.84718171 -0.79684526] [ 0. 0. 0. 1. ]] SLAMing on 145.818241008 meters Centerline goodness [0,1] 0.9059646820840851 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.94, Z:-0.82 [[ 0.68302991 -0.50856253 -0.5242464 4.62534208] [ 0.56552328 0.82246929 -0.06105479 -0.93614357] [ 0.46222674 -0.2547713 0.84937508 -0.81705845] [ 0. 0. 0. 1. ]] SLAMing on 145.848241008 meters Centerline goodness [0,1] 0.9047253800849199 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.96, Z:-0.84 [[ 0.68449603 -0.50962482 -0.52129427 4.60136212] [ 0.56570175 0.82234122 -0.0611265 -0.9567569 ] [ 0.45983335 -0.25305623 0.85118496 -0.83606374] [ 0. 0. 0. 1. ]] SLAMing on 145.878241008 meters Centerline goodness [0,1] 0.9065896271839318 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.98, Z:-0.85 [[ 0.68506559 -0.51139441 -0.51880719 4.57858029] [ 0.56654962 0.82170283 -0.06185453 -0.97951036] [ 0.4579374 -0.2515556 0.85265064 -0.85364412] [ 0. 0. 0. 1. ]] SLAMing on 145.908241008 meters Centerline goodness [0,1] 0.9050111573321579 Centerline is valid? [False, False] Translation: X:4.56, Y:-1.00, Z:-0.87 [[ 0.68435385 -0.51381881 -0.51734905 4.55910994] [ 0.56864616 0.82021168 -0.06240468 -0.99688246] [ 0.45640044 -0.25148167 0.85349611 -0.8693757 ] [ 0. 0. 0. 1. ]] SLAMing on 145.938241008 meters Centerline goodness [0,1] 0.9023481692006291 Centerline is valid? [False, False] Translation: X:4.54, Y:-1.02, Z:-0.89 [[ 0.68416618 -0.51608925 -0.5153334 4.53716603] [ 0.56987695 0.81924435 -0.06386675 -1.01660471] [ 0.45514492 -0.24998116 0.85460665 -0.8868046 ] [ 0. 0. 0. 1. ]] SLAMing on 145.968241008 meters Centerline goodness [0,1] 0.9043858920012191 Centerline is valid? [False, False] Translation: X:4.51, Y:-1.04, Z:-0.90 [[ 0.68405493 -0.51804219 -0.5135184 4.51329789] [ 0.57061919 0.81858431 -0.06567699 -1.03879803] [ 0.45438156 -0.24809678 0.85556145 -0.90378105] [ 0. 0. 0. 1. ]] SLAMing on 145.998241008 meters Centerline goodness [0,1] 0.9056887478072008 Centerline is valid? [False, False] Translation: X:4.49, Y:-1.06, Z:-0.92 [[ 0.68402084 -0.52036025 -0.51121493 4.4902536 ] [ 0.57191388 0.81757589 -0.06696399 -1.06103881] [ 0.4528024 -0.24656614 0.8568402 -0.92035876] [ 0. 0. 0. 1. ]] SLAMing on 146.028241008 meters Centerline goodness [0,1] 0.9009453810979886 Centerline is valid? [False, False] Translation: X:4.47, Y:-1.09, Z:-0.93 [[ 0.68181185 -0.52150046 -0.51300085 4.4705544 ] [ 0.57266891 0.8168546 -0.06927396 -1.08576346] [ 0.45517351 -0.24654783 0.85558824 -0.93221464] [ 0. 0. 0. 1. ]] SLAMing on 146.058241008 meters Centerline goodness [0,1] 0.9032847741717757 Centerline is valid? [False, False] Translation: X:4.45, Y:-1.10, Z:-0.94 [[ 0.67967038 -0.51948896 -0.51786039 4.45354222] [ 0.5725114 0.81705326 -0.06822516 -1.10478203] [ 0.45856174 -0.25011036 0.85274025 -0.94043163] [ 0. 0. 0. 1. ]] SLAMing on 146.088241008 meters Centerline goodness [0,1] 0.9039468498395361 Centerline is valid? [False, False] Translation: X:4.43, Y:-1.12, Z:-0.96 [[ 0.67931148 -0.52082872 -0.51698487 4.43187779] [ 0.57278138 0.81670129 -0.07014618 -1.12496335] [ 0.45875636 -0.24846821 0.85311556 -0.95822579] [ 0. 0. 0. 1. ]] SLAMing on 146.118241008 meters Centerline goodness [0,1] 0.9020396600566573 Centerline is valid? [False, False] Translation: X:4.42, Y:-1.15, Z:-0.97 [[ 0.6773297 -0.51887972 -0.521525 4.41550559] [ 0.57274715 0.81683652 -0.06883898 -1.1461257 ] [ 0.46171981 -0.25207527 0.85045451 -0.96670362] [ 0. 0. 0. 1. ]] SLAMing on 146.148241008 meters Centerline goodness [0,1] 0.9048335367411233 Centerline is valid? [False, False] Translation: X:4.42, Y:-1.15, Z:-0.97 [[ 0.67588327 -0.52342539 -0.51885226 4.41529853] [ 0.57555504 0.81458565 -0.07201817 -1.14662419] [ 0.46034574 -0.24995216 0.85182493 -0.96849571] [ 0. 0. 0. 1. ]] SLAMing on 146.17824100800001 meters Centerline goodness [0,1] 0.9046016032864519 Centerline is valid? [False, False] Translation: X:4.42, Y:-1.15, Z:-0.97 [[ 0.67417461 -0.52801869 -0.51641539 4.4152374 ] [ 0.57854505 0.81218144 -0.0751461 -1.1473384 ] [ 0.45910154 -0.24810798 0.8530347 -0.96946628] [ 0. 0. 0. 1. ]] SLAMing on 146.208241008 meters Centerline goodness [0,1] 0.9042902406302629 Centerline is valid? [False, False] Translation: X:4.41, Y:-1.15, Z:-0.97 [[ 0.6709898 -0.53730973 -0.51095101 4.41385482] [ 0.58407355 0.80753056 -0.08217349 -1.1464936 ] [ 0.45676117 -0.2432954 0.85567317 -0.97353263] [ 0. 0. 0. 1. ]] SLAMing on 146.238241008 meters Centerline goodness [0,1] 0.9054596547571256 Centerline is valid? [False, False] Translation: X:4.39, Y:-1.17, Z:-0.99 [[ 0.67082394 -0.537126 -0.51136181 4.38805776] [ 0.58365464 0.80776874 -0.08280652 -1.17239338] [ 0.45753963 -0.2429101 0.85536669 -0.98710367] [ 0. 0. 0. 1. ]] SLAMing on 146.268241008 meters Centerline goodness [0,1] 0.9111149415381079 Centerline is valid? [False, False] Translation: X:4.39, Y:-1.17, Z:-0.99 [[ 0.67082575 -0.53722406 -0.51125642 4.38732968] [ 0.58355892 0.80780376 -0.08313885 -1.17145752] [ 0.45765905 -0.24257656 0.85539746 -0.98737503] [ 0. 0. 0. 1. ]] SLAMing on 146.298241008 meters Centerline goodness [0,1] 0.9045096635647817 Centerline is valid? [False, False] Translation: X:4.36, Y:-1.19, Z:-1.00 [[ 0.67090602 -0.53581877 -0.512624 4.36399974] [ 0.5828303 0.80842427 -0.08221336 -1.19097592] [ 0.45846915 -0.24361536 0.85466812 -1.00086934] [ 0. 0. 0. 1. ]] SLAMing on 146.328241008 meters Centerline goodness [0,1] 0.9026920438957476 Centerline is valid? [False, False] Translation: X:4.34, Y:-1.21, Z:-1.02 [[ 0.67111939 -0.53460305 -0.51361303 4.3396645 ] [ 0.58152672 0.80932881 -0.08254424 -1.21184715] [ 0.45981023 -0.24328266 0.85404221 -1.0165982 ] [ 0. 0. 0. 1. ]] SLAMing on 146.358241008 meters Centerline goodness [0,1] 0.9073088850322911 Centerline is valid? [False, False] Translation: X:4.33, Y:-1.22, Z:-1.02 [[ 0.66869118 -0.53044216 -0.52104052 4.32540226] [ 0.58152441 0.80977422 -0.07807098 -1.22330059] [ 0.46333732 -0.25079241 0.84995394 -1.02082898] [ 0. 0. 0. 1. ]] SLAMing on 146.388241008 meters Centerline goodness [0,1] 0.9060091573528993 Centerline is valid? [False, False] Translation: X:4.32, Y:-1.22, Z:-1.02 [[ 0.66689881 -0.53595792 -0.51768243 4.32426123] [ 0.58451146 0.8071632 -0.08266751 -1.21958522] [ 0.46216051 -0.24746045 0.85156972 -1.0248624 ] [ 0. 0. 0. 1. ]] SLAMing on 146.418241008 meters Centerline goodness [0,1] 0.9072450524031185 Centerline is valid? [False, False] Translation: X:4.32, Y:-1.22, Z:-1.03 [[ 0.66510076 -0.54085744 -0.51489243 4.3227018 ] [ 0.58741734 0.80465376 -0.08644767 -1.2174463 ] [ 0.46106599 -0.24496032 0.85288486 -1.0269615 ] [ 0. 0. 0. 1. ]] SLAMing on 146.448241008 meters Centerline goodness [0,1] 0.9072597925773549 Centerline is valid? [False, False] Translation: X:4.32, Y:-1.22, Z:-1.03 [[ 0.66355503 -0.54544958 -0.51203464 4.32055429] [ 0.59019966 0.802252 -0.08975575 -1.21664211] [ 0.45973805 -0.2426448 0.85426251 -1.02889207] [ 0. 0. 0. 1. ]] SLAMing on 146.478241008 meters Centerline goodness [0,1] 0.9079019073569482 Centerline is valid? [False, False] Translation: X:4.30, Y:-1.24, Z:-1.04 [[ 0.66289491 -0.54602648 -0.51227476 4.29919694] [ 0.59165006 0.80132162 -0.08850916 -1.23605838] [ 0.45882518 -0.24441511 0.85424862 -1.04124297] [ 0. 0. 0. 1. ]] SLAMing on 146.508241008 meters Centerline goodness [0,1] 0.908876420658898 Centerline is valid? [False, False] Translation: X:4.30, Y:-1.23, Z:-1.04 [[ 0.66101747 -0.55084272 -0.50953724 4.29747896] [ 0.59459392 0.7987315 -0.09211978 -1.23463824] [ 0.45772696 -0.24207496 0.85550321 -1.04279701] [ 0. 0. 0. 1. ]] SLAMing on 146.538241008 meters Centerline goodness [0,1] 0.9094201857015551 Centerline is valid? [False, False] Translation: X:4.30, Y:-1.23, Z:-1.04 [[ 0.65941585 -0.55535807 -0.50670322 4.29524805] [ 0.59732652 0.79630227 -0.09541348 -1.23367967] [ 0.45647757 -0.23975011 0.85682443 -1.04459834] [ 0. 0. 0. 1. ]] SLAMing on 146.568241008 meters Centerline goodness [0,1] 0.9093937566411073 Centerline is valid? [False, False] Translation: X:4.29, Y:-1.23, Z:-1.05 [[ 0.65722895 -0.56059865 -0.50376508 4.29383222] [ 0.60055053 0.79338504 -0.09939433 -1.23099223] [ 0.45540001 -0.23721156 0.85810344 -1.04658363] [ 0. 0. 0. 1. ]] SLAMing on 146.598241008 meters Centerline goodness [0,1] 0.9079902453019653 Centerline is valid? [False, False] Translation: X:4.29, Y:-1.23, Z:-1.05 [[ 0.65525582 -0.56574007 -0.50057765 4.29238604] [ 0.6035556 0.79058231 -0.10344202 -1.22775707] [ 0.45426913 -0.23434546 0.85948925 -1.04952553] [ 0. 0. 0. 1. ]] SLAMing on 146.628241008 meters Centerline goodness [0,1] 0.9093359330198417 Centerline is valid? [False, False] Translation: X:4.29, Y:-1.22, Z:-1.05 [[ 0.65335095 -0.57050982 -0.49764553 4.29026937] [ 0.60639712 0.78791017 -0.10714526 -1.22494638] [ 0.4532274 -0.23176736 0.86073737 -1.05183077] [ 0. 0. 0. 1. ]] SLAMing on 146.658241008 meters Centerline goodness [0,1] 0.9078343656802019 Centerline is valid? [False, False] Translation: X:4.27, Y:-1.24, Z:-1.06 [[ 0.65133292 -0.56712597 -0.50411662 4.2728064 ] [ 0.60629989 0.78845303 -0.10364488 -1.24235107] [ 0.45625198 -0.23813853 0.85739383 -1.05610439] [ 0. 0. 0. 1. ]] SLAMing on 146.688241008 meters Centerline goodness [0,1] 0.9089843973252557 Centerline is valid? [False, False] Translation: X:4.27, Y:-1.24, Z:-1.06 [[ 0.64952849 -0.57149198 -0.50150739 4.2694491 ] [ 0.60891518 0.78598194 -0.10702657 -1.23998812] [ 0.45534058 -0.23585865 0.85850781 -1.05740864] [ 0. 0. 0. 1. ]] SLAMing on 146.718241008 meters Centerline goodness [0,1] 0.9101887007907734 Centerline is valid? [False, False] Translation: X:4.25, Y:-1.26, Z:-1.06 [[ 0.64792301 -0.56827 -0.50721296 4.25076172] [ 0.60853208 0.78668073 -0.10402952 -1.25803046] [ 0.45813152 -0.24125224 0.85551907 -1.06319906] [ 0. 0. 0. 1. ]] SLAMing on 146.748241008 meters Centerline goodness [0,1] 0.9091581763333143 Centerline is valid? [False, False] Translation: X:4.23, Y:-1.27, Z:-1.07 [[ 0.64651662 -0.56462471 -0.51304503 4.23291471] [ 0.60819751 0.78743857 -0.10018122 -1.27494442] [ 0.46055624 -0.24726388 0.85249547 -1.06893974] [ 0. 0. 0. 1. ]] SLAMing on 146.778241008 meters Centerline goodness [0,1] 0.9127505330490405 Centerline is valid? [False, False] Translation: X:4.21, Y:-1.29, Z:-1.08 [[ 0.64580466 -0.56155921 -0.51728869 4.21302793] [ 0.60716979 0.7885086 -0.09797467 -1.29299908] [ 0.46290516 -0.25080957 0.85018432 -1.07876338] [ 0. 0. 0. 1. ]] SLAMing on 146.808241008 meters Centerline goodness [0,1] 0.9099165162454874 Centerline is valid? [False, False] Translation: X:4.21, Y:-1.29, Z:-1.08 [[ 0.64580881 -0.56240246 -0.51636659 4.21163057] [ 0.60707805 0.78839753 -0.09942619 -1.28875655] [ 0.46301968 -0.24926452 0.85057626 -1.08159998] [ 0. 0. 0. 1. ]] SLAMing on 146.838241008 meters Centerline goodness [0,1] 0.9091601116467901 Centerline is valid? [False, False] Translation: X:4.19, Y:-1.31, Z:-1.09 [[ 0.64543566 -0.55841542 -0.52113819 4.18975268] [ 0.60445103 0.79053414 -0.09846181 -1.30941187] [ 0.46696012 -0.25145176 0.84777371 -1.09280094] [ 0. 0. 0. 1. ]] SLAMing on 146.868241008 meters Centerline goodness [0,1] 0.9115133798066112 Centerline is valid? [False, False] Translation: X:4.17, Y:-1.33, Z:-1.10 [[ 0.64519552 -0.5549535 -0.52511841 4.16920457] [ 0.60268266 0.79211014 -0.09661847 -1.32737087] [ 0.46957038 -0.25414196 0.84552677 -1.10433487] [ 0. 0. 0. 1. ]] SLAMing on 146.898241008 meters Centerline goodness [0,1] 0.9059136026841884 Centerline is valid? [False, False] Translation: X:4.15, Y:-1.34, Z:-1.12 [[ 0.64665694 -0.55064466 -0.52784967 4.14765828] [ 0.60038229 0.79427954 -0.09306516 -1.34405816] [ 0.47050602 -0.25673036 0.84422367 -1.11765592] [ 0. 0. 0. 1. ]] SLAMing on 146.92824100800001 meters Centerline goodness [0,1] 0.9089059233449477 Centerline is valid? [False, False] Translation: X:4.12, Y:-1.37, Z:-1.14 [[ 0.6476081 -0.55019415 -0.52715287 4.12186469] [ 0.59854524 0.79544778 -0.0949022 -1.36632643] [ 0.47153722 -0.2540654 0.84445451 -1.13660968] [ 0. 0. 0. 1. ]] SLAMing on 146.958241008 meters Centerline goodness [0,1] 0.9066919579346704 Centerline is valid? [False, False] Translation: X:4.10, Y:-1.39, Z:-1.15 [[ 0.64839461 -0.54994835 -0.52644205 4.09760065] [ 0.5976935 0.7960263 -0.0954181 -1.38683748] [ 0.47153674 -0.25278241 0.84483972 -1.15359241] [ 0. 0. 0. 1. ]] SLAMing on 146.988241008 meters Centerline goodness [0,1] 0.9032696037683569 Centerline is valid? [False, False] Translation: X:4.07, Y:-1.41, Z:-1.17 [[ 0.64976096 -0.54910731 -0.52563471 4.07262352] [ 0.5967104 0.79683731 -0.09479979 -1.40825381] [ 0.47090061 -0.2520545 0.84541182 -1.17016867] [ 0. 0. 0. 1. ]] SLAMing on 147.018241008 meters Centerline goodness [0,1] 0.9065529274912757 Centerline is valid? [False, False] Translation: X:4.05, Y:-1.43, Z:-1.19 [[ 0.65163345 -0.54880141 -0.52363237 4.04542848] [ 0.59560053 0.79766573 -0.09481241 -1.43040058] [ 0.46971678 -0.25009278 0.84665208 -1.18821608] [ 0. 0. 0. 1. ]] SLAMing on 147.048241008 meters Centerline goodness [0,1] 0.9048159110398053 Centerline is valid? [False, False] Translation: X:4.02, Y:-1.45, Z:-1.20 [[ 0.65154768 -0.54914878 -0.52337486 4.02045237] [ 0.59525412 0.79777803 -0.09603517 -1.45303444] [ 0.47027456 -0.24896955 0.84667349 -1.20399952] [ 0. 0. 0. 1. ]] SLAMing on 147.078241008 meters Centerline goodness [0,1] 0.9094296913818805 Centerline is valid? [False, False] Translation: X:4.00, Y:-1.48, Z:-1.22 [[ 0.65146958 -0.5494628 -0.52314244 3.99662811] [ 0.59519649 0.79774307 -0.09668062 -1.47507221] [ 0.47045566 -0.24838806 0.84674367 -1.21943414] [ 0. 0. 0. 1. ]] SLAMing on 147.108241008 meters Centerline goodness [0,1] 0.9133734407771277 Centerline is valid? [False, False] Translation: X:3.97, Y:-1.50, Z:-1.24 [[ 0.64913727 -0.54949304 -0.5260021 3.96530134] [ 0.59991943 0.7949693 -0.09011378 -1.50336705] [ 0.46767242 -0.25706267 0.84569575 -1.23848868] [ 0. 0. 0. 1. ]] SLAMing on 147.138241008 meters Centerline goodness [0,1] 0.9143546107153746 Centerline is valid? [False, False] Translation: X:3.93, Y:-1.53, Z:-1.26 [[ 0.64707478 -0.55024297 -0.52775648 3.93280659] [ 0.6037694 0.79250645 -0.08600017 -1.53244542] [ 0.46557141 -0.26299467 0.84503081 -1.2609932 ] [ 0. 0. 0. 1. ]] SLAMing on 147.168241008 meters Centerline goodness [0,1] 0.9144315313566138 Centerline is valid? [False, False] Translation: X:3.92, Y:-1.55, Z:-1.27 [[ 0.64367511 -0.54900745 -0.53317274 3.91839528] [ 0.60527093 0.7915398 -0.08433179 -1.54698448] [ 0.46832622 -0.26843169 0.84179272 -1.26668094] [ 0. 0. 0. 1. ]] SLAMing on 147.198241008 meters Centerline goodness [0,1] 0.9170404829152129 Centerline is valid? [False, False] Translation: X:3.89, Y:-1.57, Z:-1.29 [[ 0.64213205 -0.55140145 -0.53256255 3.89317184] [ 0.60519023 0.79105269 -0.08933327 -1.57031777] [ 0.47054354 -0.2649379 0.84166305 -1.28503686] [ 0. 0. 0. 1. ]] SLAMing on 147.228241008 meters Centerline goodness [0,1] 0.9194451408038773 Centerline is valid? [False, False] Translation: X:3.87, Y:-1.59, Z:-1.30 [[ 0.64003225 -0.55471014 -0.53165345 3.8687837 ] [ 0.60620116 0.78971458 -0.09418615 -1.59387047] [ 0.47210049 -0.26200676 0.84170873 -1.30201769] [ 0. 0. 0. 1. ]] SLAMing on 147.258241008 meters Centerline goodness [0,1] 0.9203876485615906 Centerline is valid? [False, False] Translation: X:3.85, Y:-1.61, Z:-1.31 [[ 0.63724821 -0.55270857 -0.53705489 3.85391529] [ 0.60729536 0.78917921 -0.09158884 -1.609038 ] [ 0.47445449 -0.26778612 0.83856039 -1.30751305] [ 0. 0. 0. 1. ]] SLAMing on 147.288241008 meters Centerline goodness [0,1] 0.9194608443800825 Centerline is valid? [False, False] Translation: X:3.83, Y:-1.63, Z:-1.32 [[ 0.63601764 -0.55307697 -0.53813328 3.8332994 ] [ 0.60766692 0.78878768 -0.09249274 -1.62819196] [ 0.47562851 -0.26817878 0.83776946 -1.32153623] [ 0. 0. 0. 1. ]] SLAMing on 147.318241008 meters Centerline goodness [0,1] 0.9197163515016685 Centerline is valid? [False, False] Translation: X:3.81, Y:-1.65, Z:-1.34 [[ 0.63511252 -0.55279379 -0.53949153 3.81129269] [ 0.60711329 0.78906003 -0.09379617 -1.64866341] [ 0.47754114 -0.26796135 0.83675036 -1.33639551] [ 0. 0. 0. 1. ]] SLAMing on 147.348241008 meters Centerline goodness [0,1] 0.9197163515016685 Centerline is valid? [False, False] Translation: X:3.79, Y:-1.67, Z:-1.35 [[ 0.63419539 -0.55195407 -0.54142673 3.78917555] [ 0.60607699 0.78969692 -0.09512866 -1.67001529] [ 0.48006967 -0.26781612 0.83534881 -1.35078813] [ 0. 0. 0. 1. ]] SLAMing on 147.378241008 meters Centerline goodness [0,1] 0.9184843089249944 Centerline is valid? [False, False] Translation: X:3.77, Y:-1.68, Z:-1.36 [[ 0.63267581 -0.54948997 -0.54569414 3.7732309 ] [ 0.60672046 0.78961136 -0.09167436 -1.68477526] [ 0.48126043 -0.27308365 0.83295481 -1.35882584] [ 0. 0. 0. 1. ]] SLAMing on 147.408241008 meters Centerline goodness [0,1] 0.9211467546510661 Centerline is valid? [False, False] Translation: X:3.75, Y:-1.71, Z:-1.38 [[ 0.63357776 -0.54944983 -0.54468717 3.7483889 ] [ 0.605411 0.79044399 -0.09314406 -1.70749192] [ 0.48172269 -0.2707456 0.8334507 -1.37794969] [ 0. 0. 0. 1. ]] SLAMing on 147.438241008 meters Centerline goodness [0,1] 0.9204872646733112 Centerline is valid? [False, False] Translation: X:3.71, Y:-1.74, Z:-1.41 [[ 0.63424179 -0.54763582 -0.54574019 3.71150037] [ 0.60627925 0.79031624 -0.08846305 -1.74111393] [ 0.47975287 -0.27476399 0.83327183 -1.40504769] [ 0. 0. 0. 1. ]] SLAMing on 147.468241008 meters Centerline goodness [0,1] 0.9207685724539657 Centerline is valid? [False, False] Translation: X:3.69, Y:-1.76, Z:-1.43 [[ 0.63630584 -0.54650653 -0.54446808 3.6850572 ] [ 0.60310404 0.79249693 -0.09063182 -1.76342777] [ 0.48102016 -0.27070134 0.83387072 -1.42723664] [ 0. 0. 0. 1. ]] SLAMing on 147.498241008 meters Centerline goodness [0,1] 0.9176032030926412 Centerline is valid? [False, False] Translation: X:3.66, Y:-1.79, Z:-1.45 [[ 0.6372493 -0.5457183 -0.54415519 3.66083294] [ 0.60125897 0.79375089 -0.09190858 -1.78588218] [ 0.48207985 -0.26860951 0.83393522 -1.44580887] [ 0. 0. 0. 1. ]] SLAMing on 147.528241008 meters Centerline goodness [0,1] 0.9171609059060439 Centerline is valid? [False, False] Translation: X:3.64, Y:-1.81, Z:-1.47 [[ 0.63864162 -0.54519215 -0.54304918 3.6357015 ] [ 0.59962697 0.79487684 -0.09283482 -1.80942245] [ 0.48227003 -0.26633875 0.83455335 -1.46501451] [ 0. 0. 0. 1. ]] SLAMing on 147.558241008 meters Centerline goodness [0,1] 0.9190846832971203 Centerline is valid? [False, False] Translation: X:3.61, Y:-1.83, Z:-1.48 [[ 0.64021849 -0.54477748 -0.54160666 3.61025989] [ 0.59827559 0.79584071 -0.09329465 -1.83260043] [ 0.48185745 -0.26430109 0.835439 -1.48380669] [ 0. 0. 0. 1. ]] SLAMing on 147.588241008 meters Centerline goodness [0,1] 0.9163826278174821 Centerline is valid? [False, False] Translation: X:3.58, Y:-1.86, Z:-1.50 [[ 0.64185048 -0.54411883 -0.54033569 3.58411673] [ 0.59651514 0.79707038 -0.09406648 -1.85634787] [ 0.48186891 -0.2619418 0.83617513 -1.50299601] [ 0. 0. 0. 1. ]] SLAMing on 147.618241008 meters Centerline goodness [0,1] 0.9165135350100106 Centerline is valid? [False, False] Translation: X:3.56, Y:-1.88, Z:-1.52 [[ 0.64188208 -0.5434375 -0.54098343 3.56208344] [ 0.59606799 0.79743482 -0.09381178 -1.87610506] [ 0.48237987 -0.26224681 0.83578483 -1.51819189] [ 0. 0. 0. 1. ]] SLAMing on 147.648241008 meters Centerline goodness [0,1] 0.9173118102454291 Centerline is valid? [False, False] Translation: X:3.53, Y:-1.91, Z:-1.54 [[ 0.64168897 -0.54149266 -0.54315832 3.52783522] [ 0.59796997 0.79669427 -0.08780748 -1.90706464] [ 0.48027823 -0.26844727 0.83502628 -1.54241216] [ 0. 0. 0. 1. ]] SLAMing on 147.67824100800001 meters Centerline goodness [0,1] 0.9194883784898913 Centerline is valid? [False, False] Translation: X:3.49, Y:-1.94, Z:-1.57 [[ 0.6409193 -0.54022776 -0.5453223 3.49423416] [ 0.60040121 0.79544641 -0.0823614 -1.93730856] [ 0.47826858 -0.27462516 0.83417036 -1.56604045] [ 0. 0. 0. 1. ]] SLAMing on 147.708241008 meters Centerline goodness [0,1] 0.921613436123348 Centerline is valid? [False, False] Translation: X:3.47, Y:-1.96, Z:-1.59 [[ 0.64054315 -0.5445254 -0.54147628 3.47008691] [ 0.60217308 0.79373525 -0.08586001 -1.9588665 ] [ 0.47654176 -0.2710654 0.83632021 -1.58673437] [ 0. 0. 0. 1. ]] SLAMing on 147.738241008 meters Centerline goodness [0,1] 0.920594163284464 Centerline is valid? [False, False] Translation: X:3.45, Y:-1.98, Z:-1.60 [[ 0.6398145 -0.546115 -0.54073636 3.44642978] [ 0.60257664 0.79318459 -0.08808864 -1.98162756] [ 0.47701027 -0.26947471 0.83656714 -1.60342182] [ 0. 0. 0. 1. ]] SLAMing on 147.768241008 meters Centerline goodness [0,1] 0.9216488009724831 Centerline is valid? [False, False] Translation: X:3.42, Y:-2.00, Z:-1.62 [[ 0.6389587 -0.54925035 -0.53856832 3.4247194 ] [ 0.60550182 0.79093537 -0.08825412 -2.00194313] [ 0.47444634 -0.26971336 0.83794712 -1.61810632] [ 0. 0. 0. 1. ]] SLAMing on 147.798241008 meters Centerline goodness [0,1] 0.9190501144606559 Centerline is valid? [False, False] Translation: X:3.41, Y:-2.02, Z:-1.63 [[ 0.63668436 -0.54797727 -0.54254395 3.40740759] [ 0.60680368 0.79018515 -0.08600425 -2.01878054] [ 0.47583854 -0.2744601 0.83561315 -1.62525253] [ 0. 0. 0. 1. ]] SLAMing on 147.828241008 meters Centerline goodness [0,1] 0.9212215091834477 Centerline is valid? [False, False] Translation: X:3.38, Y:-2.04, Z:-1.64 [[ 0.63657013 -0.54927882 -0.54136055 3.38150301] [ 0.60627316 0.79026866 -0.08892863 -2.04267281] [ 0.47666689 -0.27160306 0.83607443 -1.64368337] [ 0. 0. 0. 1. ]] SLAMing on 147.858241008 meters Centerline goodness [0,1] 0.9211826739916628 Centerline is valid? [False, False] Translation: X:3.36, Y:-2.06, Z:-1.66 [[ 0.63629822 -0.54853823 -0.54243007 3.35886174] [ 0.60604947 0.79049206 -0.08846656 -2.06382334] [ 0.47731396 -0.27244835 0.83543 -1.65741471] [ 0. 0. 0. 1. ]] SLAMing on 147.888241008 meters Centerline goodness [0,1] 0.9197695890637488 Centerline is valid? [False, False] Translation: X:3.34, Y:-2.08, Z:-1.67 [[ 0.63528808 -0.54829709 -0.54385601 3.33688957] [ 0.60588572 0.79053066 -0.08923995 -2.08334936] [ 0.47886485 -0.27282151 0.83442008 -1.67177951] [ 0. 0. 0. 1. ]] SLAMing on 147.918241008 meters Centerline goodness [0,1] 0.9169237549581313 Centerline is valid? [False, False] Translation: X:3.32, Y:-2.10, Z:-1.68 [[ 0.63275512 -0.54666755 -0.54843008 3.32152446] [ 0.6063487 0.79029503 -0.08817605 -2.09802969] [ 0.48162455 -0.27674602 0.83153439 -1.68091311] [ 0. 0. 0. 1. ]] SLAMing on 147.948241008 meters Centerline goodness [0,1] 0.9176234686590122 Centerline is valid? [False, False] Translation: X:3.31, Y:-2.11, Z:-1.69 [[ 0.63007673 -0.5448393 -0.55331135 3.3069118 ] [ 0.60695651 0.78998862 -0.08672816 -2.11165156] [ 0.48436258 -0.28119053 0.82844721 -1.68957129] [ 0. 0. 0. 1. ]] SLAMing on 147.978241008 meters Centerline goodness [0,1] 0.9187358916478555 Centerline is valid? [False, False] Translation: X:3.27, Y:-2.14, Z:-1.72 [[ 0.62904838 -0.54474534 -0.5545725 3.27386748] [ 0.609504 0.78841682 -0.08308902 -2.14063399] [ 0.48249665 -0.28574715 0.82797678 -1.71575264] [ 0. 0. 0. 1. ]] SLAMing on 148.008241008 meters Centerline goodness [0,1] 0.9138173302107728 Centerline is valid? [False, False] Translation: X:3.26, Y:-2.16, Z:-1.73 [[ 0.6268874 -0.54358749 -0.55814409 3.25720476] [ 0.60980994 0.78821662 -0.08274301 -2.1560388 ] [ 0.48491651 -0.28849127 0.82560812 -1.72660028] [ 0. 0. 0. 1. ]] SLAMing on 148.038241008 meters Centerline goodness [0,1] 0.9153905688539996 Centerline is valid? [False, False] Translation: X:3.23, Y:-2.18, Z:-1.75 [[ 0.62773556 -0.54503631 -0.55577287 3.23335832] [ 0.60935506 0.7883435 -0.08485839 -2.17816314] [ 0.48439083 -0.28539438 0.82699188 -1.74694764] [ 0. 0. 0. 1. ]] SLAMing on 148.068241008 meters Centerline goodness [0,1] 0.9153846153846154 Centerline is valid? [False, False] Translation: X:3.21, Y:-2.20, Z:-1.77 [[ 0.62910143 -0.545236 -0.55402987 3.20953112] [ 0.60859746 0.78888124 -0.08529669 -2.19982309] [ 0.48357059 -0.28352091 0.82811556 -1.76583878] [ 0. 0. 0. 1. ]] SLAMing on 148.098241008 meters Centerline goodness [0,1] 0.916415290955959 Centerline is valid? [False, False] Translation: X:3.18, Y:-2.22, Z:-1.79 [[ 0.63366397 -0.54340438 -0.55061934 3.18191241] [ 0.60530023 0.79149594 -0.08453283 -2.22267864] [ 0.48174849 -0.27972461 0.83046526 -1.78903323] [ 0. 0. 0. 1. ]] SLAMing on 148.128241008 meters Centerline goodness [0,1] 0.9127665390924002 Centerline is valid? [False, False] Translation: X:3.16, Y:-2.24, Z:-1.81 [[ 0.6367198 -0.54196212 -0.54851158 3.15738808] [ 0.60322608 0.79318888 -0.08348473 -2.24351749] [ 0.48031884 -0.27772011 0.83196475 -1.80944443] [ 0. 0. 0. 1. ]] SLAMing on 148.158241008 meters Centerline goodness [0,1] 0.9117871136264692 Centerline is valid? [False, False] Translation: X:3.13, Y:-2.26, Z:-1.83 [[ 0.63989683 -0.54089079 -0.54586556 3.13212303] [ 0.60096545 0.79493289 -0.08319996 -2.26487034] [ 0.47892857 -0.27480695 0.83373171 -1.83125121] [ 0. 0. 0. 1. ]] SLAMing on 148.188241008 meters Centerline goodness [0,1] 0.9102807798837778 Centerline is valid? [False, False] Translation: X:3.11, Y:-2.29, Z:-1.85 [[ 0.64299311 -0.53996642 -0.54313545 3.10788056] [ 0.599306 0.7962931 -0.08215612 -2.28520472] [ 0.47685656 -0.27267851 0.83561609 -1.85230505] [ 0. 0. 0. 1. ]] SLAMing on 148.218241008 meters Centerline goodness [0,1] 0.9072013494028348 Centerline is valid? [False, False] Translation: X:3.08, Y:-2.31, Z:-1.88 [[ 0.64733182 -0.53758371 -0.54033811 3.08070932] [ 0.59565845 0.79910053 -0.08142079 -2.3088973 ] [ 0.47555496 -0.26915069 0.83749948 -1.8750031 ] [ 0. 0. 0. 1. ]] SLAMing on 148.248241008 meters Centerline goodness [0,1] 0.9051843788270513 Centerline is valid? [False, False] Translation: X:3.06, Y:-2.33, Z:-1.89 [[ 0.64941068 -0.5369716 -0.53844895 3.05759436] [ 0.59459196 0.79997211 -0.08065375 -2.33047569] [ 0.47405292 -0.26778001 0.83878942 -1.89359222] [ 0. 0. 0. 1. ]] SLAMing on 148.278241008 meters Centerline goodness [0,1] 0.9035770675668318 Centerline is valid? [False, False] Translation: X:3.03, Y:-2.35, Z:-1.91 [[ 0.6511746 -0.53713646 -0.5361493 3.03293954] [ 0.5934542 0.80073716 -0.0814378 -2.35387235] [ 0.47305787 -0.26514983 0.84018559 -1.9131561 ] [ 0. 0. 0. 1. ]] SLAMing on 148.308241008 meters Centerline goodness [0,1] 0.9037095501183899 Centerline is valid? [False, False] Translation: X:3.01, Y:-2.38, Z:-1.93 [[ 0.65251671 -0.53636958 -0.53528462 3.01068117] [ 0.5930627 0.80118589 -0.07986111 -2.37507804] [ 0.47169755 -0.26534663 0.84088797 -1.92892979] [ 0. 0. 0. 1. ]] SLAMing on 148.338241008 meters Centerline goodness [0,1] 0.9024908704420341 Centerline is valid? [False, False] Translation: X:2.99, Y:-2.40, Z:-1.95 [[ 0.65417121 -0.53660947 -0.53301998 2.98709755] [ 0.59240892 0.801656 -0.07999576 -2.39912248] [ 0.47022515 -0.26343487 0.84231252 -1.94750771] [ 0. 0. 0. 1. ]] SLAMing on 148.368241008 meters Centerline goodness [0,1] 0.9023263442770837 Centerline is valid? [False, False] Translation: X:2.97, Y:-2.42, Z:-1.95 [[ 0.65162461 -0.53513614 -0.53760085 2.97178398] [ 0.59333983 0.80113691 -0.07827829 -2.41613883] [ 0.47258143 -0.26797194 0.83955812 -1.95481536] [ 0. 0. 0. 1. ]] SLAMing on 148.398241008 meters Centerline goodness [0,1] 0.9020398091791413 Centerline is valid? [False, False] Translation: X:2.95, Y:-2.44, Z:-1.97 [[ 0.65092687 -0.53766856 -0.53591672 2.94857937] [ 0.59369709 0.80049884 -0.08200839 -2.43980205] [ 0.47309405 -0.26479073 0.84027846 -1.97357434] [ 0. 0. 0. 1. ]] SLAMing on 148.42824100800001 meters Centerline goodness [0,1] 0.9045912036398731 Centerline is valid? [False, False] Translation: X:2.93, Y:-2.46, Z:-1.98 [[ 0.64705117 -0.53996563 -0.53829536 2.93301602] [ 0.59643272 0.79827481 -0.08381731 -2.46142654] [ 0.47496609 -0.26682288 0.83857782 -1.98262985] [ 0. 0. 0. 1. ]] SLAMing on 148.458241008 meters Centerline goodness [0,1] 0.904859419969006 Centerline is valid? [False, False] Translation: X:2.92, Y:-2.48, Z:-1.99 [[ 0.64393562 -0.53931862 -0.54266227 2.9184088 ] [ 0.59795073 0.7972456 -0.08279113 -2.47934304] [ 0.4772859 -0.27117314 0.83586081 -1.9898957 ] [ 0. 0. 0. 1. ]] SLAMing on 148.488241008 meters Centerline goodness [0,1] 0.9095753538717735 Centerline is valid? [False, False] Translation: X:2.90, Y:-2.50, Z:-2.00 [[ 0.64134927 -0.54015438 -0.54488931 2.90084883] [ 0.59907399 0.79625333 -0.08420803 -2.49852066] [ 0.47935526 -0.27242225 0.83426893 -2.00194419] [ 0. 0. 0. 1. ]] SLAMing on 148.518241008 meters Centerline goodness [0,1] 0.9098955715641928 Centerline is valid? [False, False] Translation: X:2.89, Y:-2.52, Z:-2.01 [[ 0.63814311 -0.54170561 -0.54710913 2.88581611] [ 0.60152243 0.79433395 -0.08487842 -2.51837778] [ 0.48056647 -0.27493384 0.83274681 -2.01209615] [ 0. 0. 0. 1. ]] SLAMing on 148.548241008 meters Centerline goodness [0,1] 0.9113476173092584 Centerline is valid? [False, False] Translation: X:2.86, Y:-2.54, Z:-2.03 [[ 0.63832228 -0.54522169 -0.54339486 2.86200724] [ 0.6025794 0.79319103 -0.08801168 -2.54255873] [ 0.4790018 -0.27125874 0.83485087 -2.03265782] [ 0. 0. 0. 1. ]] SLAMing on 148.578241008 meters Centerline goodness [0,1] 0.9085252548003829 Centerline is valid? [False, False] Translation: X:2.84, Y:-2.56, Z:-2.05 [[ 0.63799352 -0.54622621 -0.54277178 2.84275029] [ 0.60428117 0.79203142 -0.08677837 -2.56298264] [ 0.47729293 -0.27262273 0.83538513 -2.04665634] [ 0. 0. 0. 1. ]] SLAMing on 148.608241008 meters Centerline goodness [0,1] 0.9111655819457358 Centerline is valid? [False, False] Translation: X:2.82, Y:-2.59, Z:-2.06 [[ 0.637783 -0.54674345 -0.54249833 2.8210647 ] [ 0.60446001 0.79182707 -0.08739556 -2.5858763 ] [ 0.47734782 -0.27217915 0.8354984 -2.06255355] [ 0. 0. 0. 1. ]] SLAMing on 148.638241008 meters Centerline goodness [0,1] 0.9141319739450581 Centerline is valid? [False, False] Translation: X:2.81, Y:-2.60, Z:-2.07 [[ 0.63511328 -0.54581936 -0.54654584 2.80725571] [ 0.60542227 0.79117938 -0.08659713 -2.60303874] [ 0.47968219 -0.27589203 0.83293972 -2.0715585 ] [ 0. 0. 0. 1. ]] SLAMing on 148.668241008 meters Centerline goodness [0,1] 0.9145289443813848 Centerline is valid? [False, False] Translation: X:2.79, Y:-2.62, Z:-2.08 [[ 0.632763 -0.54379781 -0.55126666 2.7921349 ] [ 0.60598498 0.79095712 -0.08467024 -2.62058709] [ 0.48207178 -0.28048312 0.8300217 -2.07917722] [ 0. 0. 0. 1. ]] SLAMing on 148.698241008 meters Centerline goodness [0,1] 0.9123630672926447 Centerline is valid? [False, False] Translation: X:2.77, Y:-2.64, Z:-2.09 [[ 0.631326 -0.54446994 -0.55224991 2.77431698] [ 0.60664074 0.79034289 -0.08570372 -2.64002124] [ 0.48312989 -0.28091031 0.82926166 -2.09375986] [ 0. 0. 0. 1. ]] SLAMing on 148.728241008 meters Centerline goodness [0,1] 0.9138393111706677 Centerline is valid? [False, False] Translation: X:2.76, Y:-2.66, Z:-2.10 [[ 0.62893374 -0.542537 -0.5568626 2.75898367] [ 0.60684042 0.79030875 -0.08459775 -2.65845742] [ 0.4859908 -0.28472035 0.82628522 -2.10239179] [ 0. 0. 0. 1. ]] SLAMing on 148.758241008 meters Centerline goodness [0,1] 0.9150091449474166 Centerline is valid? [False, False] Translation: X:2.76, Y:-2.66, Z:-2.11 [[ 0.62678475 -0.54795668 -0.55397144 2.76194678] [ 0.61001552 0.78741285 -0.08866831 -2.65703027] [ 0.48479062 -0.28235523 0.82780044 -2.10506645] [ 0. 0. 0. 1. ]] SLAMing on 148.788241008 meters Centerline goodness [0,1] 0.9176430146953508 Centerline is valid? [False, False] Translation: X:2.74, Y:-2.68, Z:-2.12 [[ 0.62504898 -0.54984866 -0.55405796 2.74337263] [ 0.61107239 0.78632826 -0.09098573 -2.67749899] [ 0.48569981 -0.28169899 0.82749101 -2.12089541] [ 0. 0. 0. 1. ]] SLAMing on 148.818241008 meters Centerline goodness [0,1] 0.9166762474131984 Centerline is valid? [False, False] Translation: X:2.75, Y:-2.68, Z:-2.12 [[ 0.62465885 -0.54895668 -0.55538085 2.74761833] [ 0.61050912 0.78676406 -0.09099964 -2.67827101] [ 0.48690855 -0.28222135 0.82660219 -2.11787096] [ 0. 0. 0. 1. ]] SLAMing on 148.848241008 meters Centerline goodness [0,1] 0.9155716920239741 Centerline is valid? [False, False] Translation: X:2.73, Y:-2.70, Z:-2.14 [[ 0.62470109 -0.55201212 -0.55229627 2.72509482] [ 0.61071556 0.7861364 -0.09495292 -2.70312355] [ 0.48659537 -0.27797874 0.82822266 -2.13982124] [ 0. 0. 0. 1. ]] SLAMing on 148.878241008 meters Centerline goodness [0,1] 0.916334200636022 Centerline is valid? [False, False] Translation: X:2.70, Y:-2.72, Z:-2.16 [[ 0.62499115 -0.55382691 -0.55014709 2.70417298] [ 0.61097241 0.78570316 -0.0968672 -2.72314463] [ 0.48589997 -0.27558355 0.82943049 -2.1599546 ] [ 0. 0. 0. 1. ]] SLAMing on 148.908241008 meters Centerline goodness [0,1] 0.9138634194313482 Centerline is valid? [False, False] Translation: X:2.68, Y:-2.74, Z:-2.18 [[ 0.62696184 -0.55374231 -0.54798568 2.68096669] [ 0.61016741 0.78637043 -0.09652606 -2.74467505] [ 0.4843703 -0.27384485 0.83089976 -2.17944834] [ 0. 0. 0. 1. ]] SLAMing on 148.938241008 meters Centerline goodness [0,1] 0.9100614594454223 Centerline is valid? [False, False] Translation: X:2.66, Y:-2.77, Z:-2.20 [[ 0.62860865 -0.55640918 -0.5433783 2.65509419] [ 0.61068942 0.7857662 -0.09813213 -2.76756942] [ 0.48156992 -0.27014867 0.83373263 -2.20134537] [ 0. 0. 0. 1. ]] SLAMing on 148.968241008 meters Centerline goodness [0,1] 0.9117867435158502 Centerline is valid? [False, False] Translation: X:2.63, Y:-2.79, Z:-2.22 [[ 0.63077066 -0.55726562 -0.53998463 2.62882889] [ 0.61043127 0.78597489 -0.09806696 -2.79069457] [ 0.47906371 -0.26776574 0.83594227 -2.22186112] [ 0. 0. 0. 1. ]] SLAMing on 148.998241008 meters Centerline goodness [0,1] 0.9085595831054041 Centerline is valid? [False, False] Translation: X:2.61, Y:-2.81, Z:-2.24 [[ 0.6314761 -0.55759724 -0.53881653 2.60641864] [ 0.6103202 0.78604826 -0.09817018 -2.81081045] [ 0.47827522 -0.26685849 0.83668355 -2.24026367] [ 0. 0. 0. 1. ]] SLAMing on 149.028241008 meters Centerline goodness [0,1] 0.9076461596146636 Centerline is valid? [False, False] Translation: X:2.59, Y:-2.83, Z:-2.26 [[ 0.6314514 -0.55893789 -0.5374547 2.58617279] [ 0.6119546 0.78488734 -0.09728017 -2.82823993] [ 0.47621496 -0.26747018 0.83766283 -2.25656136] [ 0. 0. 0. 1. ]] SLAMing on 149.058241008 meters Centerline goodness [0,1] 0.9067796610169492 Centerline is valid? [False, False] Translation: X:2.56, Y:-2.85, Z:-2.28 [[ 0.63222849 -0.56008908 -0.53533855 2.56305919] [ 0.61235205 0.78453439 -0.09762557 -2.84935835] [ 0.47467052 -0.26609399 0.83897669 -2.27516402] [ 0. 0. 0. 1. ]] SLAMing on 149.088241008 meters Centerline goodness [0,1] 0.9078152855253321 Centerline is valid? [False, False] Translation: X:2.54, Y:-2.87, Z:-2.29 [[ 0.63397311 -0.55994519 -0.53342242 2.537225 ] [ 0.61123935 0.78536098 -0.09795201 -2.87237282] [ 0.47377691 -0.26394983 0.84015827 -2.29476576] [ 0. 0. 0. 1. ]] SLAMing on 149.118241008 meters Centerline goodness [0,1] 0.9040568126275841 Centerline is valid? [False, False] Translation: X:2.51, Y:-2.90, Z:-2.31 [[ 0.63484888 -0.55969886 -0.5326388 2.51209327] [ 0.60987796 0.78625133 -0.09928611 -2.89564059] [ 0.47435829 -0.26181299 0.84049877 -2.31336612] [ 0. 0. 0. 1. ]] SLAMing on 149.148241008 meters Centerline goodness [0,1] 0.9038721361428119 Centerline is valid? [False, False] Translation: X:2.49, Y:-2.92, Z:-2.33 [[ 0.63567234 -0.55932824 -0.53204568 2.48766702] [ 0.60880575 0.78699546 -0.09996851 -2.91881376] [ 0.47463274 -0.26036525 0.84079349 -2.33092032] [ 0. 0. 0. 1. ]] SLAMing on 149.17824100800001 meters Centerline goodness [0,1] 0.9045757645435732 Centerline is valid? [False, False] Translation: X:2.49, Y:-2.92, Z:-2.33 [[ 0.63413889 -0.56370177 -0.52925247 2.48532138] [ 0.61114854 0.78471606 -0.10352861 -2.91712645] [ 0.47367217 -0.25780036 0.84212448 -2.33314441] [ 0. 0. 0. 1. ]] SLAMing on 149.208241008 meters Centerline goodness [0,1] 0.9057064826793157 Centerline is valid? [False, False] Translation: X:2.46, Y:-2.94, Z:-2.35 [[ 0.63348887 -0.56320882 -0.53055412 2.46356939] [ 0.61016695 0.78527608 -0.1050608 -2.939962 ] [ 0.47580263 -0.25717174 0.84111507 -2.34848135] [ 0. 0. 0. 1. ]] SLAMing on 149.238241008 meters Centerline goodness [0,1] 0.906838568255891 Centerline is valid? [False, False] Translation: X:2.45, Y:-2.96, Z:-2.36 [[ 0.63110447 -0.56143869 -0.53525111 2.44675075] [ 0.61037501 0.78525638 -0.10399404 -2.95768645] [ 0.47869563 -0.2610728 0.83826696 -2.35706449] [ 0. 0. 0. 1. ]] SLAMing on 149.268241008 meters Centerline goodness [0,1] 0.906838568255891 Centerline is valid? [False, False] Translation: X:2.43, Y:-2.97, Z:-2.37 [[ 0.62891339 -0.56011575 -0.53920154 2.42971515] [ 0.61085695 0.78501602 -0.10297397 -2.97453973] [ 0.48095918 -0.2646133 0.83585768 -2.36652475] [ 0. 0. 0. 1. ]] SLAMing on 149.298241008 meters Centerline goodness [0,1] 0.9078257361839451 Centerline is valid? [False, False] Translation: X:2.41, Y:-2.99, Z:-2.38 [[ 0.62643981 -0.5585248 -0.54371244 2.41349806] [ 0.61130152 0.7848126 -0.10188049 -2.99163928] [ 0.48361515 -0.26855025 0.83306491 -2.37534436] [ 0. 0. 0. 1. ]] SLAMing on 149.328241008 meters Centerline goodness [0,1] 0.9062572154236896 Centerline is valid? [False, False] Translation: X:2.39, Y:-3.01, Z:-2.39 [[ 0.62445105 -0.55919106 -0.54531298 2.39426128] [ 0.61203818 0.78407031 -0.10316501 -3.01076031] [ 0.48525266 -0.26933086 0.83185981 -2.38904452] [ 0. 0. 0. 1. ]] SLAMing on 149.358241008 meters Centerline goodness [0,1] 0.9068631700621298 Centerline is valid? [False, False] Translation: X:2.38, Y:-3.03, Z:-2.40 [[ 0.62107475 -0.56186502 -0.54641913 2.37656995] [ 0.61483074 0.78164995 -0.10491198 -3.02914952] [ 0.48605485 -0.27079709 0.83091493 -2.40106699] [ 0. 0. 0. 1. ]] SLAMing on 149.388241008 meters Centerline goodness [0,1] 0.9071308676274816 Centerline is valid? [False, False] Translation: X:2.36, Y:-3.05, Z:-2.42 [[ 0.61989148 -0.56500828 -0.54451831 2.35508191] [ 0.61653712 0.77996175 -0.10743209 -3.04977093] [ 0.48540347 -0.26911951 0.83184022 -2.41882527] [ 0. 0. 0. 1. ]] SLAMing on 149.418241008 meters Centerline goodness [0,1] 0.91018988259168 Centerline is valid? [False, False] Translation: X:2.33, Y:-3.07, Z:-2.44 [[ 0.61949103 -0.56813664 -0.54171174 2.33060697] [ 0.61755094 0.77873041 -0.1104979 -3.07305162] [ 0.48462531 -0.26608214 0.83326982 -2.43855253] [ 0. 0. 0. 1. ]] SLAMing on 149.448241008 meters Centerline goodness [0,1] 0.9103076655657918 Centerline is valid? [False, False] Translation: X:2.31, Y:-3.09, Z:-2.45 [[ 0.61811494 -0.567806 -0.54362697 2.31119082] [ 0.61867318 0.77802452 -0.1091849 -3.09238135] [ 0.48495095 -0.2688386 0.83219492 -2.4496529 ] [ 0. 0. 0. 1. ]] SLAMing on 149.478241008 meters Centerline goodness [0,1] 0.9090646901046924 Centerline is valid? [False, False] Translation: X:2.29, Y:-3.11, Z:-2.46 [[ 0.6167457 -0.5685951 -0.54435683 2.28922101] [ 0.61928615 0.77737262 -0.11034708 -3.11281538] [ 0.4859109 -0.26905656 0.83156429 -2.46408786] [ 0. 0. 0. 1. ]] SLAMing on 149.508241008 meters Centerline goodness [0,1] 0.9108965119631017 Centerline is valid? [False, False] Translation: X:2.27, Y:-3.14, Z:-2.48 [[ 0.61581328 -0.56738644 -0.54666866 2.26607676] [ 0.61790932 0.77827387 -0.11170437 -3.13588803] [ 0.48883748 -0.26900262 0.82986475 -2.47862318] [ 0. 0. 0. 1. ]] SLAMing on 149.538241008 meters Centerline goodness [0,1] 0.9056429499206234 Centerline is valid? [False, False] Translation: X:2.25, Y:-3.16, Z:-2.49 [[ 0.61458863 -0.56478833 -0.55072221 2.24759515] [ 0.61764482 0.77880721 -0.10942674 -3.1550136 ] [ 0.49070937 -0.27289829 0.82748464 -2.48809957] [ 0. 0. 0. 1. ]] SLAMing on 149.568241008 meters Centerline goodness [0,1] 0.9085928489042676 Centerline is valid? [False, False] Translation: X:2.22, Y:-3.18, Z:-2.51 [[ 0.61454795 -0.56494315 -0.5506088 2.22411345] [ 0.61730221 0.778962 -0.11025511 -3.17765803] [ 0.4911912 -0.27213498 0.82745015 -2.50518454] [ 0. 0. 0. 1. ]] SLAMing on 149.598241008 meters Centerline goodness [0,1] 0.9075656944845509 Centerline is valid? [False, False] Translation: X:2.21, Y:-3.19, Z:-2.51 [[ 0.61272143 -0.56238313 -0.55524558 2.20883994] [ 0.6181828 0.77877123 -0.1066086 -3.19321075] [ 0.49236417 -0.2779219 0.8248254 -2.51239833] [ 0. 0. 0. 1. ]] SLAMing on 149.628241008 meters Centerline goodness [0,1] 0.9103780385824274 Centerline is valid? [False, False] Translation: X:2.18, Y:-3.22, Z:-2.53 [[ 0.61289841 -0.56223939 -0.55519583 2.18423727] [ 0.61659626 0.77970857 -0.10892012 -3.21731882] [ 0.49413013 -0.27557471 0.82455685 -2.53152446] [ 0. 0. 0. 1. ]] SLAMing on 149.658241008 meters Centerline goodness [0,1] 0.9069446043994012 Centerline is valid? [False, False] Translation: X:2.17, Y:-3.24, Z:-2.55 [[ 0.61245953 -0.56047832 -0.55745617 2.16506567] [ 0.61594352 0.78036861 -0.1078815 -3.23673865] [ 0.49548654 -0.27728846 0.82316717 -2.54527496] [ 0. 0. 0. 1. ]] SLAMing on 149.688241008 meters Centerline goodness [0,1] 0.9053508620192585 Centerline is valid? [False, False] Translation: X:2.15, Y:-3.25, Z:-2.55 [[ 0.61047647 -0.55788415 -0.56221326 2.1501302 ] [ 0.61594698 0.7806488 -0.10581474 -3.25220642] [ 0.49792348 -0.28169615 0.82019479 -2.55393773] [ 0. 0. 0. 1. ]] SLAMing on 149.718241008 meters Centerline goodness [0,1] 0.9073978123200921 Centerline is valid? [False, False] Translation: X:2.13, Y:-3.27, Z:-2.57 [[ 0.61050563 -0.55812755 -0.56193995 2.12765563] [ 0.61489616 0.78119728 -0.10785879 -3.27484168] [ 0.49918493 -0.27968632 0.82011583 -2.5728375 ] [ 0. 0. 0. 1. ]] SLAMing on 149.748241008 meters Centerline goodness [0,1] 0.9078257361839451 Centerline is valid? [False, False] Translation: X:2.11, Y:-3.30, Z:-2.59 [[ 0.61049728 -0.558135 -0.56194163 2.10535672] [ 0.61380132 0.78180565 -0.10967164 -3.2964802 ] [ 0.50054072 -0.27796627 0.81987422 -2.59161609] [ 0. 0. 0. 1. ]] SLAMing on 149.778241008 meters Centerline goodness [0,1] 0.9050510864872644 Centerline is valid? [False, False] Translation: X:2.07, Y:-3.33, Z:-2.62 [[ 0.61074131 -0.55586208 -0.56392588 2.07147056] [ 0.61474757 0.78173392 -0.10477353 -3.32885366] [ 0.49907962 -0.28268254 0.81915207 -2.61891743] [ 0. 0. 0. 1. ]] SLAMing on 149.808241008 meters Centerline goodness [0,1] 0.904631917705879 Centerline is valid? [False, False] Translation: X:2.05, Y:-3.35, Z:-2.64 [[ 0.61126769 -0.55583068 -0.56338626 2.049663 ] [ 0.61375451 0.78235583 -0.10594698 -3.34994394] [ 0.4996571 -0.28101889 0.81937242 -2.63799499] [ 0. 0. 0. 1. ]] SLAMing on 149.838241008 meters Centerline goodness [0,1] 0.9057226495235908 Centerline is valid? [False, False] Translation: X:2.03, Y:-3.37, Z:-2.65 [[ 0.6109413 -0.55482028 -0.56473461 2.03099966] [ 0.6134063 0.7827067 -0.1053704 -3.36798885] [ 0.5004832 -0.28203664 0.81851811 -2.65324031] [ 0. 0. 0. 1. ]] SLAMing on 149.868241008 meters Centerline goodness [0,1] 0.9034949396484991 Centerline is valid? [False, False] Translation: X:2.01, Y:-3.39, Z:-2.68 [[ 0.61201105 -0.55650127 -0.56191532 2.00743241] [ 0.61279746 0.78284299 -0.10787088 -3.38984668] [ 0.49992174 -0.27832211 0.82013112 -2.67596883] [ 0. 0. 0. 1. ]] SLAMing on 149.898241008 meters Centerline goodness [0,1] 0.9008515640680105 Centerline is valid? [False, False] Translation: X:1.98, Y:-3.41, Z:-2.70 [[ 0.61374973 -0.55700257 -0.55951712 1.98323897] [ 0.61162226 0.78358346 -0.10915663 -3.41339818] [ 0.49922889 -0.27521828 0.82159931 -2.69799683] [ 0. 0. 0. 1. ]] SLAMing on 149.92824100800001 meters Centerline goodness [0,1] 0.900694226209182 Centerline is valid? [False, False] Translation: X:1.96, Y:-3.43, Z:-2.72 [[ 0.61445404 -0.55861402 -0.5571325 1.96110372] [ 0.61187494 0.78320378 -0.11045772 -3.43425705] [ 0.4980515 -0.27302422 0.82304464 -2.7186048 ] [ 0. 0. 0. 1. ]] SLAMing on 149.958241008 meters Centerline goodness [0,1] 0.9009371964112235 Centerline is valid? [False, False] Translation: X:1.94, Y:-3.46, Z:-2.74 [[ 0.61531887 -0.56034882 -0.55442933 1.93736089] [ 0.61177461 0.78300532 -0.11240324 -3.45668069] [ 0.49710614 -0.27002196 0.82460513 -2.74011722] [ 0. 0. 0. 1. ]] SLAMing on 149.988241008 meters Centerline goodness [0,1] 0.9033859397417503 Centerline is valid? [False, False] Translation: X:1.91, Y:-3.48, Z:-2.76 [[ 0.61648802 -0.56180282 -0.55165216 1.91251231] [ 0.61181249 0.78281715 -0.11350233 -3.48175784] [ 0.4956087 -0.26753486 0.82631538 -2.76002308] [ 0. 0. 0. 1. ]] SLAMing on 150.018241008 meters Centerline goodness [0,1] 0.9011870203776622 Centerline is valid? [False, False] Translation: X:1.89, Y:-3.50, Z:-2.78 [[ 0.61716003 -0.56252587 -0.55016192 1.8901233 ] [ 0.61245905 0.78239378 -0.11293312 -3.50433938] [ 0.49397107 -0.26725384 0.82738623 -2.77701367] [ 0. 0. 0. 1. ]] SLAMing on 150.048241008 meters Centerline goodness [0,1] 0.9033709797626555 Centerline is valid? [False, False] Translation: X:1.89, Y:-3.50, Z:-2.78 [[ 0.61723668 -0.56216749 -0.55044218 1.89023061] [ 0.61228333 0.78257084 -0.1126588 -3.50485773] [ 0.49409312 -0.26748943 0.82723721 -2.77626114] [ 0. 0. 0. 1. ]] SLAMing on 150.078241008 meters Centerline goodness [0,1] 0.9013979389729311 Centerline is valid? [False, False] Translation: X:1.86, Y:-3.54, Z:-2.80 [[ 0.61671478 -0.56028221 -0.55294369 1.85619244] [ 0.61431372 0.78177505 -0.10698793 -3.53806996] [ 0.49222102 -0.27369986 0.82632128 -2.80016422] [ 0. 0. 0. 1. ]] SLAMing on 150.108241008 meters Centerline goodness [0,1] 0.9014298403965729 Centerline is valid? [False, False] Translation: X:1.83, Y:-3.56, Z:-2.82 [[ 0.61762873 -0.56083498 -0.55136093 1.83200687] [ 0.61321374 0.78237411 -0.10890206 -3.56145256] [ 0.49244661 -0.27084105 0.82712844 -2.82114407] [ 0. 0. 0. 1. ]] SLAMing on 150.138241008 meters Centerline goodness [0,1] 0.9016825751712673 Centerline is valid? [False, False] Translation: X:1.81, Y:-3.58, Z:-2.84 [[ 0.6180765 -0.56165273 -0.55002514 1.80999748] [ 0.61317118 0.78228389 -0.10978623 -3.58329533] [ 0.49193754 -0.26940327 0.82790056 -2.83983986] [ 0. 0. 0. 1. ]] SLAMing on 150.168241008 meters Centerline goodness [0,1] 0.9009383878095676 Centerline is valid? [False, False] Translation: X:1.79, Y:-3.61, Z:-2.86 [[ 0.6182695 -0.56161465 -0.54984707 1.78686277] [ 0.61224748 0.7828167 -0.11113524 -3.60662405] [ 0.49284465 -0.26793096 0.82783884 -2.85794011] [ 0. 0. 0. 1. ]] SLAMing on 150.198241008 meters Centerline goodness [0,1] 0.9005781008528418 Centerline is valid? [False, False] Translation: X:1.76, Y:-3.63, Z:-2.88 [[ 0.61879589 -0.56218685 -0.54866893 1.76453835] [ 0.6118023 0.7829996 -0.11229237 -3.62799543] [ 0.49273684 -0.26619085 0.82846414 -2.87726544] [ 0. 0. 0. 1. ]] SLAMing on 150.228241008 meters Centerline goodness [0,1] 0.9012547735951991 Centerline is valid? [False, False] Translation: X:1.74, Y:-3.65, Z:-2.89 [[ 0.61962918 -0.56196762 -0.54795262 1.74030265] [ 0.61103814 0.78354867 -0.11262272 -3.65225385] [ 0.49263786 -0.26503563 0.82889327 -2.89493788] [ 0. 0. 0. 1. ]] SLAMing on 150.258241008 meters Centerline goodness [0,1] 0.9011245003019758 Centerline is valid? [False, False] Translation: X:1.71, Y:-3.68, Z:-2.92 [[ 0.62123289 -0.56237153 -0.54571784 1.71498023] [ 0.61017388 0.78410604 -0.11342643 -3.67684332] [ 0.49168844 -0.26251854 0.83025688 -2.91506887] [ 0. 0. 0. 1. ]] SLAMing on 150.288241008 meters Centerline goodness [0,1] 0.9019934031263445 Centerline is valid? [False, False] Translation: X:1.69, Y:-3.70, Z:-2.94 [[ 0.62269501 -0.56289949 -0.54350261 1.68960297] [ 0.60924521 0.78465176 -0.11463812 -3.70054969] [ 0.49099002 -0.25974177 0.83154255 -2.93597096] [ 0. 0. 0. 1. ]] SLAMing on 150.318241008 meters Centerline goodness [0,1] 0.9005671292997806 Centerline is valid? [False, False] Translation: X:1.67, Y:-3.72, Z:-2.95 [[ 0.62419811 -0.56301763 -0.5416529 1.66625713] [ 0.60946296 0.78467884 -0.11328729 -3.7202827 ] [ 0.48880631 -0.25940367 0.83293345 -2.9545516 ] [ 0. 0. 0. 1. ]] SLAMing on 150.348241008 meters Centerline goodness [0,1] 0.8995457272649353 Centerline is valid? [False, False] Translation: X:1.63, Y:-3.75, Z:-2.98 [[ 0.62308272 -0.56123729 -0.54477576 1.63273504] [ 0.61238845 0.78333782 -0.10659382 -3.75222778] [ 0.48656788 -0.26719761 0.8317795 -2.97519338] [ 0. 0. 0. 1. ]] SLAMing on 150.378241008 meters Centerline goodness [0,1] 0.9028170220053087 Centerline is valid? [False, False] Translation: X:1.61, Y:-3.77, Z:-2.99 [[ 0.62341885 -0.56207624 -0.54352482 1.60907545] [ 0.61196297 0.78344121 -0.10826449 -3.77422853] [ 0.48667264 -0.26512294 0.83238187 -2.99403784] [ 0. 0. 0. 1. ]] SLAMing on 150.408241008 meters Centerline goodness [0,1] 0.9023680456490728 Centerline is valid? [False, False] Translation: X:1.59, Y:-3.79, Z:-3.01 [[ 0.62259284 -0.56054155 -0.54605066 1.59126025] [ 0.612056 0.78360379 -0.10654835 -3.79084797] [ 0.48761215 -0.26787734 0.83094893 -3.00632746] [ 0. 0. 0. 1. ]] SLAMing on 150.438241008 meters Centerline goodness [0,1] 0.9003795603897575 Centerline is valid? [False, False] Translation: X:1.57, Y:-3.81, Z:-3.02 [[ 0.62268891 -0.55909664 -0.54742074 1.57125238] [ 0.61058491 0.78470257 -0.10690154 -3.80753027] [ 0.48933075 -0.26768044 0.83000157 -3.02375903] [ 0. 0. 0. 1. ]] SLAMing on 150.468241008 meters Centerline goodness [0,1] 0.8971459343026387 Centerline is valid? [False, False] Translation: X:1.54, Y:-3.84, Z:-3.05 [[ 0.62253337 -0.55794278 -0.54877323 1.5356007 ] [ 0.61195713 0.78414969 -0.10304242 -3.84188164] [ 0.48781213 -0.27167835 0.82959641 -3.05021189] [ 0. 0. 0. 1. ]] SLAMing on 150.498241008 meters Centerline goodness [0,1] 0.9011817383172274 Centerline is valid? [False, False] Translation: X:1.51, Y:-3.86, Z:-3.07 [[ 0.62303214 -0.55900475 -0.54712398 1.51367957] [ 0.61203857 0.78395614 -0.10402671 -3.86342488] [ 0.48707262 -0.27004899 0.83056234 -3.0687952 ] [ 0. 0. 0. 1. ]] SLAMing on 150.528241008 meters Centerline goodness [0,1] 0.893266394372589 Centerline is valid? [False, False] Translation: X:1.49, Y:-3.88, Z:-3.09 [[ 0.62242032 -0.56274995 -0.54397191 1.48963869] [ 0.61217745 0.78308075 -0.10965082 -3.88483509] [ 0.48767993 -0.26475844 0.8319082 -3.09214918] [ 0. 0. 0. 1. ]] SLAMing on 150.558241008 meters Centerline goodness [0,1] 0.8947070157542786 Centerline is valid? [False, False] Translation: X:1.46, Y:-3.92, Z:-3.11 [[ 0.6210031 -0.5612409 -0.54714149 1.4580184 ] [ 0.61470136 0.78183386 -0.10429787 -3.91553027] [ 0.48630997 -0.27155932 0.8305168 -3.11430398] [ 0. 0. 0. 1. ]] SLAMing on 150.588241008 meters Centerline goodness [0,1] 0.8985292862629078 Centerline is valid? [False, False] Translation: X:1.43, Y:-3.94, Z:-3.13 [[ 0.62110487 -0.56382631 -0.54436076 1.43273529] [ 0.61490596 0.78122945 -0.10756954 -3.93963972] [ 0.48592119 -0.26791871 0.83192558 -3.13494571] [ 0. 0. 0. 1. ]] SLAMing on 150.618241008 meters Centerline goodness [0,1] 0.8985903460059803 Centerline is valid? [False, False] Translation: X:1.41, Y:-3.96, Z:-3.16 [[ 0.62101579 -0.56727418 -0.54086912 1.40761483] [ 0.61568619 0.780097 -0.11126174 -3.96415376] [ 0.48504629 -0.26391035 0.83371543 -3.15588043] [ 0. 0. 0. 1. ]] SLAMing on 150.648241008 meters Centerline goodness [0,1] 0.8989426885918664 Centerline is valid? [False, False] Translation: X:1.38, Y:-3.99, Z:-3.18 [[ 0.6208547 -0.57056675 -0.53758071 1.38275248] [ 0.61678871 0.77879337 -0.11424784 -3.98843774] [ 0.48385032 -0.26064241 0.83543666 -3.17573196] [ 0. 0. 0. 1. ]] SLAMing on 150.67824100800001 meters Centerline goodness [0,1] 0.9047414779226721 Centerline is valid? [False, False] Translation: X:1.35, Y:-4.02, Z:-3.20 [[ 0.61835383 -0.57206652 -0.53886774 1.34929252] [ 0.62199916 0.775343 -0.10936302 -4.0210494 ] [ 0.48037025 -0.26755024 0.83526121 -3.19689977] [ 0. 0. 0. 1. ]] SLAMing on 150.708241008 meters Centerline goodness [0,1] 0.9045546935386906 Centerline is valid? [False, False] Translation: X:1.32, Y:-4.04, Z:-3.22 [[ 0.61781395 -0.57500927 -0.53634901 1.32471506] [ 0.622975 0.77413355 -0.11233604 -4.04483216] [ 0.47980003 -0.26472926 0.83648691 -3.21600523] [ 0. 0. 0. 1. ]] SLAMing on 150.738241008 meters Centerline goodness [0,1] 0.9063352966527798 Centerline is valid? [False, False] Translation: X:1.29, Y:-4.08, Z:-3.24 [[ 0.61546362 -0.57698519 -0.53692888 1.29060987] [ 0.62811505 0.77057811 -0.10807799 -4.07881059] [ 0.47610504 -0.27073504 0.83667588 -3.23821341] [ 0. 0. 0. 1. ]] SLAMing on 150.768241008 meters Centerline goodness [0,1] 0.9072696875360313 Centerline is valid? [False, False] Translation: X:1.25, Y:-4.11, Z:-3.26 [[ 0.61420536 -0.57848691 -0.53675382 1.25443143] [ 0.63145028 0.76822162 -0.10538538 -4.11407015] [ 0.47330995 -0.27420509 0.83713157 -3.26423815] [ 0. 0. 0. 1. ]] SLAMing on 150.798241008 meters Centerline goodness [0,1] 0.9081434733520539 Centerline is valid? [False, False] Translation: X:1.23, Y:-4.14, Z:-3.28 [[ 0.61380384 -0.58003924 -0.53553649 1.23097184] [ 0.63170978 0.76771766 -0.1074819 -4.13779658] [ 0.47348454 -0.27233083 0.8376445 -3.28182978] [ 0. 0. 0. 1. ]] SLAMing on 150.828241008 meters Centerline goodness [0,1] 0.9111098259209993 Centerline is valid? [False, False] Translation: X:1.21, Y:-4.16, Z:-3.30 [[ 0.61291899 -0.58139321 -0.53508153 1.20540455] [ 0.6309326 0.76778087 -0.11151947 -4.16290125] [ 0.47566202 -0.26924798 0.83740741 -3.30013315] [ 0. 0. 0. 1. ]] SLAMing on 150.858241008 meters Centerline goodness [0,1] 0.9158535881300156 Centerline is valid? [False, False] Translation: X:1.19, Y:-4.18, Z:-3.31 [[ 0.61148419 -0.58030026 -0.53790212 1.18506965] [ 0.63043832 0.76811914 -0.11198443 -4.18400087] [ 0.47815751 -0.2706374 0.83553623 -3.31222176] [ 0. 0. 0. 1. ]] SLAMing on 150.888241008 meters Centerline goodness [0,1] 0.9156202188158541 Centerline is valid? [False, False] Translation: X:1.15, Y:-4.22, Z:-3.34 [[ 0.61086388 -0.57847348 -0.54056799 1.15190076] [ 0.63247862 0.76724626 -0.10632015 -4.21648467] [ 0.47625215 -0.27695056 0.83455514 -3.33511733] [ 0. 0. 0. 1. ]] SLAMing on 150.918241008 meters Centerline goodness [0,1] 0.91424055180342 Centerline is valid? [False, False] Translation: X:1.13, Y:-4.24, Z:-3.35 [[ 0.61015661 -0.57763005 -0.54226602 1.12968392] [ 0.63099546 0.76819084 -0.10829382 -4.23867614] [ 0.47911756 -0.27609121 0.83319866 -3.35113523] [ 0. 0. 0. 1. ]] SLAMing on 150.948241008 meters Centerline goodness [0,1] 0.914802584350323 Centerline is valid? [False, False] Translation: X:1.09, Y:-4.27, Z:-3.38 [[ 0.6103289 -0.57571057 -0.54411025 1.09360376] [ 0.63171977 0.76816487 -0.10417705 -4.27350561] [ 0.47794221 -0.28014294 0.83252098 -3.378422 ] [ 0. 0. 0. 1. ]] SLAMing on 150.978241008 meters Centerline goodness [0,1] 0.9146324054246966 Centerline is valid? [False, False] Translation: X:1.06, Y:-4.31, Z:-3.40 [[ 0.60980795 -0.57428159 -0.54620044 1.05994328] [ 0.63382695 0.76712294 -0.09892314 -4.30622288] [ 0.47581263 -0.28587245 0.83179281 -3.402403 ] [ 0. 0. 0. 1. ]] SLAMing on 151.008241008 meters Centerline goodness [0,1] 0.9146581476938874 Centerline is valid? [False, False] Translation: X:1.02, Y:-4.34, Z:-3.43 [[ 0.60941661 -0.57473913 -0.54615595 1.02194885] [ 0.63541087 0.76604187 -0.09712299 -4.34267269] [ 0.47419871 -0.28784506 0.83203413 -3.43092366] [ 0. 0. 0. 1. ]] SLAMing on 151.038241008 meters Centerline goodness [0,1] 0.9156468031568111 Centerline is valid? [False, False] Translation: X:0.98, Y:-4.38, Z:-3.46 [[ 0.60940187 -0.57552921 -0.54533978 0.98349703] [ 0.63701228 0.76492428 -0.09542636 -4.37969162] [ 0.4720643 -0.28923514 0.83276547 -3.46026103] [ 0. 0. 0. 1. ]] SLAMing on 151.068241008 meters Centerline goodness [0,1] 0.91557405084939 Centerline is valid? [False, False] Translation: X:0.98, Y:-4.38, Z:-3.46 [[ 0.60914913 -0.57519681 -0.5459725 0.98430529] [ 0.6365417 0.76524341 -0.0960062 -4.37733428] [ 0.47302432 -0.28905217 0.83228411 -3.45893177] [ 0. 0. 0. 1. ]] SLAMing on 151.098241008 meters Centerline goodness [0,1] 0.916416217748795 Centerline is valid? [False, False] Translation: X:0.96, Y:-4.40, Z:-3.48 [[ 0.60985833 -0.57625227 -0.54406446 0.96070938] [ 0.63597511 0.76547705 -0.09788025 -4.39840702] [ 0.47287257 -0.28631837 0.83331466 -3.47872401] [ 0. 0. 0. 1. ]] SLAMing on 151.128241008 meters Centerline goodness [0,1] 0.9164966564660546 Centerline is valid? [False, False] Translation: X:0.94, Y:-4.42, Z:-3.50 [[ 0.61078406 -0.57748039 -0.54171877 0.93660368] [ 0.63531063 0.76575503 -0.0999982 -4.41954142] [ 0.47257087 -0.28308239 0.8345904 -3.49920735] [ 0. 0. 0. 1. ]] SLAMing on 151.158241008 meters Centerline goodness [0,1] 0.917602573508663 Centerline is valid? [False, False] Translation: X:0.92, Y:-4.44, Z:-3.51 [[ 0.61134039 -0.57673315 -0.54188726 0.91703786] [ 0.63534202 0.76593418 -0.09841419 -4.43737592] [ 0.4718087 -0.28411917 0.8346693 -3.51356374] [ 0. 0. 0. 1. ]] SLAMing on 151.188241008 meters Centerline goodness [0,1] 0.917602573508663 Centerline is valid? [False, False] Translation: X:0.90, Y:-4.45, Z:-3.52 [[ 0.60863045 -0.57410764 -0.54769462 0.90369843] [ 0.63606054 0.76567294 -0.09577028 -4.45140869] [ 0.47433739 -0.29007822 0.83117908 -3.51901041] [ 0. 0. 0. 1. ]] SLAMing on 151.218241008 meters Centerline goodness [0,1] 0.9185781430300302 Centerline is valid? [False, False] Translation: X:0.87, Y:-4.48, Z:-3.54 [[ 0.61110682 -0.57542738 -0.54353637 0.87420952] [ 0.63444236 0.7666869 -0.09835695 -4.47660628] [ 0.4733195 -0.2847359 0.8336031 -3.54198237] [ 0. 0. 0. 1. ]] SLAMing on 151.248241008 meters Centerline goodness [0,1] 0.9186409240367591 Centerline is valid? [False, False] Translation: X:0.87, Y:-4.47, Z:-3.54 [[ 0.61091562 -0.5750183 -0.54418385 0.87497233] [ 0.63390674 0.76706203 -0.09888418 -4.47462585] [ 0.47428298 -0.28455192 0.83311815 -3.54076143] [ 0. 0. 0. 1. ]] SLAMing on 151.278241008 meters Centerline goodness [0,1] 0.9190540388720368 Centerline is valid? [False, False] Translation: X:0.84, Y:-4.51, Z:-3.57 [[ 0.61166975 -0.57366438 -0.54476536 0.83662381] [ 0.63466854 0.76692375 -0.09499374 -4.51169398] [ 0.47228802 -0.28764064 0.83319079 -3.56811969] [ 0. 0. 0. 1. ]] SLAMing on 151.308241008 meters Centerline goodness [0,1] 0.9198794844613067 Centerline is valid? [False, False] Translation: X:0.80, Y:-4.55, Z:-3.60 [[ 0.61305007 -0.5726557 -0.54427479 0.79717324] [ 0.6352504 0.76688447 -0.09135177 -4.54737665] [ 0.469709 -0.28974757 0.83391834 -3.59792534] [ 0. 0. 0. 1. ]] SLAMing on 151.338241008 meters Centerline goodness [0,1] 0.9177864510733204 Centerline is valid? [False, False] Translation: X:0.78, Y:-4.56, Z:-3.61 [[ 0.61225187 -0.57185843 -0.54600878 0.78031686] [ 0.63594055 0.76650718 -0.0897015 -4.5621871 ] [ 0.46981621 -0.29230921 0.83296342 -3.6104789 ] [ 0. 0. 0. 1. ]] SLAMing on 151.368241008 meters Centerline goodness [0,1] 0.9162220740246749 Centerline is valid? [False, False] Translation: X:0.76, Y:-4.58, Z:-3.63 [[ 0.61268228 -0.57255199 -0.5447978 0.75970172] [ 0.63607983 0.76635039 -0.09005285 -4.5806448 ] [ 0.46906595 -0.29136111 0.83371808 -3.62778184] [ 0. 0. 0. 1. ]] SLAMing on 151.398241008 meters Centerline goodness [0,1] 0.9200779727095516 Centerline is valid? [False, False] Translation: X:0.74, Y:-4.60, Z:-3.65 [[ 0.61406684 -0.57347654 -0.54226061 0.73504088] [ 0.63517638 0.76689726 -0.09175816 -4.6037812 ] [ 0.46847933 -0.28808549 0.83518493 -3.64825602] [ 0. 0. 0. 1. ]] SLAMing on 151.42824100800001 meters Centerline goodness [0,1] 0.9187104649872379 Centerline is valid? [False, False] Translation: X:0.71, Y:-4.63, Z:-3.67 [[ 0.61604473 -0.57383181 -0.53963502 0.7091955 ] [ 0.63392498 0.76780924 -0.09277979 -4.62843968] [ 0.46757675 -0.28493162 0.83677115 -3.668184 ] [ 0. 0. 0. 1. ]] SLAMing on 151.458241008 meters Centerline goodness [0,1] 0.9192017319862329 Centerline is valid? [False, False] Translation: X:0.68, Y:-4.65, Z:-3.69 [[ 0.61684607 -0.57601376 -0.5363852 0.68358854] [ 0.63345559 0.76779537 -0.09604312 -4.65326631] [ 0.46715623 -0.28053238 0.83849069 -3.68902823] [ 0. 0. 0. 1. ]] SLAMing on 151.488241008 meters Centerline goodness [0,1] 0.9156215316315205 Centerline is valid? [False, False] Translation: X:0.66, Y:-4.67, Z:-3.71 [[ 0.61756865 -0.57631384 -0.53523016 0.66219224] [ 0.63338 0.76786469 -0.09598751 -4.6744549 ] [ 0.46630327 -0.2797252 0.83923482 -3.70565012] [ 0. 0. 0. 1. ]] SLAMing on 151.518241008 meters Centerline goodness [0,1] 0.9145970462968085 Centerline is valid? [False, False] Translation: X:0.64, Y:-4.70, Z:-3.72 [[ 0.61850332 -0.57589781 -0.53459832 0.63997429] [ 0.63254961 0.76853718 -0.09608119 -4.69560598] [ 0.46619163 -0.27873342 0.83962673 -3.7226435 ] [ 0. 0. 0. 1. ]] SLAMing on 151.548241008 meters Centerline goodness [0,1] 0.9135099447057853 Centerline is valid? [False, False] Translation: X:0.62, Y:-4.72, Z:-3.74 [[ 0.62088079 -0.57439338 -0.53345974 0.61555149] [ 0.6306976 0.77016605 -0.09520916 -4.71702932] [ 0.46554009 -0.27733824 0.84044983 -3.74172378] [ 0. 0. 0. 1. ]] SLAMing on 151.578241008 meters Centerline goodness [0,1] 0.9107586206896552 Centerline is valid? [False, False] Translation: X:0.59, Y:-4.74, Z:-3.76 [[ 0.62147744 -0.5735969 -0.53362195 0.59215496] [ 0.6290813 0.77133137 -0.09646051 -4.74084805] [ 0.4669288 -0.27574356 0.84020413 -3.75863042] [ 0. 0. 0. 1. ]] SLAMing on 151.608241008 meters Centerline goodness [0,1] 0.9128482076433472 Centerline is valid? [False, False] Translation: X:0.57, Y:-4.77, Z:-3.78 [[ 0.62214395 -0.57226301 -0.53427703 0.56845431] [ 0.62677209 0.77300146 -0.09810955 -4.76561776] [ 0.4691414 -0.27383167 0.83959667 -3.77578975] [ 0. 0. 0. 1. ]] SLAMing on 151.638241008 meters Centerline goodness [0,1] 0.914535537099471 Centerline is valid? [False, False] Translation: X:0.55, Y:-4.79, Z:-3.79 [[ 0.62149922 -0.57137163 -0.53597871 0.54745104] [ 0.62577499 0.77367716 -0.09914295 -4.78618517] [ 0.47132195 -0.27378481 0.83838983 -3.79043173] [ 0. 0. 0. 1. ]] SLAMing on 151.668241008 meters Centerline goodness [0,1] 0.9148246794255745 Centerline is valid? [False, False] Translation: X:0.53, Y:-4.81, Z:-3.80 [[ 0.62035354 -0.56993096 -0.53883224 0.52858138] [ 0.62493064 0.7743107 -0.09952208 -4.80522096] [ 0.47394428 -0.2749939 0.8365137 -3.8035226 ] [ 0. 0. 0. 1. ]] SLAMing on 151.698241008 meters Centerline goodness [0,1] 0.9163319209816762 Centerline is valid? [False, False] Translation: X:0.49, Y:-4.84, Z:-3.83 [[ 0.62039678 -0.56776998 -0.54105923 0.49483871] [ 0.62612303 0.77400336 -0.09428017 -4.8396702 ] [ 0.47231111 -0.28027854 0.83568305 -3.82802706] [ 0. 0. 0. 1. ]] SLAMing on 151.728241008 meters Centerline goodness [0,1] 0.9176673795032078 Centerline is valid? [False, False] Translation: X:0.47, Y:-4.86, Z:-3.85 [[ 0.62003488 -0.5681315 -0.54109458 0.47336262] [ 0.62499494 0.77456698 -0.09709438 -4.86108377] [ 0.47427638 -0.27797947 0.83533786 -3.84627702] [ 0. 0. 0. 1. ]] SLAMing on 151.758241008 meters Centerline goodness [0,1] 0.9158331501428886 Centerline is valid? [False, False] Translation: X:0.44, Y:-4.89, Z:-3.87 [[ 0.61869037 -0.56690163 -0.54391614 0.44329956] [ 0.62674332 0.77360838 -0.09339637 -4.88992191] [ 0.47372464 -0.28311238 0.83392587 -3.87058779] [ 0. 0. 0. 1. ]] SLAMing on 151.788241008 meters Centerline goodness [0,1] 0.9150464803795212 Centerline is valid? [False, False] Translation: X:0.44, Y:-4.89, Z:-3.87 [[ 0.61822311 -0.5676494 -0.54366749 0.44454033] [ 0.62706957 0.77323643 -0.09428243 -4.88752502] [ 0.47390288 -0.28262976 0.8339883 -3.87126406] [ 0. 0. 0. 1. ]] SLAMing on 151.818241008 meters Centerline goodness [0,1] 0.9153654051977277 Centerline is valid? [False, False] Translation: X:0.42, Y:-4.91, Z:-3.89 [[ 0.61835261 -0.56886022 -0.5422528 0.42124799] [ 0.62637944 0.77344561 -0.09711167 -4.91027084] [ 0.47464601 -0.27960675 0.83458446 -3.89044865] [ 0. 0. 0. 1. ]] SLAMing on 151.848241008 meters Centerline goodness [0,1] 0.9174261557044032 Centerline is valid? [False, False] Translation: X:0.39, Y:-4.94, Z:-3.92 [[ 0.61781391 -0.56948332 -0.5422128 0.38720792] [ 0.62885452 0.77180886 -0.09409074 -4.94430735] [ 0.47206775 -0.28284241 0.83495641 -3.91758204] [ 0. 0. 0. 1. ]] SLAMing on 151.878241008 meters Centerline goodness [0,1] 0.9159811341450038 Centerline is valid? [False, False] Translation: X:0.36, Y:-4.97, Z:-3.94 [[ 0.61770767 -0.57188172 -0.53980417 0.36368013] [ 0.62867969 0.77147604 -0.09791102 -4.96742863] [ 0.4724395 -0.27888353 0.83607708 -3.93829869] [ 0. 0. 0. 1. ]] SLAMing on 151.908241008 meters Centerline goodness [0,1] 0.9175568337441797 Centerline is valid? [False, False] Translation: X:0.33, Y:-5.00, Z:-3.97 [[ 0.61722081 -0.57311511 -0.53905245 0.32785097] [ 0.63082405 0.76992924 -0.09628071 -5.00293765] [ 0.47021217 -0.28062079 0.83675115 -3.96719965] [ 0. 0. 0. 1. ]] SLAMing on 151.938241008 meters Centerline goodness [0,1] 0.9196438326231836 Centerline is valid? [False, False] Translation: X:0.31, Y:-5.02, Z:-3.98 [[ 0.61460827 -0.57213059 -0.54306838 0.31271885] [ 0.63192186 0.7691676 -0.09516281 -5.01781316] [ 0.47215616 -0.28468893 0.8342786 -3.97563273] [ 0. 0. 0. 1. ]] SLAMing on 151.968241008 meters Centerline goodness [0,1] 0.9153429009640666 Centerline is valid? [False, False] Translation: X:0.29, Y:-5.04, Z:-3.99 [[ 0.61399742 -0.57385397 -0.54193984 0.29302832] [ 0.6327047 0.76832662 -0.09674177 -5.03732656] [ 0.47190245 -0.28348868 0.83483067 -3.99214889] [ 0. 0. 0. 1. ]] SLAMing on 151.998241008 meters Centerline goodness [0,1] 0.9152125157267108 Centerline is valid? [False, False] Translation: X:0.27, Y:-5.06, Z:-4.01 [[ 0.61346691 -0.57648471 -0.53974413 0.27259607] [ 0.63378866 0.7671438 -0.09900673 -5.05793269] [ 0.47113722 -0.28134636 0.83598681 -4.0099629 ] [ 0. 0. 0. 1. ]] SLAMing on 152.028241008 meters Centerline goodness [0,1] 0.9152639632746749 Centerline is valid? [False, False] Translation: X:0.25, Y:-5.08, Z:-4.03 [[ 0.61302726 -0.57984979 -0.53663004 0.25010412] [ 0.63446626 0.76606151 -0.10296757 -5.07963654] [ 0.47079734 -0.27735173 0.83751172 -4.03035485] [ 0. 0. 0. 1. ]] SLAMing on 152.058241008 meters Centerline goodness [0,1] 0.9167648428724074 Centerline is valid? [False, False] Translation: X:0.21, Y:-5.12, Z:-4.06 [[ 0.6127011 -0.57945767 -0.5374255 0.21353654] [ 0.63576535 0.76532884 -0.10037026 -5.11674211] [ 0.46946755 -0.28017955 0.83731693 -4.05725756] [ 0. 0. 0. 1. ]] SLAMing on 152.088241008 meters Centerline goodness [0,1] 0.9167917064520529 Centerline is valid? [False, False] Translation: X:0.18, Y:-5.15, Z:-4.08 [[ 0.61181068 -0.57931635 -0.53859099 0.17991059] [ 0.63814271 0.7638234 -0.09668349 -5.1483994 ] [ 0.46739873 -0.28454592 0.83700182 -4.08295758] [ 0. 0. 0. 1. ]] SLAMing on 152.118241008 meters Centerline goodness [0,1] 0.9179120759245118 Centerline is valid? [False, False] Translation: X:0.16, Y:-5.17, Z:-4.10 [[ 0.61134162 -0.58235521 -0.53583937 0.15697082] [ 0.63815942 0.76320095 -0.10137485 -5.16990329] [ 0.46798929 -0.27997628 0.83821197 -4.10414153] [ 0. 0. 0. 1. ]] SLAMing on 152.148241008 meters Centerline goodness [0,1] 0.9170755642787046 Centerline is valid? [False, False] Translation: X:0.12, Y:-5.21, Z:-4.13 [[ 0.61096137 -0.58246702 -0.53615145 0.12187101] [ 0.63985283 0.76211733 -0.09882067 -5.20599161] [ 0.4661701 -0.28268241 0.83831742 -4.13109129] [ 0. 0. 0. 1. ]] SLAMing on 152.17824100800001 meters Centerline goodness [0,1] 0.9179393476600851 Centerline is valid? [False, False] Translation: X:0.09, Y:-5.24, Z:-4.16 [[ 0.61026657 -0.58294472 -0.53642349 0.08704882] [ 0.64187028 0.7607213 -0.09646575 -5.24058318] [ 0.46430298 -0.28544447 0.83841768 -4.15774468] [ 0. 0. 0. 1. ]] SLAMing on 152.20824100800002 meters Centerline goodness [0,1] 0.9174917491749175 Centerline is valid? [False, False] Translation: X:0.08, Y:-5.25, Z:-4.15 [[ 0.60753775 -0.57609403 -0.54682132 0.07806779] [ 0.64178273 0.76165903 -0.08938931 -5.25219398] [ 0.46798804 -0.2966331 0.83246381 -4.15476244] [ 0. 0. 0. 1. ]] SLAMing on 152.238241008 meters Centerline goodness [0,1] 0.9178919228565973 Centerline is valid? [False, False] Translation: X:0.04, Y:-5.29, Z:-4.19 [[ 0.60751766 -0.57776823 -0.54507446 0.0381476 ] [ 0.64291579 0.7606638 -0.08972109 -5.29173222] [ 0.46645641 -0.29592983 0.83357301 -4.18608891] [ 0. 0. 0. 1. ]] SLAMing on 152.268241008 meters Centerline goodness [0,1] 0.9194662009114974 Centerline is valid? [False, False] Translation: X:0.02, Y:-5.31, Z:-4.20 [[ 0.60588497 -0.57943482 -0.54512263 0.01991925] [ 0.64434501 0.75930902 -0.09093574 -5.3091988 ] [ 0.46660787 -0.29615045 0.83340987 -4.20011186] [ 0. 0. 0. 1. ]] SLAMing on 152.298241008 meters Centerline goodness [0,1] 0.920189842343571 Centerline is valid? [False, False] Translation: X:-0.00, Y:-5.33, Z:-4.22 [[ 6.05749626e-01 -5.81743349e-01 -5.42809421e-01 -1.25819647e-03] [ 6.44628225e-01 7.58723707e-01 -9.37698607e-02 -5.33095848e+00] [ 4.66392369e-01 -2.93109215e-01 8.34604784e-01 -4.21929918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.328241008 meters Centerline goodness [0,1] 0.9219921747636126 Centerline is valid? [False, False] Translation: X:-0.04, Y:-5.37, Z:-4.25 [[ 0.60596002 -0.58193911 -0.54236458 -0.03907636] [ 0.64570746 0.75803176 -0.09192234 -5.36961453] [ 0.46462278 -0.29450759 0.83509937 -4.24775009] [ 0. 0. 0. 1. ]] SLAMing on 152.358241008 meters Centerline goodness [0,1] 0.9213831348882727 Centerline is valid? [False, False] Translation: X:-0.07, Y:-5.41, Z:-4.27 [[ 0.60584397 -0.58161351 -0.54284326 -0.07486225] [ 0.64727434 0.75707304 -0.08874873 -5.40561825] [ 0.46258946 -0.29760063 0.83513164 -4.27406596] [ 0. 0. 0. 1. ]] SLAMing on 152.388241008 meters Centerline goodness [0,1] 0.921363820863212 Centerline is valid? [False, False] Translation: X:-0.11, Y:-5.44, Z:-4.30 [[ 0.60614133 -0.58143764 -0.5426997 -0.11182838] [ 0.64871464 0.75619923 -0.08562735 -5.44038501] [ 0.46017606 -0.30015496 0.83555071 -4.30198158] [ 0. 0. 0. 1. ]] SLAMing on 152.418241008 meters Centerline goodness [0,1] 0.9189013136467268 Centerline is valid? [False, False] Translation: X:-0.15, Y:-5.48, Z:-4.33 [[ 0.60582063 -0.58221653 -0.54222254 -0.14810257] [ 0.65031232 0.75499769 -0.08409743 -5.47627087] [ 0.45833968 -0.30166604 0.83601576 -4.33012054] [ 0. 0. 0. 1. ]] SLAMing on 152.448241008 meters Centerline goodness [0,1] 0.921211465071589 Centerline is valid? [False, False] Translation: X:-0.18, Y:-5.51, Z:-4.36 [[ 0.60534976 -0.58375137 -0.54109703 -0.18451797] [ 0.65208 0.75354512 -0.08343518 -5.51239644] [ 0.45644643 -0.30233109 0.83681095 -4.35902635] [ 0. 0. 0. 1. ]] SLAMing on 152.478241008 meters Centerline goodness [0,1] 0.9211340206185568 Centerline is valid? [False, False] Translation: X:-0.22, Y:-5.55, Z:-4.39 [[ 0.60490943 -0.58483122 -0.540423 -0.22095054] [ 0.65382157 0.75217646 -0.08214573 -5.54917304] [ 0.45453485 -0.30364949 0.83737391 -4.3868244 ] [ 0. 0. 0. 1. ]] SLAMing on 152.508241008 meters Centerline goodness [0,1] 0.9207007837713233 Centerline is valid? [False, False] Translation: X:-0.26, Y:-5.59, Z:-4.42 [[ 0.60508922 -0.58673787 -0.53815027 -0.25985695] [ 0.65558742 0.75072253 -0.08136845 -5.58848804] [ 0.45174349 -0.30356937 0.83891207 -4.41678745] [ 0. 0. 0. 1. ]] SLAMing on 152.538241008 meters Centerline goodness [0,1] 0.9190609006471878 Centerline is valid? [False, False] Translation: X:-0.30, Y:-5.63, Z:-4.45 [[ 0.60452276 -0.588557 -0.53679875 -0.29877742] [ 0.65682104 0.74955885 -0.08214408 -5.62824683] [ 0.45070873 -0.30292275 0.839702 -4.44670245] [ 0. 0. 0. 1. ]] SLAMing on 152.568241008 meters Centerline goodness [0,1] 0.9208028207214538 Centerline is valid? [False, False] Translation: X:-0.30, Y:-5.64, Z:-4.44 [[ 0.60159567 -0.5806746 -0.54854321 -0.3043905 ] [ 0.65645036 0.75066221 -0.07469382 -5.63820313] [ 0.45514346 -0.31515591 0.83277919 -4.44185655] [ 0. 0. 0. 1. ]] SLAMing on 152.598241008 meters Centerline goodness [0,1] 0.9189503270093509 Centerline is valid? [False, False] Translation: X:-0.34, Y:-5.68, Z:-4.47 [[ 0.60160192 -0.58280027 -0.54627738 -0.34273651] [ 0.65742332 0.74969757 -0.07581645 -5.67621903] [ 0.45372868 -0.31352416 0.83416598 -4.47413812] [ 0. 0. 0. 1. ]] SLAMing on 152.628241008 meters Centerline goodness [0,1] 0.9198767334360555 Centerline is valid? [False, False] Translation: X:-0.39, Y:-5.72, Z:-4.51 [[ 0.60204879 -0.58639634 -0.54191935 -0.38509484] [ 0.65761748 0.74909341 -0.07998943 -5.7193938 ] [ 0.45285373 -0.3082181 0.83661527 -4.51045091] [ 0. 0. 0. 1. ]] SLAMing on 152.658241008 meters Centerline goodness [0,1] 0.924711154302991 Centerline is valid? [False, False] Translation: X:-0.41, Y:-5.74, Z:-4.53 [[ 0.60262501 -0.58963687 -0.53774665 -0.40956743] [ 0.65706673 0.74902877 -0.08496593 -5.74398899] [ 0.45288676 -0.30213284 0.83881424 -4.53322775] [ 0. 0. 0. 1. ]] SLAMing on 152.688241008 meters Centerline goodness [0,1] 0.9202734711455641 Centerline is valid? [False, False] Translation: X:-0.45, Y:-5.79, Z:-4.57 [[ 0.60367229 -0.59045753 -0.5356675 -0.4517868 ] [ 0.6557129 0.74990532 -0.08765051 -5.78665426] [ 0.45345381 -0.29833191 0.83986768 -4.56842166] [ 0. 0. 0. 1. ]] SLAMing on 152.718241008 meters Centerline goodness [0,1] 0.9206366247081242 Centerline is valid? [False, False] Translation: X:-0.49, Y:-5.82, Z:-4.60 [[ 0.60423052 -0.59018579 -0.53533747 -0.48880317] [ 0.65587262 0.74990403 -0.08645845 -5.82482877] [ 0.45247827 -0.29887236 0.8402016 -4.5976959 ] [ 0. 0. 0. 1. ]] SLAMing on 152.748241008 meters Centerline goodness [0,1] 0.9184318346142517 Centerline is valid? [False, False] Translation: X:-0.51, Y:-5.85, Z:-4.62 [[ 0.60546319 -0.59193769 -0.5320001 -0.51207383] [ 0.65509602 0.75025826 -0.08922858 -5.84808247] [ 0.45195523 -0.29448653 0.84202978 -4.61871938] [ 0. 0. 0. 1. ]] SLAMing on 152.778241008 meters Centerline goodness [0,1] 0.9204885610434039 Centerline is valid? [False, False] Translation: X:-0.54, Y:-5.87, Z:-4.64 [[ 0.60711797 -0.5942154 -0.52755647 -0.53831005] [ 0.6538709 0.75084021 -0.09322991 -5.87466516] [ 0.45150926 -0.28835227 0.84438875 -4.64170981] [ 0. 0. 0. 1. ]] SLAMing on 152.808241008 meters Centerline goodness [0,1] 0.9192423797184303 Centerline is valid? [False, False] Translation: X:-0.58, Y:-5.92, Z:-4.67 [[ 0.60957942 -0.59215094 -0.52703908 -0.57939165] [ 0.65214888 0.75257674 -0.0912693 -5.91735447] [ 0.45068255 -0.28807206 0.84492587 -4.67249138] [ 0. 0. 0. 1. ]] SLAMing on 152.838241008 meters Centerline goodness [0,1] 0.9147375720076808 Centerline is valid? [False, False] Translation: X:-0.60, Y:-5.94, Z:-4.69 [[ 0.61092766 -0.59365177 -0.52377951 -0.60362179] [ 0.65121145 0.75305798 -0.09395387 -5.94129553] [ 0.45021222 -0.2836922 0.84665678 -4.69366531] [ 0. 0. 0. 1. ]] SLAMing on 152.868241008 meters Centerline goodness [0,1] 0.9160150516399349 Centerline is valid? [False, False] Translation: X:-0.64, Y:-5.98, Z:-4.72 [[ 0.61166744 -0.5935696 -0.52300867 -0.64299526] [ 0.65114397 0.75319866 -0.0932915 -5.98331417] [ 0.44930443 -0.28349057 0.84720637 -4.72289654] [ 0. 0. 0. 1. ]] SLAMing on 152.898241008 meters Centerline goodness [0,1] 0.9138709936111631 Centerline is valid? [False, False] Translation: X:-0.68, Y:-6.03, Z:-4.75 [[ 0.61220261 -0.59476284 -0.52102315 -0.68236024] [ 0.65162997 0.75273902 -0.09360743 -6.02537238] [ 0.44786868 -0.28220759 0.84839408 -4.75375911] [ 0. 0. 0. 1. ]] SLAMing on 152.92824100800001 meters Centerline goodness [0,1] 0.9153899535578924 Centerline is valid? [False, False] Translation: X:-0.71, Y:-6.05, Z:-4.78 [[ 0.61426805 -0.59647322 -0.5166183 -0.71043224] [ 0.64965209 0.75389191 -0.09797526 -6.05468574] [ 0.44791398 -0.27543908 0.85059178 -4.77663228] [ 0. 0. 0. 1. ]] SLAMing on 152.95824100800002 meters Centerline goodness [0,1] 0.9124157844080847 Centerline is valid? [False, False] Translation: X:-0.75, Y:-6.09, Z:-4.80 [[ 0.6146721 -0.5958918 -0.51680865 -0.74729509] [ 0.6506887 0.75340512 -0.09478894 -6.09340803] [ 0.44585024 -0.27801743 0.85083716 -4.80276267] [ 0. 0. 0. 1. ]] SLAMing on 152.988241008 meters Centerline goodness [0,1] 0.9140821011050019 Centerline is valid? [False, False] Translation: X:-0.78, Y:-6.13, Z:-4.83 [[ 0.61501544 -0.59595382 -0.51632843 -0.78488019] [ 0.65142929 0.75296944 -0.09314989 -6.13386021] [ 0.44429257 -0.27906284 0.85130961 -4.83036909] [ 0. 0. 0. 1. ]] SLAMing on 153.018241008 meters Centerline goodness [0,1] 0.9130202346903318 Centerline is valid? [False, False] Translation: X:-0.82, Y:-6.17, Z:-4.86 [[ 0.61508691 -0.59613894 -0.51602952 -0.82177059] [ 0.65235205 0.75236254 -0.09158275 -6.17438258] [ 0.44283732 -0.28030157 0.85166081 -4.85749452] [ 0. 0. 0. 1. ]] SLAMing on 153.048241008 meters Centerline goodness [0,1] 0.9180191761744068 Centerline is valid? [False, False] Translation: X:-0.86, Y:-6.21, Z:-4.88 [[ 0.61426233 -0.59725774 -0.51571793 -0.85619649] [ 0.65469239 0.75058246 -0.08946422 -6.21416522] [ 0.44052202 -0.2826821 0.85207463 -4.88296791] [ 0. 0. 0. 1. ]] SLAMing on 153.078241008 meters Centerline goodness [0,1] 0.9180191761744068 Centerline is valid? [False, False] Translation: X:-0.89, Y:-6.25, Z:-4.91 [[ 0.61372637 -0.59857885 -0.51482356 -0.89240824] [ 0.65637141 0.74921333 -0.08863388 -6.25214747] [ 0.43876704 -0.28351852 0.85270202 -4.91049753] [ 0. 0. 0. 1. ]] SLAMing on 153.108241008 meters Centerline goodness [0,1] 0.9204353988927817 Centerline is valid? [False, False] Translation: X:-0.91, Y:-6.28, Z:-4.93 [[ 0.61297094 -0.60225347 -0.51142682 -0.91383169] [ 0.65744408 0.74779009 -0.09261356 -6.27557119] [ 0.43821674 -0.27946511 0.85432157 -4.92971888] [ 0. 0. 0. 1. ]] SLAMing on 153.138241008 meters Centerline goodness [0,1] 0.9187575635336829 Centerline is valid? [False, False] Translation: X:-0.95, Y:-6.32, Z:-4.96 [[ 0.61192713 -0.6044499 -0.51008382 -0.95000174] [ 0.65972302 0.74581343 -0.09234647 -6.3165386 ] [ 0.43624618 -0.28000472 0.85515298 -4.95666874] [ 0. 0. 0. 1. ]] SLAMing on 153.168241008 meters Centerline goodness [0,1] 0.9213461902060881 Centerline is valid? [False, False] Translation: X:-0.97, Y:-6.34, Z:-4.97 [[ 0.6102336 -0.60733674 -0.50868167 -0.96943404] [ 0.66105154 0.74423209 -0.09554821 -6.34028161] [ 0.43660716 -0.27795807 0.85563631 -4.97204163] [ 0. 0. 0. 1. ]] SLAMing on 153.198241008 meters Centerline goodness [0,1] 0.9254641550345575 Centerline is valid? [False, False] Translation: X:-1.00, Y:-6.38, Z:-5.00 [[ 0.60746596 -0.61171198 -0.50674803 -1.00220659] [ 0.66525343 0.74038525 -0.09626819 -6.37889292] [ 0.43407717 -0.27863621 0.85670233 -4.99871834] [ 0. 0. 0. 1. ]] SLAMing on 153.228241008 meters Centerline goodness [0,1] 0.9229367281431914 Centerline is valid? [False, False] Translation: X:-1.04, Y:-6.42, Z:-5.03 [[ 0.60622806 -0.61388413 -0.50560243 -1.04058311] [ 0.66688517 0.73877031 -0.09737862 -6.42157022] [ 0.43330325 -0.27814511 0.85725352 -5.0264931 ] [ 0. 0. 0. 1. ]] SLAMing on 153.258241008 meters Centerline goodness [0,1] 0.920966420966421 Centerline is valid? [False, False] Translation: X:-1.08, Y:-6.47, Z:-5.06 [[ 0.60554945 -0.61603204 -0.50379995 -1.08156666] [ 0.6676276 0.73779141 -0.09968564 -6.46733846] [ 0.43310882 -0.27598617 0.85804917 -5.05610504] [ 0. 0. 0. 1. ]] SLAMing on 153.288241008 meters Centerline goodness [0,1] 0.9220960078641254 Centerline is valid? [False, False] Translation: X:-1.12, Y:-6.51, Z:-5.08 [[ 0.60471946 -0.6180431 -0.50233166 -1.11956544] [ 0.66903919 0.73638645 -0.10060593 -6.51007877] [ 0.43208903 -0.2752412 0.85880228 -5.08446645] [ 0. 0. 0. 1. ]] SLAMing on 153.318241008 meters Centerline goodness [0,1] 0.9213072398438789 Centerline is valid? [False, False] Translation: X:-1.16, Y:-6.56, Z:-5.11 [[ 0.60279357 -0.62094317 -0.50106835 -1.15851238] [ 0.67006652 0.73489336 -0.10460692 -6.5559897 ] [ 0.43318676 -0.27269275 0.85906222 -5.11414712] [ 0. 0. 0. 1. ]] SLAMing on 153.348241008 meters Centerline goodness [0,1] 0.9221349733677447 Centerline is valid? [False, False] Translation: X:-1.19, Y:-6.60, Z:-5.14 [[ 0.60152244 -0.62228491 -0.50093138 -1.19418072] [ 0.67222266 0.73308343 -0.10346675 -6.59540683] [ 0.43161029 -0.27449985 0.85928016 -5.13966615] [ 0. 0. 0. 1. ]] SLAMing on 153.378241008 meters Centerline goodness [0,1] 0.9208002645502645 Centerline is valid? [False, False] Translation: X:-1.23, Y:-6.64, Z:-5.17 [[ 0.60049587 -0.62413775 -0.49985676 -1.23445915] [ 0.67306049 0.73202927 -0.10546433 -6.6401779 ] [ 0.43173405 -0.27310294 0.85966301 -5.16829839] [ 0. 0. 0. 1. ]] SLAMing on 153.408241008 meters Centerline goodness [0,1] 0.9206533454937401 Centerline is valid? [False, False] Translation: X:-1.27, Y:-6.68, Z:-5.19 [[ 0.5996048 -0.62494705 -0.49991526 -1.27315168] [ 0.67408129 0.73109268 -0.10544154 -6.68394449] [ 0.43137976 -0.27376027 0.85963179 -5.19445888] [ 0. 0. 0. 1. ]] SLAMing on 153.438241008 meters Centerline goodness [0,1] 0.9233237441911928 Centerline is valid? [False, False] Translation: X:-1.30, Y:-6.72, Z:-5.22 [[ 0.59786244 -0.6263692 -0.50022208 -1.30450902] [ 0.67722619 0.72854957 -0.10286014 -6.72167844] [ 0.42886501 -0.27726728 0.85976605 -5.21796258] [ 0. 0. 0. 1. ]] SLAMing on 153.468241008 meters Centerline goodness [0,1] 0.9215420003879944 Centerline is valid? [False, False] Translation: X:-1.33, Y:-6.75, Z:-5.24 [[ 0.59709584 -0.62905201 -0.49776513 -1.32540614] [ 0.67775475 0.72754418 -0.10643291 -6.74511704] [ 0.42909796 -0.27381204 0.86075659 -5.23625906] [ 0. 0. 0. 1. ]] SLAMing on 153.498241008 meters Centerline goodness [0,1] 0.9168380677080438 Centerline is valid? [False, False] Translation: X:-1.36, Y:-6.79, Z:-5.26 [[ 0.59597142 -0.63094778 -0.49671216 -1.36189708] [ 0.67969112 0.7257459 -0.10636197 -6.78577829] [ 0.42759566 -0.27422214 0.86137342 -5.26332353] [ 0. 0. 0. 1. ]] SLAMing on 153.528241008 meters Centerline goodness [0,1] 0.9204390339025545 Centerline is valid? [False, False] Translation: X:-1.38, Y:-6.81, Z:-5.28 [[ 0.59518792 -0.63332341 -0.49462389 -1.38218885] [ 0.67991011 0.72497873 -0.11012754 -6.81237549] [ 0.42833815 -0.2707532 0.86210158 -5.28061119] [ 0. 0. 0. 1. ]] SLAMing on 153.558241008 meters Centerline goodness [0,1] 0.9212653288740246 Centerline is valid? [False, False] Translation: X:-1.41, Y:-6.84, Z:-5.30 [[ 0.59519963 -0.63500471 -0.49244941 -1.40604955] [ 0.67870654 0.72534906 -0.11500509 -6.83928913] [ 0.43022649 -0.26577765 0.86270934 -5.30051995] [ 0. 0. 0. 1. ]] SLAMing on 153.588241008 meters Centerline goodness [0,1] 0.9215965588514609 Centerline is valid? [False, False] Translation: X:-1.43, Y:-6.86, Z:-5.32 [[ 0.59540705 -0.63520957 -0.49193418 -1.426091 ] [ 0.67808232 0.72571514 -0.11636965 -6.86208899] [ 0.4309232 -0.26428456 0.8628203 -5.31704553] [ 0. 0. 0. 1. ]] SLAMing on 153.618241008 meters Centerline goodness [0,1] 0.9189158951696361 Centerline is valid? [False, False] Translation: X:-1.46, Y:-6.89, Z:-5.34 [[ 0.59481069 -0.63503375 -0.49288171 -1.45508856] [ 0.67508561 0.72748116 -0.12259929 -6.89396968] [ 0.43641685 -0.25981398 0.86141571 -5.33535573] [ 0. 0. 0. 1. ]] SLAMing on 153.648241008 meters Centerline goodness [0,1] 0.9221528380611016 Centerline is valid? [False, False] Translation: X:-1.50, Y:-6.94, Z:-5.36 [[ 0.59724683 -0.63211445 -0.4936877 -1.49594119] [ 0.6727511 0.7299489 -0.12074999 -6.94273135] [ 0.43669461 -0.26001139 0.86121536 -5.36414409] [ 0. 0. 0. 1. ]] SLAMing on 153.67824100800001 meters Centerline goodness [0,1] 0.9208506600429796 Centerline is valid? [False, False] Translation: X:-1.53, Y:-6.99, Z:-5.39 [[ 0.59836048 -0.63097948 -0.49379109 -1.53473782] [ 0.6719578 0.73085944 -0.11965448 -6.98656781] [ 0.4363914 -0.26021026 0.86130898 -5.39282552] [ 0. 0. 0. 1. ]] SLAMing on 153.70824100800002 meters Centerline goodness [0,1] 0.9221094994550181 Centerline is valid? [False, False] Translation: X:-1.58, Y:-7.03, Z:-5.42 [[ 0.60030916 -0.62981328 -0.49291394 -1.57728272] [ 0.67058917 0.73223692 -0.11890861 -7.0346201 ] [ 0.43582 -0.25916082 0.86191449 -5.42323475] [ 0. 0. 0. 1. ]] SLAMing on 153.738241008 meters Centerline goodness [0,1] 0.9231888518901978 Centerline is valid? [False, False] Translation: X:-1.61, Y:-7.07, Z:-5.45 [[ 0.60225499 -0.63108397 -0.4888987 -1.60667791] [ 0.66803812 0.73369778 -0.12414763 -7.06671895] [ 0.43705147 -0.25183444 0.8634613 -5.44654491] [ 0. 0. 0. 1. ]] SLAMing on 153.768241008 meters Centerline goodness [0,1] 0.9254839342241645 Centerline is valid? [False, False] Translation: X:-1.64, Y:-7.10, Z:-5.47 [[ 0.6057446 -0.62947931 -0.48665108 -1.63822483] [ 0.66386683 0.736994 -0.1269672 -7.1026803 ] [ 0.43858215 -0.24616181 0.86432058 -5.46746437] [ 0. 0. 0. 1. ]] SLAMing on 153.798241008 meters Centerline goodness [0,1] 0.9271119072944074 Centerline is valid? [False, False] Translation: X:-1.66, Y:-7.13, Z:-5.48 [[ 0.60723009 -0.62731111 -0.4875986 -1.66117216] [ 0.66165466 0.7390138 -0.12677426 -7.12890217] [ 0.439869 -0.24564074 0.86381473 -5.48265843] [ 0. 0. 0. 1. ]] SLAMing on 153.828241008 meters Centerline goodness [0,1] 0.925186962830673 Centerline is valid? [False, False] Translation: X:-1.69, Y:-7.16, Z:-5.50 [[ 0.60858379 -0.62489188 -0.48901524 -1.68779815] [ 0.65812776 0.74179635 -0.12886436 -7.15886204] [ 0.44327601 -0.24340975 0.86270393 -5.49897877] [ 0. 0. 0. 1. ]] SLAMing on 153.858241008 meters Centerline goodness [0,1] 0.9242373355723481 Centerline is valid? [False, False] Translation: X:-1.69, Y:-7.16, Z:-5.50 [[ 0.60980639 -0.62310769 -0.48976828 -1.68820523] [ 0.65668426 0.74323316 -0.1279463 -7.16125954] [ 0.44373635 -0.24360066 0.86241334 -5.49780778] [ 0. 0. 0. 1. ]] SLAMing on 153.888241008 meters Centerline goodness [0,1] 0.9238420801927765 Centerline is valid? [False, False] Translation: X:-1.69, Y:-7.16, Z:-5.50 [[ 0.61003921 -0.62259864 -0.4901256 -1.68751766] [ 0.65621106 0.74365909 -0.12789918 -7.16196722] [ 0.44411621 -0.24360232 0.86221731 -5.49721425] [ 0. 0. 0. 1. ]] SLAMing on 153.918241008 meters Centerline goodness [0,1] 0.9216668532407926 Centerline is valid? [False, False] Translation: X:-1.69, Y:-7.16, Z:-5.50 [[ 0.60865728 -0.62609249 -0.48738538 -1.68906524] [ 0.65801884 0.74154721 -0.13083936 -7.16141542] [ 0.44333681 -0.24107243 0.86332876 -5.49898296] [ 0. 0. 0. 1. ]] SLAMing on 153.948241008 meters Centerline goodness [0,1] 0.9229817854733529 Centerline is valid? [False, False] Translation: X:-1.70, Y:-7.18, Z:-5.51 [[ 0.60699889 -0.62422416 -0.49182979 -1.70499909] [ 0.65793549 0.74184851 -0.12954412 -7.1825476 ] [ 0.44572777 -0.24495914 0.86100045 -5.5067591 ] [ 0. 0. 0. 1. ]] SLAMing on 153.978241008 meters Centerline goodness [0,1] 0.9253701763823221 Centerline is valid? [False, False] Translation: X:-1.72, Y:-7.20, Z:-5.52 [[ 0.603542 -0.62584919 -0.49401402 -1.7197802 ] [ 0.65970772 0.73994 -0.13143256 -7.2034355 ] [ 0.44779769 -0.2465798 0.85946241 -5.51713407] [ 0. 0. 0. 1. ]] SLAMing on 154.008241008 meters Centerline goodness [0,1] 0.925999208547685 Centerline is valid? [False, False] Translation: X:-1.73, Y:-7.22, Z:-5.53 [[ 0.60030614 -0.62606711 -0.49766707 -1.73406152] [ 0.66089935 0.73874873 -0.13214526 -7.2228929 ] [ 0.45038272 -0.24958023 0.85724274 -5.5259902 ] [ 0. 0. 0. 1. ]] SLAMing on 154.038241008 meters Centerline goodness [0,1] 0.9269276663446787 Centerline is valid? [False, False] Translation: X:-1.75, Y:-7.24, Z:-5.53 [[ 0.59611956 -0.62726086 -0.50118389 -1.74686462] [ 0.66317395 0.73654695 -0.13303722 -7.23993659] [ 0.4525945 -0.25306601 0.8550531 -5.53416538] [ 0. 0. 0. 1. ]] SLAMing on 154.068241008 meters Centerline goodness [0,1] 0.9269823160296634 Centerline is valid? [False, False] Translation: X:-1.78, Y:-7.28, Z:-5.56 [[ 0.59315837 -0.62802887 -0.50372899 -1.77730784] [ 0.66696474 0.7337586 -0.12944632 -7.27677601] [ 0.4509115 -0.2591873 0.85410817 -5.5551556 ] [ 0. 0. 0. 1. ]] SLAMing on 154.098241008 meters Centerline goodness [0,1] 0.9259727934198039 Centerline is valid? [False, False] Translation: X:-1.79, Y:-7.30, Z:-5.57 [[ 0.58793793 -0.63321586 -0.50335541 -1.79351492] [ 0.67056403 0.72955244 -0.13452552 -7.29985247] [ 0.45240786 -0.25843938 0.85354333 -5.56679599] [ 0. 0. 0. 1. ]] SLAMing on 154.128241008 meters Centerline goodness [0,1] 0.9256317273930812 Centerline is valid? [False, False] Translation: X:-1.82, Y:-7.33, Z:-5.59 [[ 0.58774467 -0.63627318 -0.49971256 -1.81827206] [ 0.67122698 0.72831635 -0.13787543 -7.32594507] [ 0.45167527 -0.254385 0.85514778 -5.58625659] [ 0. 0. 0. 1. ]] SLAMing on 154.158241008 meters Centerline goodness [0,1] 0.9237586605080832 Centerline is valid? [False, False] Translation: X:-1.84, Y:-7.35, Z:-5.60 [[ 0.58650652 -0.63801442 -0.4989466 -1.84054009] [ 0.67154098 0.72746082 -0.14083136 -7.35066941] [ 0.45281654 -0.25246458 0.85511334 -5.60229982] [ 0. 0. 0. 1. ]] SLAMing on 154.188241008 meters Centerline goodness [0,1] 0.9217637050494564 Centerline is valid? [False, False] Translation: X:-1.88, Y:-7.39, Z:-5.63 [[ 0.58557785 -0.63722178 -0.50104589 -1.87548428] [ 0.67320826 0.72659669 -0.13728762 -7.39037715] [ 0.45154095 -0.25691565 0.85446189 -5.62613206] [ 0. 0. 0. 1. ]] SLAMing on 154.218241008 meters Centerline goodness [0,1] 0.9166114583633378 Centerline is valid? [False, False] Translation: X:-1.91, Y:-7.43, Z:-5.65 [[ 0.58313374 -0.63767229 -0.50331807 -1.90946845] [ 0.67596577 0.72450905 -0.13474759 -7.4271722 ] [ 0.45058331 -0.26164992 0.85353032 -5.64922704] [ 0. 0. 0. 1. ]] SLAMing on 154.248241008 meters Centerline goodness [0,1] 0.9173408573978638 Centerline is valid? [False, False] Translation: X:-1.93, Y:-7.45, Z:-5.66 [[ 0.58174725 -0.63674522 -0.50608859 -1.92811809] [ 0.67546289 0.7248337 -0.13552117 -7.44828792] [ 0.45312252 -0.26300499 0.85176778 -5.66146378] [ 0. 0. 0. 1. ]] SLAMing on 154.278241008 meters Centerline goodness [0,1] 0.915882471438027 Centerline is valid? [False, False] Translation: X:-1.96, Y:-7.49, Z:-5.69 [[ 0.58100278 -0.63577734 -0.50815641 -1.96376186] [ 0.67654828 0.72433965 -0.13271957 -7.486435 ] [ 0.45245794 -0.26668191 0.85097742 -5.68655825] [ 0. 0. 0. 1. ]] SLAMing on 154.308241008 meters Centerline goodness [0,1] 0.9145304057937694 Centerline is valid? [False, False] Translation: X:-1.99, Y:-7.51, Z:-5.70 [[ 0.58033732 -0.63480062 -0.51013406 -1.98610074] [ 0.67481262 0.72551146 -0.13513346 -7.51059105] [ 0.45589091 -0.26582191 0.84941285 -5.70145562] [ 0. 0. 0. 1. ]] SLAMing on 154.338241008 meters Centerline goodness [0,1] 0.9199040904290241 Centerline is valid? [False, False] Translation: X:-2.00, Y:-7.53, Z:-5.71 [[ 0.58058572 -0.63115 -0.51436359 -2.00450439] [ 0.67324538 0.72742148 -0.13265988 -7.52891586] [ 0.45788741 -0.26927248 0.84724935 -5.71195638] [ 0. 0. 0. 1. ]] SLAMing on 154.368241008 meters Centerline goodness [0,1] 0.9192378785724442 Centerline is valid? [False, False] Translation: X:-2.03, Y:-7.55, Z:-5.73 [[ 0.58081169 -0.62964822 -0.5159466 -2.02622644] [ 0.67149136 0.72887195 -0.13358531 -7.55174369] [ 0.46017076 -0.26886578 0.84614069 -5.7273109 ] [ 0. 0. 0. 1. ]] SLAMing on 154.398241008 meters Centerline goodness [0,1] 0.9185035791387343 Centerline is valid? [False, False] Translation: X:-2.07, Y:-7.59, Z:-5.76 [[ 0.58147628 -0.62729674 -0.51805805 -2.06544004] [ 0.67040595 0.73021102 -0.13171079 -7.59441644] [ 0.46091344 -0.2707225 0.84514385 -5.75526692] [ 0. 0. 0. 1. ]] SLAMing on 154.42824100800001 meters Centerline goodness [0,1] 0.9206870207407827 Centerline is valid? [False, False] Translation: X:-2.10, Y:-7.63, Z:-5.78 [[ 0.58200834 -0.6248222 -0.52044549 -2.10099151] [ 0.66994918 0.73117995 -0.12862339 -7.63135211] [ 0.46090606 -0.27381214 0.84415195 -5.78211718] [ 0. 0. 0. 1. ]] SLAMing on 154.45824100800002 meters Centerline goodness [0,1] 0.9189938601703308 Centerline is valid? [False, False] Translation: X:-2.14, Y:-7.67, Z:-5.81 [[ 0.58273046 -0.62292679 -0.52190749 -2.14106215] [ 0.66893623 0.73235332 -0.12721217 -7.67477131] [ 0.46146455 -0.27499242 0.84346289 -5.81065615] [ 0. 0. 0. 1. ]] SLAMing on 154.488241008 meters Centerline goodness [0,1] 0.9210993657505285 Centerline is valid? [False, False] Translation: X:-2.17, Y:-7.70, Z:-5.83 [[ 0.58320645 -0.62187746 -0.5226267 -2.16569876] [ 0.66639265 0.73418478 -0.12997513 -7.70145752] [ 0.46453317 -0.27247226 0.84259587 -5.82844875] [ 0. 0. 0. 1. ]] SLAMing on 154.518241008 meters Centerline goodness [0,1] 0.922030748437236 Centerline is valid? [False, False] Translation: X:-2.20, Y:-7.74, Z:-5.85 [[ 0.58394182 -0.61951039 -0.52461303 -2.20248053] [ 0.66653013 0.73478781 -0.12579531 -7.74192675] [ 0.46341076 -0.27621325 0.84199567 -5.85440361] [ 0. 0. 0. 1. ]] SLAMing on 154.548241008 meters Centerline goodness [0,1] 0.9215476759553468 Centerline is valid? [False, False] Translation: X:-2.24, Y:-7.79, Z:-5.89 [[ 0.58515673 -0.618406 -0.52456231 -2.24373638] [ 0.66582533 0.73564468 -0.12451317 -7.78596589] [ 0.46289116 -0.27640716 0.84221782 -5.88531047] [ 0. 0. 0. 1. ]] SLAMing on 154.578241008 meters Centerline goodness [0,1] 0.9217606664415176 Centerline is valid? [False, False] Translation: X:-2.28, Y:-7.82, Z:-5.91 [[ 0.58508437 -0.61690245 -0.52641015 -2.27841171] [ 0.66690745 0.73533298 -0.12049841 -7.82409514] [ 0.46142251 -0.28056511 0.84164867 -5.91012385] [ 0. 0. 0. 1. ]] SLAMing on 154.608241008 meters Centerline goodness [0,1] 0.9205661386082895 Centerline is valid? [False, False] Translation: X:-2.32, Y:-7.87, Z:-5.94 [[ 0.58528614 -0.61709014 -0.52596568 -2.31663611] [ 0.66763326 0.73487568 -0.11926261 -7.86577111] [ 0.46011517 -0.28134943 0.84210245 -5.93972383] [ 0. 0. 0. 1. ]] SLAMing on 154.638241008 meters Centerline goodness [0,1] 0.9207742516317803 Centerline is valid? [False, False] Translation: X:-2.35, Y:-7.91, Z:-5.97 [[ 0.58548188 -0.61625608 -0.52672518 -2.3547394 ] [ 0.66805818 0.73482902 -0.11715196 -7.90822569] [ 0.45924855 -0.28329272 0.84192399 -5.96707403] [ 0. 0. 0. 1. ]] SLAMing on 154.668241008 meters Centerline goodness [0,1] 0.9208882134414049 Centerline is valid? [False, False] Translation: X:-2.39, Y:-7.95, Z:-5.99 [[ 0.58549578 -0.61583845 -0.52719797 -2.39206384] [ 0.66882537 0.73444755 -0.11514955 -7.94974966] [ 0.45811278 -0.2851838 0.84190432 -5.99458522] [ 0. 0. 0. 1. ]] SLAMing on 154.698241008 meters Centerline goodness [0,1] 0.922598014470806 Centerline is valid? [False, False] Translation: X:-2.43, Y:-7.99, Z:-6.02 [[ 0.58453848 -0.61681112 -0.52712314 -2.4269964 ] [ 0.67063488 0.7329745 -0.11400549 -7.98720539] [ 0.45668767 -0.28686657 0.84210685 -6.02215175] [ 0. 0. 0. 1. ]] SLAMing on 154.728241008 meters Centerline goodness [0,1] 0.9240474317185569 Centerline is valid? [False, False] Translation: X:-2.45, Y:-8.01, Z:-6.04 [[ 0.58403301 -0.61733593 -0.52706906 -2.45000537] [ 0.66938122 0.73357174 -0.11747885 -8.01138609] [ 0.45916688 -0.2841986 0.84166319 -6.03996204] [ 0. 0. 0. 1. ]] SLAMing on 154.758241008 meters Centerline goodness [0,1] 0.9195840457437565 Centerline is valid? [False, False] Translation: X:-2.48, Y:-8.04, Z:-6.06 [[ 0.5852478 -0.61702326 -0.52608679 -2.47534965] [ 0.66683184 0.735374 -0.12066639 -8.03815726] [ 0.46132452 -0.28019168 0.84182677 -6.06047197] [ 0. 0. 0. 1. ]] SLAMing on 154.788241008 meters Centerline goodness [0,1] 0.9208289054197663 Centerline is valid? [False, False] Translation: X:-2.52, Y:-8.08, Z:-6.09 [[ 0.58620071 -0.6166955 -0.52540973 -2.51508642] [ 0.66699943 0.73547898 -0.11909 -8.08205131] [ 0.45987008 -0.28063735 0.84247385 -6.09004198] [ 0. 0. 0. 1. ]] SLAMing on 154.818241008 meters Centerline goodness [0,1] 0.9211810228802153 Centerline is valid? [False, False] Translation: X:-2.54, Y:-8.11, Z:-6.11 [[ 0.58725859 -0.61870692 -0.52185161 -2.54091995] [ 0.66611382 0.73569801 -0.12264097 -8.10901066] [ 0.45980401 -0.2755906 0.84417421 -6.11170797] [ 0. 0. 0. 1. ]] SLAMing on 154.848241008 meters Centerline goodness [0,1] 0.9226903966538472 Centerline is valid? [False, False] Translation: X:-2.58, Y:-8.15, Z:-6.14 [[ 0.58807777 -0.61732306 -0.52256749 -2.58135136] [ 0.66552547 0.73648909 -0.12107712 -8.15368153] [ 0.45960895 -0.27657921 0.84395708 -6.14057902] [ 0. 0. 0. 1. ]] SLAMing on 154.878241008 meters Centerline goodness [0,1] 0.9226083539187064 Centerline is valid? [False, False] Translation: X:-2.60, Y:-8.18, Z:-6.16 [[ 0.58913602 -0.61665889 -0.52215952 -2.6036752 ] [ 0.66409714 0.73764745 -0.12186565 -8.17751113] [ 0.46031917 -0.2749692 0.84409609 -6.15830341] [ 0. 0. 0. 1. ]] SLAMing on 154.908241008 meters Centerline goodness [0,1] 0.9214888782923341 Centerline is valid? [False, False] Translation: X:-2.62, Y:-8.20, Z:-6.17 [[ 0.58805656 -0.6156078 -0.52461082 -2.62193861] [ 0.66360366 0.73803696 -0.12219501 -8.19879645] [ 0.46240638 -0.27627608 0.84252707 -6.1703409 ] [ 0. 0. 0. 1. ]] SLAMing on 154.938241008 meters Centerline goodness [0,1] 0.9212388386589543 Centerline is valid? [False, False] Translation: X:-2.64, Y:-8.22, Z:-6.19 [[ 0.58777179 -0.615705 -0.52481585 -2.64182645] [ 0.66334963 0.73812609 -0.12303311 -8.22180423] [ 0.46313237 -0.27582101 0.84227738 -6.18565878] [ 0. 0. 0. 1. ]] SLAMing on 154.968241008 meters Centerline goodness [0,1] 0.9226994897100881 Centerline is valid? [False, False] Translation: X:-2.68, Y:-8.27, Z:-6.21 [[ 0.58813282 -0.61575094 -0.52435728 -2.67980866] [ 0.6642005 0.73765693 -0.12124336 -8.26570236] [ 0.4614515 -0.27697117 0.84282234 -6.2147051 ] [ 0. 0. 0. 1. ]] SLAMing on 154.998241008 meters Centerline goodness [0,1] 0.9226994897100881 Centerline is valid? [False, False] Translation: X:-2.71, Y:-8.30, Z:-6.24 [[ 0.58740033 -0.61519144 -0.52583301 -2.71473974] [ 0.66552829 0.73688105 -0.11865246 -8.30454142] [ 0.46047036 -0.28026025 0.84227148 -6.24019266] [ 0. 0. 0. 1. ]] SLAMing on 155.028241008 meters Centerline goodness [0,1] 0.9242160767375329 Centerline is valid? [False, False] Translation: X:-2.74, Y:-8.33, Z:-6.26 [[ 0.58725202 -0.61676343 -0.5241545 -2.7370338 ] [ 0.66502049 0.7368073 -0.12191285 -8.32981469] [ 0.46139225 -0.27697992 0.8428519 -6.25953562] [ 0. 0. 0. 1. ]] SLAMing on 155.058241008 meters Centerline goodness [0,1] 0.9242049668502079 Centerline is valid? [False, False] Translation: X:-2.77, Y:-8.37, Z:-6.29 [[ 0.58622058 -0.61713568 -0.52487045 -2.77279703] [ 0.66670953 0.73555791 -0.12022049 -8.36990877] [ 0.46026496 -0.2794604 0.84264942 -6.28582123] [ 0. 0. 0. 1. ]] SLAMing on 155.088241008 meters Centerline goodness [0,1] 0.9240938046113084 Centerline is valid? [False, False] Translation: X:-2.81, Y:-8.42, Z:-6.32 [[ 0.58544518 -0.61895582 -0.52359109 -2.81109381] [ 0.66801006 0.7342411 -0.12104778 -8.41559936] [ 0.45936533 -0.27889727 0.84332663 -6.31611958] [ 0. 0. 0. 1. ]] SLAMing on 155.118241008 meters Centerline goodness [0,1] 0.9216665256269216 Centerline is valid? [False, False] Translation: X:-2.85, Y:-8.46, Z:-6.34 [[ 0.58483044 -0.61954917 -0.52357634 -2.84704573] [ 0.66950578 0.73310634 -0.11965413 -8.45752638] [ 0.45796875 -0.28056001 0.84353465 -6.34367856] [ 0. 0. 0. 1. ]] SLAMing on 155.148241008 meters Centerline goodness [0,1] 0.9256088226121963 Centerline is valid? [False, False] Translation: X:-2.89, Y:-8.50, Z:-6.37 [[ 0.58411575 -0.62111044 -0.52252331 -2.88653118] [ 0.6701887 0.73222873 -0.12119485 -8.50261794] [ 0.45788197 -0.2793974 0.84396753 -6.37452183] [ 0. 0. 0. 1. ]] SLAMing on 155.17824100800001 meters Centerline goodness [0,1] 0.9220000565626856 Centerline is valid? [False, False] Translation: X:-2.92, Y:-8.54, Z:-6.40 [[ 0.58378964 -0.62158042 -0.52232886 -2.92310681] [ 0.67139357 0.7313362 -0.11990846 -8.54445614] [ 0.45653076 -0.28068692 0.84427159 -6.40284116] [ 0. 0. 0. 1. ]] SLAMing on 155.20824100800002 meters Centerline goodness [0,1] 0.9239219683456497 Centerline is valid? [False, False] Translation: X:-2.96, Y:-8.59, Z:-6.43 [[ 0.58355399 -0.62206178 -0.52201904 -2.96011939] [ 0.67247176 0.7305279 -0.11878858 -8.58690477] [ 0.45524331 -0.28172351 0.84462145 -6.43142167] [ 0. 0. 0. 1. ]] SLAMing on 155.238241008 meters Centerline goodness [0,1] 0.9225103793436842 Centerline is valid? [False, False] Translation: X:-2.98, Y:-8.62, Z:-6.45 [[ 0.58285921 -0.62389449 -0.52060619 -2.9848229 ] [ 0.67152175 0.73058465 -0.12371175 -8.61744813] [ 0.45752998 -0.27749185 0.84478672 -6.45039553] [ 0. 0. 0. 1. ]] SLAMing on 155.268241008 meters Centerline goodness [0,1] 0.9242847372620541 Centerline is valid? [False, False] Translation: X:-3.01, Y:-8.65, Z:-6.47 [[ 0.58161357 -0.62512443 -0.52052388 -3.00907573] [ 0.67012886 0.7309404 -0.12904818 -8.6455868 ] [ 0.4611431 -0.2737619 0.84403878 -6.46888568] [ 0. 0. 0. 1. ]] SLAMing on 155.298241008 meters Centerline goodness [0,1] 0.9223572365793827 Centerline is valid? [False, False] Translation: X:-3.03, Y:-8.67, Z:-6.49 [[ 0.58060497 -0.62507867 -0.52170349 -3.03152276] [ 0.66842446 0.73180629 -0.13292213 -8.67270459] [ 0.46487268 -0.27154413 0.84270824 -6.48545261] [ 0. 0. 0. 1. ]] SLAMing on 155.328241008 meters Centerline goodness [0,1] 0.9235378031383737 Centerline is valid? [False, False] Translation: X:-3.07, Y:-8.71, Z:-6.51 [[ 0.58062854 -0.62332706 -0.52376891 -3.06638889] [ 0.66894945 0.73194046 -0.12949825 -8.71391723] [ 0.46408742 -0.27518454 0.84195982 -6.51150278] [ 0. 0. 0. 1. ]] SLAMing on 155.358241008 meters Centerline goodness [0,1] 0.9225634561393457 Centerline is valid? [False, False] Translation: X:-3.08, Y:-8.74, Z:-6.52 [[ 0.58028695 -0.62150767 -0.5263034 -3.08407154] [ 0.66733521 0.73329561 -0.13015864 -8.73798393] [ 0.46683057 -0.27569143 0.84027582 -6.52496252] [ 0. 0. 0. 1. ]] SLAMing on 155.388241008 meters Centerline goodness [0,1] 0.9187395875222611 Centerline is valid? [False, False] Translation: X:-3.11, Y:-8.77, Z:-6.54 [[ 0.58025485 -0.62151328 -0.52633216 -3.10811953] [ 0.66507304 0.73461224 -0.13424869 -8.76690115] [ 0.47008739 -0.27215087 0.83961404 -6.54375007] [ 0. 0. 0. 1. ]] SLAMing on 155.418241008 meters Centerline goodness [0,1] 0.9181956527981164 Centerline is valid? [False, False] Translation: X:-3.13, Y:-8.79, Z:-6.56 [[ 0.58041121 -0.62017467 -0.52773687 -3.13194967] [ 0.66243909 0.73649328 -0.13693833 -8.79495549] [ 0.47360034 -0.27011299 0.8382969 -6.56068993] [ 0. 0. 0. 1. ]] SLAMing on 155.448241008 meters Centerline goodness [0,1] 0.9176927691912122 Centerline is valid? [False, False] Translation: X:-3.16, Y:-8.82, Z:-6.58 [[ 0.58192976 -0.61804957 -0.52855699 -3.15636626] [ 0.65916684 0.73912476 -0.13854123 -8.82292475] [ 0.47629491 -0.26778598 0.83751647 -6.57942014] [ 0. 0. 0. 1. ]] SLAMing on 155.478241008 meters Centerline goodness [0,1] 0.9162456110302304 Centerline is valid? [False, False] Translation: X:-3.19, Y:-8.87, Z:-6.61 [[ 0.58243144 -0.61703255 -0.52919227 -3.19441459] [ 0.65934855 0.73936015 -0.13640401 -8.86591517] [ 0.47542939 -0.26947617 0.83746611 -6.60868087] [ 0. 0. 0. 1. ]] SLAMing on 155.508241008 meters Centerline goodness [0,1] 0.9170065311011608 Centerline is valid? [False, False] Translation: X:-3.22, Y:-8.89, Z:-6.62 [[ 0.58127 -0.61597843 -0.53169142 -3.21676715] [ 0.6575547 0.7404752 -0.13899026 -8.89211081] [ 0.47931931 -0.26882533 0.83545553 -6.62327212] [ 0. 0. 0. 1. ]] SLAMing on 155.538241008 meters Centerline goodness [0,1] 0.9198871409028728 Centerline is valid? [False, False] Translation: X:-3.24, Y:-8.92, Z:-6.64 [[ 0.58035476 -0.61772898 -0.53065928 -3.24186277] [ 0.65646262 0.74047969 -0.14403698 -8.91930501] [ 0.48191823 -0.26476543 0.8352569 -6.64305614] [ 0. 0. 0. 1. ]] SLAMing on 155.568241008 meters Centerline goodness [0,1] 0.9180969243510295 Centerline is valid? [False, False] Translation: X:-3.28, Y:-8.96, Z:-6.67 [[ 0.57862636 -0.61828087 -0.53190253 -3.27631015] [ 0.65908523 0.73862014 -0.14158725 -8.95867034] [ 0.48041461 -0.26864299 0.83488487 -6.66858111] [ 0. 0. 0. 1. ]] SLAMing on 155.598241008 meters Centerline goodness [0,1] 0.917944171147466 Centerline is valid? [False, False] Translation: X:-3.31, Y:-9.00, Z:-6.70 [[ 0.57758364 -0.61865714 -0.53259787 -3.31232332] [ 0.66062507 0.73750001 -0.14024355 -8.99935695] [ 0.47955361 -0.27084512 0.83466835 -6.69708342] [ 0. 0. 0. 1. ]] SLAMing on 155.628241008 meters Centerline goodness [0,1] 0.9195645946720138 Centerline is valid? [False, False] Translation: X:-3.35, Y:-9.04, Z:-6.72 [[ 0.57594443 -0.61986878 -0.53296408 -3.346679 ] [ 0.66320404 0.73547248 -0.13871058 -9.03754671] [ 0.47796277 -0.27357435 0.83469076 -6.72485638] [ 0. 0. 0. 1. ]] SLAMing on 155.658241008 meters Centerline goodness [0,1] 0.9192668931456793 Centerline is valid? [False, False] Translation: X:-3.38, Y:-9.08, Z:-6.75 [[ 0.57430411 -0.62197648 -0.53227817 -3.38262405] [ 0.66571871 0.73323382 -0.13851629 -9.07758938] [ 0.47643823 -0.27479706 0.83516058 -6.75405086] [ 0. 0. 0. 1. ]] SLAMing on 155.688241008 meters Centerline goodness [0,1] 0.9186652463075461 Centerline is valid? [False, False] Translation: X:-3.42, Y:-9.12, Z:-6.78 [[ 0.57228454 -0.62452672 -0.53146663 -3.42151346] [ 0.66772979 0.73110049 -0.14010353 -9.1225367 ] [ 0.47605391 -0.27469702 0.83541261 -6.78349778] [ 0. 0. 0. 1. ]] SLAMing on 155.718241008 meters Centerline goodness [0,1] 0.9189025794564717 Centerline is valid? [False, False] Translation: X:-3.46, Y:-9.17, Z:-6.81 [[ 0.57179762 -0.62521014 -0.53118712 -3.46113257] [ 0.66821221 0.73056744 -0.14058327 -9.16729738] [ 0.4759621 -0.27456054 0.83550978 -6.81404792] [ 0. 0. 0. 1. ]] SLAMing on 155.748241008 meters Centerline goodness [0,1] 0.9186330583738108 Centerline is valid? [False, False] Translation: X:-3.50, Y:-9.21, Z:-6.84 [[ 0.5714216 -0.62483107 -0.53203711 -3.49784851] [ 0.66908997 0.7301011 -0.13881999 -9.20847537] [ 0.47517992 -0.27665595 0.83526375 -6.84223937] [ 0. 0. 0. 1. ]] SLAMing on 155.778241008 meters Centerline goodness [0,1] 0.91870734644721 Centerline is valid? [False, False] Translation: X:-3.54, Y:-9.25, Z:-6.87 [[ 0.57160256 -0.62372466 -0.53313982 -3.53572125] [ 0.66904476 0.73044164 -0.13723748 -9.2495874 ] [ 0.47502593 -0.27824911 0.83482202 -6.87211846] [ 0. 0. 0. 1. ]] SLAMing on 155.808241008 meters Centerline goodness [0,1] 0.921124828532236 Centerline is valid? [False, False] Translation: X:-3.55, Y:-9.27, Z:-6.88 [[ 0.5703479 -0.62162263 -0.53692512 -3.55240637] [ 0.6683341 0.73120828 -0.13661618 -9.26832717] [ 0.4775278 -0.28092661 0.83249471 -6.88365601] [ 0. 0. 0. 1. ]] SLAMing on 155.838241008 meters Centerline goodness [0,1] 0.9203714285714286 Centerline is valid? [False, False] Translation: X:-3.57, Y:-9.29, Z:-6.90 [[ 0.57021278 -0.62105491 -0.53772501 -3.57229864] [ 0.66746588 0.73184252 -0.13746211 -9.29018418] [ 0.47890154 -0.28053045 0.83183892 -6.9000404 ] [ 0. 0. 0. 1. ]] SLAMing on 155.868241008 meters Centerline goodness [0,1] 0.919156011696577 Centerline is valid? [False, False] Translation: X:-3.60, Y:-9.32, Z:-6.92 [[ 0.57180746 -0.6224619 -0.53439444 -3.59737273] [ 0.66585798 0.73265006 -0.14091501 -9.31726404] [ 0.47923834 -0.27525455 0.83340599 -6.92298231] [ 0. 0. 0. 1. ]] SLAMing on 155.898241008 meters Centerline goodness [0,1] 0.918450152870246 Centerline is valid? [False, False] Translation: X:-3.62, Y:-9.34, Z:-6.94 [[ 0.57292796 -0.62250926 -0.53313767 -3.62117452] [ 0.66414714 0.73378348 -0.14307476 -9.34435474] [ 0.48027297 -0.27211033 0.83384282 -6.9425507 ] [ 0. 0. 0. 1. ]] SLAMing on 155.92824100800001 meters Centerline goodness [0,1] 0.9167762593630282 Centerline is valid? [False, False] Translation: X:-3.64, Y:-9.37, Z:-6.96 [[ 0.57392681 -0.62190206 -0.53277184 -3.64483526] [ 0.6624324 0.73506577 -0.14443556 -9.37072686] [ 0.48144712 -0.27002989 0.83384203 -6.96076938] [ 0. 0. 0. 1. ]] SLAMing on 155.95824100800002 meters Centerline goodness [0,1] 0.91757710253784 Centerline is valid? [False, False] Translation: X:-3.67, Y:-9.40, Z:-6.98 [[ 0.57481169 -0.62013447 -0.5338771 -3.66878312] [ 0.66016197 0.73694822 -0.145236 -9.39791554] [ 0.48350563 -0.268962 0.83299564 -6.97744098] [ 0. 0. 0. 1. ]] SLAMing on 155.988241008 meters Centerline goodness [0,1] 0.9141050112532406 Centerline is valid? [False, False] Translation: X:-3.71, Y:-9.44, Z:-7.01 [[ 0.5769216 -0.61682852 -0.53542885 -3.7086054 ] [ 0.65854412 0.7390553 -0.14183409 -9.44329293] [ 0.48319884 -0.27077637 0.83258576 -7.00738156] [ 0. 0. 0. 1. ]] SLAMing on 156.018241008 meters Centerline goodness [0,1] 0.9185063276772033 Centerline is valid? [False, False] Translation: X:-3.73, Y:-9.47, Z:-7.02 [[ 0.57713226 -0.61627605 -0.53583784 -3.72981046] [ 0.65717105 0.7399999 -0.14327022 -9.46755988] [ 0.48481395 -0.26945125 0.83207659 -7.02474807] [ 0. 0. 0. 1. ]] SLAMing on 156.048241008 meters Centerline goodness [0,1] 0.9168679835157028 Centerline is valid? [False, False] Translation: X:-3.77, Y:-9.51, Z:-7.05 [[ 0.57772735 -0.61517569 -0.53646061 -3.7673851 ] [ 0.65720173 0.74036282 -0.14124017 -9.51100061] [ 0.484063 -0.27096453 0.83202238 -7.05459863] [ 0. 0. 0. 1. ]] SLAMing on 156.078241008 meters Centerline goodness [0,1] 0.9141586867305062 Centerline is valid? [False, False] Translation: X:-3.81, Y:-9.56, Z:-7.08 [[ 0.57848067 -0.61358149 -0.53747359 -3.80534419] [ 0.65710014 0.74094578 -0.13863171 -9.55573464] [ 0.48330064 -0.27297821 0.8318073 -7.08333696] [ 0. 0. 0. 1. ]] SLAMing on 156.108241008 meters Centerline goodness [0,1] 0.9175487147299649 Centerline is valid? [False, False] Translation: X:-3.83, Y:-9.59, Z:-7.10 [[ 0.57960995 -0.61506813 -0.53454981 -3.83193991] [ 0.65567053 0.74152142 -0.14227492 -9.58736111] [ 0.4838889 -0.2680246 0.83307524 -7.10493008] [ 0. 0. 0. 1. ]] SLAMing on 156.138241008 meters Centerline goodness [0,1] 0.9157720420283234 Centerline is valid? [False, False] Translation: X:-3.87, Y:-9.63, Z:-7.13 [[ 0.5793439 -0.61434648 -0.53566692 -3.86792676] [ 0.65696312 0.74095087 -0.13925255 -9.62947348] [ 0.48245219 -0.2712383 0.83286834 -7.13203886] [ 0. 0. 0. 1. ]] SLAMing on 156.168241008 meters Centerline goodness [0,1] 0.9130708301163821 Centerline is valid? [False, False] Translation: X:-3.90, Y:-9.67, Z:-7.16 [[ 0.57887601 -0.61413171 -0.53641851 -3.90207308] [ 0.65874953 0.73992557 -0.13623217 -9.66924026] [ 0.48057426 -0.27450391 0.83288414 -7.15982067] [ 0. 0. 0. 1. ]] SLAMing on 156.198241008 meters Centerline goodness [0,1] 0.9126552572834984 Centerline is valid? [False, False] Translation: X:-3.93, Y:-9.70, Z:-7.18 [[ 0.57660522 -0.61603438 -0.53668245 -3.92510126] [ 0.65799417 0.73952669 -0.14192935 -9.6964779 ] [ 0.48432436 -0.27129672 0.83176199 -7.17758432] [ 0. 0. 0. 1. ]] SLAMing on 156.228241008 meters Centerline goodness [0,1] 0.9116424414437659 Centerline is valid? [False, False] Translation: X:-3.96, Y:-9.74, Z:-7.21 [[ 0.57617804 -0.61559103 -0.5376491 -3.95958856] [ 0.65925488 0.73886904 -0.1394831 -9.73678728] [ 0.48311682 -0.27408069 0.83155151 -7.20586922] [ 0. 0. 0. 1. ]] SLAMing on 156.258241008 meters Centerline goodness [0,1] 0.9062616314026398 Centerline is valid? [False, False] Translation: X:-3.98, Y:-9.76, Z:-7.22 [[ 0.57436052 -0.61580704 -0.53934375 -3.98175946] [ 0.65749444 0.73953286 -0.14419505 -9.7626875 ] [ 0.48765875 -0.27179558 0.82964818 -7.22295765] [ 0. 0. 0. 1. ]] SLAMing on 156.288241008 meters Centerline goodness [0,1] 0.9113659165830587 Centerline is valid? [False, False] Translation: X:-4.00, Y:-9.78, Z:-7.24 [[ 0.57223837 -0.61606605 -0.54130017 -3.99859008] [ 0.65726913 0.73927104 -0.14654563 -9.78321531] [ 0.49044933 -0.27192086 0.82796045 -7.23754549] [ 0. 0. 0. 1. ]] SLAMing on 156.318241008 meters Centerline goodness [0,1] 0.9049031632391112 Centerline is valid? [False, False] Translation: X:-4.03, Y:-9.82, Z:-7.27 [[ 0.57138768 -0.61631725 -0.5419125 -4.03324721] [ 0.65876238 0.73824369 -0.14501163 -9.82156473] [ 0.48943666 -0.27413371 0.82782997 -7.26672915] [ 0. 0. 0. 1. ]] SLAMing on 156.348241008 meters Centerline goodness [0,1] 0.9085334550225315 Centerline is valid? [False, False] Translation: X:-4.05, Y:-9.84, Z:-7.29 [[ 0.57161444 -0.61760791 -0.54020127 -4.05445112] [ 0.65837988 0.73814239 -0.14724722 -9.84436066] [ 0.4896865 -0.27148901 0.82855347 -7.28708721] [ 0. 0. 0. 1. ]] SLAMing on 156.378241008 meters Centerline goodness [0,1] 0.907061074151272 Centerline is valid? [False, False] Translation: X:-4.09, Y:-9.89, Z:-7.32 [[ 0.57144515 -0.61674164 -0.5413688 -4.09137432] [ 0.65897761 0.73801811 -0.14518188 -9.88632948] [ 0.4890797 -0.27378644 0.82815581 -7.31619491] [ 0. 0. 0. 1. ]] SLAMing on 156.408241008 meters Centerline goodness [0,1] 0.9112539274493002 Centerline is valid? [False, False] Translation: X:-4.13, Y:-9.93, Z:-7.35 [[ 0.57076769 -0.61733371 -0.54140866 -4.12708094] [ 0.6609318 0.73665814 -0.14319199 -9.92627659] [ 0.48723033 -0.27610483 0.82847614 -7.34511992] [ 0. 0. 0. 1. ]] SLAMing on 156.438241008 meters Centerline goodness [0,1] 0.9152581022147479 Centerline is valid? [False, False] Translation: X:-4.15, Y:-9.95, Z:-7.37 [[ 0.57012794 -0.62089262 -0.53800232 -4.15085718] [ 0.66180556 0.73511247 -0.14704783 -9.95201395] [ 0.48679312 -0.27221685 0.83001834 -7.36600683] [ 0. 0. 0. 1. ]] SLAMing on 156.468241008 meters Centerline goodness [0,1] 0.9172634161650167 Centerline is valid? [False, False] Translation: X:-4.19, Y:-9.99, Z:-7.39 [[ 0.56907993 -0.62143966 -0.53848006 -4.18629851] [ 0.66410374 0.73350929 -0.14467324 -9.9919218 ] [ 0.48488582 -0.27527598 0.83012582 -7.39360588] [ 0. 0. 0. 1. ]] SLAMing on 156.498241008 meters Centerline goodness [0,1] 0.9163347755078651 Centerline is valid? [False, False] Translation: X:-4.22, Y:-10.03, Z:-7.42 [[ 0.5680275 -0.62218528 -0.5387302 -4.22239304] [ 0.66639909 0.73183783 -0.14256805 -10.03261737] [ 0.48296689 -0.27802674 0.83032772 -7.42119744] [ 0. 0. 0. 1. ]] SLAMing on 156.528241008 meters Centerline goodness [0,1] 0.9182929629204454 Centerline is valid? [False, False] Translation: X:-4.26, Y:-10.07, Z:-7.45 [[ 0.56616346 -0.62508755 -0.53733089 -4.2589867 ] [ 0.66942156 0.7290365 -0.14276049 -10.07406583] [ 0.48097164 -0.27887511 0.83120091 -7.45138837] [ 0. 0. 0. 1. ]] SLAMing on 156.558241008 meters Centerline goodness [0,1] 0.9177433247200689 Centerline is valid? [False, False] Translation: X:-4.29, Y:-10.11, Z:-7.48 [[ 0.56454565 -0.62604858 -0.53791392 -4.29267827] [ 0.67201246 0.72702051 -0.14085607 -10.1110913 ] [ 0.4792572 -0.28196517 0.83114871 -7.47873365] [ 0. 0. 0. 1. ]] SLAMing on 156.588241008 meters Centerline goodness [0,1] 0.9136414429385977 Centerline is valid? [False, False] Translation: X:-4.33, Y:-10.15, Z:-7.51 [[ 0.56333288 -0.62792667 -0.5369955 -4.33010282] [ 0.6735632 0.72542626 -0.14166635 -10.15221939] [ 0.47850671 -0.2818951 0.83160476 -7.5101082 ] [ 0. 0. 0. 1. ]] SLAMing on 156.618241008 meters Centerline goodness [0,1] 0.9145088132284549 Centerline is valid? [False, False] Translation: X:-4.37, Y:-10.20, Z:-7.54 [[ 0.56283392 -0.6303583 -0.53466476 -4.37121657] [ 0.67449624 0.72415267 -0.14372797 -10.19699655] [ 0.47777903 -0.27973439 0.83275199 -7.54403304] [ 0. 0. 0. 1. ]] SLAMing on 156.648241008 meters Centerline goodness [0,1] 0.9144693426677761 Centerline is valid? [False, False] Translation: X:-4.41, Y:-10.24, Z:-7.58 [[ 0.5629832 -0.63061713 -0.53420216 -4.41148827] [ 0.67452317 0.72409077 -0.14391336 -10.24173292] [ 0.47756508 -0.27931093 0.8330168 -7.57569285] [ 0. 0. 0. 1. ]] SLAMing on 156.67824100800001 meters Centerline goodness [0,1] 0.9164538803614977 Centerline is valid? [False, False] Translation: X:-4.44, Y:-10.27, Z:-7.60 [[ 0.5637827 -0.63221003 -0.53146923 -4.43682514] [ 0.67331181 0.72448382 -0.14756149 -10.26888891] [ 0.47833071 -0.2746519 0.83412593 -7.59780993] [ 0. 0. 0. 1. ]] SLAMing on 156.70824100800002 meters Centerline goodness [0,1] 0.9155857114348434 Centerline is valid? [False, False] Translation: X:-4.46, Y:-10.29, Z:-7.62 [[ 0.56506802 -0.63463834 -0.52719286 -4.46197039] [ 0.67322459 0.72405702 -0.15003363 -10.29463068] [ 0.47693478 -0.27014 0.8363956 -7.62030966] [ 0. 0. 0. 1. ]] SLAMing on 156.738241008 meters Centerline goodness [0,1] 0.917076237284261 Centerline is valid? [False, False] Translation: X:-4.50, Y:-10.34, Z:-7.65 [[ 0.56559694 -0.6341193 -0.52725025 -4.50280316] [ 0.67334831 0.72421889 -0.14869112 -10.34057509] [ 0.4761325 -0.27092383 0.83659914 -7.65015977] [ 0. 0. 0. 1. ]] SLAMing on 156.768241008 meters Centerline goodness [0,1] 0.9184080736665051 Centerline is valid? [False, False] Translation: X:-4.54, Y:-10.38, Z:-7.68 [[ 0.5666123 -0.63214456 -0.52852982 -4.54150797] [ 0.67402623 0.72453866 -0.14398738 -10.3838535 ] [ 0.47396112 -0.27465794 0.83661453 -7.67623111] [ 0. 0. 0. 1. ]] SLAMing on 156.798241008 meters Centerline goodness [0,1] 0.9191996812386156 Centerline is valid? [False, False] Translation: X:-4.58, Y:-10.43, Z:-7.70 [[ 0.5670666 -0.63100504 -0.52940355 -4.57973099] [ 0.674281 0.72476937 -0.14161388 -10.4262956 ] [ 0.47305455 -0.27666225 0.83646721 -7.70497071] [ 0. 0. 0. 1. ]] SLAMing on 156.828241008 meters Centerline goodness [0,1] 0.9178892300693734 Centerline is valid? [False, False] Translation: X:-4.62, Y:-10.47, Z:-7.73 [[ 0.56770141 -0.62993239 -0.53000028 -4.61884772] [ 0.67426862 0.72516032 -0.1396579 -10.47031024] [ 0.47231021 -0.27807857 0.83641818 -7.73446757] [ 0. 0. 0. 1. ]] SLAMing on 156.858241008 meters Centerline goodness [0,1] 0.9179800853485064 Centerline is valid? [False, False] Translation: X:-4.66, Y:-10.51, Z:-7.76 [[ 0.56788523 -0.6299582 -0.52977261 -4.6564236 ] [ 0.67502384 0.72473593 -0.13820509 -10.51251786] [ 0.47100868 -0.27912452 0.83680364 -7.76406588] [ 0. 0. 0. 1. ]] SLAMing on 156.888241008 meters Centerline goodness [0,1] 0.9179800853485064 Centerline is valid? [False, False] Translation: X:-4.69, Y:-10.55, Z:-7.79 [[ 0.56782529 -0.62957609 -0.53029084 -4.69284173] [ 0.67575677 0.72438952 -0.13642803 -10.55450023] [ 0.47002895 -0.28088035 0.836767 -7.79262388] [ 0. 0. 0. 1. ]] SLAMing on 156.918241008 meters Centerline goodness [0,1] 0.917604695341518 Centerline is valid? [False, False] Translation: X:-4.73, Y:-10.60, Z:-7.82 [[ 0.56835077 -0.62834907 -0.5311825 -4.73133984] [ 0.67586758 0.72471615 -0.13412502 -10.59801217] [ 0.46923386 -0.28277897 0.83657375 -7.82100987] [ 0. 0. 0. 1. ]] SLAMing on 156.948241008 meters Centerline goodness [0,1] 0.9171884296115818 Centerline is valid? [False, False] Translation: X:-4.77, Y:-10.64, Z:-7.85 [[ 0.56814922 -0.62815471 -0.5316278 -4.76786194] [ 0.67688694 0.72411703 -0.13220666 -10.63779622] [ 0.46800698 -0.28473881 0.83659625 -7.8498569 ] [ 0. 0. 0. 1. ]] SLAMing on 156.978241008 meters Centerline goodness [0,1] 0.918273177636235 Centerline is valid? [False, False] Translation: X:-4.81, Y:-10.68, Z:-7.88 [[ 0.56807422 -0.62888632 -0.53084241 -4.80538387] [ 0.6775556 0.72351655 -0.13206894 -10.67891092] [ 0.46712963 -0.28465029 0.83711655 -7.88165258] [ 0. 0. 0. 1. ]] SLAMing on 157.008241008 meters Centerline goodness [0,1] 0.9187194207980995 Centerline is valid? [False, False] Translation: X:-4.83, Y:-10.70, Z:-7.90 [[ 0.56847574 -0.63023305 -0.52881153 -4.82827293] [ 0.67654226 0.72385057 -0.1353917 -10.70366909] [ 0.46810886 -0.28079645 0.83787078 -7.90244491] [ 0. 0. 0. 1. ]] SLAMing on 157.038241008 meters Centerline goodness [0,1] 0.9208543776981462 Centerline is valid? [False, False] Translation: X:-4.86, Y:-10.73, Z:-7.92 [[ 0.57025978 -0.63116646 -0.52576865 -4.85563208] [ 0.67491307 0.72485253 -0.13813457 -10.73210401] [ 0.46829064 -0.27607554 0.83933674 -7.92401489] [ 0. 0. 0. 1. ]] SLAMing on 157.068241008 meters Centerline goodness [0,1] 0.9204205897276879 Centerline is valid? [False, False] Translation: X:-4.88, Y:-10.76, Z:-7.94 [[ 0.57090261 -0.63108773 -0.52516521 -4.87780441] [ 0.67391328 0.72556019 -0.13929574 -10.75649635] [ 0.4689468 -0.2743915 0.8395226 -7.9413628 ] [ 0. 0. 0. 1. ]] SLAMing on 157.098241008 meters Centerline goodness [0,1] 0.9207380530475628 Centerline is valid? [False, False] Translation: X:-4.90, Y:-10.78, Z:-7.96 [[ 0.57176597 -0.63073503 -0.5246494 -4.90002771] [ 0.67275197 0.72646519 -0.14018953 -10.78055126] [ 0.46956198 -0.27280332 0.83969631 -7.95918532] [ 0. 0. 0. 1. ]] SLAMing on 157.128241008 meters Centerline goodness [0,1] 0.920933882676084 Centerline is valid? [False, False] Translation: X:-4.92, Y:-10.80, Z:-7.98 [[ 0.57327052 -0.63006054 -0.52381736 -4.92362671] [ 0.67031253 0.7282869 -0.14240542 -10.80384946] [ 0.47121336 -0.26948451 0.83984288 -7.98027383] [ 0. 0. 0. 1. ]] SLAMing on 157.158241008 meters Centerline goodness [0,1] 0.9219474066216291 Centerline is valid? [False, False] Translation: X:-4.95, Y:-10.83, Z:-8.00 [[ 0.57328802 -0.62960861 -0.52434134 -4.94599431] [ 0.66828897 0.72956234 -0.14535697 -10.82734255] [ 0.47405769 -0.26708012 0.83900984 -7.998685 ] [ 0. 0. 0. 1. ]] SLAMing on 157.188241008 meters Centerline goodness [0,1] 0.9195431118540187 Centerline is valid? [False, False] Translation: X:-4.98, Y:-10.87, Z:-8.03 [[ 0.57338554 -0.62786063 -0.52632695 -4.98174886] [ 0.66870057 0.72982222 -0.14212345 -10.8657887 ] [ 0.47335882 -0.27046359 0.83832027 -8.02536577] [ 0. 0. 0. 1. ]] SLAMing on 157.218241008 meters Centerline goodness [0,1] 0.9201113430758525 Centerline is valid? [False, False] Translation: X:-5.02, Y:-10.91, Z:-8.05 [[ 0.57364569 -0.62636695 -0.52782106 -5.01832242] [ 0.66901273 0.73008148 -0.13929464 -10.90579073] [ 0.47260194 -0.27321324 0.83785556 -8.05274759] [ 0. 0. 0. 1. ]] SLAMing on 157.248241008 meters Centerline goodness [0,1] 0.9239305779607276 Centerline is valid? [False, False] Translation: X:-5.03, Y:-10.92, Z:-8.06 [[ 0.57121911 -0.6252198 -0.53179783 -5.03294421] [ 0.66967712 0.72962672 -0.13848252 -10.9228514 ] [ 0.47459592 -0.27702898 0.83547212 -8.06122665] [ 0. 0. 0. 1. ]] SLAMing on 157.278241008 meters Centerline goodness [0,1] 0.92069724055356 Centerline is valid? [False, False] Translation: X:-5.07, Y:-10.96, Z:-8.09 [[ 0.57019004 -0.62535308 -0.53274463 -5.06845358] [ 0.67124943 0.728513 -0.13672238 -10.9628382 ] [ 0.47361115 -0.27964679 0.83515875 -8.08783359] [ 0. 0. 0. 1. ]] SLAMing on 157.308241008 meters Centerline goodness [0,1] 0.9216964384777544 Centerline is valid? [False, False] Translation: X:-5.10, Y:-11.00, Z:-8.11 [[ 0.56901228 -0.62547428 -0.53386042 -5.10204932] [ 0.67335611 0.72705043 -0.13412392 -11.00042254] [ 0.47203451 -0.28316001 0.83486755 -8.11405122] [ 0. 0. 0. 1. ]] SLAMing on 157.338241008 meters Centerline goodness [0,1] 0.9205208304536533 Centerline is valid? [False, False] Translation: X:-5.12, Y:-11.02, Z:-8.13 [[ 0.56788033 -0.62760502 -0.53256349 -5.12119858] [ 0.67360996 0.72618427 -0.13749919 -11.02144064] [ 0.47303441 -0.28065698 0.83514676 -8.13304945] [ 0. 0. 0. 1. ]] SLAMing on 157.368241008 meters Centerline goodness [0,1] 0.920500930219643 Centerline is valid? [False, False] Translation: X:-5.16, Y:-11.06, Z:-8.16 [[ 0.56738214 -0.62768092 -0.53300485 -5.15517423] [ 0.67520616 0.72513573 -0.13518441 -11.05948543] [ 0.47135354 -0.28318694 0.83524308 -8.16108142] [ 0. 0. 0. 1. ]] SLAMing on 157.398241008 meters Centerline goodness [0,1] 0.9189144327330069 Centerline is valid? [False, False] Translation: X:-5.18, Y:-11.09, Z:-8.18 [[ 0.56810653 -0.62800414 -0.53185128 -5.17792915] [ 0.67376949 0.72602117 -0.13757879 -11.08551402] [ 0.47253534 -0.28018576 0.8355874 -8.18050758] [ 0. 0. 0. 1. ]] SLAMing on 157.42824100800001 meters Centerline goodness [0,1] 0.9215751158173395 Centerline is valid? [False, False] Translation: X:-5.21, Y:-11.11, Z:-8.20 [[ 0.57146274 -0.62919277 -0.5268271 -5.20559807] [ 0.67224804 0.72712148 -0.13920103 -11.1134174 ] [ 0.47065158 -0.27461029 0.83849644 -8.20464202] [ 0. 0. 0. 1. ]] SLAMing on 157.45824100800002 meters Centerline goodness [0,1] 0.9216633095113269 Centerline is valid? [False, False] Translation: X:-5.25, Y:-11.16, Z:-8.24 [[ 0.5732281 -0.62765216 -0.52674691 -5.24526614] [ 0.67136501 0.72831243 -0.13722259 -11.15869418] [ 0.46976438 -0.2749796 0.83887284 -8.23521028] [ 0. 0. 0. 1. ]] SLAMing on 157.488241008 meters Centerline goodness [0,1] 0.9186792608707626 Centerline is valid? [False, False] Translation: X:-5.28, Y:-11.20, Z:-8.26 [[ 0.57490545 -0.62562863 -0.52732585 -5.28446466] [ 0.67049323 0.72960012 -0.13461982 -11.20361032] [ 0.46895901 -0.27617475 0.83893084 -8.26437733] [ 0. 0. 0. 1. ]] SLAMing on 157.518241008 meters Centerline goodness [0,1] 0.9183729558884155 Centerline is valid? [False, False] Translation: X:-5.31, Y:-11.23, Z:-8.29 [[ 0.57715637 -0.62762885 -0.52246775 -5.30977314] [ 0.66955261 0.72997163 -0.13726149 -11.23043908] [ 0.46753591 -0.27059831 0.84153831 -8.28810847] [ 0. 0. 0. 1. ]] SLAMing on 157.548241008 meters Centerline goodness [0,1] 0.9135636103624662 Centerline is valid? [False, False] Translation: X:-5.34, Y:-11.26, Z:-8.31 [[ 0.58060211 -0.62843803 -0.51765513 -5.33607401] [ 0.66814901 0.73108879 -0.13815236 -11.25781197] [ 0.46527206 -0.26565921 0.84436195 -8.3113071 ] [ 0. 0. 0. 1. ]] SLAMing on 157.578241008 meters Centerline goodness [0,1] 0.9167486070140938 Centerline is valid? [False, False] Translation: X:-5.35, Y:-11.28, Z:-8.32 [[ 0.58024929 -0.62697457 -0.51982078 -5.3536512 ] [ 0.66762513 0.73172349 -0.13732235 -11.27810561] [ 0.4664627 -0.26736422 0.84316601 -8.32426561] [ 0. 0. 0. 1. ]] SLAMing on 157.608241008 meters Centerline goodness [0,1] 0.9146608315098468 Centerline is valid? [False, False] Translation: X:-5.39, Y:-11.32, Z:-8.35 [[ 0.57992914 -0.62589346 -0.52147826 -5.38751114] [ 0.66844353 0.73148529 -0.13458276 -11.31682013] [ 0.46568815 -0.2705303 0.84258407 -8.35110806] [ 0. 0. 0. 1. ]] SLAMing on 157.638241008 meters Centerline goodness [0,1] 0.9186896193108733 Centerline is valid? [False, False] Translation: X:-5.42, Y:-11.35, Z:-8.38 [[ 0.5784312 -0.62542512 -0.52369912 -5.41868186] [ 0.66993482 0.73050852 -0.13245617 -11.3531996 ] [ 0.46540809 -0.2742275 0.84154298 -8.37716263] [ 0. 0. 0. 1. ]] SLAMing on 157.668241008 meters Centerline goodness [0,1] 0.9181668946648427 Centerline is valid? [False, False] Translation: X:-5.45, Y:-11.39, Z:-8.40 [[ 0.57727082 -0.62558371 -0.52478893 -5.45178597] [ 0.6717415 0.72922445 -0.1303651 -11.39158901] [ 0.4642432 -0.27726654 0.84119054 -8.40331749] [ 0. 0. 0. 1. ]] SLAMing on 157.698241008 meters Centerline goodness [0,1] 0.9197076295546005 Centerline is valid? [False, False] Translation: X:-5.47, Y:-11.41, Z:-8.42 [[ 0.5752388 -0.6261571 -0.52633412 -5.46946924] [ 0.67192938 0.72866621 -0.13250076 -11.4133081 ] [ 0.46648818 -0.27743978 0.83989044 -8.41666423] [ 0. 0. 0. 1. ]] SLAMing on 157.728241008 meters Centerline goodness [0,1] 0.9207798278659224 Centerline is valid? [False, False] Translation: X:-5.50, Y:-11.45, Z:-8.45 [[ 0.57065017 -0.63156248 -0.52486877 -5.50103866] [ 0.67601971 0.72415447 -0.13637319 -11.45091135] [ 0.46621426 -0.27700025 0.84018756 -8.44565587] [ 0. 0. 0. 1. ]] SLAMing on 157.758241008 meters Centerline goodness [0,1] 0.9233633004246871 Centerline is valid? [False, False] Translation: X:-5.53, Y:-11.49, Z:-8.47 [[ 0.56764973 -0.63421545 -0.52492338 -5.53254197] [ 0.67944318 0.72095444 -0.13631458 -11.48829112] [ 0.46489865 -0.27927668 0.84016295 -8.47177373] [ 0. 0. 0. 1. ]] SLAMing on 157.788241008 meters Centerline goodness [0,1] 0.9199823043105594 Centerline is valid? [False, False] Translation: X:-5.56, Y:-11.52, Z:-8.50 [[ 0.56452246 -0.63679461 -0.52517332 -5.56304 ] [ 0.68287767 0.71771972 -0.1362222 -11.52475346] [ 0.46367281 -0.28172865 0.84002172 -8.49763586] [ 0. 0. 0. 1. ]] SLAMing on 157.818241008 meters Centerline goodness [0,1] 0.9195830230826508 Centerline is valid? [False, False] Translation: X:-5.59, Y:-11.56, Z:-8.52 [[ 0.5616432 -0.63906436 -0.52550324 -5.59400635] [ 0.68621109 0.71463863 -0.1356686 -11.56118923] [ 0.46224589 -0.2844088 0.83990498 -8.52341181] [ 0. 0. 0. 1. ]] SLAMing on 157.848241008 meters Centerline goodness [0,1] 0.9157010589344126 Centerline is valid? [False, False] Translation: X:-5.63, Y:-11.60, Z:-8.56 [[ 0.55805459 -0.64473242 -0.52239371 -5.62857482] [ 0.68961009 0.71048312 -0.14018435 -11.60251946] [ 0.46153331 -0.28201746 0.84110235 -8.55531142] [ 0. 0. 0. 1. ]] SLAMing on 157.878241008 meters Centerline goodness [0,1] 0.9184399133285183 Centerline is valid? [False, False] Translation: X:-5.66, Y:-11.64, Z:-8.58 [[ 0.55568726 -0.64619501 -0.52310962 -5.65983457] [ 0.69278206 0.70775062 -0.13835486 -11.6392335 ] [ 0.45963538 -0.28551893 0.84096032 -8.57952055] [ 0. 0. 0. 1. ]] SLAMing on 157.908241008 meters Centerline goodness [0,1] 0.9155434510741183 Centerline is valid? [False, False] Translation: X:-5.69, Y:-11.68, Z:-8.61 [[ 0.55421954 -0.64843364 -0.52189511 -5.69358374] [ 0.69581978 0.70502058 -0.13704314 -11.67818456] [ 0.45681017 -0.28719296 0.84192914 -8.60697788] [ 0. 0. 0. 1. ]] SLAMing on 157.938241008 meters Centerline goodness [0,1] 0.9099581265078617 Centerline is valid? [False, False] Translation: X:-5.73, Y:-11.72, Z:-8.64 [[ 0.55362124 -0.65152042 -0.51867588 -5.73311342] [ 0.69778917 0.70286747 -0.13808547 -11.72437296] [ 0.4545259 -0.28547936 0.84374625 -8.63823705] [ 0. 0. 0. 1. ]] SLAMing on 157.968241008 meters Centerline goodness [0,1] 0.9130531651210071 Centerline is valid? [False, False] Translation: X:-5.77, Y:-11.76, Z:-8.67 [[ 0.55270626 -0.65282827 -0.5180068 -5.7678999 ] [ 0.69994242 0.70100836 -0.13663049 -11.76454024] [ 0.45232334 -0.28705841 0.84439391 -8.66573248] [ 0. 0. 0. 1. ]] SLAMing on 157.998241008 meters Centerline goodness [0,1] 0.9146304172573875 Centerline is valid? [False, False] Translation: X:-5.78, Y:-11.78, Z:-8.67 [[ 0.55070383 -0.65121555 -0.52215285 -5.78293964] [ 0.7003998 0.7008042 -0.13532769 -11.78361908] [ 0.45405441 -0.29119028 0.8420468 -8.67367228] [ 0. 0. 0. 1. ]] SLAMing on 158.028241008 meters Centerline goodness [0,1] 0.9112398028788596 Centerline is valid? [False, False] Translation: X:-5.80, Y:-11.81, Z:-8.69 [[ 0.54977499 -0.65399574 -0.51965088 -5.80219839] [ 0.70154403 0.69918853 -0.13773662 -11.80532386] [ 0.45341309 -0.28883382 0.84320317 -8.69152983] [ 0. 0. 0. 1. ]] SLAMing on 158.058241008 meters Centerline goodness [0,1] 0.913639784796365 Centerline is valid? [False, False] Translation: X:-5.80, Y:-11.80, Z:-8.69 [[ 0.54939803 -0.6536027 -0.52054329 -5.80055947] [ 0.70118537 0.69945745 -0.1381968 -11.80448554] [ 0.45442368 -0.2890723 0.84257719 -8.68916831] [ 0. 0. 0. 1. ]] SLAMing on 158.088241008 meters Centerline goodness [0,1] 0.9077380126051586 Centerline is valid? [False, False] Translation: X:-5.83, Y:-11.84, Z:-8.72 [[ 0.54832969 -0.65466012 -0.52034093 -5.83436608] [ 0.70279518 0.69796915 -0.13754272 -11.84314821] [ 0.45322565 -0.29027434 0.84280918 -8.71710488] [ 0. 0. 0. 1. ]] SLAMing on 158.118241008 meters Centerline goodness [0,1] 0.9051894265780915 Centerline is valid? [False, False] Translation: X:-5.87, Y:-11.89, Z:-8.75 [[ 0.54796243 -0.65545884 -0.51972193 -5.87371037] [ 0.70231011 0.69800295 -0.13982986 -11.88887054] [ 0.45442016 -0.28838446 0.84281476 -8.74904594] [ 0. 0. 0. 1. ]] SLAMing on 158.148241008 meters Centerline goodness [0,1] 0.9037339556592765 Centerline is valid? [False, False] Translation: X:-5.91, Y:-11.93, Z:-8.78 [[ 0.54668466 -0.65733293 -0.51869962 -5.90913515] [ 0.70344641 0.69655589 -0.14132603 -11.92932378] [ 0.45420153 -0.28761661 0.84319491 -8.77921753] [ 0. 0. 0. 1. ]] SLAMing on 158.17824100800001 meters Centerline goodness [0,1] 0.9054459572103362 Centerline is valid? [False, False] Translation: X:-5.94, Y:-11.96, Z:-8.80 [[ 0.54479735 -0.65719901 -0.52085057 -5.93934491] [ 0.70546152 0.69498079 -0.13901707 -11.96416279] [ 0.45334302 -0.2917039 0.8422523 -8.80272069] [ 0. 0. 0. 1. ]] SLAMing on 158.20824100800002 meters Centerline goodness [0,1] 0.9021500901650714 Centerline is valid? [False, False] Translation: X:-5.98, Y:-12.00, Z:-8.83 [[ 0.54384225 -0.65901678 -0.51955028 -5.9752318 ] [ 0.70636061 0.69374987 -0.14059094 -12.00427263] [ 0.45308973 -0.29053056 0.84279398 -8.83388452] [ 0. 0. 0. 1. ]] SLAMing on 158.238241008 meters Centerline goodness [0,1] 0.8960031043849437 Centerline is valid? [False, False] Translation: X:-6.01, Y:-12.05, Z:-8.87 [[ 0.54321128 -0.66018899 -0.5187215 -6.01126106] [ 0.70679557 0.69304265 -0.14188693 -12.04527079] [ 0.45316832 -0.28955548 0.84308724 -8.86502544] [ 0. 0. 0. 1. ]] SLAMing on 158.268241008 meters Centerline goodness [0,1] 0.8985351320036414 Centerline is valid? [False, False] Translation: X:-6.05, Y:-12.09, Z:-8.90 [[ 0.54241448 -0.66192293 -0.51734375 -6.04746317] [ 0.70755684 0.69193972 -0.14346688 -12.08661581] [ 0.45293471 -0.2882316 0.84366622 -8.89573533] [ 0. 0. 0. 1. ]] SLAMing on 158.298241008 meters Centerline goodness [0,1] 0.9000580896794003 Centerline is valid? [False, False] Translation: X:-6.09, Y:-12.14, Z:-8.93 [[ 0.54201614 -0.66413957 -0.51491469 -6.09235045] [ 0.70620495 0.69208972 -0.14928626 -12.13856041] [ 0.45551407 -0.28271974 0.84414245 -8.93131159] [ 0. 0. 0. 1. ]] SLAMing on 158.328241008 meters Centerline goodness [0,1] 0.9036717540367175 Centerline is valid? [False, False] Translation: X:-6.14, Y:-12.19, Z:-8.97 [[ 0.54494006 -0.66438306 -0.51150316 -6.13867316] [ 0.70367434 0.69409976 -0.15188134 -12.19229308] [ 0.45594161 -0.27716542 0.84575208 -8.96793047] [ 0. 0. 0. 1. ]] SLAMing on 158.358241008 meters Centerline goodness [0,1] 0.907726745150058 Centerline is valid? [False, False] Translation: X:-6.18, Y:-12.24, Z:-9.00 [[ 0.54693805 -0.66385714 -0.51005144 -6.18329738] [ 0.70130275 0.69604809 -0.15392043 -12.24493758] [ 0.45720151 -0.27351554 0.84626002 -9.00176537] [ 0. 0. 0. 1. ]] SLAMing on 158.388241008 meters Centerline goodness [0,1] 0.907335481916095 Centerline is valid? [False, False] Translation: X:-6.23, Y:-12.29, Z:-9.03 [[ 0.54862567 -0.66326561 -0.50900748 -6.22503745] [ 0.69953313 0.6975849 -0.15501196 -12.29335545] [ 0.45789003 -0.27102405 0.84668925 -9.03423009] [ 0. 0. 0. 1. ]] SLAMing on 158.418241008 meters Centerline goodness [0,1] 0.9127339691614216 Centerline is valid? [False, False] Translation: X:-6.27, Y:-12.34, Z:-9.07 [[ 0.55268256 -0.65949371 -0.50951941 -6.2696368 ] [ 0.69512447 0.70205038 -0.15468427 -12.34453276] [ 0.45972161 -0.26868811 0.84644122 -9.06816988] [ 0. 0. 0. 1. ]] SLAMing on 158.448241008 meters Centerline goodness [0,1] 0.912304238309057 Centerline is valid? [False, False] Translation: X:-6.31, Y:-12.40, Z:-9.10 [[ 0.55548058 -0.65778394 -0.50868617 -6.31288468] [ 0.69237852 0.70466096 -0.15512873 -12.3956432 ] [ 0.46049247 -0.26603238 0.84686095 -9.10204366] [ 0. 0. 0. 1. ]] SLAMing on 158.478241008 meters Centerline goodness [0,1] 0.9098259895648373 Centerline is valid? [False, False] Translation: X:-6.35, Y:-12.44, Z:-9.13 [[ 0.55803627 -0.65509931 -0.50935293 -6.35102366] [ 0.690928 0.70675821 -0.15202413 -12.44153834] [ 0.45958027 -0.26709122 0.84702317 -9.13103616] [ 0. 0. 0. 1. ]] SLAMing on 158.508241008 meters Centerline goodness [0,1] 0.9102522109400589 Centerline is valid? [False, False] Translation: X:-6.39, Y:-12.48, Z:-9.16 [[ 0.55982305 -0.65281073 -0.5103296 -6.38676544] [ 0.69014746 0.70819686 -0.14884117 -12.48449294] [ 0.45857893 -0.26887796 0.84700059 -9.15896585] [ 0. 0. 0. 1. ]] SLAMing on 158.538241008 meters Centerline goodness [0,1] 0.9044533972125436 Centerline is valid? [False, False] Translation: X:-6.43, Y:-12.53, Z:-9.19 [[ 0.56392425 -0.64906575 -0.51059093 -6.42667429] [ 0.68611944 0.71233107 -0.14773139 -12.53253993] [ 0.45959717 -0.26701705 0.84703739 -9.19275547] [ 0. 0. 0. 1. ]] SLAMing on 158.568241008 meters Centerline goodness [0,1] 0.9089502402475772 Centerline is valid? [False, False] Translation: X:-6.46, Y:-12.58, Z:-9.22 [[ 0.56592801 -0.64783696 -0.50993407 -6.46428424] [ 0.68487995 0.71374067 -0.14667552 -12.57850101] [ 0.45898251 -0.26623584 0.84761638 -9.2240434 ] [ 0. 0. 0. 1. ]] SLAMing on 158.598241008 meters Centerline goodness [0,1] 0.9060238341405017 Centerline is valid? [False, False] Translation: X:-6.49, Y:-12.61, Z:-9.25 [[ 0.56776568 -0.64883424 -0.50661254 -6.48943871] [ 0.68283441 0.71493004 -0.15037358 -12.60892209] [ 0.45976004 -0.26055552 0.84895908 -9.24588389] [ 0. 0. 0. 1. ]] SLAMing on 158.628241008 meters Centerline goodness [0,1] 0.9091156907643659 Centerline is valid? [False, False] Translation: X:-6.53, Y:-12.66, Z:-9.27 [[ 0.56974567 -0.64640458 -0.50749482 -6.5260833 ] [ 0.68115255 0.71693108 -0.14846223 -12.65745998] [ 0.45980547 -0.26109568 0.8487685 -9.27492231] [ 0. 0. 0. 1. ]] SLAMing on 158.658241008 meters Centerline goodness [0,1] 0.9079530922645771 Centerline is valid? [False, False] Translation: X:-6.56, Y:-12.70, Z:-9.30 [[ 0.56906165 -0.64613043 -0.50861017 -6.5592398 ] [ 0.68219525 0.71630203 -0.14670054 -12.69870014] [ 0.45910618 -0.26348979 0.84840712 -9.30138291] [ 0. 0. 0. 1. ]] SLAMing on 158.688241008 meters Centerline goodness [0,1] 0.9102847023566272 Centerline is valid? [False, False] Translation: X:-6.60, Y:-12.74, Z:-9.33 [[ 0.56856482 -0.64684968 -0.50825146 -6.5952865 ] [ 0.68247286 0.71585231 -0.14760171 -12.74395766] [ 0.4593091 -0.26294669 0.84846579 -9.33128775] [ 0. 0. 0. 1. ]] SLAMing on 158.718241008 meters Centerline goodness [0,1] 0.9085474052032432 Centerline is valid? [False, False] Translation: X:-6.63, Y:-12.79, Z:-9.36 [[ 0.56734747 -0.64763477 -0.50861188 -6.62873335] [ 0.68397531 0.71455892 -0.14691269 -12.78689739] [ 0.45857892 -0.26452743 0.84836938 -9.35840452] [ 0. 0. 0. 1. ]] SLAMing on 158.748241008 meters Centerline goodness [0,1] 0.9070195690413368 Centerline is valid? [False, False] Translation: X:-6.66, Y:-12.83, Z:-9.39 [[ 0.56450361 -0.65154699 -0.50677628 -6.66253952] [ 0.68689984 0.71125293 -0.14929126 -12.8329754 ] [ 0.45771638 -0.26382909 0.84905237 -9.38640936] [ 0. 0. 0. 1. ]] SLAMing on 158.778241008 meters Centerline goodness [0,1] 0.9074181038039442 Centerline is valid? [False, False] Translation: X:-6.70, Y:-12.88, Z:-9.42 [[ 0.56250492 -0.65458438 -0.50508168 -6.69768968] [ 0.68897934 0.70881137 -0.15130737 -12.87876246] [ 0.45705107 -0.2628797 0.849705 -9.41555513] [ 0. 0. 0. 1. ]] SLAMing on 158.808241008 meters Centerline goodness [0,1] 0.9074181038039442 Centerline is valid? [False, False] Translation: X:-6.74, Y:-12.93, Z:-9.45 [[ 0.56218957 -0.65581433 -0.50383574 -6.7361182 ] [ 0.68918249 0.7082695 -0.15291111 -12.92539246] [ 0.45713279 -0.26126974 0.85015748 -9.44665568] [ 0. 0. 0. 1. ]] SLAMing on 158.838241008 meters Centerline goodness [0,1] 0.9071493612207169 Centerline is valid? [False, False] Translation: X:-6.77, Y:-12.97, Z:-9.48 [[ 0.56002798 -0.65942531 -0.50152461 -6.77321982] [ 0.69095168 0.70577336 -0.1564281 -12.97306562] [ 0.45711535 -0.25892515 0.85088384 -9.47779449] [ 0. 0. 0. 1. ]] SLAMing on 158.868241008 meters Centerline goodness [0,1] 0.9067100832150511 Centerline is valid? [False, False] Translation: X:-6.80, Y:-13.02, Z:-9.50 [[ 0.5559396 -0.66424086 -0.49971516 -6.80464486] [ 0.69594043 0.70069381 -0.15714674 -13.01558597] [ 0.45453061 -0.26040789 0.85181551 -9.50396776] [ 0. 0. 0. 1. ]] SLAMing on 158.898241008 meters Centerline goodness [0,1] 0.9064138315672058 Centerline is valid? [False, False] Translation: X:-6.84, Y:-13.06, Z:-9.53 [[ 0.55403106 -0.66620884 -0.49921474 -6.83957902] [ 0.69823444 0.69841067 -0.15713437 -13.06057647] [ 0.45334121 -0.2615116 0.85211116 -9.53083053] [ 0. 0. 0. 1. ]] SLAMing on 158.92824100800001 meters Centerline goodness [0,1] 0.9114470842332614 Centerline is valid? [False, False] Translation: X:-6.88, Y:-13.11, Z:-9.56 [[ 0.55228511 -0.6692083 -0.49713319 -6.87633967] [ 0.70014277 0.69604034 -0.15914758 -13.1073151 ] [ 0.45252764 -0.26016937 0.85295406 -9.56083871] [ 0. 0. 0. 1. ]] SLAMing on 158.95824100800002 meters Centerline goodness [0,1] 0.9105894246159895 Centerline is valid? [False, False] Translation: X:-6.91, Y:-13.15, Z:-9.59 [[ 0.55090584 -0.67176663 -0.4952094 -6.91292676] [ 0.70178971 0.69401476 -0.16073182 -13.15488429] [ 0.45165691 -0.25898476 0.85377569 -9.59071494] [ 0. 0. 0. 1. ]] SLAMing on 158.988241008 meters Centerline goodness [0,1] 0.9110998078444671 Centerline is valid? [False, False] Translation: X:-6.95, Y:-13.20, Z:-9.62 [[ 0.54821907 -0.67569952 -0.49283467 -6.94737043] [ 0.70529779 0.69021085 -0.16175292 -13.19988537] [ 0.44945621 -0.25891917 0.85495613 -9.61897889] [ 0. 0. 0. 1. ]] SLAMing on 159.018241008 meters Centerline goodness [0,1] 0.9104334592187588 Centerline is valid? [False, False] Translation: X:-6.98, Y:-13.24, Z:-9.65 [[ 0.54678131 -0.67714486 -0.492448 -6.98103324] [ 0.70742516 0.68823388 -0.16088435 -13.24256167] [ 0.4478614 -0.26040155 0.85534274 -9.64625221] [ 0. 0. 0. 1. ]] SLAMing on 159.048241008 meters Centerline goodness [0,1] 0.9109761265715497 Centerline is valid? [False, False] Translation: X:-7.02, Y:-13.29, Z:-9.68 [[ 0.54530198 -0.6799747 -0.4901838 -7.01869357] [ 0.70886772 0.68618144 -0.16328376 -13.28959919] [ 0.44738385 -0.25843652 0.85618821 -9.67690559] [ 0. 0. 0. 1. ]] SLAMing on 159.078241008 meters Centerline goodness [0,1] 0.9091528503293209 Centerline is valid? [False, False] Translation: X:-7.03, Y:-13.31, Z:-9.69 [[ 0.54141265 -0.68300972 -0.4902755 -7.03341054] [ 0.71081956 0.68327967 -0.16692644 -13.31222906] [ 0.44900767 -0.25812133 0.85543293 -9.68916478] [ 0. 0. 0. 1. ]] SLAMing on 159.108241008 meters Centerline goodness [0,1] 0.8944856387965567 Centerline is valid? [False, False] Translation: X:-7.07, Y:-13.36, Z:-9.72 [[ 0.53954679 -0.68586943 -0.48833634 -7.07076614] [ 0.71189564 0.68131095 -0.17035257 -13.35796169] [ 0.44954852 -0.25573133 0.85586659 -9.72097125] [ 0. 0. 0. 1. ]] SLAMing on 159.138241008 meters Centerline goodness [0,1] 0.8980984053892727 Centerline is valid? [False, False] Translation: X:-7.10, Y:-13.40, Z:-9.75 [[ 0.5373139 -0.68692581 -0.48931248 -7.10101851] [ 0.71437689 0.67907838 -0.16887336 -13.3953455 ] [ 0.44828499 -0.25881552 0.85560218 -9.74648015] [ 0. 0. 0. 1. ]] SLAMing on 159.168241008 meters Centerline goodness [0,1] 0.8820211982089214 Centerline is valid? [False, False] Translation: X:-7.14, Y:-13.44, Z:-9.78 [[ 0.53579648 -0.68893731 -0.48814703 -7.13745686] [ 0.71509461 0.67766128 -0.17150768 -13.43957723] [ 0.44895638 -0.2571781 0.85574388 -9.77751213] [ 0. 0. 0. 1. ]] SLAMing on 159.198241008 meters Centerline goodness [0,1] 0.8969729607165127 Centerline is valid? [False, False] Translation: X:-7.17, Y:-13.48, Z:-9.81 [[ 0.53502119 -0.68965414 -0.48798514 -7.17162695] [ 0.71594819 0.67676352 -0.17149151 -13.47936132] [ 0.44852037 -0.25762048 0.85583945 -9.80700845] [ 0. 0. 0. 1. ]] SLAMing on 159.228241008 meters Centerline goodness [0,1] 0.8924077477732221 Centerline is valid? [False, False] Translation: X:-7.21, Y:-13.52, Z:-9.83 [[ 0.53553938 -0.68892648 -0.48844434 -7.20789579] [ 0.71628258 0.67692906 -0.16942939 -13.52328351] [ 0.44736656 -0.25912806 0.85598821 -9.83484458] [ 0. 0. 0. 1. ]] SLAMing on 159.258241008 meters Centerline goodness [0,1] 0.8966363790281618 Centerline is valid? [False, False] Translation: X:-7.25, Y:-13.57, Z:-9.86 [[ 0.5366052 -0.68832468 -0.48812293 -7.24748795] [ 0.71556108 0.67776898 -0.16911994 -13.57091904] [ 0.447244 -0.25853113 0.85623271 -9.86472038] [ 0. 0. 0. 1. ]] SLAMing on 159.288241008 meters Centerline goodness [0,1] 0.9045637319686191 Centerline is valid? [False, False] Translation: X:-7.29, Y:-13.63, Z:-9.90 [[ 0.53917557 -0.68765667 -0.48622835 -7.29495814] [ 0.71323218 0.67985144 -0.17059271 -13.62529723] [ 0.44787226 -0.25481428 0.85701816 -9.89862812] [ 0. 0. 0. 1. ]] SLAMing on 159.318241008 meters Centerline goodness [0,1] 0.905539554263024 Centerline is valid? [False, False] Translation: X:-7.34, Y:-13.67, Z:-9.93 [[ 0.54067488 -0.68647976 -0.4862265 -7.33587208] [ 0.71191182 0.68131235 -0.17027929 -13.67336257] [ 0.44816541 -0.25408465 0.85708153 -9.92909062] [ 0. 0. 0. 1. ]] SLAMing on 159.348241008 meters Centerline goodness [0,1] 0.9102542656406825 Centerline is valid? [False, False] Translation: X:-7.35, Y:-13.69, Z:-9.94 [[ 0.5415024 -0.68416198 -0.48856681 -7.35473625] [ 0.7108083 0.6829089 -0.16848443 -13.6947272 ] [ 0.44891726 -0.25604262 0.85610482 -9.9414316 ] [ 0. 0. 0. 1. ]] SLAMing on 159.378241008 meters Centerline goodness [0,1] 0.908066132264529 Centerline is valid? [False, False] Translation: X:-7.39, Y:-13.74, Z:-9.97 [[ 0.54273655 -0.68098757 -0.49162279 -7.39180825] [ 0.7102683 0.68453756 -0.16409533 -13.73925346] [ 0.44828114 -0.26012355 0.85520743 -9.96528778] [ 0. 0. 0. 1. ]] SLAMing on 159.408241008 meters Centerline goodness [0,1] 0.9100193744810406 Centerline is valid? [False, False] Translation: X:-7.43, Y:-13.79, Z:-9.99 [[ 0.54503601 -0.67780951 -0.49346734 -7.43238961] [ 0.7088153 0.68687388 -0.16057757 -13.78664525] [ 0.44779082 -0.26225664 0.85481275 -9.99138759] [ 0. 0. 0. 1. ]] SLAMing on 159.438241008 meters Centerline goodness [0,1] 0.9115073651567173 Centerline is valid? [False, False] Translation: X:-7.47, Y:-13.83, Z:-10.01 [[ 0.5453039 -0.67543828 -0.49641393 -7.46736923] [ 0.70919617 0.68745852 -0.156338 -13.82973999] [ 0.44686066 -0.26680314 0.85389205 -10.01430561] [ 0. 0. 0. 1. ]] SLAMing on 159.468241008 meters Centerline goodness [0,1] 0.912852039544737 Centerline is valid? [False, False] Translation: X:-7.49, Y:-13.86, Z:-10.03 [[ 0.54558575 -0.67487288 -0.49687301 -7.48824104] [ 0.70805691 0.68836809 -0.15749535 -13.85525909] [ 0.44832086 -0.26588715 0.85341223 -10.02923031] [ 0. 0. 0. 1. ]] SLAMing on 159.498241008 meters Centerline goodness [0,1] 0.9120083959346001 Centerline is valid? [False, False] Translation: X:-7.53, Y:-13.90, Z:-10.06 [[ 0.54514505 -0.67556405 -0.49641725 -7.52531656] [ 0.70878295 0.687635 -0.157432 -13.89879261] [ 0.44770928 -0.26602881 0.8536891 -10.05777186] [ 0. 0. 0. 1. ]] SLAMing on 159.528241008 meters Centerline goodness [0,1] 0.914871936105756 Centerline is valid? [False, False] Translation: X:-7.56, Y:-13.94, Z:-10.09 [[ 0.54502634 -0.67626822 -0.49558811 -7.56157249] [ 0.70924975 0.68711164 -0.1576147 -13.94266744] [ 0.44711417 -0.26559158 0.85413701 -10.08733683] [ 0. 0. 0. 1. ]] SLAMing on 159.558241008 meters Centerline goodness [0,1] 0.9132232544036166 Centerline is valid? [False, False] Translation: X:-7.60, Y:-13.99, Z:-10.12 [[ 0.54489749 -0.67610405 -0.49595367 -7.59859149] [ 0.70911318 0.68722062 -0.15775397 -13.98730714] [ 0.44748769 -0.26572754 0.85389908 -10.11597735] [ 0. 0. 0. 1. ]] SLAMing on 159.588241008 meters Centerline goodness [0,1] 0.913248169153681 Centerline is valid? [False, False] Translation: X:-7.64, Y:-14.03, Z:-10.15 [[ 0.54535858 -0.67593402 -0.49567854 -7.63684705] [ 0.70830462 0.68784069 -0.15868131 -14.03391982] [ 0.44820597 -0.26455318 0.85388701 -10.14627131] [ 0. 0. 0. 1. ]] SLAMing on 159.618241008 meters Centerline goodness [0,1] 0.912658609443942 Centerline is valid? [False, False] Translation: X:-7.68, Y:-14.09, Z:-10.18 [[ 0.54745351 -0.67564116 -0.49376479 -7.68036994] [ 0.70613744 0.68959967 -0.16069292 -14.08529514] [ 0.44907079 -0.2606939 0.85461928 -10.18023635] [ 0. 0. 0. 1. ]] SLAMing on 159.648241008 meters Centerline goodness [0,1] 0.9137935778554329 Centerline is valid? [False, False] Translation: X:-7.71, Y:-14.13, Z:-10.20 [[ 0.5480461 -0.67317818 -0.4964641 -7.71228202] [ 0.70676959 0.69012627 -0.15557143 -14.12566318] [ 0.44735022 -0.26562541 0.85400288 -10.20258483] [ 0. 0. 0. 1. ]] SLAMing on 159.67824100800001 meters Centerline goodness [0,1] 0.9183063033396449 Centerline is valid? [False, False] Translation: X:-7.75, Y:-14.18, Z:-10.23 [[ 0.54962372 -0.67216395 -0.49609413 -7.75307015] [ 0.7052495 0.69163713 -0.15576015 -14.17576755] [ 0.44781348 -0.26426066 0.85418346 -10.23274347] [ 0. 0. 0. 1. ]] SLAMing on 159.70824100800002 meters Centerline goodness [0,1] 0.9177344881287397 Centerline is valid? [False, False] Translation: X:-7.80, Y:-14.23, Z:-10.27 [[ 0.55357042 -0.66915802 -0.49576944 -7.79817323] [ 0.70168153 0.6954003 -0.15511758 -14.22937531] [ 0.44855639 -0.26200375 0.85448885 -10.26583926] [ 0. 0. 0. 1. ]] SLAMing on 159.738241008 meters Centerline goodness [0,1] 0.915390924002187 Centerline is valid? [False, False] Translation: X:-7.84, Y:-14.28, Z:-10.30 [[ 0.55537479 -0.66831318 -0.49489022 -7.83628184] [ 0.70108032 0.69634369 -0.15359635 -14.27510491] [ 0.44726415 -0.26165425 0.85527296 -10.29591572] [ 0. 0. 0. 1. ]] SLAMing on 159.768241008 meters Centerline goodness [0,1] 0.9144554023865308 Centerline is valid? [False, False] Translation: X:-7.87, Y:-14.32, Z:-10.32 [[ 0.55711919 -0.66613925 -0.49585957 -7.87317271] [ 0.70031536 0.69777522 -0.15055943 -14.3200238 ] [ 0.44629207 -0.26337852 0.85525151 -10.32323647] [ 0. 0. 0. 1. ]] SLAMing on 159.798241008 meters Centerline goodness [0,1] 0.914302760752834 Centerline is valid? [False, False] Translation: X:-7.92, Y:-14.37, Z:-10.36 [[ 0.55922702 -0.6648345 -0.49523754 -7.91570097] [ 0.69765331 0.70011034 -0.15207031 -14.37213708] [ 0.44782251 -0.26046228 0.85534461 -10.3560589 ] [ 0. 0. 0. 1. ]] SLAMing on 159.828241008 meters Centerline goodness [0,1] 0.9097939538153696 Centerline is valid? [False, False] Translation: X:-7.97, Y:-14.44, Z:-10.40 [[ 0.56332029 -0.65857623 -0.49894648 -7.96818222] [ 0.69473024 0.70441683 -0.14541949 -14.43776394] [ 0.44723612 -0.26471546 0.85434512 -10.39549951] [ 0. 0. 0. 1. ]] SLAMing on 159.858241008 meters Centerline goodness [0,1] 0.9082227258012302 Centerline is valid? [False, False] Translation: X:-8.01, Y:-14.49, Z:-10.43 [[ 0.5648485 -0.65821889 -0.49768873 -8.01009595] [ 0.69250465 0.70609207 -0.14788949 -14.48763336] [ 0.44875772 -0.2611166 0.85465468 -10.42930405] [ 0. 0. 0. 1. ]] SLAMing on 159.888241008 meters Centerline goodness [0,1] 0.906168385342344 Centerline is valid? [False, False] Translation: X:-8.06, Y:-14.55, Z:-10.47 [[ 0.56702403 -0.65415612 -0.5005632 -8.06044809] [ 0.69211447 0.70786904 -0.14106376 -14.54978761] [ 0.44661092 -0.26646049 0.85412967 -10.46767091] [ 0. 0. 0. 1. ]] SLAMing on 159.918241008 meters Centerline goodness [0,1] 0.9033543762037235 Centerline is valid? [False, False] Translation: X:-8.10, Y:-14.60, Z:-10.50 [[ 0.56886263 -0.65371686 -0.49904866 -8.1015018 ] [ 0.68999517 0.70955813 -0.14294728 -14.59722407] [ 0.44755109 -0.2630238 0.85470258 -10.50186611] [ 0. 0. 0. 1. ]] SLAMing on 159.948241008 meters Centerline goodness [0,1] 0.9020913564398801 Centerline is valid? [False, False] Translation: X:-8.14, Y:-14.64, Z:-10.53 [[ 0.56914744 -0.6549477 -0.49710633 -8.13948594] [ 0.690063 0.70921155 -0.14433308 -14.6436969 ] [ 0.44708417 -0.26088788 0.85560111 -10.53293941] [ 0. 0. 0. 1. ]] SLAMing on 159.978241008 meters Centerline goodness [0,1] 0.9020780265451133 Centerline is valid? [False, False] Translation: X:-8.18, Y:-14.69, Z:-10.56 [[ 0.56966753 -0.65498434 -0.4964619 -8.17817947] [ 0.68936593 0.70969453 -0.14528691 -14.69219865] [ 0.44749695 -0.25947868 0.85581382 -10.56284742] [ 0. 0. 0. 1. ]] SLAMing on 160.008241008 meters Centerline goodness [0,1] 0.9027280021396096 Centerline is valid? [False, False] Translation: X:-8.23, Y:-14.75, Z:-10.60 [[ 0.5697203 -0.65352222 -0.49832468 -8.22640303] [ 0.69142893 0.70890759 -0.13919793 -14.75170894] [ 0.44423509 -0.26525221 0.85574321 -10.59984729] [ 0. 0. 0. 1. ]] SLAMing on 160.038241008 meters Centerline goodness [0,1] 0.9029271286388986 Centerline is valid? [False, False] Translation: X:-8.26, Y:-14.80, Z:-10.63 [[ 0.56911478 -0.65514424 -0.49688469 -8.26246275] [ 0.69263032 0.70763427 -0.13970317 -14.7954821 ] [ 0.44313836 -0.26465027 0.85649789 -10.6287957 ] [ 0. 0. 0. 1. ]] SLAMing on 160.068241008 meters Centerline goodness [0,1] 0.9029105473965287 Centerline is valid? [False, False] Translation: X:-8.31, Y:-14.86, Z:-10.67 [[ 0.56877438 -0.65512343 -0.49730172 -8.31123132] [ 0.69465691 0.70636118 -0.13603555 -14.85680155] [ 0.4403947 -0.26808054 0.85684615 -10.66716711] [ 0. 0. 0. 1. ]] SLAMing on 160.098241008 meters Centerline goodness [0,1] 0.9054256114493218 Centerline is valid? [False, False] Translation: X:-8.36, Y:-14.92, Z:-10.71 [[ 0.56804087 -0.65561114 -0.49749733 -8.35866149] [ 0.69726067 0.70450634 -0.13228142 -14.91585903] [ 0.4372152 -0.27174407 0.85732026 -10.7053755 ] [ 0. 0. 0. 1. ]] SLAMing on 160.128241008 meters Centerline goodness [0,1] 0.9134592334123538 Centerline is valid? [False, False] Translation: X:-8.39, Y:-14.96, Z:-10.73 [[ 0.5660864 -0.65863772 -0.49572426 -8.39286553] [ 0.69923016 0.70214571 -0.13441942 -14.95697428] [ 0.43660436 -0.27053235 0.8580145 -10.73461233] [ 0. 0. 0. 1. ]] SLAMing on 160.158241008 meters Centerline goodness [0,1] 0.9173208305425318 Centerline is valid? [False, False] Translation: X:-8.42, Y:-14.99, Z:-10.76 [[ 0.56185741 -0.66406207 -0.49329283 -8.42390899] [ 0.70345296 0.69731709 -0.13748745 -14.99481071] [ 0.43528172 -0.26975997 0.85892921 -10.76238789] [ 0. 0. 0. 1. ]] SLAMing on 160.188241008 meters Centerline goodness [0,1] 0.9209704539995196 Centerline is valid? [False, False] Translation: X:-8.46, Y:-15.04, Z:-10.79 [[ 0.55996451 -0.66813264 -0.48993727 -8.46017703] [ 0.70565609 0.69447533 -0.14054712 -15.03908492] [ 0.43415346 -0.26702582 0.86035341 -10.79279404] [ 0. 0. 0. 1. ]] SLAMing on 160.218241008 meters Centerline goodness [0,1] 0.9224223286681474 Centerline is valid? [False, False] Translation: X:-8.50, Y:-15.08, Z:-10.82 [[ 0.55795326 -0.67158305 -0.48750832 -8.49624537] [ 0.70783304 0.69178066 -0.1428702 -15.08346596] [ 0.43319804 -0.2653596 0.86134995 -10.82140403] [ 0. 0. 0. 1. ]] SLAMing on 160.248241008 meters Centerline goodness [0,1] 0.9204820573519126 Centerline is valid? [False, False] Translation: X:-8.54, Y:-15.14, Z:-10.86 [[ 0.55375173 -0.67478285 -0.48788024 -8.54402392] [ 0.71249717 0.68720379 -0.14177002 -15.14421292] [ 0.43093713 -0.26910789 0.86132116 -10.85614481] [ 0. 0. 0. 1. ]] SLAMing on 160.278241008 meters Centerline goodness [0,1] 0.9188084740294655 Centerline is valid? [False, False] Translation: X:-8.58, Y:-15.19, Z:-10.89 [[ 0.55099644 -0.67889554 -0.4852873 -8.57986771] [ 0.71511979 0.68385389 -0.14473262 -15.1872656 ] [ 0.43012394 -0.2672914 0.8622927 -10.88513468] [ 0. 0. 0. 1. ]] SLAMing on 160.308241008 meters Centerline goodness [0,1] 0.9125883559056818 Centerline is valid? [False, False] Translation: X:-8.63, Y:-15.25, Z:-10.92 [[ 0.54953424 -0.68058748 -0.48457487 -8.63025781] [ 0.71780502 0.68140068 -0.14300026 -15.25116247] [ 0.42751383 -0.26924674 0.86298211 -10.92345828] [ 0. 0. 0. 1. ]] SLAMing on 160.338241008 meters Centerline goodness [0,1] 0.9058664503919979 Centerline is valid? [False, False] Translation: X:-8.68, Y:-15.31, Z:-10.96 [[ 0.54801049 -0.68227044 -0.48393341 -8.67922986] [ 0.72092054 0.67864531 -0.14040697 -15.31317478] [ 0.42421467 -0.27193304 0.86376753 -10.96103308] [ 0. 0. 0. 1. ]] SLAMing on 160.368241008 meters Centerline goodness [0,1] 0.8797278691180044 Centerline is valid? [False, False] Translation: X:-8.73, Y:-15.38, Z:-11.00 [[ 0.54433572 -0.68651261 -0.48207785 -8.72914628] [ 0.72502902 0.67407465 -0.14126671 -15.37555081] [ 0.42193784 -0.27262392 0.86466448 -10.99963187] [ 0. 0. 0. 1. ]] SLAMing on 160.398241008 meters Centerline goodness [0,1] 0.8629471914074154 Centerline is valid? [False, False] Translation: X:-8.78, Y:-15.44, Z:-11.04 [[ 0.5431012 -0.68955916 -0.47911299 -8.78430395] [ 0.72664289 0.6718973 -0.14333219 -15.44310771] [ 0.42075075 -0.27030016 0.86597149 -11.04238115] [ 0. 0. 0. 1. ]] SLAMing on 160.42824100800001 meters Centerline goodness [0,1] 0.8703252692536667 Centerline is valid? [False, False] Translation: X:-8.84, Y:-15.51, Z:-11.08 [[ 0.54227114 -0.69103149 -0.47793043 -8.83575084] [ 0.72851738 0.67008919 -0.14227757 -15.50669572] [ 0.41857429 -0.27102761 0.86679848 -11.08204527] [ 0. 0. 0. 1. ]] SLAMing on 160.45824100800002 meters Centerline goodness [0,1] 0.8684403221869661 Centerline is valid? [False, False] Translation: X:-8.89, Y:-15.58, Z:-11.12 [[ 0.54204401 -0.69199208 -0.47679688 -8.89156753] [ 0.72912867 0.66936304 -0.14256404 -15.57531641] [ 0.41780339 -0.27037029 0.86737548 -11.12217961] [ 0. 0. 0. 1. ]] SLAMing on 160.488241008 meters Centerline goodness [0,1] 0.8733701238976357 Centerline is valid? [False, False] Translation: X:-8.93, Y:-15.62, Z:-11.15 [[ 0.54257415 -0.69346697 -0.4740431 -8.93272041] [ 0.72852267 0.66940858 -0.14541964 -15.62498031] [ 0.41817223 -0.26645021 0.8684102 -11.15335142] [ 0. 0. 0. 1. ]] SLAMing on 160.518241008 meters Centerline goodness [0,1] 0.8769247451745825 Centerline is valid? [False, False] Translation: X:-8.98, Y:-15.69, Z:-11.19 [[ 0.54413946 -0.69225332 -0.47402277 -8.98409526] [ 0.72925622 0.66960709 -0.14075409 -15.68902024] [ 0.4148465 -0.2690942 0.86918968 -11.19157484] [ 0. 0. 0. 1. ]] SLAMing on 160.548241008 meters Centerline goodness [0,1] 0.8799676025917926 Centerline is valid? [False, False] Translation: X:-9.02, Y:-15.74, Z:-11.22 [[ 0.54509162 -0.6924139 -0.47269241 -9.02493083] [ 0.72803305 0.67053133 -0.14267313 -15.73725593] [ 0.41574393 -0.26636577 0.86960121 -11.22173518] [ 0. 0. 0. 1. ]] SLAMing on 160.578241008 meters Centerline goodness [0,1] 0.891769071499637 Centerline is valid? [False, False] Translation: X:-9.08, Y:-15.80, Z:-11.26 [[ 0.54895207 -0.68882748 -0.47346418 -9.07821834] [ 0.72710725 0.67292277 -0.13597791 -15.80245815] [ 0.41227015 -0.26961388 0.8702538 -11.26033836] [ 0. 0. 0. 1. ]] SLAMing on 160.608241008 meters Centerline goodness [0,1] 0.9135955237531608 Centerline is valid? [False, False] Translation: X:-9.11, Y:-15.85, Z:-11.29 [[ 0.55035189 -0.68799379 -0.47305111 -9.11489345] [ 0.72707532 0.6734428 -0.13355256 -15.84719474] [ 0.41045619 -0.27044288 0.87085381 -11.28634799] [ 0. 0. 0. 1. ]] SLAMing on 160.638241008 meters Centerline goodness [0,1] 0.9134190978576812 Centerline is valid? [False, False] Translation: X:-9.16, Y:-15.90, Z:-11.32 [[ 0.55211331 -0.68777838 -0.4713086 -9.15536244] [ 0.72622006 0.6743932 -0.13341002 -15.8964748 ] [ 0.40960384 -0.26861631 0.87181992 -11.31519471] [ 0. 0. 0. 1. ]] SLAMing on 160.668241008 meters Centerline goodness [0,1] 0.9165953349026321 Centerline is valid? [False, False] Translation: X:-9.20, Y:-15.95, Z:-11.35 [[ 0.5559178 -0.6864222 -0.46880696 -9.20097893] [ 0.72319857 0.67744949 -0.13433547 -15.94992363] [ 0.40980389 -0.26436105 0.87302578 -11.34799161] [ 0. 0. 0. 1. ]] SLAMing on 160.698241008 meters Centerline goodness [0,1] 0.9165953349026321 Centerline is valid? [False, False] Translation: X:-9.24, Y:-16.00, Z:-11.38 [[ 0.55532427 -0.68804924 -0.46712225 -9.23914569] [ 0.72367898 0.6765601 -0.13621735 -15.99556615] [ 0.40976052 -0.26240175 0.87363702 -11.37611459] [ 0. 0. 0. 1. ]] SLAMing on 160.728241008 meters Centerline goodness [0,1] 0.9175188913513658 Centerline is valid? [False, False] Translation: X:-9.28, Y:-16.04, Z:-11.41 [[ 0.55685395 -0.68819749 -0.46507837 -9.27996914] [ 0.72278535 0.67737237 -0.13692336 -16.04484274] [ 0.40926155 -0.25990552 0.87461655 -11.40549701] [ 0. 0. 0. 1. ]] SLAMing on 160.758241008 meters Centerline goodness [0,1] 0.9173505118815322 Centerline is valid? [False, False] Translation: X:-9.32, Y:-16.10, Z:-11.44 [[ 0.55845527 -0.68882091 -0.46222664 -9.32407446] [ 0.72122878 0.6784661 -0.13968822 -16.09889672] [ 0.40982527 -0.25536153 0.87569043 -11.43590394] [ 0. 0. 0. 1. ]] SLAMing on 160.788241008 meters Centerline goodness [0,1] 0.9170998338781415 Centerline is valid? [False, False] Translation: X:-9.37, Y:-16.15, Z:-11.47 [[ 0.55973219 -0.68942009 -0.45978235 -9.36744911] [ 0.72026517 0.6791209 -0.14146692 -16.15161395] [ 0.40977794 -0.25198162 0.87669111 -11.4650868 ] [ 0. 0. 0. 1. ]] SLAMing on 160.818241008 meters Centerline goodness [0,1] 0.9172765639190128 Centerline is valid? [False, False] Translation: X:-9.41, Y:-16.20, Z:-11.49 [[ 0.56185542 -0.68890625 -0.45795924 -9.40872499] [ 0.71931711 0.68026172 -0.140808 -16.20157122] [ 0.40853565 -0.25030418 0.87775078 -11.49389654] [ 0. 0. 0. 1. ]] SLAMing on 160.848241008 meters Centerline goodness [0,1] 0.9158776595744681 Centerline is valid? [False, False] Translation: X:-9.46, Y:-16.26, Z:-11.53 [[ 0.56212863 -0.68732159 -0.46000048 -9.45814064] [ 0.72047531 0.68007154 -0.13571301 -16.26365908] [ 0.40611171 -0.25513082 0.87748592 -11.52853272] [ 0. 0. 0. 1. ]] SLAMing on 160.878241008 meters Centerline goodness [0,1] 0.9144589253284905 Centerline is valid? [False, False] Translation: X:-9.51, Y:-16.33, Z:-11.56 [[ 0.56177266 -0.6871206 -0.46073502 -9.50890662] [ 0.72190901 0.67915618 -0.13264339 -16.32706556] [ 0.40405304 -0.25809333 0.87756992 -11.56424897] [ 0. 0. 0. 1. ]] SLAMing on 160.908241008 meters Centerline goodness [0,1] 0.9159964731343683 Centerline is valid? [False, False] Translation: X:-9.55, Y:-16.38, Z:-11.59 [[ 0.55982505 -0.69099449 -0.45729916 -9.54894526] [ 0.7232118 0.67682921 -0.13735685 -16.37623599] [ 0.40442626 -0.25382835 0.87864132 -11.59315367] [ 0. 0. 0. 1. ]] SLAMing on 160.938241008 meters Centerline goodness [0,1] 0.9153662910521667 Centerline is valid? [False, False] Translation: X:-9.59, Y:-16.42, Z:-11.62 [[ 0.55847829 -0.693113 -0.45573716 -9.58574802] [ 0.72413911 0.67535104 -0.13972662 -16.42241179] [ 0.4046289 -0.25198282 0.87907913 -11.62009614] [ 0. 0. 0. 1. ]] SLAMing on 160.968241008 meters Centerline goodness [0,1] 0.9128008371119637 Centerline is valid? [False, False] Translation: X:-9.63, Y:-16.47, Z:-11.65 [[ 0.55652337 -0.69497384 -0.45529451 -9.62770475] [ 0.72368048 0.67467475 -0.14526026 -16.47464524] [ 0.40812779 -0.24864702 0.87841127 -11.64816953] [ 0. 0. 0. 1. ]] SLAMing on 160.998241008 meters Centerline goodness [0,1] 0.9106146756851438 Centerline is valid? [False, False] Translation: X:-9.67, Y:-16.52, Z:-11.68 [[ 0.55514191 -0.69727109 -0.45346498 -9.66720787] [ 0.72392735 0.67351021 -0.14937601 -16.52378945] [ 0.40956886 -0.24535081 0.87866736 -11.67677667] [ 0. 0. 0. 1. ]] SLAMing on 161.028241008 meters Centerline goodness [0,1] 0.90924021323569 Centerline is valid? [False, False] Translation: X:-9.72, Y:-16.59, Z:-11.71 [[ 0.55369481 -0.69623734 -0.45681027 -9.71708627] [ 0.72540501 0.67266586 -0.1459733 -16.58713827] [ 0.40891274 -0.25054781 0.87750565 -11.70925491] [ 0. 0. 0. 1. ]] SLAMing on 161.058241008 meters Centerline goodness [0,1] 0.906744379683597 Centerline is valid? [False, False] Translation: X:-9.75, Y:-16.63, Z:-11.74 [[ 0.55271559 -0.69795584 -0.45537142 -9.75474489] [ 0.7261157 0.67148566 -0.14786142 -16.63120034] [ 0.40897612 -0.24892702 0.87793728 -11.73716726] [ 0. 0. 0. 1. ]] SLAMing on 161.088241008 meters Centerline goodness [0,1] 0.9076686951370564 Centerline is valid? [False, False] Translation: X:-9.79, Y:-16.68, Z:-11.76 [[ 0.55166408 -0.69943919 -0.45436941 -9.79166766] [ 0.72689787 0.6703174 -0.14931202 -16.67519616] [ 0.4090064 -0.24791008 0.87821088 -11.76390683] [ 0. 0. 0. 1. ]] SLAMing on 161.118241008 meters Centerline goodness [0,1] 0.9105873449198584 Centerline is valid? [False, False] Translation: X:-9.83, Y:-16.72, Z:-11.79 [[ 0.55069389 -0.70093902 -0.45323362 -9.82759739] [ 0.7277786 0.669095 -0.1504998 -16.71922245] [ 0.40874754 -0.24697441 0.87859495 -11.79024312] [ 0. 0. 0. 1. ]] SLAMing on 161.148241008 meters Centerline goodness [0,1] 0.909598575590806 Centerline is valid? [False, False] Translation: X:-9.88, Y:-16.78, Z:-11.82 [[ 0.55083702 -0.69830886 -0.45710318 -9.87591882] [ 0.72873679 0.66938757 -0.14444018 -16.78232631] [ 0.40684305 -0.25354491 0.87760681 -11.82128002] [ 0. 0. 0. 1. ]] SLAMing on 161.17824100800001 meters Centerline goodness [0,1] 0.9117006693008628 Centerline is valid? [False, False] Translation: X:-9.91, Y:-16.83, Z:-11.85 [[ 0.54996685 -0.69943942 -0.45642192 -9.91236017] [ 0.72935257 0.66847359 -0.14556058 -16.82625681] [ 0.40691681 -0.25283901 0.87777625 -11.84723044] [ 0. 0. 0. 1. ]] SLAMing on 161.20824100800002 meters Centerline goodness [0,1] 0.9092888829143702 Centerline is valid? [False, False] Translation: X:-9.96, Y:-16.89, Z:-11.88 [[ 0.54897799 -0.69908592 -0.45815068 -9.96412435] [ 0.72990263 0.66804698 -0.14475971 -16.89061052] [ 0.40726565 -0.25493549 0.87700774 -11.88330956] [ 0. 0. 0. 1. ]] SLAMing on 161.238241008 meters Centerline goodness [0,1] 0.9059619427524123 Centerline is valid? [False, False] Translation: X:-10.01, Y:-16.95, Z:-11.92 [[ 0.54882118 -0.69758223 -0.46062386 -10.01293247] [ 0.73092158 0.66783816 -0.14051984 -16.95398234] [ 0.40564633 -0.25955966 0.87640164 -11.91663998] [ 0. 0. 0. 1. ]] SLAMing on 161.268241008 meters Centerline goodness [0,1] 0.9084305465543314 Centerline is valid? [False, False] Translation: X:-10.02, Y:-16.97, Z:-11.91 [[ 0.546374 -0.69207692 -0.47170434 -10.01940047] [ 0.73052315 0.66925717 -0.13576001 -16.96781621] [ 0.40964788 -0.2704152 0.87124292 -11.91281321] [ 0. 0. 0. 1. ]] SLAMing on 161.298241008 meters Centerline goodness [0,1] 0.9077766969303934 Centerline is valid? [False, False] Translation: X:-10.05, Y:-17.01, Z:-11.93 [[ 0.54561498 -0.69090457 -0.47429439 -10.04749739] [ 0.73244272 0.66816019 -0.13072726 -17.00678064] [ 0.4072247 -0.27606672 0.87060623 -11.93082924] [ 0. 0. 0. 1. ]] SLAMing on 161.328241008 meters Centerline goodness [0,1] 0.9056385412461311 Centerline is valid? [False, False] Translation: X:-10.09, Y:-17.06, Z:-11.96 [[ 0.54535336 -0.6927555 -0.47188932 -10.09415854] [ 0.73061439 0.668806 -0.13748142 -17.06312764] [ 0.41084342 -0.26979318 0.87087274 -11.9637006 ] [ 0. 0. 0. 1. ]] SLAMing on 161.358241008 meters Centerline goodness [0,1] 0.9070651002371201 Centerline is valid? [False, False] Translation: X:-10.15, Y:-17.13, Z:-12.00 [[ 0.54661637 -0.69167775 -0.47200892 -10.14930618] [ 0.72964754 0.66999481 -0.13682626 -17.13227016] [ 0.41088321 -0.26960868 0.8709111 -12.00264372] [ 0. 0. 0. 1. ]] SLAMing on 161.388241008 meters Centerline goodness [0,1] 0.9072159411338185 Centerline is valid? [False, False] Translation: X:-10.20, Y:-17.20, Z:-12.04 [[ 0.5484999 -0.68967288 -0.47275701 -10.20197121] [ 0.72886039 0.67144358 -0.13388818 -17.19801914] [ 0.4097687 -0.27113621 0.87096198 -12.04083369] [ 0. 0. 0. 1. ]] SLAMing on 161.418241008 meters Centerline goodness [0,1] 0.906099518459069 Centerline is valid? [False, False] Translation: X:-10.25, Y:-17.26, Z:-12.07 [[ 0.55209185 -0.68603679 -0.47386508 -10.25276155] [ 0.72322385 0.67683411 -0.13726926 -17.25802616] [ 0.41489981 -0.26692529 0.86983276 -12.07334354] [ 0. 0. 0. 1. ]] SLAMing on 161.448241008 meters Centerline goodness [0,1] 0.9078332398579174 Centerline is valid? [False, False] Translation: X:-10.29, Y:-17.31, Z:-12.10 [[ 0.55400244 -0.68613845 -0.47148205 -10.29498451] [ 0.72135791 0.67835133 -0.13957878 -17.3091294 ] [ 0.41560085 -0.26278032 0.87075969 -12.10422053] [ 0. 0. 0. 1. ]] SLAMing on 161.478241008 meters Centerline goodness [0,1] 0.9067250915114757 Centerline is valid? [False, False] Translation: X:-10.34, Y:-17.36, Z:-12.13 [[ 0.55459566 -0.68654562 -0.47019015 -10.33850636] [ 0.71941565 0.67955492 -0.14368794 -17.36209197] [ 0.41816836 -0.25857345 0.87078987 -12.13366233] [ 0. 0. 0. 1. ]] SLAMing on 161.508241008 meters Centerline goodness [0,1] 0.9060510406077792 Centerline is valid? [False, False] Translation: X:-10.39, Y:-17.43, Z:-12.17 [[ 0.55590205 -0.68504008 -0.47084286 -10.39113422] [ 0.71958725 0.68014713 -0.13997879 -17.42881912] [ 0.41613351 -0.26099802 0.87104129 -12.16986812] [ 0. 0. 0. 1. ]] SLAMing on 161.538241008 meters Centerline goodness [0,1] 0.9045230153435624 Centerline is valid? [False, False] Translation: X:-10.44, Y:-17.49, Z:-12.21 [[ 0.5559662 -0.68473326 -0.47121327 -10.44164448] [ 0.72089388 0.67942311 -0.13673419 -17.49276034] [ 0.41377964 -0.26367518 0.87135631 -12.20608711] [ 0. 0. 0. 1. ]] SLAMing on 161.568241008 meters Centerline goodness [0,1] 0.9024324903557651 Centerline is valid? [False, False] Translation: X:-10.49, Y:-17.56, Z:-12.24 [[ 0.5555239 -0.68455087 -0.47199926 -10.49075944] [ 0.72248139 0.67837355 -0.13352887 -17.55566986] [ 0.41159912 -0.26683221 0.87142799 -12.24083648] [ 0. 0. 0. 1. ]] SLAMing on 161.598241008 meters Centerline goodness [0,1] 0.9067828418230564 Centerline is valid? [False, False] Translation: X:-10.55, Y:-17.63, Z:-12.28 [[ 0.55507805 -0.68642235 -0.46980072 -10.54505248] [ 0.72368629 0.67697899 -0.13408055 -17.62611072] [ 0.4100811 -0.26556317 0.87253062 -12.28043752] [ 0. 0. 0. 1. ]] SLAMing on 161.628241008 meters Centerline goodness [0,1] 0.9068742102857758 Centerline is valid? [False, False] Translation: X:-10.60, Y:-17.70, Z:-12.32 [[ 0.55464408 -0.68803594 -0.46794923 -10.60270652] [ 0.7235538 0.67651688 -0.13709413 -17.69954345] [ 0.41090124 -0.262548 0.87305711 -12.32160887] [ 0. 0. 0. 1. ]] SLAMing on 161.658241008 meters Centerline goodness [0,1] 0.9036475884937859 Centerline is valid? [False, False] Translation: X:-10.66, Y:-17.77, Z:-12.36 [[ 0.55404285 -0.68874433 -0.46761925 -10.65529104] [ 0.72431334 0.67571079 -0.13705883 -17.76759929] [ 0.41037386 -0.26276639 0.87323944 -12.35904174] [ 0. 0. 0. 1. ]] SLAMing on 161.688241008 meters Centerline goodness [0,1] 0.9012332352861807 Centerline is valid? [False, False] Translation: X:-10.68, Y:-17.80, Z:-12.38 [[ 0.55231509 -0.6877698 -0.47108464 -10.68240445] [ 0.72600234 0.67457574 -0.13367189 -17.80456282] [ 0.40971776 -0.26817954 0.87190085 -12.3775354 ] [ 0. 0. 0. 1. ]] SLAMing on 161.718241008 meters Centerline goodness [0,1] 0.9046188814027113 Centerline is valid? [False, False] Translation: X:-10.74, Y:-17.87, Z:-12.42 [[ 0.55019789 -0.69019129 -0.47001943 -10.73634986] [ 0.72694036 0.67287139 -0.13711968 -17.87344013] [ 0.41090143 -0.26623314 0.87194032 -12.41761834] [ 0. 0. 0. 1. ]] SLAMing on 161.748241008 meters Centerline goodness [0,1] 0.9036530423926613 Centerline is valid? [False, False] Translation: X:-10.79, Y:-17.94, Z:-12.46 [[ 0.54961647 -0.69187615 -0.4682191 -10.78949616] [ 0.72780885 0.67170484 -0.13822767 -17.94223627] [ 0.41014147 -0.2648018 0.87273363 -12.45706392] [ 0. 0. 0. 1. ]] SLAMing on 161.778241008 meters Centerline goodness [0,1] 0.9040760203664879 Centerline is valid? [False, False] Translation: X:-10.84, Y:-18.01, Z:-12.50 [[ 0.54892866 -0.69340247 -0.46676583 -10.84330995] [ 0.72890286 0.67041496 -0.1387242 -18.01243827] [ 0.4091185 -0.26407726 0.87343303 -12.49512557] [ 0. 0. 0. 1. ]] SLAMing on 161.808241008 meters Centerline goodness [0,1] 0.9042370338035086 Centerline is valid? [False, False] Translation: X:-10.90, Y:-18.08, Z:-12.53 [[ 0.54850725 -0.69520497 -0.46457491 -10.89812969] [ 0.72981209 0.66920902 -0.13976263 -18.08354873] [ 0.40806139 -0.26239157 0.874435 -12.53433235] [ 0. 0. 0. 1. ]] SLAMing on 161.838241008 meters Centerline goodness [0,1] 0.9015207360690202 Centerline is valid? [False, False] Translation: X:-10.92, Y:-18.12, Z:-12.55 [[ 0.54590908 -0.695382 -0.46736192 -10.92312723] [ 0.73274644 0.66674383 -0.13614444 -18.11938597] [ 0.40628307 -0.2681353 0.8735202 -12.55179213] [ 0. 0. 0. 1. ]] SLAMing on 161.868241008 meters Centerline goodness [0,1] 0.9015923305929587 Centerline is valid? [False, False] Translation: X:-10.98, Y:-18.19, Z:-12.59 [[ 0.54476458 -0.69689902 -0.46643682 -10.97713999] [ 0.73347755 0.66559628 -0.13781247 -18.18758847] [ 0.40649999 -0.26704559 0.87375306 -12.59108523] [ 0. 0. 0. 1. ]] SLAMing on 161.898241008 meters Centerline goodness [0,1] 0.900863718362215 Centerline is valid? [False, False] Translation: X:-11.03, Y:-18.26, Z:-12.63 [[ 0.5439062 -0.69865037 -0.46481578 -11.03079522] [ 0.73441369 0.66429427 -0.13910304 -18.25517941] [ 0.40595885 -0.26570806 0.87441217 -12.63102865] [ 0. 0. 0. 1. ]] SLAMing on 161.92824100800001 meters Centerline goodness [0,1] 0.9005134964439685 Centerline is valid? [False, False] Translation: X:-11.07, Y:-18.30, Z:-12.66 [[ 0.54211278 -0.70174614 -0.46224029 -11.06812831] [ 0.73532693 0.6624033 -0.14323467 -18.30349357] [ 0.40670387 -0.26224839 0.87511013 -12.65926679] [ 0. 0. 0. 1. ]] SLAMing on 161.95824100800002 meters Centerline goodness [0,1] 0.8980554565151806 Centerline is valid? [False, False] Translation: X:-11.12, Y:-18.37, Z:-12.70 [[ 0.54152323 -0.70389012 -0.45966432 -11.12301458] [ 0.73623627 0.66103039 -0.14489644 -18.37359218] [ 0.40584326 -0.25995676 0.87619275 -12.6998642 ] [ 0. 0. 0. 1. ]] SLAMing on 161.988241008 meters Centerline goodness [0,1] 0.8973448892557436 Centerline is valid? [False, False] Translation: X:-11.17, Y:-18.43, Z:-12.73 [[ 0.54022658 -0.70646169 -0.45723858 -11.16622383] [ 0.73542553 0.66044619 -0.15152595 -18.4281341 ] [ 0.40902875 -0.25440658 0.87634056 -12.73044256] [ 0. 0. 0. 1. ]] SLAMing on 162.018241008 meters Centerline goodness [0,1] 0.8965555219031361 Centerline is valid? [False, False] Translation: X:-11.21, Y:-18.48, Z:-12.76 [[ 0.53890726 -0.70848055 -0.45566904 -11.20724508] [ 0.7350269 0.65973646 -0.15647129 -18.47871728] [ 0.41147834 -0.25060549 0.87628903 -12.75945382] [ 0. 0. 0. 1. ]] SLAMing on 162.048241008 meters Centerline goodness [0,1] 0.8967472067807805 Centerline is valid? [False, False] Translation: X:-11.25, Y:-18.53, Z:-12.79 [[ 0.53848308 -0.7092415 -0.45498622 -11.2471104 ] [ 0.73442877 0.65974566 -0.15921699 -18.52790357] [ 0.41309849 -0.24841932 0.87614924 -12.78743248] [ 0. 0. 0. 1. ]] SLAMing on 162.078241008 meters Centerline goodness [0,1] 0.8970906797554087 Centerline is valid? [False, False] Translation: X:-11.30, Y:-18.60, Z:-12.83 [[ 0.53901239 -0.70862772 -0.45531572 -11.30194674] [ 0.73397303 0.66034544 -0.15883161 -18.5984098 ] [ 0.41321814 -0.24857726 0.87604801 -12.82580838] [ 0. 0. 0. 1. ]] SLAMing on 162.108241008 meters Centerline goodness [0,1] 0.8968352168055211 Centerline is valid? [False, False] Translation: X:-11.36, Y:-18.67, Z:-12.87 [[ 0.54051774 -0.70752307 -0.45524902 -11.35932114] [ 0.7326506 0.66183965 -0.15871791 -18.67222186] [ 0.41359843 -0.24774862 0.87610328 -12.86596136] [ 0. 0. 0. 1. ]] SLAMing on 162.138241008 meters Centerline goodness [0,1] 0.9024075548356988 Centerline is valid? [False, False] Translation: X:-11.39, Y:-18.71, Z:-12.88 [[ 0.54072914 -0.70438814 -0.45983622 -11.3876938 ] [ 0.73329595 0.66255738 -0.15262625 -18.71009508] [ 0.412176 -0.25466658 0.87478905 -12.88385696] [ 0. 0. 0. 1. ]] SLAMing on 162.168241008 meters Centerline goodness [0,1] 0.9041539686461851 Centerline is valid? [False, False] Translation: X:-11.43, Y:-18.77, Z:-12.92 [[ 0.54396306 -0.70148695 -0.46045657 -11.43411658] [ 0.72853877 0.66709236 -0.15562468 -18.7693958 ] [ 0.41633574 -0.25080639 0.87393404 -12.91506914] [ 0. 0. 0. 1. ]] SLAMing on 162.198241008 meters Centerline goodness [0,1] 0.9038962463327027 Centerline is valid? [False, False] Translation: X:-11.48, Y:-18.83, Z:-12.94 [[ 0.54566804 -0.6992983 -0.46176648 -11.47916228] [ 0.72465558 0.67049856 -0.15907848 -18.82762235] [ 0.42085707 -0.24781761 0.87262005 -12.9442838 ] [ 0. 0. 0. 1. ]] SLAMing on 162.228241008 meters Centerline goodness [0,1] 0.9035512179119167 Centerline is valid? [False, False] Translation: X:-11.53, Y:-18.89, Z:-12.98 [[ 0.55174159 -0.69317276 -0.46378092 -11.52717899] [ 0.71770397 0.67787407 -0.15933536 -18.88999072] [ 0.42483199 -0.24494546 0.87150416 -12.97635248] [ 0. 0. 0. 1. ]] SLAMing on 162.258241008 meters Centerline goodness [0,1] 0.9079281097444569 Centerline is valid? [False, False] Translation: X:-11.57, Y:-18.94, Z:-13.01 [[ 0.55521974 -0.68997846 -0.46439289 -11.56935012] [ 0.71402206 0.68176605 -0.15927191 -18.944154 ] [ 0.4265015 -0.24315586 0.87118982 -13.00601521] [ 0. 0. 0. 1. ]] SLAMing on 162.288241008 meters Centerline goodness [0,1] 0.9067768865608119 Centerline is valid? [False, False] Translation: X:-11.62, Y:-19.00, Z:-13.04 [[ 0.55797638 -0.68654592 -0.46617278 -11.6162664 ] [ 0.7093199 0.68613877 -0.16148952 -19.0045092 ] [ 0.43072919 -0.24055829 0.86982991 -13.03651248] [ 0. 0. 0. 1. ]] SLAMing on 162.318241008 meters Centerline goodness [0,1] 0.9105476507876051 Centerline is valid? [False, False] Translation: X:-11.66, Y:-19.06, Z:-13.07 [[ 0.56098128 -0.68356057 -0.46695283 -11.65694561] [ 0.70629586 0.68943091 -0.1607208 -19.05832993] [ 0.43179412 -0.23964549 0.86955384 -13.06504373] [ 0. 0. 0. 1. ]] SLAMing on 162.348241008 meters Centerline goodness [0,1] 0.90942422596415 Centerline is valid? [False, False] Translation: X:-11.70, Y:-19.12, Z:-13.10 [[ 0.56571984 -0.68014468 -0.46622341 -11.70023897] [ 0.70187683 0.69393856 -0.16068042 -19.11622341] [ 0.43281634 -0.23633131 0.8699526 -13.09725472] [ 0. 0. 0. 1. ]] SLAMing on 162.378241008 meters Centerline goodness [0,1] 0.911667531332769 Centerline is valid? [False, False] Translation: X:-11.74, Y:-19.17, Z:-13.12 [[ 0.56712211 -0.67775522 -0.46799612 -11.73939759] [ 0.69944767 0.69634633 -0.1608563 -19.16835519] [ 0.43490858 -0.23611363 0.86896771 -13.12411828] [ 0. 0. 0. 1. ]] SLAMing on 162.408241008 meters Centerline goodness [0,1] 0.9091900438919331 Centerline is valid? [False, False] Translation: X:-11.78, Y:-19.22, Z:-13.15 [[ 0.5683119 -0.67662576 -0.46818711 -11.77865715] [ 0.69759574 0.6979579 -0.16191034 -19.22061368] [ 0.4363276 -0.23458976 0.86866902 -13.15280673] [ 0. 0. 0. 1. ]] SLAMing on 162.438241008 meters Centerline goodness [0,1] 0.9093147985989493 Centerline is valid? [False, False] Translation: X:-11.82, Y:-19.27, Z:-13.18 [[ 0.56879352 -0.67621321 -0.46819827 -11.81738146] [ 0.69640155 0.69882988 -0.16328404 -19.2722114 ] [ 0.43760577 -0.2331791 0.86840584 -13.18071946] [ 0. 0. 0. 1. ]] SLAMing on 162.468241008 meters Centerline goodness [0,1] 0.9119084220928956 Centerline is valid? [False, False] Translation: X:-11.85, Y:-19.32, Z:-13.21 [[ 0.56949817 -0.67468532 -0.46954398 -11.85251476] [ 0.6955023 0.6999707 -0.16222691 -19.3233903 ] [ 0.43811915 -0.23418099 0.86787723 -13.20641428] [ 0. 0. 0. 1. ]] SLAMing on 162.498241008 meters Centerline goodness [0,1] 0.9091781874039938 Centerline is valid? [False, False] Translation: X:-11.88, Y:-19.37, Z:-13.23 [[ 0.5689789 -0.67368367 -0.47160717 -11.88487481] [ 0.69636804 0.69975079 -0.15943769 -19.36638537] [ 0.43741806 -0.23769548 0.86727522 -13.23021855] [ 0. 0. 0. 1. ]] SLAMing on 162.528241008 meters Centerline goodness [0,1] 0.9110963858748171 Centerline is valid? [False, False] Translation: X:-11.92, Y:-19.41, Z:-13.25 [[ 0.56831007 -0.67303351 -0.47333873 -11.91596624] [ 0.6975905 0.69917561 -0.15659168 -19.40929528] [ 0.43633835 -0.24120397 0.86685033 -13.25422105] [ 0. 0. 0. 1. ]] SLAMing on 162.558241008 meters Centerline goodness [0,1] 0.9097531924323425 Centerline is valid? [False, False] Translation: X:-11.95, Y:-19.46, Z:-13.28 [[ 0.56644512 -0.67637873 -0.47079904 -11.95289801] [ 0.69855106 0.69717934 -0.161144 -19.46360131] [ 0.43722574 -0.23759794 0.86739891 -13.28429624] [ 0. 0. 0. 1. ]] SLAMing on 162.588241008 meters Centerline goodness [0,1] 0.9095862989323843 Centerline is valid? [False, False] Translation: X:-11.99, Y:-19.51, Z:-13.31 [[ 0.56494645 -0.67833818 -0.46977955 -11.98727672] [ 0.70009685 0.6953859 -0.16218156 -19.51176211] [ 0.43669201 -0.23726729 0.86775821 -13.31112971] [ 0. 0. 0. 1. ]] SLAMing on 162.618241008 meters Centerline goodness [0,1] 0.9095862989323843 Centerline is valid? [False, False] Translation: X:-12.02, Y:-19.55, Z:-13.34 [[ 0.56371141 -0.67935078 -0.46979992 -12.0212455 ] [ 0.7016056 0.69398216 -0.16167359 -19.55358258] [ 0.43586584 -0.23847701 0.86784197 -13.33709427] [ 0. 0. 0. 1. ]] SLAMing on 162.648241008 meters Centerline goodness [0,1] 0.9126107740907439 Centerline is valid? [False, False] Translation: X:-12.05, Y:-19.60, Z:-13.36 [[ 0.56154353 -0.68114743 -0.46979467 -12.05226751] [ 0.70454131 0.69133882 -0.16022542 -19.59694918] [ 0.43392443 -0.24101621 0.86811335 -13.36101758] [ 0. 0. 0. 1. ]] SLAMing on 162.67824100800001 meters Centerline goodness [0,1] 0.9112558975511121 Centerline is valid? [False, False] Translation: X:-12.08, Y:-19.64, Z:-13.39 [[ 0.55926204 -0.68407751 -0.46825627 -12.08498562] [ 0.70750507 0.68825089 -0.16045962 -19.64189456] [ 0.43204461 -0.24155471 0.8689009 -13.38715249] [ 0. 0. 0. 1. ]] SLAMing on 162.70824100800002 meters Centerline goodness [0,1] 0.9097912595236072 Centerline is valid? [False, False] Translation: X:-12.11, Y:-19.69, Z:-13.41 [[ 0.55473558 -0.68909332 -0.46628192 -12.11393137] [ 0.712982 0.68256719 -0.16049518 -19.68786142] [ 0.42886489 -0.24341822 0.86995544 -13.41027548] [ 0. 0. 0. 1. ]] SLAMing on 162.738241008 meters Centerline goodness [0,1] 0.9061432475518105 Centerline is valid? [False, False] Translation: X:-12.15, Y:-19.73, Z:-13.44 [[ 0.55202978 -0.69235657 -0.46465633 -12.14635328] [ 0.7163322 0.67900029 -0.16070716 -19.73275062] [ 0.42676844 -0.24413315 0.87078568 -13.43595394] [ 0. 0. 0. 1. ]] SLAMing on 162.768241008 meters Centerline goodness [0,1] 0.906516147470706 Centerline is valid? [False, False] Translation: X:-12.18, Y:-19.78, Z:-13.46 [[ 0.5496482 -0.696261 -0.46163565 -12.18066306] [ 0.71910622 0.6755773 -0.16273154 -19.77906642] [ 0.42517419 -0.24251997 0.87201546 -13.46464349] [ 0. 0. 0. 1. ]] SLAMing on 162.798241008 meters Centerline goodness [0,1] 0.9073866735566848 Centerline is valid? [False, False] Translation: X:-12.22, Y:-19.83, Z:-13.49 [[ 0.54799624 -0.69943792 -0.45878831 -12.21809888] [ 0.7204428 0.67335019 -0.16601712 -19.82824902] [ 0.42504387 -0.23955398 0.87289839 -13.4945593 ] [ 0. 0. 0. 1. ]] SLAMing on 162.828241008 meters Centerline goodness [0,1] 0.9073057128892211 Centerline is valid? [False, False] Translation: X:-12.25, Y:-19.87, Z:-13.52 [[ 0.54529885 -0.70244927 -0.45739937 -12.2525546 ] [ 0.72294056 0.67029187 -0.16752839 -19.87128639] [ 0.42427127 -0.23931952 0.87333845 -13.52110441] [ 0. 0. 0. 1. ]] SLAMing on 162.858241008 meters Centerline goodness [0,1] 0.9069279014903044 Centerline is valid? [False, False] Translation: X:-12.29, Y:-19.92, Z:-13.55 [[ 0.54284261 -0.70585503 -0.45507206 -12.28829757] [ 0.72497176 0.66737782 -0.17036076 -19.91535467] [ 0.423955 -0.23743531 0.87400608 -13.54978518] [ 0. 0. 0. 1. ]] SLAMing on 162.888241008 meters Centerline goodness [0,1] 0.906138534115752 Centerline is valid? [False, False] Translation: X:-12.32, Y:-19.96, Z:-13.58 [[ 0.54159531 -0.70723056 -0.45442211 -12.32385694] [ 0.72557135 0.66626252 -0.17216409 -19.95979716] [ 0.42452412 -0.2364724 0.87399089 -13.57871457] [ 0. 0. 0. 1. ]] SLAMing on 162.918241008 meters Centerline goodness [0,1] 0.9047098426216302 Centerline is valid? [False, False] Translation: X:-12.36, Y:-20.00, Z:-13.61 [[ 0.54113717 -0.70850531 -0.4529799 -12.36021569] [ 0.72592754 0.665482 -0.17367473 -20.00419537] [ 0.42449944 -0.23484873 0.87444056 -13.60921411] [ 0. 0. 0. 1. ]] SLAMing on 162.948241008 meters Centerline goodness [0,1] 0.9040348964013086 Centerline is valid? [False, False] Translation: X:-12.40, Y:-20.05, Z:-13.64 [[ 0.54069733 -0.70932083 -0.45222821 -12.39699349] [ 0.72600248 0.66503301 -0.17507568 -20.04977567] [ 0.42493152 -0.23365585 0.87455026 -13.63827212] [ 0. 0. 0. 1. ]] SLAMing on 162.978241008 meters Centerline goodness [0,1] 0.9022912599058229 Centerline is valid? [False, False] Translation: X:-12.44, Y:-20.10, Z:-13.67 [[ 0.54020977 -0.71077006 -0.45053227 -12.43517726] [ 0.72621334 0.66424809 -0.17716847 -20.09726765] [ 0.42519124 -0.2314744 0.875004 -13.66820301] [ 0. 0. 0. 1. ]] SLAMing on 163.008241008 meters Centerline goodness [0,1] 0.9046129115595487 Centerline is valid? [False, False] Translation: X:-12.46, Y:-20.13, Z:-13.69 [[ 0.54020966 -0.71285762 -0.44722202 -12.46389844] [ 0.72413688 0.66451504 -0.18451433 -20.13179205] [ 0.4287182 -0.22417353 0.87518394 -13.68879665] [ 0. 0. 0. 1. ]] SLAMing on 163.038241008 meters Centerline goodness [0,1] 0.9027650034490687 Centerline is valid? [False, False] Translation: X:-12.49, Y:-20.16, Z:-13.71 [[ 0.54016546 -0.71504728 -0.44376645 -12.48684405] [ 0.72378576 0.66377018 -0.18852934 -20.15938249] [ 0.42936634 -0.2193548 0.87608677 -13.707364 ] [ 0. 0. 0. 1. ]] SLAMing on 163.068241008 meters Centerline goodness [0,1] 0.9025979618200086 Centerline is valid? [False, False] Translation: X:-12.52, Y:-20.19, Z:-13.73 [[ 0.53969186 -0.71601824 -0.442776 -12.51567586] [ 0.72142806 0.66443097 -0.19512315 -20.19494666] [ 0.43390582 -0.21412466 0.87514363 -13.72539215] [ 0. 0. 0. 1. ]] SLAMing on 163.098241008 meters Centerline goodness [0,1] 0.9018100456097071 Centerline is valid? [False, False] Translation: X:-12.55, Y:-20.24, Z:-13.75 [[ 0.53940713 -0.71625315 -0.44274301 -12.55230389] [ 0.72204218 0.6639619 -0.19444711 -20.24122335] [ 0.43323785 -0.21479297 0.87531077 -13.75196616] [ 0. 0. 0. 1. ]] SLAMing on 163.128241008 meters Centerline goodness [0,1] 0.8998628257887518 Centerline is valid? [False, False] Translation: X:-12.59, Y:-20.29, Z:-13.78 [[ 0.54076559 -0.7156075 -0.44212948 -12.59358103] [ 0.72163127 0.66474394 -0.1932972 -20.29176857] [ 0.43222781 -0.21452598 0.8758754 -13.78052002] [ 0. 0. 0. 1. ]] SLAMing on 163.158241008 meters Centerline goodness [0,1] 0.8984513400765758 Centerline is valid? [False, False] Translation: X:-12.63, Y:-20.34, Z:-13.81 [[ 0.54089985 -0.71522319 -0.44258688 -12.63133588] [ 0.72165454 0.6649291 -0.19257209 -20.34024067] [ 0.43202092 -0.21523262 0.87580411 -13.80720597] [ 0. 0. 0. 1. ]] SLAMing on 163.188241008 meters Centerline goodness [0,1] 0.8983433304770065 Centerline is valid? [False, False] Translation: X:-12.67, Y:-20.39, Z:-13.83 [[ 0.54118633 -0.71504364 -0.44252677 -12.66999446] [ 0.72151308 0.66513974 -0.19237464 -20.39014709] [ 0.4318984 -0.21517833 0.87587788 -13.83455722] [ 0. 0. 0. 1. ]] SLAMing on 163.218241008 meters Centerline goodness [0,1] 0.8962912087912088 Centerline is valid? [False, False] Translation: X:-12.71, Y:-20.44, Z:-13.86 [[ 0.54089057 -0.71545249 -0.44222747 -12.70741121] [ 0.72196047 0.66467484 -0.19230299 -20.43842409] [ 0.43152112 -0.21525587 0.87604476 -13.86164835] [ 0. 0. 0. 1. ]] SLAMing on 163.248241008 meters Centerline goodness [0,1] 0.8962437013284471 Centerline is valid? [False, False] Translation: X:-12.75, Y:-20.50, Z:-13.89 [[ 0.54020957 -0.71766033 -0.43947385 -12.75266628] [ 0.72140703 0.66382368 -0.1972562 -20.49508125] [ 0.43329611 -0.21047984 0.87632912 -13.8944064 ] [ 0. 0. 0. 1. ]] SLAMing on 163.278241008 meters Centerline goodness [0,1] 0.8944363563700722 Centerline is valid? [False, False] Translation: X:-12.79, Y:-20.54, Z:-13.92 [[ 0.53951011 -0.71739404 -0.44076596 -12.78731825] [ 0.72215678 0.6634238 -0.19585313 -20.54055414] [ 0.43291849 -0.21263738 0.87599482 -13.91915874] [ 0. 0. 0. 1. ]] SLAMing on 163.308241008 meters Centerline goodness [0,1] 0.8967160261348398 Centerline is valid? [False, False] Translation: X:-12.83, Y:-20.59, Z:-13.95 [[ 0.53948185 -0.71748214 -0.44065714 -12.82664772] [ 0.72145554 0.66372128 -0.19742331 -20.59111415] [ 0.43412122 -0.21140824 0.87569705 -13.94813408] [ 0. 0. 0. 1. ]] SLAMing on 163.338241008 meters Centerline goodness [0,1] 0.8937464306110794 Centerline is valid? [False, False] Translation: X:-12.88, Y:-20.66, Z:-13.98 [[ 0.53922029 -0.71595105 -0.44345864 -12.87927981] [ 0.72149372 0.66432556 -0.19523923 -20.65959215] [ 0.43438265 -0.21467567 0.87477201 -13.98473148] [ 0. 0. 0. 1. ]] SLAMing on 163.368241008 meters Centerline goodness [0,1] 0.8893893608529563 Centerline is valid? [False, False] Translation: X:-12.92, Y:-20.71, Z:-14.01 [[ 0.53899396 -0.71583613 -0.44391908 -12.91640988] [ 0.7215439 0.66430205 -0.19513379 -20.70777769] [ 0.43458017 -0.21513117 0.87456198 -14.01099165] [ 0. 0. 0. 1. ]] SLAMing on 163.398241008 meters Centerline goodness [0,1] 0.8913124161361236 Centerline is valid? [False, False] Translation: X:-12.96, Y:-20.76, Z:-14.04 [[ 0.53928144 -0.71549481 -0.44412015 -12.95503298] [ 0.72088646 0.66483957 -0.19573211 -20.75795032] [ 0.43531396 -0.21460551 0.87432616 -14.03853053] [ 0. 0. 0. 1. ]] SLAMing on 163.42824100800001 meters Centerline goodness [0,1] 0.8875643688298387 Centerline is valid? [False, False] Translation: X:-12.99, Y:-20.81, Z:-14.07 [[ 0.53983576 -0.71489577 -0.4444113 -12.99427743] [ 0.71988946 0.66571439 -0.19642689 -20.8082021 ] [ 0.43627575 -0.21388875 0.87402235 -14.06655877] [ 0. 0. 0. 1. ]] SLAMing on 163.45824100800002 meters Centerline goodness [0,1] 0.88740144080776 Centerline is valid? [False, False] Translation: X:-13.03, Y:-20.86, Z:-14.10 [[ 0.54163586 -0.71342327 -0.44458725 -13.0337963 ] [ 0.71836548 0.66749889 -0.19594969 -20.85704748] [ 0.43655656 -0.21324275 0.87403999 -14.09615349] [ 0. 0. 0. 1. ]] SLAMing on 163.488241008 meters Centerline goodness [0,1] 0.886526632083227 Centerline is valid? [False, False] Translation: X:-13.07, Y:-20.90, Z:-14.12 [[ 0.54156311 -0.71256759 -0.44604577 -13.06769993] [ 0.71842991 0.66782684 -0.19459131 -20.90067394] [ 0.4365408 -0.21506914 0.87360025 -14.12194761] [ 0. 0. 0. 1. ]] SLAMing on 163.518241008 meters Centerline goodness [0,1] 0.8886652872651002 Centerline is valid? [False, False] Translation: X:-13.10, Y:-20.95, Z:-14.15 [[ 0.54183683 -0.71090828 -0.44835507 -13.1016552 ] [ 0.71801483 0.6688097 -0.19273893 -20.94566596] [ 0.43688391 -0.21749254 0.87282841 -14.14680031] [ 0. 0. 0. 1. ]] SLAMing on 163.548241008 meters Centerline goodness [0,1] 0.8860780936785341 Centerline is valid? [False, False] Translation: X:-13.14, Y:-21.00, Z:-14.17 [[ 0.54261 -0.70924232 -0.45005523 -13.14078196] [ 0.71623025 0.67057684 -0.19323801 -20.99699611] [ 0.43884919 -0.21749029 0.87184251 -14.17386528] [ 0. 0. 0. 1. ]] SLAMing on 163.578241008 meters Centerline goodness [0,1] 0.8873629478919408 Centerline is valid? [False, False] Translation: X:-13.18, Y:-21.04, Z:-14.20 [[ 0.54245974 -0.7091029 -0.45045589 -13.17600388] [ 0.71682317 0.67030953 -0.19196268 -21.04400959] [ 0.43806617 -0.2187652 0.87191733 -14.199779 ] [ 0. 0. 0. 1. ]] SLAMing on 163.608241008 meters Centerline goodness [0,1] 0.8891927707446359 Centerline is valid? [False, False] Translation: X:-13.21, Y:-21.09, Z:-14.22 [[ 0.54172969 -0.7084304 -0.45238845 -13.20836695] [ 0.71803382 0.66982769 -0.18909867 -21.08802581] [ 0.43698556 -0.22238984 0.87154253 -14.22276904] [ 0. 0. 0. 1. ]] SLAMing on 163.638241008 meters Centerline goodness [0,1] 0.8900149620303193 Centerline is valid? [False, False] Translation: X:-13.24, Y:-21.13, Z:-14.25 [[ 0.5407465 -0.70813546 -0.45402356 -13.2398369 ] [ 0.71950627 0.66898446 -0.18646855 -21.13018746] [ 0.4357797 -0.22584058 0.87125891 -14.2461514 ] [ 0. 0. 0. 1. ]] SLAMing on 163.668241008 meters Centerline goodness [0,1] 0.8901304064948657 Centerline is valid? [False, False] Translation: X:-13.29, Y:-21.19, Z:-14.28 [[ 0.53966207 -0.70776743 -0.45588388 -13.2854533 ] [ 0.71772226 0.66982329 -0.19029325 -21.19126773] [ 0.440045 -0.22450396 0.86945866 -14.27643363] [ 0. 0. 0. 1. ]] SLAMing on 163.698241008 meters Centerline goodness [0,1] 0.8890270087015482 Centerline is valid? [False, False] Translation: X:-13.31, Y:-21.22, Z:-14.29 [[ 0.53831497 -0.70898559 -0.45558361 -13.30623328] [ 0.71711971 0.66932662 -0.19427094 -21.21990444] [ 0.44266954 -0.22212903 0.86873608 -14.29141946] [ 0. 0. 0. 1. ]] SLAMing on 163.728241008 meters Centerline goodness [0,1] 0.887339511946263 Centerline is valid? [False, False] Translation: X:-13.34, Y:-21.26, Z:-14.32 [[ 0.53634497 -0.71053174 -0.45549831 -13.33784383] [ 0.71949112 0.66704874 -0.19333521 -21.26238824] [ 0.44121038 -0.22403262 0.86898952 -14.31716971] [ 0. 0. 0. 1. ]] SLAMing on 163.758241008 meters Centerline goodness [0,1] 0.8910056214865709 Centerline is valid? [False, False] Translation: X:-13.37, Y:-21.30, Z:-14.34 [[ 0.53314797 -0.71355164 -0.45452976 -13.36850571] [ 0.72301119 0.66327503 -0.19318656 -21.30483201] [ 0.43932683 -0.22563309 0.86952956 -14.34297903] [ 0. 0. 0. 1. ]] SLAMing on 163.788241008 meters Centerline goodness [0,1] 0.8906797277671783 Centerline is valid? [False, False] Translation: X:-13.40, Y:-21.35, Z:-14.37 [[ 0.53064053 -0.71581731 -0.45390111 -13.40012486] [ 0.72565572 0.66039748 -0.19312934 -21.34735059] [ 0.43800047 -0.22689368 0.86987059 -14.36901525] [ 0. 0. 0. 1. ]] SLAMing on 163.818241008 meters Centerline goodness [0,1] 0.888835062122421 Centerline is valid? [False, False] Translation: X:-13.43, Y:-21.39, Z:-14.40 [[ 0.5288014 -0.71827462 -0.4521622 -13.43439754] [ 0.7273399 0.65806725 -0.19474126 -21.39285911] [ 0.43743084 -0.22589616 0.87041667 -14.39774992] [ 0. 0. 0. 1. ]] SLAMing on 163.848241008 meters Centerline goodness [0,1] 0.8901785205041921 Centerline is valid? [False, False] Translation: X:-13.48, Y:-21.45, Z:-14.43 [[ 0.52591229 -0.72043624 -0.45209279 -13.47602324] [ 0.72684351 0.65672914 -0.20101081 -21.44761931] [ 0.44171798 -0.22288665 0.86902633 -14.42825734] [ 0. 0. 0. 1. ]] SLAMing on 163.878241008 meters Centerline goodness [0,1] 0.8936803825559088 Centerline is valid? [False, False] Translation: X:-13.52, Y:-21.50, Z:-14.46 [[ 0.52184169 -0.72198311 -0.45433649 -13.51646099] [ 0.72606817 0.65550204 -0.20770676 -21.50149145] [ 0.44777927 -0.22148921 0.86627724 -14.45740982] [ 0. 0. 0. 1. ]] SLAMing on 163.908241008 meters Centerline goodness [0,1] 0.8972563589597028 Centerline is valid? [False, False] Translation: X:-13.55, Y:-21.55, Z:-14.49 [[ 0.51985675 -0.7237728 -0.45376414 -13.55267679] [ 0.7262685 0.65412755 -0.21130835 -21.5477326 ] [ 0.44975886 -0.21970453 0.865706 -14.48751061] [ 0. 0. 0. 1. ]] SLAMing on 163.938241008 meters Centerline goodness [0,1] 0.898098293046168 Centerline is valid? [False, False] Translation: X:-13.59, Y:-21.59, Z:-14.52 [[ 0.51781164 -0.72536714 -0.45355662 -13.5860905 ] [ 0.72745412 0.65233664 -0.21276142 -21.59012573] [ 0.45020174 -0.21977129 0.86545882 -14.51615317] [ 0. 0. 0. 1. ]] SLAMing on 163.968241008 meters Centerline goodness [0,1] 0.8952280079008388 Centerline is valid? [False, False] Translation: X:-13.64, Y:-21.66, Z:-14.55 [[ 0.51537314 -0.72487589 -0.45710554 -13.63705648] [ 0.72783674 0.65181947 -0.2130377 -21.65596278] [ 0.45237618 -0.2229043 0.86352155 -14.55473964] [ 0. 0. 0. 1. ]] SLAMing on 163.998241008 meters Centerline goodness [0,1] 0.892021458737587 Centerline is valid? [False, False] Translation: X:-13.67, Y:-21.70, Z:-14.58 [[ 0.51418827 -0.72616731 -0.45638959 -13.67201213] [ 0.72875997 0.65048843 -0.21394792 -21.70010363] [ 0.45223813 -0.22258895 0.86367519 -14.58391686] [ 0. 0. 0. 1. ]] SLAMing on 164.028241008 meters Centerline goodness [0,1] 0.8939985744832502 Centerline is valid? [False, False] Translation: X:-13.71, Y:-21.75, Z:-14.61 [[ 0.51283193 -0.72801186 -0.45497487 -13.70959375] [ 0.72903605 0.64916742 -0.21699795 -21.74790771] [ 0.45333194 -0.2204096 0.86366067 -14.61412611] [ 0. 0. 0. 1. ]] SLAMing on 164.058241008 meters Centerline goodness [0,1] 0.8927522176901794 Centerline is valid? [False, False] Translation: X:-13.75, Y:-21.80, Z:-14.65 [[ 0.51131912 -0.72994267 -0.45358182 -13.75130149] [ 0.72846867 0.64815617 -0.22187152 -21.80151495] [ 0.45594534 -0.216973 0.86315501 -14.64616233] [ 0. 0. 0. 1. ]] SLAMing on 164.088241008 meters Centerline goodness [0,1] 0.896342505554606 Centerline is valid? [False, False] Translation: X:-13.81, Y:-21.88, Z:-14.69 [[ 0.51084378 -0.72988903 -0.4542033 -13.8093911 ] [ 0.72803923 0.64827582 -0.22292901 -21.87869117] [ 0.45716246 -0.21679593 0.86255551 -14.68893875] [ 0. 0. 0. 1. ]] SLAMing on 164.118241008 meters Centerline goodness [0,1] 0.8949151577269103 Centerline is valid? [False, False] Translation: X:-13.87, Y:-21.95, Z:-14.73 [[ 0.51037846 -0.7283187 -0.45723702 -13.86553591] [ 0.72648594 0.64967366 -0.22392479 -21.95389759] [ 0.46014346 -0.21788988 0.86069274 -14.73121578] [ 0. 0. 0. 1. ]] SLAMing on 164.148241008 meters Centerline goodness [0,1] 0.8927293382561772 Centerline is valid? [False, False] Translation: X:-13.92, Y:-22.03, Z:-14.78 [[ 0.51067276 -0.72698045 -0.45903458 -13.91998133] [ 0.72507041 0.65106605 -0.22446803 -22.02563326] [ 0.4620457 -0.21820268 0.85959372 -14.77507154] [ 0. 0. 0. 1. ]] SLAMing on 164.17824100800001 meters Centerline goodness [0,1] 0.8877941051558651 Centerline is valid? [False, False] Translation: X:-13.97, Y:-22.09, Z:-14.81 [[ 0.51194409 -0.72323517 -0.46351283 -13.96768841] [ 0.72396978 0.65368937 -0.22035872 -22.0875565 ] [ 0.46236458 -0.22275794 0.85825281 -14.81364168] [ 0. 0. 0. 1. ]] SLAMing on 164.20824100800002 meters Centerline goodness [0,1] 0.8938578951815033 Centerline is valid? [False, False] Translation: X:-14.02, Y:-22.16, Z:-14.86 [[ 0.51396317 -0.720384 -0.46571316 -14.02403718] [ 0.72108631 0.65688679 -0.22030498 -22.16358143] [ 0.46462501 -0.22259074 0.85707465 -14.85814472] [ 0. 0. 0. 1. ]] SLAMing on 164.238241008 meters Centerline goodness [0,1] 0.891341686611291 Centerline is valid? [False, False] Translation: X:-14.08, Y:-22.24, Z:-14.90 [[ 0.51675669 -0.71676755 -0.46819526 -14.08027828] [ 0.71805341 0.66066863 -0.21889784 -22.23968899] [ 0.46622079 -0.22307228 0.85608232 -14.90198202] [ 0. 0. 0. 1. ]] SLAMing on 164.268241008 meters Centerline goodness [0,1] 0.8857239170739929 Centerline is valid? [False, False] Translation: X:-14.14, Y:-22.31, Z:-14.94 [[ 0.51970505 -0.71226362 -0.47179148 -14.13569864] [ 0.71500359 0.66487122 -0.21613915 -22.314479 ] [ 0.46762863 -0.22500399 0.85480797 -14.94408475] [ 0. 0. 0. 1. ]] SLAMing on 164.298241008 meters Centerline goodness [0,1] 0.8831241283124128 Centerline is valid? [False, False] Translation: X:-14.18, Y:-22.37, Z:-14.98 [[ 0.52580168 -0.70782049 -0.47172317 -14.181023 ] [ 0.7093065 0.67094722 -0.21613448 -22.37330724] [ 0.46948576 -0.22095244 0.85484685 -14.98019761] [ 0. 0. 0. 1. ]] SLAMing on 164.328241008 meters Centerline goodness [0,1] 0.8795328826060234 Centerline is valid? [False, False] Translation: X:-14.23, Y:-22.44, Z:-15.02 [[ 0.52848318 -0.70203851 -0.4773337 -14.22993237] [ 0.70777949 0.67484038 -0.20889869 -22.4416973 ] [ 0.46877898 -0.22744756 0.85353024 -15.01689609] [ 0. 0. 0. 1. ]] SLAMing on 164.358241008 meters Centerline goodness [0,1] 0.8814182973741428 Centerline is valid? [False, False] Translation: X:-14.28, Y:-22.51, Z:-15.06 [[ 0.53113598 -0.69725231 -0.48138735 -14.28042006] [ 0.70600844 0.67832627 -0.20353271 -22.51163557] [ 0.46845134 -0.23175999 0.8525495 -15.05692644] [ 0. 0. 0. 1. ]] SLAMing on 164.388241008 meters Centerline goodness [0,1] 0.8812263731376473 Centerline is valid? [False, False] Translation: X:-14.31, Y:-22.56, Z:-15.08 [[ 0.53227495 -0.69448106 -0.48412751 -14.31320566] [ 0.70535033 0.68004983 -0.20003287 -22.55601356] [ 0.46814987 -0.23500701 0.85182592 -15.08336642] [ 0. 0. 0. 1. ]] SLAMing on 164.418241008 meters Centerline goodness [0,1] 0.8838828246825574 Centerline is valid? [False, False] Translation: X:-14.35, Y:-22.61, Z:-15.11 [[ 0.53410749 -0.69226099 -0.48528746 -14.34886115] [ 0.70457233 0.68172999 -0.19703315 -22.60552753] [ 0.46723338 -0.23668323 0.85186503 -15.11164974] [ 0. 0. 0. 1. ]] SLAMing on 164.448241008 meters Centerline goodness [0,1] 0.8855900309442167 Centerline is valid? [False, False] Translation: X:-14.38, Y:-22.65, Z:-15.14 [[ 0.53405366 -0.69193144 -0.48581639 -14.38394515] [ 0.70470584 0.68178466 -0.19636537 -22.65380589] [ 0.46709354 -0.237488 0.85171772 -15.13983498] [ 0. 0. 0. 1. ]] SLAMing on 164.478241008 meters Centerline goodness [0,1] 0.8875118628928711 Centerline is valid? [False, False] Translation: X:-14.42, Y:-22.70, Z:-15.17 [[ 0.53355905 -0.69230087 -0.48583356 -14.41777902] [ 0.70549201 0.68113317 -0.19580254 -22.70024446] [ 0.46647162 -0.23827948 0.8518375 -15.16819008] [ 0. 0. 0. 1. ]] SLAMing on 164.508241008 meters Centerline goodness [0,1] 0.8875118628928711 Centerline is valid? [False, False] Translation: X:-14.45, Y:-22.74, Z:-15.19 [[ 0.53249183 -0.69154135 -0.48808095 -14.44806989] [ 0.70662423 0.68063404 -0.19344118 -22.74171438] [ 0.46597708 -0.24188398 0.85109194 -15.1928739 ] [ 0. 0. 0. 1. ]] SLAMing on 164.538241008 meters Centerline goodness [0,1] 0.8873416659676202 Centerline is valid? [False, False] Translation: X:-14.48, Y:-22.79, Z:-15.22 [[ 0.53183684 -0.69175469 -0.4884926 -14.48154348] [ 0.70728186 0.68007263 -0.19301189 -22.78829372] [ 0.46572733 -0.24285112 0.85095323 -15.22087898] [ 0. 0. 0. 1. ]] SLAMing on 164.568241008 meters Centerline goodness [0,1] 0.8846843816571365 Centerline is valid? [False, False] Translation: X:-14.51, Y:-22.83, Z:-15.25 [[ 0.52982313 -0.69371438 -0.48790143 -14.51356034] [ 0.70880143 0.67808606 -0.19442178 -22.83380153] [ 0.46571234 -0.24281607 0.85097143 -15.24978081] [ 0. 0. 0. 1. ]] SLAMing on 164.598241008 meters Centerline goodness [0,1] 0.8836738139456357 Centerline is valid? [False, False] Translation: X:-14.55, Y:-22.88, Z:-15.28 [[ 0.52852874 -0.69590666 -0.48618032 -14.54839561] [ 0.70967257 0.67648309 -0.19681327 -22.88204157] [ 0.46585643 -0.24100737 0.85140662 -15.28103878] [ 0. 0. 0. 1. ]] SLAMing on 164.628241008 meters Centerline goodness [0,1] 0.8810789525497145 Centerline is valid? [False, False] Translation: X:-14.58, Y:-22.93, Z:-15.31 [[ 0.52511429 -0.69977543 -0.48432359 -14.57894681] [ 0.71332543 0.67229339 -0.19796067 -22.92562305] [ 0.46413556 -0.24152835 0.85219847 -15.30924551] [ 0. 0. 0. 1. ]] SLAMing on 164.658241008 meters Centerline goodness [0,1] 0.8774819494584838 Centerline is valid? [False, False] Translation: X:-14.61, Y:-22.97, Z:-15.34 [[ 0.52305327 -0.70332144 -0.48140859 -14.61382442] [ 0.71496029 0.66953976 -0.20136607 -22.97397096] [ 0.46394727 -0.23886285 0.85305186 -15.3415725 ] [ 0. 0. 0. 1. ]] SLAMing on 164.688241008 meters Centerline goodness [0,1] 0.878046016094299 Centerline is valid? [False, False] Translation: X:-14.67, Y:-23.05, Z:-15.39 [[ 0.52118279 -0.70616795 -0.47926541 -14.66803321] [ 0.71556995 0.6676178 -0.20553862 -23.04939005] [ 0.4651109 -0.23582473 0.85326347 -15.38869725] [ 0. 0. 0. 1. ]] SLAMing on 164.718241008 meters Centerline goodness [0,1] 0.877756934970441 Centerline is valid? [False, False] Translation: X:-14.72, Y:-23.12, Z:-15.43 [[ 0.51911778 -0.70815163 -0.47857914 -14.71927815] [ 0.7165988 0.66579046 -0.20786829 -23.12120963] [ 0.4658357 -0.23504111 0.85308427 -15.43299549] [ 0. 0. 0. 1. ]] SLAMing on 164.748241008 meters Centerline goodness [0,1] 0.8853495893076901 Centerline is valid? [False, False] Translation: X:-14.77, Y:-23.20, Z:-15.48 [[ 0.51522417 -0.71254089 -0.47626625 -14.77260482] [ 0.7183043 0.66213964 -0.21356507 -23.19842214] [ 0.4675286 -0.23207021 0.85297153 -15.47977439] [ 0. 0. 0. 1. ]] SLAMing on 164.778241008 meters Centerline goodness [0,1] 0.8856937661591496 Centerline is valid? [False, False] Translation: X:-14.83, Y:-23.27, Z:-15.52 [[ 0.51352668 -0.7136262 -0.47647456 -14.82530682] [ 0.7184387 0.66120513 -0.21599447 -23.27307109] [ 0.46918673 -0.23139884 0.85224315 -15.5245886 ] [ 0. 0. 0. 1. ]] SLAMing on 164.808241008 meters Centerline goodness [0,1] 0.881190681622088 Centerline is valid? [False, False] Translation: X:-14.87, Y:-23.34, Z:-15.57 [[ 0.51244504 -0.71340824 -0.47796314 -14.87466544] [ 0.71905879 0.66075457 -0.21530875 -23.34359755] [ 0.46941937 -0.23334969 0.85158287 -15.56639996] [ 0. 0. 0. 1. ]] SLAMing on 164.838241008 meters Centerline goodness [0,1] 0.88399332335674 Centerline is valid? [False, False] Translation: X:-14.93, Y:-23.42, Z:-15.61 [[ 0.51241555 -0.7121438 -0.47987656 -14.92865232] [ 0.71792159 0.66188192 -0.21564071 -23.41874282] [ 0.47118882 -0.23401609 0.850422 -15.61057199] [ 0. 0. 0. 1. ]] SLAMing on 164.868241008 meters Centerline goodness [0,1] 0.8861786279303898 Centerline is valid? [False, False] Translation: X:-14.98, Y:-23.50, Z:-15.65 [[ 0.51221901 -0.71094409 -0.48186116 -14.98453315] [ 0.71666615 0.66299981 -0.21638134 -23.49670561] [ 0.4733089 -0.23449895 0.84911067 -15.65392237] [ 0. 0. 0. 1. ]] SLAMing on 164.898241008 meters Centerline goodness [0,1] 0.8895827338129496 Centerline is valid? [False, False] Translation: X:-15.04, Y:-23.57, Z:-15.70 [[ 0.51093474 -0.71138425 -0.48257449 -15.03986713] [ 0.71595128 0.66286758 -0.21913544 -23.57194409] [ 0.47577249 -0.23353591 0.84799854 -15.69963881] [ 0. 0. 0. 1. ]] SLAMing on 164.92824100800001 meters Centerline goodness [0,1] 0.8921351545650611 Centerline is valid? [False, False] Translation: X:-15.09, Y:-23.64, Z:-15.74 [[ 0.50990015 -0.71096709 -0.48428053 -15.09014269] [ 0.71638899 0.66261 -0.21848296 -23.64053254] [ 0.47622332 -0.23552874 0.84719393 -15.74223348] [ 0. 0. 0. 1. ]] SLAMing on 164.95824100800002 meters Centerline goodness [0,1] 0.8867528131925059 Centerline is valid? [False, False] Translation: X:-15.14, Y:-23.70, Z:-15.78 [[ 0.50796227 -0.71085294 -0.48647962 -15.13760047] [ 0.71814002 0.6613543 -0.21653038 -23.70265926] [ 0.47565665 -0.23937122 0.84643498 -15.78305578] [ 0. 0. 0. 1. ]] SLAMing on 164.988241008 meters Centerline goodness [0,1] 0.8917072608307152 Centerline is valid? [False, False] Translation: X:-15.20, Y:-23.78, Z:-15.83 [[ 0.50628865 -0.71180902 -0.48682617 -15.19704531] [ 0.71698525 0.66112533 -0.22101006 -23.7812741 ] [ 0.47917006 -0.2371523 0.84507682 -15.83340338] [ 0. 0. 0. 1. ]] SLAMing on 165.018241008 meters Centerline goodness [0,1] 0.8880272148066999 Centerline is valid? [False, False] Translation: X:-15.25, Y:-23.85, Z:-15.88 [[ 0.50556377 -0.71135296 -0.48824403 -15.24900101] [ 0.71684161 0.66124043 -0.22113162 -23.85185197] [ 0.48014933 -0.2381975 0.84422661 -15.87777632] [ 0. 0. 0. 1. ]] SLAMing on 165.048241008 meters Centerline goodness [0,1] 0.890589047399908 Centerline is valid? [False, False] Translation: X:-15.30, Y:-23.93, Z:-15.93 [[ 0.50526376 -0.71250768 -0.48686891 -15.30467743] [ 0.7162858 0.6609199 -0.22387392 -23.92625804] [ 0.48129324 -0.23562191 0.84429801 -15.92722606] [ 0. 0. 0. 1. ]] SLAMing on 165.078241008 meters Centerline goodness [0,1] 0.892717102986968 Centerline is valid? [False, False] Translation: X:-15.36, Y:-24.00, Z:-15.97 [[ 0.50557354 -0.71230185 -0.48684851 -15.35933566] [ 0.71630052 0.66107694 -0.22336257 -24.00023845] [ 0.48094589 -0.23580363 0.8444452 -15.97234096] [ 0. 0. 0. 1. ]] SLAMing on 165.108241008 meters Centerline goodness [0,1] 0.8910568637057958 Centerline is valid? [False, False] Translation: X:-15.41, Y:-24.07, Z:-16.02 [[ 0.50540922 -0.71209537 -0.48732094 -15.41134062] [ 0.7163103 0.66112983 -0.22317461 -24.07063961] [ 0.48110402 -0.2362785 0.84422236 -16.0178089 ] [ 0. 0. 0. 1. ]] SLAMing on 165.138241008 meters Centerline goodness [0,1] 0.8872150188310381 Centerline is valid? [False, False] Translation: X:-15.46, Y:-24.14, Z:-16.06 [[ 0.50497155 -0.71084846 -0.48958983 -15.45969092] [ 0.71684876 0.66133185 -0.22083485 -24.13565439] [ 0.48076146 -0.23944654 0.84352461 -16.05945847] [ 0. 0. 0. 1. ]] SLAMing on 165.168241008 meters Centerline goodness [0,1] 0.8893831979564306 Centerline is valid? [False, False] Translation: X:-15.51, Y:-24.20, Z:-16.11 [[ 0.50563101 -0.71019083 -0.48986351 -15.50985905] [ 0.71626355 0.66206751 -0.22052922 -24.20180547] [ 0.48094055 -0.23936497 0.84344567 -16.10585568] [ 0. 0. 0. 1. ]] SLAMing on 165.198241008 meters Centerline goodness [0,1] 0.8901574916090537 Centerline is valid? [False, False] Translation: X:-15.56, Y:-24.27, Z:-16.15 [[ 0.50701594 -0.70856348 -0.49078776 -15.56103942] [ 0.71566117 0.66340611 -0.21845233 -24.27121853] [ 0.48037894 -0.24047893 0.84344885 -16.15177889] [ 0. 0. 0. 1. ]] SLAMing on 165.228241008 meters Centerline goodness [0,1] 0.8852182851269166 Centerline is valid? [False, False] Translation: X:-15.60, Y:-24.33, Z:-16.19 [[ 0.50725467 -0.7077586 -0.49170159 -15.60473027] [ 0.71228147 0.66549252 -0.2231027 -24.32817063] [ 0.48512659 -0.23706004 0.84169753 -16.18816164] [ 0. 0. 0. 1. ]] SLAMing on 165.258241008 meters Centerline goodness [0,1] 0.8879000513434879 Centerline is valid? [False, False] Translation: X:-15.65, Y:-24.39, Z:-16.23 [[ 0.50789933 -0.7059035 -0.49369882 -15.65090556] [ 0.70802926 0.66853597 -0.22749557 -24.38928759] [ 0.49064534 -0.23400836 0.8393493 -16.22530145] [ 0. 0. 0. 1. ]] SLAMing on 165.288241008 meters Centerline goodness [0,1] 0.8839303412147812 Centerline is valid? [False, False] Translation: X:-15.69, Y:-24.45, Z:-16.27 [[ 0.51250263 -0.70311875 -0.49291488 -15.69372771] [ 0.70290477 0.6732398 -0.22950612 -24.44561953] [ 0.49321998 -0.22884973 0.83926269 -16.26521032] [ 0. 0. 0. 1. ]] SLAMing on 165.318241008 meters Centerline goodness [0,1] 0.8835465247905818 Centerline is valid? [False, False] Translation: X:-15.73, Y:-24.50, Z:-16.30 [[ 0.51431955 -0.70265506 -0.49168208 -15.73364526] [ 0.70016096 0.67510755 -0.2323885 -24.49848308] [ 0.49522724 -0.22473465 0.83919266 -16.3023778 ] [ 0. 0. 0. 1. ]] SLAMing on 165.348241008 meters Centerline goodness [0,1] 0.8844431850382545 Centerline is valid? [False, False] Translation: X:-15.77, Y:-24.55, Z:-16.34 [[ 0.51620587 -0.70170158 -0.49106659 -15.77108588] [ 0.69854994 0.67668999 -0.23263414 -24.54855709] [ 0.49553959 -0.22294743 0.83948494 -16.33694408] [ 0. 0. 0. 1. ]] SLAMing on 165.378241008 meters Centerline goodness [0,1] 0.8802743360334171 Centerline is valid? [False, False] Translation: X:-15.81, Y:-24.60, Z:-16.37 [[ 0.52014871 -0.69734767 -0.49310399 -15.80826516] [ 0.69560665 0.68089365 -0.229162 -24.60067395] [ 0.49555697 -0.2238081 0.83924563 -16.36903689] [ 0. 0. 0. 1. ]] SLAMing on 165.408241008 meters Centerline goodness [0,1] 0.8798429910764712 Centerline is valid? [False, False] Translation: X:-15.85, Y:-24.66, Z:-16.41 [[ 0.52000507 -0.69495518 -0.4966206 -15.8516879 ] [ 0.69744069 0.68111344 -0.22284741 -24.66104073] [ 0.49312393 -0.23048163 0.83887246 -16.40788853] [ 0. 0. 0. 1. ]] SLAMing on 165.438241008 meters Centerline goodness [0,1] 0.881718005805597 Centerline is valid? [False, False] Translation: X:-15.88, Y:-24.70, Z:-16.44 [[ 0.51815603 -0.69654454 -0.49632655 -15.88273081] [ 0.69952269 0.67903413 -0.22266715 -24.70311354] [ 0.49212025 -0.23181535 0.83909433 -16.43757256] [ 0. 0. 0. 1. ]] SLAMing on 165.468241008 meters Centerline goodness [0,1] 0.8839003164556962 Centerline is valid? [False, False] Translation: X:-15.91, Y:-24.75, Z:-16.47 [[ 0.51642361 -0.6985763 -0.4952755 -15.91410327] [ 0.70153811 0.67680189 -0.22312212 -24.74650197] [ 0.49107122 -0.2322291 0.83959437 -16.46848568] [ 0. 0. 0. 1. ]] SLAMing on 165.498241008 meters Centerline goodness [0,1] 0.8821691333125018 Centerline is valid? [False, False] Translation: X:-15.95, Y:-24.80, Z:-16.51 [[ 0.51570619 -0.70195594 -0.49122803 -15.95191505] [ 0.70162951 0.67506016 -0.22805662 -24.80163895] [ 0.49169417 -0.22704987 0.8406457 -16.50573535] [ 0. 0. 0. 1. ]] SLAMing on 165.528241008 meters Centerline goodness [0,1] 0.8838948116560057 Centerline is valid? [False, False] Translation: X:-15.98, Y:-24.85, Z:-16.54 [[ 0.51422676 -0.70375263 -0.49020717 -15.98439134] [ 0.70307259 0.67323874 -0.22899461 -24.84771893] [ 0.49118202 -0.22689607 0.84098656 -16.53682156] [ 0. 0. 0. 1. ]] SLAMing on 165.558241008 meters Centerline goodness [0,1] 0.8853169174646602 Centerline is valid? [False, False] Translation: X:-16.02, Y:-24.89, Z:-16.57 [[ 0.51299665 -0.70518349 -0.48943915 -16.01698324] [ 0.7041816 0.67179015 -0.22983966 -24.89472657] [ 0.49087954 -0.22674706 0.84120334 -16.56830925] [ 0. 0. 0. 1. ]] SLAMing on 165.588241008 meters Centerline goodness [0,1] 0.886223440712817 Centerline is valid? [False, False] Translation: X:-16.05, Y:-24.94, Z:-16.60 [[ 0.51083622 -0.70631852 -0.49006174 -16.04612329] [ 0.70646729 0.66972529 -0.22884932 -24.93673498] [ 0.48984725 -0.22930806 0.84111086 -16.59607951] [ 0. 0. 0. 1. ]] SLAMing on 165.618241008 meters Centerline goodness [0,1] 0.8882469036926861 Centerline is valid? [False, False] Translation: X:-16.08, Y:-24.98, Z:-16.63 [[ 0.50857455 -0.70949057 -0.48782688 -16.07779598] [ 0.70797667 0.66703004 -0.23203438 -24.98134503] [ 0.49002139 -0.22736327 0.84153727 -16.6302036 ] [ 0. 0. 0. 1. ]] SLAMing on 165.648241008 meters Centerline goodness [0,1] 0.887551807917679 Centerline is valid? [False, False] Translation: X:-16.11, Y:-25.02, Z:-16.66 [[ 0.50713221 -0.71005213 -0.4885109 -16.10725015] [ 0.7097392 0.66562181 -0.23068999 -25.02142141] [ 0.48896543 -0.22972501 0.84151009 -16.6591341 ] [ 0. 0. 0. 1. ]] SLAMing on 165.67824100800001 meters Centerline goodness [0,1] 0.8888189156695483 Centerline is valid? [False, False] Translation: X:-16.14, Y:-25.07, Z:-16.69 [[ 0.50611809 -0.71069439 -0.48862866 -16.13968682] [ 0.71026276 0.66484677 -0.23131275 -25.06561559] [ 0.48925586 -0.22998317 0.84127073 -16.69052494] [ 0. 0. 0. 1. ]] SLAMing on 165.70824100800002 meters Centerline goodness [0,1] 0.8863350845134765 Centerline is valid? [False, False] Translation: X:-16.18, Y:-25.12, Z:-16.73 [[ 0.50642897 -0.71149793 -0.48713488 -16.17769446] [ 0.70915483 0.66504926 -0.23411303 -25.1162454 ] [ 0.49053963 -0.22689243 0.84136241 -16.72670677] [ 0. 0. 0. 1. ]] SLAMing on 165.738241008 meters Centerline goodness [0,1] 0.8856589147286822 Centerline is valid? [False, False] Translation: X:-16.21, Y:-25.16, Z:-16.76 [[ 0.50625537 -0.71246016 -0.48590741 -16.21257323] [ 0.70953051 0.66437341 -0.23489239 -25.16433929] [ 0.49017543 -0.22585059 0.84185483 -16.75955529] [ 0. 0. 0. 1. ]] SLAMing on 165.768241008 meters Centerline goodness [0,1] 0.8867311147232441 Centerline is valid? [False, False] Translation: X:-16.25, Y:-25.21, Z:-16.79 [[ 0.50585381 -0.71385013 -0.48428288 -16.24812842] [ 0.70998323 0.66340088 -0.23626911 -25.21364113] [ 0.48993443 -0.22431509 0.84240548 -16.79268875] [ 0. 0. 0. 1. ]] SLAMing on 165.798241008 meters Centerline goodness [0,1] 0.8857730897864677 Centerline is valid? [False, False] Translation: X:-16.28, Y:-25.26, Z:-16.83 [[ 0.50535278 -0.71505811 -0.48302223 -16.28356904] [ 0.71011195 0.66263784 -0.23801703 -25.26272982] [ 0.49026481 -0.22271729 0.84263718 -16.82597961] [ 0. 0. 0. 1. ]] SLAMing on 165.828241008 meters Centerline goodness [0,1] 0.8862568687185035 Centerline is valid? [False, False] Translation: X:-16.32, Y:-25.31, Z:-16.86 [[ 0.5052939 -0.71554235 -0.48236628 -16.31721382] [ 0.71083662 0.66205648 -0.23747109 -25.30941024] [ 0.48927434 -0.22289092 0.8431668 -16.85825477] [ 0. 0. 0. 1. ]] SLAMing on 165.858241008 meters Centerline goodness [0,1] 0.8856010718663588 Centerline is valid? [False, False] Translation: X:-16.36, Y:-25.38, Z:-16.90 [[ 0.50500722 -0.71439185 -0.48436762 -16.36421609] [ 0.71170607 0.66215447 -0.23457607 -25.3771463 ] [ 0.48830542 -0.22626477 0.8428298 -16.9010711 ] [ 0. 0. 0. 1. ]] SLAMing on 165.888241008 meters Centerline goodness [0,1] 0.8840476258458727 Centerline is valid? [False, False] Translation: X:-16.40, Y:-25.43, Z:-16.94 [[ 0.50422502 -0.71617858 -0.48254053 -16.3991983 ] [ 0.71140313 0.66124464 -0.23803595 -25.42626856] [ 0.48955359 -0.22325716 0.84290778 -16.9364072 ] [ 0. 0. 0. 1. ]] SLAMing on 165.918241008 meters Centerline goodness [0,1] 0.8838939566704676 Centerline is valid? [False, False] Translation: X:-16.43, Y:-25.47, Z:-16.97 [[ 0.50342994 -0.71733455 -0.48165282 -16.43367192] [ 0.71124539 0.66056361 -0.24038657 -25.47463814] [ 0.49059992 -0.22155555 0.84274839 -16.96970668] [ 0. 0. 0. 1. ]] SLAMing on 165.948241008 meters Centerline goodness [0,1] 0.8852323087919943 Centerline is valid? [False, False] Translation: X:-16.48, Y:-25.55, Z:-17.02 [[ 0.50314161 -0.71718445 -0.48217734 -16.48255332] [ 0.71127849 0.66055851 -0.24030265 -25.5458578 ] [ 0.49084767 -0.22205611 0.84247234 -17.01615554] [ 0. 0. 0. 1. ]] SLAMing on 165.978241008 meters Centerline goodness [0,1] 0.8848788877741149 Centerline is valid? [False, False] Translation: X:-16.52, Y:-25.60, Z:-17.05 [[ 0.50216316 -0.71907911 -0.48037214 -16.51977154] [ 0.71048224 0.65973918 -0.24486569 -25.59728124] [ 0.49299813 -0.21833334 0.84218965 -17.05205096] [ 0. 0. 0. 1. ]] SLAMing on 166.008241008 meters Centerline goodness [0,1] 0.88637276849779 Centerline is valid? [False, False] Translation: X:-16.56, Y:-25.65, Z:-17.09 [[ 0.50133234 -0.71944574 -0.48069087 -16.55671267] [ 0.70907927 0.65998042 -0.2482588 -25.64967121] [ 0.4958553 -0.21638777 0.84101359 -17.08580876] [ 0. 0. 0. 1. ]] SLAMing on 166.038241008 meters Centerline goodness [0,1] 0.8856595245587436 Centerline is valid? [False, False] Translation: X:-16.60, Y:-25.71, Z:-17.13 [[ 0.50035049 -0.71876742 -0.48272434 -16.60034298] [ 0.71066845 0.65940532 -0.24522435 -25.7111751 ] [ 0.49457027 -0.22035884 0.8407391 -17.12801363] [ 0. 0. 0. 1. ]] SLAMing on 166.068241008 meters Centerline goodness [0,1] 0.88519368723099 Centerline is valid? [False, False] Translation: X:-16.65, Y:-25.78, Z:-17.17 [[ 0.50020898 -0.71743672 -0.48484589 -16.64523788] [ 0.71173807 0.65956151 -0.24167652 -25.7753677 ] [ 0.49317329 -0.22419451 0.84054561 -17.17125033] [ 0. 0. 0. 1. ]] SLAMing on 166.098241008 meters Centerline goodness [0,1] 0.8831235993794173 Centerline is valid? [False, False] Translation: X:-16.69, Y:-25.84, Z:-17.21 [[ 0.4996968 -0.71771595 -0.48496075 -16.69139124] [ 0.71378183 0.65837003 -0.23888156 -25.84140611] [ 0.49073273 -0.22678783 0.841278 -17.21480558] [ 0. 0. 0. 1. ]] SLAMing on 166.128241008 meters Centerline goodness [0,1] 0.8858067101797779 Centerline is valid? [False, False] Translation: X:-16.73, Y:-25.90, Z:-17.25 [[ 0.49928214 -0.72053514 -0.48119274 -16.73098724] [ 0.71348316 0.65700434 -0.24348936 -25.8960006 ] [ 0.49158836 -0.22175303 0.84212022 -17.25272925] [ 0. 0. 0. 1. ]] SLAMing on 166.158241008 meters Centerline goodness [0,1] 0.8842334844745452 Centerline is valid? [False, False] Translation: X:-16.77, Y:-25.95, Z:-17.29 [[ 0.49900152 -0.72122722 -0.48044644 -16.7698295 ] [ 0.71250677 0.65702523 -0.24627618 -25.95144679] [ 0.49328652 -0.21942915 0.84173586 -17.28697541] [ 0. 0. 0. 1. ]] SLAMing on 166.188241008 meters Centerline goodness [0,1] 0.8831373673644967 Centerline is valid? [False, False] Translation: X:-16.82, Y:-26.02, Z:-17.33 [[ 0.49908 -0.7200223 -0.4821691 -16.81571783] [ 0.71479526 0.65661925 -0.24066347 -26.01782163] [ 0.48988457 -0.22454186 0.84237406 -17.3282491 ] [ 0. 0. 0. 1. ]] SLAMing on 166.218241008 meters Centerline goodness [0,1] 0.8837362700392899 Centerline is valid? [False, False] Translation: X:-16.86, Y:-26.07, Z:-17.36 [[ 0.49801326 -0.72106637 -0.48171162 -16.8566459 ] [ 0.71340707 0.65647911 -0.24512349 -26.07495067] [ 0.49298392 -0.22158172 0.84134915 -17.3631304 ] [ 0. 0. 0. 1. ]] SLAMing on 166.248241008 meters Centerline goodness [0,1] 0.8851706225066728 Centerline is valid? [False, False] Translation: X:-16.89, Y:-26.12, Z:-17.39 [[ 0.49727579 -0.72181524 -0.4813518 -16.88850396] [ 0.71463986 0.65537365 -0.24448977 -26.12029034] [ 0.49194173 -0.22241434 0.84173939 -17.39396584] [ 0. 0. 0. 1. ]] SLAMing on 166.278241008 meters Centerline goodness [0,1] 0.8838644846396785 Centerline is valid? [False, False] Translation: X:-16.92, Y:-26.17, Z:-17.43 [[ 0.49662948 -0.72279756 -0.48054433 -16.92360805] [ 0.71443931 0.65481393 -0.24656681 -26.16909651] [ 0.49288501 -0.22086741 0.84159489 -17.42774607] [ 0. 0. 0. 1. ]] SLAMing on 166.308241008 meters Centerline goodness [0,1] 0.8805002581607481 Centerline is valid? [False, False] Translation: X:-16.97, Y:-26.23, Z:-17.47 [[ 0.49670625 -0.71988707 -0.48481492 -16.9664375 ] [ 0.71592043 0.6556229 -0.24003447 -26.23237067] [ 0.49065348 -0.22786228 0.84103386 -17.46749111] [ 0. 0. 0. 1. ]] SLAMing on 166.338241008 meters Centerline goodness [0,1] 0.8853813924123285 Centerline is valid? [False, False] Translation: X:-17.00, Y:-26.28, Z:-17.50 [[ 0.49632788 -0.72081202 -0.4838271 -16.99926227] [ 0.71684842 0.65464617 -0.2399307 -26.27911383] [ 0.48968049 -0.2277464 0.8416321 -17.49945475] [ 0. 0. 0. 1. ]] SLAMing on 166.368241008 meters Centerline goodness [0,1] 0.8842564676831194 Centerline is valid? [False, False] Translation: X:-17.03, Y:-26.33, Z:-17.53 [[ 0.49613125 -0.72225495 -0.48187298 -17.03473902] [ 0.71687372 0.65386903 -0.24196562 -26.32954219] [ 0.48984268 -0.22539537 0.84217045 -17.53391496] [ 0. 0. 0. 1. ]] SLAMing on 166.398241008 meters Centerline goodness [0,1] 0.8862549743765925 Centerline is valid? [False, False] Translation: X:-17.07, Y:-26.38, Z:-17.57 [[ 0.49639035 -0.72234768 -0.48146698 -17.07189782] [ 0.71538892 0.65456037 -0.24447784 -26.38319885] [ 0.4917472 -0.2230797 0.84167698 -17.56804308] [ 0. 0. 0. 1. ]] SLAMing on 166.42824100800001 meters Centerline goodness [0,1] 0.8862549743765925 Centerline is valid? [False, False] Translation: X:-17.12, Y:-26.45, Z:-17.61 [[ 0.49607446 -0.72224461 -0.48194694 -17.12137751] [ 0.71535496 0.65455533 -0.24459067 -26.45431955] [ 0.49211524 -0.22342795 0.84136945 -17.61438689] [ 0. 0. 0. 1. ]] SLAMing on 166.45824100800002 meters Centerline goodness [0,1] 0.8866706823853369 Centerline is valid? [False, False] Translation: X:-17.17, Y:-26.53, Z:-17.66 [[ 0.49654074 -0.72110655 -0.48316937 -17.17210421] [ 0.71428487 0.65572498 -0.24458512 -26.52865226] [ 0.49319816 -0.22367409 0.84066966 -17.66106844] [ 0. 0. 0. 1. ]] SLAMing on 166.48824100800002 meters Centerline goodness [0,1] 0.8860084310745319 Centerline is valid? [False, False] Translation: X:-17.21, Y:-26.58, Z:-17.70 [[ 0.49615534 -0.72317327 -0.48046884 -17.20868898] [ 0.71421107 0.65461367 -0.24775691 -26.57910937] [ 0.49369265 -0.22023024 0.84128842 -17.69712949] [ 0. 0. 0. 1. ]] SLAMing on 166.518241008 meters Centerline goodness [0,1] 0.8885845530542954 Centerline is valid? [False, False] Translation: X:-17.24, Y:-26.63, Z:-17.73 [[ 0.49580268 -0.7250898 -0.47793774 -17.24192452] [ 0.71544335 0.6529914 -0.24848147 -26.62557363] [ 0.49226061 -0.2187396 0.84251557 -17.73129511] [ 0. 0. 0. 1. ]] SLAMing on 166.548241008 meters Centerline goodness [0,1] 0.8852980816104149 Centerline is valid? [False, False] Translation: X:-17.29, Y:-26.70, Z:-17.77 [[ 0.49481231 -0.72507083 -0.47899173 -17.28901064] [ 0.71777196 0.65172539 -0.24506617 -26.6965559 ] [ 0.4898614 -0.22254508 0.84291725 -17.7732944 ] [ 0. 0. 0. 1. ]] SLAMing on 166.578241008 meters Centerline goodness [0,1] 0.8844265824601694 Centerline is valid? [False, False] Translation: X:-17.34, Y:-26.77, Z:-17.82 [[ 0.49356448 -0.72528569 -0.47995289 -17.33800843] [ 0.71898009 0.65077344 -0.24405235 -26.76780867] [ 0.48934827 -0.22462101 0.84266463 -17.81729102] [ 0. 0. 0. 1. ]] SLAMing on 166.608241008 meters Centerline goodness [0,1] 0.8812673199440048 Centerline is valid? [False, False] Translation: X:-17.37, Y:-26.82, Z:-17.85 [[ 0.49248662 -0.72803591 -0.4768864 -17.37331218] [ 0.7196244 0.64881525 -0.2473449 -26.81664751] [ 0.48948714 -0.22136504 0.84344523 -17.85295627] [ 0. 0. 0. 1. ]] SLAMing on 166.638241008 meters Centerline goodness [0,1] 0.8869266055045871 Centerline is valid? [False, False] Translation: X:-17.42, Y:-26.89, Z:-17.90 [[ 0.4914525 -0.72719233 -0.47923455 -17.42320747] [ 0.7193201 0.6491471 -0.24735932 -26.8882753 ] [ 0.49097152 -0.22315768 0.84210903 -17.89730472] [ 0. 0. 0. 1. ]] SLAMing on 166.668241008 meters Centerline goodness [0,1] 0.8890157896239614 Centerline is valid? [False, False] Translation: X:-17.47, Y:-26.95, Z:-17.94 [[ 0.49065079 -0.72580221 -0.48215449 -17.46703824] [ 0.7205899 0.64908518 -0.2438004 -26.9519111 ] [ 0.4899102 -0.22781479 0.8414799 -17.93921347] [ 0. 0. 0. 1. ]] SLAMing on 166.698241008 meters Centerline goodness [0,1] 0.8867978574088397 Centerline is valid? [False, False] Translation: X:-17.51, Y:-27.02, Z:-17.98 [[ 0.49053058 -0.72389475 -0.48513518 -17.51265842] [ 0.72121598 0.64971735 -0.2402392 -27.01857059] [ 0.48910864 -0.23204257 0.84079069 -17.98108565] [ 0. 0. 0. 1. ]] SLAMing on 166.728241008 meters Centerline goodness [0,1] 0.887817026392626 Centerline is valid? [False, False] Translation: X:-17.56, Y:-27.09, Z:-18.03 [[ 0.490758 -0.72272682 -0.48664415 -17.55946294] [ 0.72181621 0.6500582 -0.23749883 -27.08655054] [ 0.48799379 -0.23471318 0.8406972 -18.02509845] [ 0. 0. 0. 1. ]] SLAMing on 166.758241008 meters Centerline goodness [0,1] 0.8865720243365992 Centerline is valid? [False, False] Translation: X:-17.61, Y:-27.15, Z:-18.07 [[ 0.49061483 -0.72219827 -0.4875723 -17.60578615] [ 0.72201421 0.65018628 -0.23654445 -27.15143884] [ 0.48784481 -0.23598192 0.84042845 -18.07053006] [ 0. 0. 0. 1. ]] SLAMing on 166.788241008 meters Centerline goodness [0,1] 0.8819071044502917 Centerline is valid? [False, False] Translation: X:-17.64, Y:-27.20, Z:-18.10 [[ 0.49000767 -0.72303514 -0.48694217 -17.63789642] [ 0.72287219 0.64922189 -0.2365729 -27.19538198] [ 0.48718403 -0.23607441 0.8407857 -18.10259732] [ 0. 0. 0. 1. ]] SLAMing on 166.818241008 meters Centerline goodness [0,1] 0.8838962002911873 Centerline is valid? [False, False] Translation: X:-17.67, Y:-27.24, Z:-18.13 [[ 0.4890395 -0.72420278 -0.4861797 -17.66959535] [ 0.72396779 0.64789405 -0.23686268 -27.23868364] [ 0.48652954 -0.23614324 0.84114528 -18.13452224] [ 0. 0. 0. 1. ]] SLAMing on 166.848241008 meters Centerline goodness [0,1] 0.8836983246612156 Centerline is valid? [False, False] Translation: X:-17.71, Y:-27.30, Z:-18.17 [[ 0.48740409 -0.72595114 -0.48521356 -17.71002693] [ 0.72222868 0.64747575 -0.24323011 -27.29520014] [ 0.49073719 -0.2318838 0.83988506 -18.17208794] [ 0. 0. 0. 1. ]] SLAMing on 166.878241008 meters Centerline goodness [0,1] 0.8885896039887673 Centerline is valid? [False, False] Translation: X:-17.76, Y:-27.36, Z:-18.22 [[ 0.48688685 -0.7258655 -0.48586054 -17.75638268] [ 0.72389159 0.64660382 -0.24059191 -27.3622287 ] [ 0.48879665 -0.23456933 0.84027083 -18.21664717] [ 0. 0. 0. 1. ]] SLAMing on 166.908241008 meters Centerline goodness [0,1] 0.8871391826236068 Centerline is valid? [False, False] Translation: X:-17.79, Y:-27.41, Z:-18.25 [[ 0.48584527 -0.72842244 -0.48306845 -17.7910521 ] [ 0.72445765 0.6448078 -0.24368835 -27.41004456] [ 0.48899436 -0.2315678 0.84098803 -18.25207956] [ 0. 0. 0. 1. ]] SLAMing on 166.938241008 meters Centerline goodness [0,1] 0.8866462734783728 Centerline is valid? [False, False] Translation: X:-17.84, Y:-27.48, Z:-18.30 [[ 0.48504118 -0.73041026 -0.48086994 -17.84004007] [ 0.72565955 0.6430398 -0.24478158 -27.47996165] [ 0.48800949 -0.23021872 0.84192997 -18.30133668] [ 0. 0. 0. 1. ]] SLAMing on 166.968241008 meters Centerline goodness [0,1] 0.8925249741646573 Centerline is valid? [False, False] Translation: X:-17.89, Y:-27.55, Z:-18.35 [[ 0.48306543 -0.7315908 -0.48106412 -17.88822265] [ 0.72609526 0.6417557 -0.24685077 -27.55086012] [ 0.48931939 -0.2300533 0.84121461 -18.34792047] [ 0. 0. 0. 1. ]] SLAMing on 166.998241008 meters Centerline goodness [0,1] 0.8923275491180267 Centerline is valid? [False, False] Translation: X:-17.93, Y:-27.60, Z:-18.39 [[ 0.48231253 -0.73394982 -0.47821782 -17.9255588 ] [ 0.72541697 0.64066324 -0.25163632 -27.603267 ] [ 0.49106501 -0.22553997 0.84141956 -18.38518338] [ 0. 0. 0. 1. ]] SLAMing on 167.028241008 meters Centerline goodness [0,1] 0.8922279199014524 Centerline is valid? [False, False] Translation: X:-17.97, Y:-27.67, Z:-18.43 [[ 0.48217307 -0.73505652 -0.4766561 -17.97432151] [ 0.7265376 0.63953155 -0.25128174 -27.67302191] [ 0.4895429 -0.22514729 0.84241109 -18.43326862] [ 0. 0. 0. 1. ]] SLAMing on 167.058241008 meters Centerline goodness [0,1] 0.8911163296866945 Centerline is valid? [False, False] Translation: X:-18.02, Y:-27.74, Z:-18.48 [[ 0.48190809 -0.73612953 -0.47526616 -18.02425065] [ 0.72715754 0.6386154 -0.25181795 -27.74449195] [ 0.48888291 -0.22424026 0.84303606 -18.4811923 ] [ 0. 0. 0. 1. ]] SLAMing on 167.088241008 meters Centerline goodness [0,1] 0.8871593095723599 Centerline is valid? [False, False] Translation: X:-18.07, Y:-27.82, Z:-18.53 [[ 0.4825064 -0.7361983 -0.47455204 -18.07467707] [ 0.72753873 0.63854937 -0.25088265 -27.81693517] [ 0.48772429 -0.2242025 0.84371693 -18.52775076] [ 0. 0. 0. 1. ]] SLAMing on 167.118241008 meters Centerline goodness [0,1] 0.8885258119070141 Centerline is valid? [False, False] Translation: X:-18.11, Y:-27.87, Z:-18.56 [[ 0.48223365 -0.73793 -0.47213348 -18.11377253] [ 0.72647901 0.63803893 -0.25521477 -27.87104591] [ 0.48957017 -0.21992191 0.8437745 -18.56411405] [ 0. 0. 0. 1. ]] SLAMing on 167.148241008 meters Centerline goodness [0,1] 0.8881313203655428 Centerline is valid? [False, False] Translation: X:-18.15, Y:-27.92, Z:-18.60 [[ 0.48226346 -0.73916558 -0.47016614 -18.14821863] [ 0.7270167 0.63713502 -0.25594077 -27.91910947] [ 0.48874192 -0.21838776 0.84465266 -18.59789098] [ 0. 0. 0. 1. ]] SLAMing on 167.17824100800001 meters Centerline goodness [0,1] 0.8864954908380722 Centerline is valid? [False, False] Translation: X:-18.20, Y:-27.99, Z:-18.64 [[ 0.4831215 -0.7377898 -0.47144441 -18.1979669 ] [ 0.72696421 0.63811165 -0.25364652 -27.99252366] [ 0.48797198 -0.22018113 0.84463224 -18.64300836] [ 0. 0. 0. 1. ]] SLAMing on 167.20824100800002 meters Centerline goodness [0,1] 0.8829698827979482 Centerline is valid? [False, False] Translation: X:-18.25, Y:-28.07, Z:-18.69 [[ 0.48325935 -0.73826267 -0.47056204 -18.25012148] [ 0.72751638 0.63764142 -0.2532456 -28.06766415] [ 0.48701162 -0.21995829 0.84524436 -18.6905225 ] [ 0. 0. 0. 1. ]] SLAMing on 167.23824100800002 meters Centerline goodness [0,1] 0.8870137299771167 Centerline is valid? [False, False] Translation: X:-18.30, Y:-28.14, Z:-18.74 [[ 0.4831648 -0.73891292 -0.4696376 -18.29812694] [ 0.72853695 0.63680683 -0.25241033 -28.13811505] [ 0.48557768 -0.22019256 0.84600801 -18.73698205] [ 0. 0. 0. 1. ]] SLAMing on 167.268241008 meters Centerline goodness [0,1] 0.8845579793340987 Centerline is valid? [False, False] Translation: X:-18.35, Y:-28.21, Z:-18.78 [[ 0.48213798 -0.73998877 -0.46899849 -18.3495897 ] [ 0.72868886 0.6359069 -0.25423406 -28.21276054] [ 0.48636973 -0.21917809 0.84581644 -18.78387232] [ 0. 0. 0. 1. ]] SLAMing on 167.298241008 meters Centerline goodness [0,1] 0.8887738372594702 Centerline is valid? [False, False] Translation: X:-18.40, Y:-28.29, Z:-18.83 [[ 0.48117107 -0.74018119 -0.46968736 -18.39817033] [ 0.72958823 0.63515936 -0.25352239 -28.28657637] [ 0.48597882 -0.22069073 0.84564779 -18.82719924] [ 0. 0. 0. 1. ]] SLAMing on 167.328241008 meters Centerline goodness [0,1] 0.8881448483977583 Centerline is valid? [False, False] Translation: X:-18.44, Y:-28.35, Z:-18.87 [[ 0.48001665 -0.74071923 -0.47002026 -18.44436421] [ 0.73017653 0.63431793 -0.25393502 -28.35398049] [ 0.48623683 -0.22130473 0.84533896 -18.87177161] [ 0. 0. 0. 1. ]] SLAMing on 167.358241008 meters Centerline goodness [0,1] 0.8861543756991653 Centerline is valid? [False, False] Translation: X:-18.50, Y:-28.43, Z:-18.92 [[ 0.47944691 -0.74182471 -0.46885687 -18.49941773] [ 0.72852141 0.63431908 -0.25864233 -28.43373616] [ 0.48927213 -0.21756701 0.84455751 -18.9243701 ] [ 0. 0. 0. 1. ]] SLAMing on 167.388241008 meters Centerline goodness [0,1] 0.8877586108086424 Centerline is valid? [False, False] Translation: X:-18.55, Y:-28.51, Z:-18.97 [[ 0.47932273 -0.74199352 -0.46871669 -18.5493686 ] [ 0.72807529 0.63439316 -0.25971462 -28.50684464] [ 0.49005722 -0.21677392 0.84430622 -18.97215648] [ 0. 0. 0. 1. ]] SLAMing on 167.418241008 meters Centerline goodness [0,1] 0.8884245114429008 Centerline is valid? [False, False] Translation: X:-18.60, Y:-28.58, Z:-19.02 [[ 0.47981885 -0.74165614 -0.46874303 -18.60050105] [ 0.72690511 0.63521739 -0.26097476 -28.58366182] [ 0.49130726 -0.2155111 0.84390292 -19.0211937 ] [ 0. 0. 0. 1. ]] SLAMing on 167.448241008 meters Centerline goodness [0,1] 0.8914844649021865 Centerline is valid? [False, False] Translation: X:-18.65, Y:-28.66, Z:-19.07 [[ 0.47980335 -0.74096433 -0.46985169 -18.64876112] [ 0.72642035 0.63581104 -0.26087889 -28.65507018] [ 0.49203884 -0.21613926 0.84331583 -19.06789678] [ 0. 0. 0. 1. ]] SLAMing on 167.478241008 meters Centerline goodness [0,1] 0.8938195622789106 Centerline is valid? [False, False] Translation: X:-18.70, Y:-28.73, Z:-19.12 [[ 0.47986534 -0.74039005 -0.47069292 -18.70067272] [ 0.72484959 0.63683261 -0.2627495 -28.73114013] [ 0.49428971 -0.21509719 0.84226533 -19.11735906] [ 0. 0. 0. 1. ]] SLAMing on 167.508241008 meters Centerline goodness [0,1] 0.892019048711917 Centerline is valid? [False, False] Translation: X:-18.75, Y:-28.80, Z:-19.17 [[ 0.48059733 -0.73991394 -0.47069476 -18.74959448] [ 0.72421786 0.63755048 -0.26275058 -28.80192416] [ 0.49450449 -0.21460833 0.84226396 -19.1668525 ] [ 0. 0. 0. 1. ]] SLAMing on 167.538241008 meters Centerline goodness [0,1] 0.8932466261905447 Centerline is valid? [False, False] Translation: X:-18.79, Y:-28.86, Z:-19.20 [[ 0.48035688 -0.74063019 -0.46981293 -18.7904689 ] [ 0.72160661 0.63820491 -0.2682879 -28.86082979] [ 0.49853904 -0.21014617 0.84100976 -19.20457688] [ 0. 0. 0. 1. ]] SLAMing on 167.568241008 meters Centerline goodness [0,1] 0.8940580377706127 Centerline is valid? [False, False] Translation: X:-18.83, Y:-28.92, Z:-19.24 [[ 0.48036358 -0.73997593 -0.4708359 -18.83042882] [ 0.7189166 0.63970567 -0.27191098 -28.91982197] [ 0.50240398 -0.20787561 0.83927229 -19.23913114] [ 0. 0. 0. 1. ]] SLAMing on 167.598241008 meters Centerline goodness [0,1] 0.896774564149697 Centerline is valid? [False, False] Translation: X:-18.88, Y:-28.99, Z:-19.29 [[ 0.48102702 -0.73963731 -0.47069062 -18.87915966] [ 0.71865388 0.64016819 -0.27151666 -28.99180137] [ 0.50214501 -0.20765679 0.83948141 -19.28694031] [ 0. 0. 0. 1. ]] SLAMing on 167.628241008 meters Centerline goodness [0,1] 0.8959173096855926 Centerline is valid? [False, False] Translation: X:-18.93, Y:-29.07, Z:-19.34 [[ 0.48303764 -0.73800552 -0.47119262 -18.93046344] [ 0.71763045 0.64200798 -0.2698746 -29.06944667] [ 0.50167837 -0.20778258 0.83972925 -19.33547605] [ 0. 0. 0. 1. ]] SLAMing on 167.658241008 meters Centerline goodness [0,1] 0.8956191134537285 Centerline is valid? [False, False] Translation: X:-18.97, Y:-29.12, Z:-19.37 [[ 0.48366845 -0.73792076 -0.470678 -18.9676432 ] [ 0.71616213 0.64281003 -0.27185855 -29.12418627] [ 0.50316661 -0.20559236 0.83937783 -19.37029323] [ 0. 0. 0. 1. ]] SLAMing on 167.688241008 meters Centerline goodness [0,1] 0.8923245550780236 Centerline is valid? [False, False] Translation: X:-19.00, Y:-29.18, Z:-19.41 [[ 0.48460404 -0.73768703 -0.47008166 -19.00452681] [ 0.71456353 0.64381432 -0.27368245 -29.17847532] [ 0.5045373 -0.2032756 0.83911927 -19.40621614] [ 0. 0. 0. 1. ]] SLAMing on 167.718241008 meters Centerline goodness [0,1] 0.8922952570653272 Centerline is valid? [False, False] Translation: X:-19.04, Y:-29.23, Z:-19.44 [[ 0.48430985 -0.73759252 -0.47053293 -19.03730541] [ 0.71491143 0.64365972 -0.27313699 -29.22634198] [ 0.50432689 -0.20410644 0.83904407 -19.4373872 ] [ 0. 0. 0. 1. ]] SLAMing on 167.748241008 meters Centerline goodness [0,1] 0.8946521913952553 Centerline is valid? [False, False] Translation: X:-19.08, Y:-29.29, Z:-19.48 [[ 0.48357768 -0.73528503 -0.47487742 -19.08038728] [ 0.71599566 0.64436387 -0.26859898 -29.291815 ] [ 0.50349066 -0.2101217 0.83806087 -19.47744729] [ 0. 0. 0. 1. ]] SLAMing on 167.778241008 meters Centerline goodness [0,1] 0.896374248828316 Centerline is valid? [False, False] Translation: X:-19.13, Y:-29.36, Z:-19.52 [[ 0.48319211 -0.73262981 -0.47935264 -19.12500957] [ 0.71649151 0.64554615 -0.26440515 -29.35902125] [ 0.50315535 -0.21569361 0.83684584 -19.51868138] [ 0. 0. 0. 1. ]] SLAMing on 167.808241008 meters Centerline goodness [0,1] 0.9000979431929481 Centerline is valid? [False, False] Translation: X:-19.17, Y:-29.43, Z:-19.56 [[ 0.48278876 -0.73112414 -0.48205031 -19.17204167] [ 0.71663527 0.64621369 -0.26237713 -29.42964298] [ 0.50333776 -0.21878153 0.83593405 -19.56310355] [ 0. 0. 0. 1. ]] SLAMing on 167.838241008 meters Centerline goodness [0,1] 0.8986564410102641 Centerline is valid? [False, False] Translation: X:-19.22, Y:-29.50, Z:-19.60 [[ 0.48297533 -0.72902753 -0.48502959 -19.21543779] [ 0.71834898 0.64662648 -0.25661048 -29.49625188] [ 0.50070908 -0.22448398 0.83600081 -19.60434619] [ 0. 0. 0. 1. ]] SLAMing on 167.868241008 meters Centerline goodness [0,1] 0.8970507682993629 Centerline is valid? [False, False] Translation: X:-19.26, Y:-29.57, Z:-19.65 [[ 0.48328982 -0.73030308 -0.48279226 -19.26421035] [ 0.7195785 0.64547414 -0.25606622 -29.56724144] [ 0.49863587 -0.22365274 0.83746148 -19.65471081] [ 0. 0. 0. 1. ]] SLAMing on 167.898241008 meters Centerline goodness [0,1] 0.9016081618537092 Centerline is valid? [False, False] Translation: X:-19.31, Y:-29.64, Z:-19.70 [[ 0.48364476 -0.7305651 -0.48203981 -19.31469088] [ 0.71971541 0.64535815 -0.25597379 -29.64101557] [ 0.49809384 -0.22313109 0.83792305 -19.70377152] [ 0. 0. 0. 1. ]] SLAMing on 167.92824100800001 meters Centerline goodness [0,1] 0.9015357080999942 Centerline is valid? [False, False] Translation: X:-19.36, Y:-29.72, Z:-19.75 [[ 0.48475172 -0.72913746 -0.48308834 -19.36488203] [ 0.71892753 0.64672986 -0.25472278 -29.71557863] [ 0.49815557 -0.2238282 0.8377004 -19.75087282] [ 0. 0. 0. 1. ]] SLAMing on 167.95824100800002 meters Centerline goodness [0,1] 0.902376568074577 Centerline is valid? [False, False] Translation: X:-19.41, Y:-29.78, Z:-19.79 [[ 0.48447699 -0.72869183 -0.4840354 -19.40802965] [ 0.71565649 0.64835383 -0.25975586 -29.77715877] [ 0.50310818 -0.22055734 0.83560554 -19.78826482] [ 0. 0. 0. 1. ]] SLAMing on 167.98824100800002 meters Centerline goodness [0,1] 0.8982606692391868 Centerline is valid? [False, False] Translation: X:-19.46, Y:-29.85, Z:-19.83 [[ 0.48547426 -0.72698188 -0.48560487 -19.45642838] [ 0.71532512 0.64964609 -0.25742946 -29.84788592] [ 0.50261786 -0.22238999 0.83541486 -19.83491265] [ 0. 0. 0. 1. ]] SLAMing on 168.018241008 meters Centerline goodness [0,1] 0.9008518083001118 Centerline is valid? [False, False] Translation: X:-19.51, Y:-29.92, Z:-19.88 [[ 0.48680726 -0.72604707 -0.48566896 -19.50645877] [ 0.71477273 0.65069717 -0.25630673 -29.92015115] [ 0.50211417 -0.22237095 0.83572275 -19.88448283] [ 0. 0. 0. 1. ]] SLAMing on 168.048241008 meters Centerline goodness [0,1] 0.9014782558872401 Centerline is valid? [False, False] Translation: X:-19.56, Y:-29.99, Z:-19.94 [[ 0.48802184 -0.72580435 -0.48481207 -19.5576845 ] [ 0.71465955 0.65115885 -0.25544838 -29.99184577] [ 0.50109521 -0.22181118 0.83648275 -19.93504103] [ 0. 0. 0. 1. ]] SLAMing on 168.078241008 meters Centerline goodness [0,1] 0.8980464155598267 Centerline is valid? [False, False] Translation: X:-19.61, Y:-30.06, Z:-19.98 [[ 0.48704964 -0.72651729 -0.48472185 -19.60579289] [ 0.71647878 0.64974699 -0.25394292 -30.0614466 ] [ 0.49944049 -0.22361011 0.83699326 -19.98075866] [ 0. 0. 0. 1. ]] SLAMing on 168.108241008 meters Centerline goodness [0,1] 0.8983828420690446 Centerline is valid? [False, False] Translation: X:-19.65, Y:-30.13, Z:-20.03 [[ 0.48671238 -0.72627677 -0.48542055 -19.65369358] [ 0.71784789 0.64917575 -0.25152585 -30.13160995] [ 0.49780063 -0.22603737 0.83731812 -20.02600499] [ 0. 0. 0. 1. ]] SLAMing on 168.138241008 meters Centerline goodness [0,1] 0.8998255597815208 Centerline is valid? [False, False] Translation: X:-19.70, Y:-30.20, Z:-20.07 [[ 0.48612364 -0.72640589 -0.48581713 -19.70079231] [ 0.71911854 0.64839029 -0.2499171 -30.19911747] [ 0.49654036 -0.2278695 0.83756979 -20.07276843] [ 0. 0. 0. 1. ]] SLAMing on 168.168241008 meters Centerline goodness [0,1] 0.898928418345478 Centerline is valid? [False, False] Translation: X:-19.75, Y:-30.27, Z:-20.12 [[ 0.4863144 -0.72686574 -0.48493763 -19.74933365] [ 0.71975193 0.64790792 -0.24934412 -30.26890454] [ 0.49543463 -0.22777516 0.83824997 -20.12128487] [ 0. 0. 0. 1. ]] SLAMing on 168.198241008 meters Centerline goodness [0,1] 0.8982085386346159 Centerline is valid? [False, False] Translation: X:-19.79, Y:-30.33, Z:-20.16 [[ 0.48599222 -0.7285746 -0.48269101 -19.79091503] [ 0.7178822 0.64778843 -0.25498098 -30.32674679] [ 0.49845431 -0.22259651 0.83785088 -20.16066199] [ 0. 0. 0. 1. ]] SLAMing on 168.228241008 meters Centerline goodness [0,1] 0.9006216493669442 Centerline is valid? [False, False] Translation: X:-19.84, Y:-30.40, Z:-20.21 [[ 0.48678615 -0.72825847 -0.48236795 -19.84423469] [ 0.71693604 0.6485638 -0.2556711 -30.40327115] [ 0.49904103 -0.22136982 0.83782662 -20.2106141 ] [ 0. 0. 0. 1. ]] SLAMing on 168.258241008 meters Centerline goodness [0,1] 0.9012520939212402 Centerline is valid? [False, False] Translation: X:-19.89, Y:-30.47, Z:-20.26 [[ 0.48817149 -0.72704264 -0.48280182 -19.89272895] [ 0.71661402 0.64967391 -0.25374821 -30.47273347] [ 0.49814951 -0.22210992 0.83816123 -20.25893848] [ 0. 0. 0. 1. ]] SLAMing on 168.288241008 meters Centerline goodness [0,1] 0.902073274637887 Centerline is valid? [False, False] Translation: X:-19.94, Y:-30.54, Z:-20.30 [[ 0.4887909 -0.72534428 -0.48472583 -19.94083485] [ 0.71643184 0.65078728 -0.25139877 -30.54265694] [ 0.49780406 -0.22439159 0.83775864 -20.30452701] [ 0. 0. 0. 1. ]] SLAMing on 168.318241008 meters Centerline goodness [0,1] 0.902073274637887 Centerline is valid? [False, False] Translation: X:-19.99, Y:-30.61, Z:-20.35 [[ 0.48887155 -0.72516834 -0.48490771 -19.98761559] [ 0.7175675 0.6503822 -0.24919845 -30.61101936] [ 0.49608617 -0.22612798 0.83831059 -20.35043831] [ 0. 0. 0. 1. ]] SLAMing on 168.348241008 meters Centerline goodness [0,1] 0.9022241110638901 Centerline is valid? [False, False] Translation: X:-20.03, Y:-30.68, Z:-20.40 [[ 0.48947148 -0.72432972 -0.48555547 -20.03476964] [ 0.71797113 0.65076665 -0.24702272 -30.67912199] [ 0.49490921 -0.22770423 0.83857955 -20.39678682] [ 0. 0. 0. 1. ]] SLAMing on 168.378241008 meters Centerline goodness [0,1] 0.9029583782862983 Centerline is valid? [False, False] Translation: X:-20.09, Y:-30.75, Z:-20.45 [[ 0.49013527 -0.72477351 -0.48422183 -20.085152 ] [ 0.71787088 0.65074174 -0.24737946 -30.75153696] [ 0.49439743 -0.22635936 0.83924527 -20.44663236] [ 0. 0. 0. 1. ]] SLAMing on 168.408241008 meters Centerline goodness [0,1] 0.8993529428385748 Centerline is valid? [False, False] Translation: X:-20.13, Y:-30.81, Z:-20.49 [[ 0.49010187 -0.72573727 -0.48281009 -20.12799426] [ 0.71481346 0.65161055 -0.25386099 -30.81228334] [ 0.49884053 -0.2207014 0.83812232 -20.48644622] [ 0. 0. 0. 1. ]] SLAMing on 168.438241008 meters Centerline goodness [0,1] 0.9014260553377649 Centerline is valid? [False, False] Translation: X:-20.18, Y:-30.89, Z:-20.53 [[ 0.49038051 -0.72486709 -0.48383329 -20.1782825 ] [ 0.71421287 0.65239794 -0.25352891 -30.88674028] [ 0.49942661 -0.22123432 0.83763264 -20.53355585] [ 0. 0. 0. 1. ]] SLAMing on 168.468241008 meters Centerline goodness [0,1] 0.9017968484298833 Centerline is valid? [False, False] Translation: X:-20.23, Y:-30.96, Z:-20.58 [[ 0.49069598 -0.72458836 -0.48393094 -20.22589503] [ 0.71547928 0.65205187 -0.25083411 -30.95665936] [ 0.49729955 -0.22315927 0.8383872 -20.57972078] [ 0. 0. 0. 1. ]] SLAMing on 168.498241008 meters Centerline goodness [0,1] 0.8982018972108169 Centerline is valid? [False, False] Translation: X:-20.26, Y:-31.01, Z:-20.62 [[ 0.490615 -0.7268198 -0.4806557 -20.26101199] [ 0.71646337 0.65042953 -0.25223333 -31.00812861] [ 0.49596085 -0.22062275 0.83985025 -20.61523698] [ 0. 0. 0. 1. ]] SLAMing on 168.528241008 meters Centerline goodness [0,1] 0.9020109066121336 Centerline is valid? [False, False] Translation: X:-20.31, Y:-31.08, Z:-20.66 [[ 0.49059514 -0.72698062 -0.4804327 -20.30990443] [ 0.71749346 0.6498807 -0.25071539 -31.08024719] [ 0.49448917 -0.22170757 0.84043216 -20.66172784] [ 0. 0. 0. 1. ]] SLAMing on 168.558241008 meters Centerline goodness [0,1] 0.9040168411470186 Centerline is valid? [False, False] Translation: X:-20.35, Y:-31.15, Z:-20.70 [[ 0.49058257 -0.72571119 -0.48236087 -20.35425407] [ 0.71966092 0.64954569 -0.24531317 -31.14713752] [ 0.49134194 -0.2267899 0.84092178 -20.70323079] [ 0. 0. 0. 1. ]] SLAMing on 168.588241008 meters Centerline goodness [0,1] 0.9026807519736468 Centerline is valid? [False, False] Translation: X:-20.39, Y:-31.19, Z:-20.73 [[ 0.4896673 -0.72706157 -0.48125607 -20.38588806] [ 0.72153195 0.64777718 -0.24449206 -31.19295301] [ 0.48950749 -0.22752186 0.84179346 -20.734288 ] [ 0. 0. 0. 1. ]] SLAMing on 168.618241008 meters Centerline goodness [0,1] 0.9027908703973491 Centerline is valid? [False, False] Translation: X:-20.42, Y:-31.25, Z:-20.77 [[ 0.4885514 -0.72985862 -0.47814634 -20.42223359] [ 0.72248589 0.64563839 -0.24731601 -31.24705295] [ 0.48921536 -0.2246274 0.84274009 -20.76863748] [ 0. 0. 0. 1. ]] SLAMing on 168.648241008 meters Centerline goodness [0,1] 0.9048528196506426 Centerline is valid? [False, False] Translation: X:-20.46, Y:-31.30, Z:-20.81 [[ 0.48793008 -0.7328793 -0.47414362 -20.45863596] [ 0.72310789 0.64362766 -0.2507158 -31.29879276] [ 0.48891637 -0.22052521 0.8439961 -20.80561711] [ 0. 0. 0. 1. ]] SLAMing on 168.67824100800001 meters Centerline goodness [0,1] 0.9018636741003693 Centerline is valid? [False, False] Translation: X:-20.51, Y:-31.37, Z:-20.85 [[ 0.48727449 -0.73194562 -0.47625538 -20.50537424] [ 0.72421617 0.64345653 -0.24794077 -31.36858326] [ 0.48792879 -0.22409664 0.84362681 -20.8479737 ] [ 0. 0. 0. 1. ]] SLAMing on 168.70824100800002 meters Centerline goodness [0,1] 0.9051253465969185 Centerline is valid? [False, False] Translation: X:-20.55, Y:-31.43, Z:-20.89 [[ 0.48530726 -0.73182606 -0.47844276 -20.54951223] [ 0.72563782 0.6423888 -0.24654895 -31.43460188] [ 0.48777722 -0.22752417 0.84279662 -20.89046442] [ 0. 0. 0. 1. ]] SLAMing on 168.73824100800002 meters Centerline goodness [0,1] 0.9073518057819336 Centerline is valid? [False, False] Translation: X:-20.60, Y:-31.50, Z:-20.94 [[ 0.4846443 -0.73214871 -0.47862111 -20.59723863] [ 0.72594638 0.64191897 -0.24686411 -31.50465803] [ 0.48797721 -0.22781198 0.84260308 -20.93752209] [ 0. 0. 0. 1. ]] SLAMing on 168.768241008 meters Centerline goodness [0,1] 0.906048537291195 Centerline is valid? [False, False] Translation: X:-20.65, Y:-31.58, Z:-20.99 [[ 0.48393367 -0.73307108 -0.47792781 -20.64709556] [ 0.72600639 0.64124215 -0.24844159 -31.57635573] [ 0.48859281 -0.22674939 0.84253296 -20.986573 ] [ 0. 0. 0. 1. ]] SLAMing on 168.798241008 meters Centerline goodness [0,1] 0.9124914207275223 Centerline is valid? [False, False] Translation: X:-20.70, Y:-31.65, Z:-21.04 [[ 0.48271943 -0.73479612 -0.47650458 -20.69658472] [ 0.72644942 0.63984167 -0.25074664 -31.64806777] [ 0.48913514 -0.2251162 0.84265622 -21.03606291] [ 0. 0. 0. 1. ]] SLAMing on 168.828241008 meters Centerline goodness [0,1] 0.9083507725826334 Centerline is valid? [False, False] Translation: X:-20.74, Y:-31.72, Z:-21.08 [[ 0.48162848 -0.73651926 -0.47494567 -20.74380028] [ 0.72787326 0.63801216 -0.25127874 -31.71651386] [ 0.48809274 -0.22467726 0.8433775 -21.08282077] [ 0. 0. 0. 1. ]] SLAMing on 168.858241008 meters Centerline goodness [0,1] 0.910153333716189 Centerline is valid? [False, False] Translation: X:-20.79, Y:-31.79, Z:-21.13 [[ 0.48125049 -0.73729414 -0.47412585 -20.79254376] [ 0.7288275 0.6370701 -0.25090271 -31.78856823] [ 0.4870405 -0.2248089 0.84395054 -21.12943443] [ 0. 0. 0. 1. ]] SLAMing on 168.888241008 meters Centerline goodness [0,1] 0.9106450222669157 Centerline is valid? [False, False] Translation: X:-20.84, Y:-31.86, Z:-21.18 [[ 0.48097423 -0.73806189 -0.47321078 -20.84291479] [ 0.72913735 0.63645254 -0.25156886 -31.8623422 ] [ 0.48684959 -0.22403752 0.84426576 -21.17740201] [ 0. 0. 0. 1. ]] SLAMing on 168.918241008 meters Centerline goodness [0,1] 0.9099644332262505 Centerline is valid? [False, False] Translation: X:-20.90, Y:-31.94, Z:-21.23 [[ 0.48103767 -0.73997862 -0.47014297 -20.89547517] [ 0.72872927 0.63562517 -0.25482207 -31.93590542] [ 0.48739759 -0.22002792 0.84500373 -21.23109242] [ 0. 0. 0. 1. ]] SLAMing on 168.948241008 meters Centerline goodness [0,1] 0.9116063244729606 Centerline is valid? [False, False] Translation: X:-20.95, Y:-32.01, Z:-21.28 [[ 0.48199715 -0.73944931 -0.46999305 -20.94508078] [ 0.7284351 0.636279 -0.25403019 -32.00801779] [ 0.48688915 -0.21991761 0.8453255 -21.27893766] [ 0. 0. 0. 1. ]] SLAMing on 168.978241008 meters Centerline goodness [0,1] 0.9120998995263384 Centerline is valid? [False, False] Translation: X:-21.00, Y:-32.09, Z:-21.33 [[ 0.48287605 -0.73945358 -0.46908328 -20.99928628] [ 0.72667804 0.63727763 -0.25654677 -32.08690274] [ 0.48864071 -0.21699223 0.84507079 -21.33036864] [ 0. 0. 0. 1. ]] SLAMing on 169.008241008 meters Centerline goodness [0,1] 0.9147647345907617 Centerline is valid? [False, False] Translation: X:-21.05, Y:-32.16, Z:-21.38 [[ 0.48428105 -0.73871008 -0.46880623 -21.05116549] [ 0.72554577 0.6385262 -0.2566469 -32.16340273] [ 0.48893271 -0.21585115 0.84519411 -21.37938969] [ 0. 0. 0. 1. ]] SLAMing on 169.038241008 meters Centerline goodness [0,1] 0.9134354760478187 Centerline is valid? [False, False] Translation: X:-21.10, Y:-32.23, Z:-21.43 [[ 0.48551918 -0.73806268 -0.4685452 -21.09852174] [ 0.72472623 0.63954037 -0.25643715 -32.23180106] [ 0.48892026 -0.21506184 0.8454025 -21.42566138] [ 0. 0. 0. 1. ]] SLAMing on 169.068241008 meters Centerline goodness [0,1] 0.9148717068566035 Centerline is valid? [False, False] Translation: X:-21.15, Y:-32.31, Z:-21.48 [[ 0.48623673 -0.73860978 -0.46693622 -21.15244366] [ 0.72283928 0.64023122 -0.26001416 -32.30959647] [ 0.49099615 -0.2110914 0.8452001 -21.4785491 ] [ 0. 0. 0. 1. ]] SLAMing on 169.098241008 meters Centerline goodness [0,1] 0.9114455422925353 Centerline is valid? [False, False] Translation: X:-21.20, Y:-32.39, Z:-21.53 [[ 0.48701155 -0.73894031 -0.46560387 -21.20482696] [ 0.72114636 0.64095161 -0.26292388 -32.38508243] [ 0.4927146 -0.20772157 0.84503495 -21.52985225] [ 0. 0. 0. 1. ]] SLAMing on 169.128241008 meters Centerline goodness [0,1] 0.9110920280520968 Centerline is valid? [False, False] Translation: X:-21.26, Y:-32.47, Z:-21.58 [[ 0.48821716 -0.73832486 -0.46531754 -21.26006175] [ 0.71883422 0.64255283 -0.26533606 -32.46572716] [ 0.49489531 -0.20494455 0.84443849 -21.58177047] [ 0. 0. 0. 1. ]] SLAMing on 169.158241008 meters Centerline goodness [0,1] 0.9120822622107969 Centerline is valid? [False, False] Translation: X:-21.31, Y:-32.54, Z:-21.62 [[ 0.49131239 -0.73392242 -0.4690096 -21.30881353] [ 0.71773698 0.64621325 -0.25934931 -32.54157015] [ 0.49342249 -0.20920401 0.84425584 -21.62375706] [ 0. 0. 0. 1. ]] SLAMing on 169.188241008 meters Centerline goodness [0,1] 0.9124006177429503 Centerline is valid? [False, False] Translation: X:-21.36, Y:-32.62, Z:-21.67 [[ 0.49318398 -0.7325459 -0.46919727 -21.36297493] [ 0.71573469 0.64825695 -0.25978218 -32.62144322] [ 0.49446275 -0.20770035 0.84401845 -21.67354414] [ 0. 0. 0. 1. ]] SLAMing on 169.218241008 meters Centerline goodness [0,1] 0.9088811666856557 Centerline is valid? [False, False] Translation: X:-21.41, Y:-32.70, Z:-21.72 [[ 0.49570717 -0.72915405 -0.47181434 -21.41240362] [ 0.7144871 0.65122769 -0.2557551 -32.69517653] [ 0.49374343 -0.21032562 0.8437894 -21.71902714] [ 0. 0. 0. 1. ]] SLAMing on 169.248241008 meters Centerline goodness [0,1] 0.9062428799270904 Centerline is valid? [False, False] Translation: X:-21.46, Y:-32.77, Z:-21.77 [[ 0.49846372 -0.72642412 -0.47311936 -21.46408716] [ 0.71248222 0.65418774 -0.2537863 -32.77131074] [ 0.49386537 -0.21058587 0.84365312 -21.76726897] [ 0. 0. 0. 1. ]] SLAMing on 169.278241008 meters Centerline goodness [0,1] 0.9056458949283602 Centerline is valid? [False, False] Translation: X:-21.51, Y:-32.85, Z:-21.81 [[ 0.5020636 -0.72167744 -0.4765646 -21.51361264] [ 0.71133737 0.65800478 -0.24704019 -32.84586439] [ 0.49186512 -0.21496832 0.84371638 -21.80968181] [ 0. 0. 0. 1. ]] SLAMing on 169.308241008 meters Centerline goodness [0,1] 0.9047199568071382 Centerline is valid? [False, False] Translation: X:-21.56, Y:-32.92, Z:-21.85 [[ 0.50355637 -0.71850197 -0.47977693 -21.56211091] [ 0.71069409 0.6602525 -0.24285909 -32.91904051] [ 0.49126865 -0.21868139 0.84310946 -21.85196608] [ 0. 0. 0. 1. ]] SLAMing on 169.338241008 meters Centerline goodness [0,1] 0.9024327857670664 Centerline is valid? [False, False] Translation: X:-21.61, Y:-32.99, Z:-21.90 [[ 0.50450309 -0.71694668 -0.48110715 -21.61015106] [ 0.71113743 0.6610473 -0.23937421 -32.9892589 ] [ 0.48965313 -0.22136828 0.84334803 -21.89665371] [ 0. 0. 0. 1. ]] SLAMing on 169.368241008 meters Centerline goodness [0,1] 0.899383400107976 Centerline is valid? [False, False] Translation: X:-21.66, Y:-33.06, Z:-21.94 [[ 0.50527073 -0.71537366 -0.48264067 -21.65934295] [ 0.71085935 0.6621239 -0.23721493 -33.06013876] [ 0.48926524 -0.22323187 0.84308188 -21.94219179] [ 0. 0. 0. 1. ]] SLAMing on 169.398241008 meters Centerline goodness [0,1] 0.9000653167864141 Centerline is valid? [False, False] Translation: X:-21.71, Y:-33.13, Z:-21.99 [[ 0.50551598 -0.71366743 -0.48490452 -21.70596489] [ 0.711572 0.66268061 -0.23349451 -33.12884262] [ 0.48797425 -0.22700927 0.8428214 -21.98500682] [ 0. 0. 0. 1. ]] SLAMing on 169.42824100800001 meters Centerline goodness [0,1] 0.9015693087636353 Centerline is valid? [False, False] Translation: X:-21.75, Y:-33.19, Z:-22.02 [[ 0.50531582 -0.71155259 -0.48820984 -21.74960031] [ 0.71325368 0.66284372 -0.22783195 -33.19431116] [ 0.48572124 -0.23309037 0.84246291 -22.02393257] [ 0. 0. 0. 1. ]] SLAMing on 169.45824100800002 meters Centerline goodness [0,1] 0.900489442831939 Centerline is valid? [False, False] Translation: X:-21.78, Y:-33.24, Z:-22.06 [[ 0.50477954 -0.71219817 -0.4878231 -21.78339629] [ 0.71332123 0.66238903 -0.22894015 -33.24332172] [ 0.48617943 -0.23241027 0.84238651 -22.05563776] [ 0. 0. 0. 1. ]] SLAMing on 169.48824100800002 meters Centerline goodness [0,1] 0.9012065294535131 Centerline is valid? [False, False] Translation: X:-21.82, Y:-33.29, Z:-22.09 [[ 0.50388757 -0.71452324 -0.48533891 -21.8191518 ] [ 0.7134931 0.66100473 -0.23237974 -33.29337875] [ 0.48685204 -0.2291927 0.84287947 -22.09052056] [ 0. 0. 0. 1. ]] SLAMing on 169.518241008 meters Centerline goodness [0,1] 0.9011631221848452 Centerline is valid? [False, False] Translation: X:-21.85, Y:-33.34, Z:-22.12 [[ 0.50337426 -0.71538319 -0.48460422 -21.85297676] [ 0.71334092 0.66054669 -0.23414271 -33.34270024] [ 0.48760547 -0.2278266 0.8428143 -22.1232317 ] [ 0. 0. 0. 1. ]] SLAMing on 169.548241008 meters Centerline goodness [0,1] 0.9001651104531997 Centerline is valid? [False, False] Translation: X:-21.88, Y:-33.39, Z:-22.15 [[ 0.50247288 -0.71572096 -0.48504074 -21.88405614] [ 0.71439598 0.6596852 -0.23335343 -33.38663388] [ 0.48699013 -0.22925739 0.8427821 -22.15298229] [ 0. 0. 0. 1. ]] SLAMing on 169.578241008 meters Centerline goodness [0,1] 0.9002564833285837 Centerline is valid? [False, False] Translation: X:-21.92, Y:-33.43, Z:-22.18 [[ 0.5017413 -0.71610284 -0.48523436 -21.91574919] [ 0.71517241 0.6589694 -0.23299735 -33.4318005 ] [ 0.48660466 -0.23012183 0.84276915 -22.18364094] [ 0. 0. 0. 1. ]] SLAMing on 169.608241008 meters Centerline goodness [0,1] 0.9007219190541155 Centerline is valid? [False, False] Translation: X:-21.95, Y:-33.48, Z:-22.21 [[ 0.50086402 -0.71662478 -0.48537013 -21.94722674] [ 0.71622912 0.6580183 -0.23243875 -33.47647041] [ 0.48595379 -0.23121601 0.84284522 -22.21351551] [ 0. 0. 0. 1. ]] SLAMing on 169.638241008 meters Centerline goodness [0,1] 0.9009674933645366 Centerline is valid? [False, False] Translation: X:-21.99, Y:-33.53, Z:-22.25 [[ 0.50132385 -0.71844679 -0.48219147 -21.98779647] [ 0.71519665 0.65772575 -0.23641192 -33.53426047] [ 0.48699913 -0.22634279 0.84356433 -22.25097678] [ 0. 0. 0. 1. ]] SLAMing on 169.668241008 meters Centerline goodness [0,1] 0.9002081966745572 Centerline is valid? [False, False] Translation: X:-22.02, Y:-33.58, Z:-22.28 [[ 0.50104278 -0.71864712 -0.48218508 -22.02083575] [ 0.71611846 0.65713372 -0.23526499 -33.58252373] [ 0.48593259 -0.22742381 0.84388858 -22.28085764] [ 0. 0. 0. 1. ]] SLAMing on 169.698241008 meters Centerline goodness [0,1] 0.9021528095020557 Centerline is valid? [False, False] Translation: X:-22.07, Y:-33.65, Z:-22.32 [[ 0.50102184 -0.71803104 -0.48312373 -22.06614233] [ 0.71831444 0.65638586 -0.23061215 -33.64900205] [ 0.48270227 -0.23149303 0.84463572 -22.32293687] [ 0. 0. 0. 1. ]] SLAMing on 169.728241008 meters Centerline goodness [0,1] 0.8999743597048517 Centerline is valid? [False, False] Translation: X:-22.10, Y:-33.70, Z:-22.36 [[ 0.50079091 -0.71892277 -0.48203579 -22.10029687] [ 0.71840848 0.65586074 -0.23181014 -33.69922233] [ 0.48280194 -0.23021019 0.84492932 -22.35555863] [ 0. 0. 0. 1. ]] SLAMing on 169.758241008 meters Centerline goodness [0,1] 0.8983273391562482 Centerline is valid? [False, False] Translation: X:-22.14, Y:-33.75, Z:-22.39 [[ 0.50031593 -0.72069732 -0.4798743 -22.13594279] [ 0.71848259 0.65485646 -0.23440516 -33.7507073 ] [ 0.48318396 -0.22750469 0.8454436 -22.38956861] [ 0. 0. 0. 1. ]] SLAMing on 169.788241008 meters Centerline goodness [0,1] 0.9002914951989026 Centerline is valid? [False, False] Translation: X:-22.18, Y:-33.81, Z:-22.43 [[ 0.49851184 -0.72267599 -0.47877484 -22.17776501] [ 0.71706202 0.65412035 -0.2407252 -33.80990863] [ 0.48714269 -0.2233069 0.84429025 -22.42531088] [ 0. 0. 0. 1. ]] SLAMing on 169.818241008 meters Centerline goodness [0,1] 0.8981184947958367 Centerline is valid? [False, False] Translation: X:-22.21, Y:-33.86, Z:-22.46 [[ 0.49744043 -0.72407262 -0.47777804 -22.21044412] [ 0.7177764 0.65284112 -0.24206509 -33.85736214] [ 0.48718586 -0.22252484 0.84447181 -22.45722641] [ 0. 0. 0. 1. ]] SLAMing on 169.848241008 meters Centerline goodness [0,1] 0.8989580948019236 Centerline is valid? [False, False] Translation: X:-22.25, Y:-33.91, Z:-22.49 [[ 0.49538616 -0.72376541 -0.48037088 -22.24856421] [ 0.71565073 0.65348659 -0.24657515 -33.91355052] [ 0.4923785 -0.22162786 0.84169146 -22.48914019] [ 0. 0. 0. 1. ]] SLAMing on 169.878241008 meters Centerline goodness [0,1] 0.9014841716949298 Centerline is valid? [False, False] Translation: X:-22.28, Y:-33.96, Z:-22.52 [[ 0.4940869 -0.72559257 -0.47895048 -22.28249948] [ 0.71587028 0.6521428 -0.24947847 -33.96078816] [ 0.49336383 -0.21960237 0.84164537 -22.52339168] [ 0. 0. 0. 1. ]] SLAMing on 169.908241008 meters Centerline goodness [0,1] 0.9012423427033835 Centerline is valid? [False, False] Translation: X:-22.33, Y:-34.03, Z:-22.57 [[ 0.49293497 -0.72498716 -0.48104962 -22.32935874] [ 0.71684786 0.65175045 -0.24769032 -34.02926835] [ 0.49309661 -0.22274418 0.84097608 -22.56692615] [ 0. 0. 0. 1. ]] SLAMing on 169.938241008 meters Centerline goodness [0,1] 0.9000801419657679 Centerline is valid? [False, False] Translation: X:-22.37, Y:-34.10, Z:-22.61 [[ 0.49202583 -0.72458268 -0.48258732 -22.37475767] [ 0.7185254 0.65098029 -0.24483856 -34.09669095] [ 0.49156061 -0.22628435 0.84093018 -22.61006444] [ 0. 0. 0. 1. ]] SLAMing on 169.968241008 meters Centerline goodness [0,1] 0.9046428058071008 Centerline is valid? [False, False] Translation: X:-22.41, Y:-34.14, Z:-22.64 [[ 0.48939654 -0.72669907 -0.48207831 -22.40616127] [ 0.72118191 0.64806007 -0.24477499 -34.14349911] [ 0.49029346 -0.22787412 0.84124058 -22.63812604] [ 0. 0. 0. 1. ]] SLAMing on 169.998241008 meters Centerline goodness [0,1] 0.905584687240322 Centerline is valid? [False, False] Translation: X:-22.44, Y:-34.19, Z:-22.67 [[ 0.48796092 -0.72865964 -0.48057182 -22.44008497] [ 0.72259254 0.64606571 -0.24588435 -34.19199407] [ 0.48964698 -0.22727566 0.84177884 -22.66934418] [ 0. 0. 0. 1. ]] SLAMing on 170.028241008 meters Centerline goodness [0,1] 0.908833051600149 Centerline is valid? [False, False] Translation: X:-22.49, Y:-34.26, Z:-22.71 [[ 0.48697207 -0.72835631 -0.48203246 -22.48787127] [ 0.72539367 0.64466522 -0.24126907 -34.26316877] [ 0.48647941 -0.23217199 0.84227902 -22.70950545] [ 0. 0. 0. 1. ]] SLAMing on 170.058241008 meters Centerline goodness [0,1] 0.9085402440069716 Centerline is valid? [False, False] Translation: X:-22.52, Y:-34.31, Z:-22.74 [[ 0.48569457 -0.73060162 -0.4799188 -22.52306562] [ 0.72659555 0.6426567 -0.24300468 -34.31162879] [ 0.48596264 -0.23068081 0.84298676 -22.74226287] [ 0. 0. 0. 1. ]] SLAMing on 170.088241008 meters Centerline goodness [0,1] 0.9088021518914897 Centerline is valid? [False, False] Translation: X:-22.57, Y:-34.38, Z:-22.78 [[ 0.48446314 -0.73034945 -0.48154454 -22.56879366] [ 0.72856964 0.6415401 -0.24002623 -34.37764926] [ 0.48423316 -0.23455487 0.84291296 -22.78315454] [ 0. 0. 0. 1. ]] SLAMing on 170.118241008 meters Centerline goodness [0,1] 0.9069807378574086 Centerline is valid? [False, False] Translation: X:-22.60, Y:-34.42, Z:-22.82 [[ 0.48261219 -0.73285701 -0.47958948 -22.60301085] [ 0.72977786 0.6392495 -0.24245483 -34.42405178] [ 0.48426206 -0.23298213 0.84333243 -22.8157112 ] [ 0. 0. 0. 1. ]] SLAMing on 170.148241008 meters Centerline goodness [0,1] 0.9077380952380952 Centerline is valid? [False, False] Translation: X:-22.64, Y:-34.48, Z:-22.85 [[ 0.48061869 -0.73461069 -0.47890794 -22.64376574] [ 0.7282706 0.63858179 -0.24866689 -34.47985652] [ 0.48849525 -0.22926062 0.84190971 -22.85151104] [ 0. 0. 0. 1. ]] SLAMing on 170.17824100800001 meters Centerline goodness [0,1] 0.9061581066034773 Centerline is valid? [False, False] Translation: X:-22.69, Y:-34.54, Z:-22.89 [[ 0.48017247 -0.73292088 -0.48193504 -22.69038075] [ 0.72851349 0.63922867 -0.24628198 -34.54489568] [ 0.48857189 -0.23283835 0.84088275 -22.89385587] [ 0. 0. 0. 1. ]] SLAMing on 170.20824100800002 meters Centerline goodness [0,1] 0.9050341296928328 Centerline is valid? [False, False] Translation: X:-22.74, Y:-34.61, Z:-22.94 [[ 0.4800873 -0.73201651 -0.48339219 -22.7389271 ] [ 0.72874262 0.63955827 -0.24474358 -34.61305332] [ 0.48831382 -0.2347702 0.84049543 -22.93933308] [ 0. 0. 0. 1. ]] SLAMing on 170.23824100800002 meters Centerline goodness [0,1] 0.9050341296928328 Centerline is valid? [False, False] Translation: X:-22.79, Y:-34.68, Z:-22.99 [[ 0.47986223 -0.73230991 -0.48317123 -22.78761833] [ 0.72927467 0.63909884 -0.2443586 -34.68357946] [ 0.48774039 -0.23510608 0.84073446 -22.98647924] [ 0. 0. 0. 1. ]] SLAMing on 170.268241008 meters Centerline goodness [0,1] 0.900855475610447 Centerline is valid? [False, False] Translation: X:-22.84, Y:-34.75, Z:-23.04 [[ 0.48062157 -0.73196682 -0.48293632 -22.83800023] [ 0.72908649 0.63954786 -0.24374459 -34.75466269] [ 0.48727384 -0.23495344 0.84104761 -23.03540638] [ 0. 0. 0. 1. ]] SLAMing on 170.298241008 meters Centerline goodness [0,1] 0.8976440308849732 Centerline is valid? [False, False] Translation: X:-22.89, Y:-34.83, Z:-23.09 [[ 0.48103542 -0.73220602 -0.48216105 -22.890271 ] [ 0.72879682 0.63966693 -0.24429781 -34.82710004] [ 0.4872988 -0.23388154 0.84133186 -23.08505163] [ 0. 0. 0. 1. ]] SLAMing on 170.328241008 meters Centerline goodness [0,1] 0.8977371995378589 Centerline is valid? [False, False] Translation: X:-22.94, Y:-34.90, Z:-23.13 [[ 0.48336071 -0.72963143 -0.48373588 -22.94312954] [ 0.72712491 0.64233046 -0.24228277 -34.8989683 ] [ 0.48749542 -0.23462644 0.84101049 -23.13291979] [ 0. 0. 0. 1. ]] SLAMing on 170.358241008 meters Centerline goodness [0,1] 0.8943002558839243 Centerline is valid? [False, False] Translation: X:-23.00, Y:-34.98, Z:-23.18 [[ 0.48451563 -0.72916248 -0.48328737 -22.9978026 ] [ 0.72527686 0.64372751 -0.24410731 -34.97513154] [ 0.48909926 -0.23224334 0.84074071 -23.18341371] [ 0. 0. 0. 1. ]] SLAMing on 170.388241008 meters Centerline goodness [0,1] 0.8907065687725078 Centerline is valid? [False, False] Translation: X:-23.05, Y:-35.05, Z:-23.24 [[ 0.48753294 -0.72847723 -0.4812822 -23.0544294 ] [ 0.72158938 0.64652174 -0.24762555 -35.0512867 ] [ 0.49154898 -0.22656251 0.84086208 -23.23694311] [ 0. 0. 0. 1. ]] SLAMing on 170.418241008 meters Centerline goodness [0,1] 0.8917742880254387 Centerline is valid? [False, False] Translation: X:-23.11, Y:-35.13, Z:-23.29 [[ 0.48894454 -0.72827565 -0.48015395 -23.11354717] [ 0.71839308 0.64841261 -0.25193741 -35.1337041 ] [ 0.49481776 -0.22175586 0.840226 -23.29316644] [ 0. 0. 0. 1. ]] SLAMing on 170.448241008 meters Centerline goodness [0,1] 0.8912211623779946 Centerline is valid? [False, False] Translation: X:-23.17, Y:-35.21, Z:-23.34 [[ 0.49030107 -0.72664926 -0.48123354 -23.16843217] [ 0.71568671 0.65079057 -0.25350379 -35.21118092] [ 0.49739059 -0.22011926 0.83913653 -23.343791 ] [ 0. 0. 0. 1. ]] SLAMing on 170.478241008 meters Centerline goodness [0,1] 0.8903209712290038 Centerline is valid? [False, False] Translation: X:-23.22, Y:-35.29, Z:-23.39 [[ 0.49129622 -0.72495399 -0.48277297 -23.22274724] [ 0.71308449 0.65306133 -0.25499295 -35.28879855] [ 0.50013851 -0.21898085 0.83780001 -23.39392474] [ 0. 0. 0. 1. ]] SLAMing on 170.508241008 meters Centerline goodness [0,1] 0.8919247115968427 Centerline is valid? [False, False] Translation: X:-23.28, Y:-35.37, Z:-23.44 [[ 0.49365407 -0.72160574 -0.48537698 -23.27679987] [ 0.70967997 0.65685207 -0.25475419 -35.36583623] [ 0.50265296 -0.21870188 0.83636684 -23.44264453] [ 0. 0. 0. 1. ]] SLAMing on 170.538241008 meters Centerline goodness [0,1] 0.8930853994490358 Centerline is valid? [False, False] Translation: X:-23.33, Y:-35.44, Z:-23.49 [[ 0.49482212 -0.71955126 -0.48723409 -23.32876147] [ 0.70796765 0.65893781 -0.2541314 -35.44074305] [ 0.50391753 -0.21919613 0.83547602 -23.49045357] [ 0. 0. 0. 1. ]] SLAMing on 170.568241008 meters Centerline goodness [0,1] 0.889219658755754 Centerline is valid? [False, False] Translation: X:-23.38, Y:-35.51, Z:-23.54 [[ 0.49585562 -0.71751828 -0.48917759 -23.37872787] [ 0.70727792 0.66052677 -0.25191731 -35.51272349] [ 0.50387017 -0.2210699 0.83501075 -23.5359528 ] [ 0. 0. 0. 1. ]] SLAMing on 170.598241008 meters Centerline goodness [0,1] 0.8853176898289681 Centerline is valid? [False, False] Translation: X:-23.43, Y:-35.58, Z:-23.58 [[ 0.49706241 -0.71477853 -0.4919559 -23.42508988] [ 0.70769911 0.66200475 -0.24680293 -35.58062911] [ 0.50208658 -0.2254803 0.83490581 -23.57856901] [ 0. 0. 0. 1. ]] SLAMing on 170.628241008 meters Centerline goodness [0,1] 0.8765056108870415 Centerline is valid? [False, False] Translation: X:-23.48, Y:-35.65, Z:-23.63 [[ 0.49854776 -0.7138742 -0.49176596 -23.47599429] [ 0.70678283 0.66320282 -0.2462114 -35.65207108] [ 0.50190454 -0.22482359 0.8351923 -23.62770964] [ 0. 0. 0. 1. ]] SLAMing on 170.658241008 meters Centerline goodness [0,1] 0.8733478057761535 Centerline is valid? [False, False] Translation: X:-23.53, Y:-35.73, Z:-23.68 [[ 0.49923403 -0.71356987 -0.49151137 -23.5280483 ] [ 0.70570242 0.66399127 -0.24718351 -35.72808337] [ 0.50274196 -0.22345835 0.83505502 -23.67650079] [ 0. 0. 0. 1. ]] SLAMing on 170.688241008 meters Centerline goodness [0,1] 0.872987526787186 Centerline is valid? [False, False] Translation: X:-23.58, Y:-35.80, Z:-23.72 [[ 0.49949011 -0.71234385 -0.49302724 -23.57765824] [ 0.7050881 0.66493664 -0.24639408 -35.80118671] [ 0.50334918 -0.22455624 0.83439445 -23.72131359] [ 0. 0. 0. 1. ]] SLAMing on 170.718241008 meters Centerline goodness [0,1] 0.8717111580564625 Centerline is valid? [False, False] Translation: X:-23.62, Y:-35.87, Z:-23.77 [[ 0.49987621 -0.71097646 -0.49460716 -23.62483506] [ 0.7054032 0.66555988 -0.24379577 -35.87094605] [ 0.50252373 -0.22702977 0.83422262 -23.76535815] [ 0. 0. 0. 1. ]] SLAMing on 170.748241008 meters Centerline goodness [0,1] 0.8690776486071508 Centerline is valid? [False, False] Translation: X:-23.67, Y:-35.94, Z:-23.81 [[ 0.49998299 -0.71041842 -0.49530059 -23.67404905] [ 0.70564983 0.66574607 -0.24257058 -35.94288739] [ 0.50207103 -0.22822762 0.83416835 -23.81039827] [ 0. 0. 0. 1. ]] SLAMing on 170.778241008 meters Centerline goodness [0,1] 0.8606435173890651 Centerline is valid? [False, False] Translation: X:-23.70, Y:-35.98, Z:-23.84 [[ 0.49878943 -0.71012014 -0.49692906 -23.70201119] [ 0.70756991 0.66474328 -0.23971066 -35.9826784 ] [ 0.50055362 -0.23204691 0.83402656 -23.83720287] [ 0. 0. 0. 1. ]] SLAMing on 170.808241008 meters Centerline goodness [0,1] 0.8714873765093304 Centerline is valid? [False, False] Translation: X:-23.75, Y:-36.05, Z:-23.88 [[ 0.49854112 -0.70771159 -0.50060069 -23.74731799] [ 0.70801016 0.66562995 -0.23592028 -36.0506658 ] [ 0.50017833 -0.23681442 0.8329109 -23.87825099] [ 0. 0. 0. 1. ]] SLAMing on 170.838241008 meters Centerline goodness [0,1] 0.8685747183156509 Centerline is valid? [False, False] Translation: X:-23.78, Y:-36.09, Z:-23.91 [[ 0.49760361 -0.70730031 -0.50211246 -23.77643716] [ 0.70941557 0.66494257 -0.23362562 -36.09276693] [ 0.49911942 -0.23995345 0.83264767 -23.90569623] [ 0. 0. 0. 1. ]] SLAMing on 170.868241008 meters Centerline goodness [0,1] 0.8740259027549117 Centerline is valid? [False, False] Translation: X:-23.81, Y:-36.14, Z:-23.94 [[ 0.49633394 -0.70828149 -0.501986 -23.80989154] [ 0.70968252 0.66407175 -0.23528585 -36.14246112] [ 0.50000334 -0.23947034 0.83225634 -23.93654925] [ 0. 0. 0. 1. ]] SLAMing on 170.898241008 meters Centerline goodness [0,1] 0.8783653448703463 Centerline is valid? [False, False] Translation: X:-23.85, Y:-36.20, Z:-23.97 [[ 0.49459619 -0.70776705 -0.50442086 -23.84832579] [ 0.71308064 0.66226386 -0.2300491 -36.199413 ] [ 0.49688088 -0.24591134 0.83224816 -23.97375641] [ 0. 0. 0. 1. ]] SLAMing on 170.92824100800001 meters Centerline goodness [0,1] 0.8810828674506348 Centerline is valid? [False, False] Translation: X:-23.88, Y:-36.24, Z:-24.00 [[ 0.49310049 -0.70897944 -0.50418258 -23.87940519] [ 0.71436424 0.66073548 -0.23046118 -36.24453054] [ 0.49652355 -0.24652949 0.83227854 -24.00396384] [ 0. 0. 0. 1. ]] SLAMing on 170.95824100800002 meters Centerline goodness [0,1] 0.8854541954291686 Centerline is valid? [False, False] Translation: X:-23.92, Y:-36.30, Z:-24.04 [[ 0.48952574 -0.7095287 -0.50688616 -23.91696447] [ 0.7195117 0.65706443 -0.22487608 -36.30005017] [ 0.49261289 -0.25462789 0.83216415 -24.03848364] [ 0. 0. 0. 1. ]] SLAMing on 170.98824100800002 meters Centerline goodness [0,1] 0.8842936547245611 Centerline is valid? [False, False] Translation: X:-23.96, Y:-36.36, Z:-24.08 [[ 0.48727313 -0.71185256 -0.50579723 -23.95883232] [ 0.72306225 0.6536676 -0.22338231 -36.36214306] [ 0.48963853 -0.25687468 0.83322837 -24.08033849] [ 0. 0. 0. 1. ]] SLAMing on 171.018241008 meters Centerline goodness [0,1] 0.8887477915194346 Centerline is valid? [False, False] Translation: X:-24.01, Y:-36.43, Z:-24.13 [[ 0.48504967 -0.71637872 -0.50152601 -24.00655698] [ 0.72583636 0.64967828 -0.22600823 -36.43217269] [ 0.48773804 -0.25440059 0.83509996 -24.12839422] [ 0. 0. 0. 1. ]] SLAMing on 171.048241008 meters Centerline goodness [0,1] 0.8873954682195788 Centerline is valid? [False, False] Translation: X:-24.05, Y:-36.50, Z:-24.18 [[ 0.48216533 -0.72134109 -0.49717565 -24.05325177] [ 0.72917653 0.64499682 -0.22864972 -36.50015444] [ 0.48561115 -0.25228185 0.8369801 -24.17586896] [ 0. 0. 0. 1. ]] SLAMing on 171.078241008 meters Centerline goodness [0,1] 0.8865085083975389 Centerline is valid? [False, False] Translation: X:-24.10, Y:-36.57, Z:-24.22 [[ 0.47871535 -0.72570601 -0.49414815 -24.10226663] [ 0.73102769 0.64117616 -0.23343448 -36.57206083] [ 0.48624082 -0.24948732 0.83745206 -24.22435541] [ 0. 0. 0. 1. ]] SLAMing on 171.108241008 meters Centerline goodness [0,1] 0.8914472771659223 Centerline is valid? [False, False] Translation: X:-24.15, Y:-36.64, Z:-24.27 [[ 0.47059317 -0.73234551 -0.49215051 -24.14747096] [ 0.73542715 0.63374244 -0.23982792 -36.63709842] [ 0.48753356 -0.24907947 0.83682163 -24.26985565] [ 0. 0. 0. 1. ]] SLAMing on 171.138241008 meters Centerline goodness [0,1] 0.8925420342933245 Centerline is valid? [False, False] Translation: X:-24.20, Y:-36.72, Z:-24.33 [[ 0.46683163 -0.7367919 -0.48908683 -24.20411445] [ 0.73963238 0.62846444 -0.24078286 -36.72120202] [ 0.48478054 -0.2493394 0.83834223 -24.33018997] [ 0. 0. 0. 1. ]] SLAMing on 171.168241008 meters Centerline goodness [0,1] 0.8962382532556259 Centerline is valid? [False, False] Translation: X:-24.26, Y:-36.81, Z:-24.39 [[ 0.46336811 -0.7410568 -0.48592675 -24.26414201] [ 0.74289625 0.62378649 -0.24289007 -36.81100717] [ 0.48310988 -0.24844565 0.83957108 -24.39220407] [ 0. 0. 0. 1. ]] SLAMing on 171.198241008 meters Centerline goodness [0,1] 0.8924260585956012 Centerline is valid? [False, False] Translation: X:-24.32, Y:-36.90, Z:-24.45 [[ 0.45967516 -0.74633521 -0.48133408 -24.32421926] [ 0.7466492 0.61823636 -0.2455581 -36.89852185] [ 0.48084689 -0.24651075 0.84143848 -24.45484642] [ 0. 0. 0. 1. ]] SLAMing on 171.228241008 meters Centerline goodness [0,1] 0.8842883033598216 Centerline is valid? [False, False] Translation: X:-24.39, Y:-36.99, Z:-24.52 [[ 0.45375475 -0.75316206 -0.47629145 -24.38564814] [ 0.75126939 0.6107741 -0.25009861 -36.98598212] [ 0.47927126 -0.24433975 0.84296924 -24.51682604] [ 0. 0. 0. 1. ]] SLAMing on 171.258241008 meters Centerline goodness [0,1] 0.8791463244525038 Centerline is valid? [False, False] Translation: X:-24.46, Y:-37.09, Z:-24.59 [[ 0.45058514 -0.7596927 -0.46887103 -24.45700102] [ 0.75283861 0.60562299 -0.25778832 -37.08776803] [ 0.47979898 -0.23682863 0.84481071 -24.5883462 ] [ 0. 0. 0. 1. ]] SLAMing on 171.288241008 meters Centerline goodness [0,1] 0.8734693877551021 Centerline is valid? [False, False] Translation: X:-24.52, Y:-37.19, Z:-24.66 [[ 0.44846586 -0.76471678 -0.46269495 -24.52456825] [ 0.75427777 0.60153399 -0.26310056 -37.18636321] [ 0.47952416 -0.2310089 0.84657632 -24.65599163] [ 0. 0. 0. 1. ]] SLAMing on 171.318241008 meters Centerline goodness [0,1] 0.8555329864492612 Centerline is valid? [False, False] Translation: X:-24.60, Y:-37.30, Z:-24.74 [[ 0.44596197 -0.77145609 -0.45384295 -24.6043737 ] [ 0.75799198 0.59517347 -0.26686457 -37.29726575] [ 0.47598958 -0.22499786 0.85018226 -24.73772009] [ 0. 0. 0. 1. ]] SLAMing on 171.348241008 meters Centerline goodness [0,1] 0.85114419017996 Centerline is valid? [False, False] Translation: X:-24.70, Y:-37.43, Z:-24.83 [[ 0.4439077 -0.77726243 -0.4458801 -24.6991547 ] [ 0.75780048 0.59118566 -0.27611221 -37.4299173 ] [ 0.47820957 -0.21531982 0.85144171 -24.83284762] [ 0. 0. 0. 1. ]] SLAMing on 171.378241008 meters Centerline goodness [0,1] 0.846503632229801 Centerline is valid? [False, False] Translation: X:-24.79, Y:-37.56, Z:-24.92 [[ 0.44336207 -0.78028609 -0.44111641 -24.78891076] [ 0.75669169 0.58962001 -0.28242863 -37.55786258] [ 0.48046619 -0.20857098 0.85185115 -24.92098798] [ 0. 0. 0. 1. ]] SLAMing on 171.408241008 meters Centerline goodness [0,1] 0.8716707021791767 Centerline is valid? [False, False] Translation: X:-24.90, Y:-37.71, Z:-25.03 [[ 0.44545621 -0.78380366 -0.43268995 -24.89627419] [ 0.75523324 0.58851777 -0.28856469 -37.70585173] [ 0.48082379 -0.1982389 0.85411347 -25.02746717] [ 0. 0. 0. 1. ]] SLAMing on 171.438241008 meters Centerline goodness [0,1] 0.8867909016168813 Centerline is valid? [False, False] Translation: X:-24.99, Y:-37.84, Z:-25.12 [[ 0.44717203 -0.78667719 -0.42564794 -24.99171813] [ 0.75258459 0.58808865 -0.29625693 -37.8413169 ] [ 0.48337729 -0.18785827 0.85501793 -25.12145636] [ 0. 0. 0. 1. ]] SLAMing on 171.468241008 meters Centerline goodness [0,1] 0.891783131219751 Centerline is valid? [False, False] Translation: X:-25.07, Y:-37.96, Z:-25.20 [[ 0.44936252 -0.7867886 -0.42312767 -25.07237211] [ 0.75059572 0.58936236 -0.2987609 -37.95755465] [ 0.48443719 -0.18334587 0.85539751 -25.20129654] [ 0. 0. 0. 1. ]] SLAMing on 171.498241008 meters Centerline goodness [0,1] 0.8893956978219212 Centerline is valid? [False, False] Translation: X:-25.17, Y:-38.09, Z:-25.30 [[ 0.45110189 -0.78888114 -0.41734116 -25.16791039] [ 0.74692922 0.58965647 -0.30724908 -38.09250063] [ 0.48847092 -0.17312366 0.85523351 -25.29593958] [ 0. 0. 0. 1. ]] SLAMing on 171.528241008 meters Centerline goodness [0,1] 0.892211571836702 Centerline is valid? [False, False] Translation: X:-25.27, Y:-38.23, Z:-25.39 [[ 0.45535975 -0.7880518 -0.41427268 -25.26528189] [ 0.74107857 0.59337693 -0.31417569 -38.22579927] [ 0.49340657 -0.16394565 0.85420828 -25.39032004] [ 0. 0. 0. 1. ]] SLAMing on 171.558241008 meters Centerline goodness [0,1] 0.8926386894314132 Centerline is valid? [False, False] Translation: X:-25.35, Y:-38.35, Z:-25.47 [[ 0.45752284 -0.78692219 -0.4140366 -25.35126253] [ 0.73811739 0.5957498 -0.31664632 -38.35248372] [ 0.49583824 -0.16073469 0.8534101 -25.47323017] [ 0. 0. 0. 1. ]] SLAMing on 171.588241008 meters Centerline goodness [0,1] 0.8931812769560501 Centerline is valid? [False, False] Translation: X:-25.43, Y:-38.47, Z:-25.55 [[ 0.45973664 -0.78446573 -0.41624 -25.4317389 ] [ 0.735263 0.59909229 -0.31698067 -38.47375562] [ 0.49802665 -0.16031824 0.85221331 -25.55053611] [ 0. 0. 0. 1. ]] SLAMing on 171.618241008 meters Centerline goodness [0,1] 0.8911790255073837 Centerline is valid? [False, False] Translation: X:-25.53, Y:-38.62, Z:-25.65 [[ 0.46381845 -0.78159588 -0.41710948 -25.53028955] [ 0.73267192 0.60309541 -0.31538514 -38.61792895] [ 0.49806054 -0.15932296 0.85238014 -25.6455999 ] [ 0. 0. 0. 1. ]] SLAMing on 171.648241008 meters Centerline goodness [0,1] 0.8930781482545236 Centerline is valid? [False, False] Translation: X:-25.62, Y:-38.75, Z:-25.73 [[ 0.46461516 -0.78007884 -0.41905818 -25.61557269] [ 0.73398234 0.60399921 -0.31057185 -38.74715822] [ 0.49538134 -0.16328491 0.85319128 -25.73145259] [ 0. 0. 0. 1. ]] SLAMing on 171.67824100800001 meters Centerline goodness [0,1] 0.8945792543220162 Centerline is valid? [False, False] Translation: X:-25.69, Y:-38.86, Z:-25.80 [[ 0.46509718 -0.7787535 -0.42098409 -25.6900031 ] [ 0.73350929 0.60525159 -0.30924849 -38.85936621] [ 0.49562964 -0.16496514 0.85272373 -25.80479152] [ 0. 0. 0. 1. ]] SLAMing on 171.70824100800002 meters Centerline goodness [0,1] 0.8968121679341599 Centerline is valid? [False, False] Translation: X:-25.77, Y:-38.98, Z:-25.89 [[ 0.46480062 -0.78008308 -0.41884456 -25.76983618] [ 0.73221951 0.60461666 -0.3135176 -38.97791033] [ 0.49781017 -0.16096299 0.85221825 -25.88575581] [ 0. 0. 0. 1. ]] SLAMing on 171.73824100800002 meters Centerline goodness [0,1] 0.8947996059521958 Centerline is valid? [False, False] Translation: X:-25.84, Y:-39.09, Z:-25.96 [[ 0.46646957 -0.7787098 -0.41954403 -25.84360713] [ 0.73216005 0.60606269 -0.31085313 -39.08879944] [ 0.49633436 -0.16216985 0.85285001 -25.95964602] [ 0. 0. 0. 1. ]] SLAMing on 171.768241008 meters Centerline goodness [0,1] 0.8930966876483335 Centerline is valid? [False, False] Translation: X:-25.91, Y:-39.20, Z:-26.03 [[ 0.46753076 -0.77613412 -0.42312034 -25.91472432] [ 0.73232713 0.60815159 -0.30634722 -39.20118155] [ 0.49508783 -0.16663575 0.85271365 -26.02884092] [ 0. 0. 0. 1. ]] SLAMing on 171.798241008 meters Centerline goodness [0,1] 0.8905032258064516 Centerline is valid? [False, False] Translation: X:-25.99, Y:-39.32, Z:-26.10 [[ 0.4685709 -0.77547984 -0.42316938 -25.98899451] [ 0.73199093 0.60899102 -0.30548194 -39.31618509] [ 0.49460144 -0.1666162 0.85299968 -26.10309967] [ 0. 0. 0. 1. ]] SLAMing on 171.828241008 meters Centerline goodness [0,1] 0.8891527698900304 Centerline is valid? [False, False] Translation: X:-26.07, Y:-39.45, Z:-26.19 [[ 0.47020017 -0.77370467 -0.42460909 -26.07448806] [ 0.73239346 0.61052175 -0.30143492 -39.45045071] [ 0.49245469 -0.16924617 0.85372367 -26.19006788] [ 0. 0. 0. 1. ]] SLAMing on 171.858241008 meters Centerline goodness [0,1] 0.8854206807964033 Centerline is valid? [False, False] Translation: X:-26.15, Y:-39.57, Z:-26.26 [[ 0.47354805 -0.77036702 -0.42695071 -26.15048543] [ 0.72955456 0.61466617 -0.29989272 -39.5690111 ] [ 0.49345962 -0.16947022 0.85309873 -26.26436041] [ 0. 0. 0. 1. ]] SLAMing on 171.888241008 meters Centerline goodness [0,1] 0.8839847057917832 Centerline is valid? [False, False] Translation: X:-26.24, Y:-39.71, Z:-26.35 [[ 0.47508384 -0.76938479 -0.42701568 -26.2369205 ] [ 0.72978054 0.61564565 -0.29732271 -39.70554213] [ 0.49164592 -0.17037452 0.85396535 -26.35159652] [ 0. 0. 0. 1. ]] SLAMing on 171.918241008 meters Centerline goodness [0,1] 0.8828256974660865 Centerline is valid? [False, False] Translation: X:-26.32, Y:-39.83, Z:-26.43 [[ 0.47526469 -0.76979557 -0.42607307 -26.31572143] [ 0.72811455 0.61597193 -0.30071212 -39.82783453] [ 0.49393591 -0.16731215 0.85324906 -26.42914779] [ 0. 0. 0. 1. ]] SLAMing on 171.948241008 meters Centerline goodness [0,1] 0.8798639873191185 Centerline is valid? [False, False] Translation: X:-26.39, Y:-39.94, Z:-26.50 [[ 0.47590011 -0.7665646 -0.43115868 -26.38921569] [ 0.72636233 0.61898217 -0.29876219 -39.94393573] [ 0.49590005 -0.17099646 0.85137733 -26.49880405] [ 0. 0. 0. 1. ]] SLAMing on 171.978241008 meters Centerline goodness [0,1] 0.8814127154621247 Centerline is valid? [False, False] Translation: X:-26.47, Y:-40.08, Z:-26.59 [[ 0.4765013 -0.7655578 -0.43228203 -26.47380207] [ 0.72742519 0.61944852 -0.29518829 -40.07844511] [ 0.49376016 -0.17379524 0.85205406 -26.58520998] [ 0. 0. 0. 1. ]] SLAMing on 172.008241008 meters Centerline goodness [0,1] 0.8832554696076179 Centerline is valid? [False, False] Translation: X:-26.55, Y:-40.20, Z:-26.66 [[ 0.47528285 -0.7624794 -0.43901183 -26.55035968] [ 0.72997112 0.62028481 -0.2870347 -40.20265217] [ 0.49117041 -0.18404329 0.85139867 -26.65889322] [ 0. 0. 0. 1. ]] SLAMing on 172.038241008 meters Centerline goodness [0,1] 0.8825929632766187 Centerline is valid? [False, False] Translation: X:-26.64, Y:-40.35, Z:-26.75 [[ 0.47228393 -0.76092334 -0.44490849 -26.64103047] [ 0.73309709 0.61933959 -0.28104648 -40.35250088] [ 0.48940427 -0.19342738 0.85033482 -26.74581429] [ 0. 0. 0. 1. ]] SLAMing on 172.068241008 meters Centerline goodness [0,1] 0.8833055733504164 Centerline is valid? [False, False] Translation: X:-26.72, Y:-40.47, Z:-26.82 [[ 0.47055706 -0.76184727 -0.44515705 -26.71562802] [ 0.73363768 0.61810916 -0.28234167 -40.47235717] [ 0.49025688 -0.19372612 0.84977549 -26.81794533] [ 0. 0. 0. 1. ]] SLAMing on 172.098241008 meters Centerline goodness [0,1] 0.8839803087021179 Centerline is valid? [False, False] Translation: X:-26.80, Y:-40.61, Z:-26.90 [[ 0.4698241 -0.76064916 -0.44797116 -26.79767814] [ 0.73631743 0.61759434 -0.2764306 -40.60612722] [ 0.48693116 -0.19997522 0.85023994 -26.89858788] [ 0. 0. 0. 1. ]] SLAMing on 172.128241008 meters Centerline goodness [0,1] 0.8839803087021179 Centerline is valid? [False, False] Translation: X:-26.88, Y:-40.74, Z:-26.98 [[ 0.46968259 -0.76111967 -0.44731992 -26.88127918] [ 0.73839408 0.61640987 -0.27351974 -40.73983361] [ 0.48391367 -0.20183092 0.85152324 -26.98320262] [ 0. 0. 0. 1. ]] SLAMing on 172.158241008 meters Centerline goodness [0,1] 0.8843295058437564 Centerline is valid? [False, False] Translation: X:-26.97, Y:-40.87, Z:-27.07 [[ 0.46901554 -0.76289652 -0.44498689 -26.96639536] [ 0.74141294 0.61388725 -0.2710153 -40.87459742] [ 0.47992841 -0.20280865 0.85354401 -27.06941744] [ 0. 0. 0. 1. ]] SLAMing on 172.188241008 meters Centerline goodness [0,1] 0.8816722562146386 Centerline is valid? [False, False] Translation: X:-27.05, Y:-41.01, Z:-27.15 [[ 0.46761535 -0.76449225 -0.44372006 -27.0518363 ] [ 0.74414781 0.61139172 -0.26915459 -41.01199482] [ 0.47705337 -0.2043325 0.85479139 -27.15330697] [ 0. 0. 0. 1. ]] SLAMing on 172.218241008 meters Centerline goodness [0,1] 0.8828951074016231 Centerline is valid? [False, False] Translation: X:-27.16, Y:-41.18, Z:-27.26 [[ 0.46650853 -0.76851144 -0.43790405 -27.15868723] [ 0.74488561 0.60831613 -0.27403814 -41.1824082 ] [ 0.47698555 -0.1983473 0.85623778 -27.25871371] [ 0. 0. 0. 1. ]] SLAMing on 172.248241008 meters Centerline goodness [0,1] 0.8833068199312362 Centerline is valid? [False, False] Translation: X:-27.27, Y:-41.35, Z:-27.36 [[ 0.46559137 -0.77227965 -0.43221386 -27.26582813] [ 0.74551071 0.60542761 -0.27869553 -41.35371946] [ 0.47690508 -0.19246183 0.85762462 -27.36477941] [ 0. 0. 0. 1. ]] SLAMing on 172.278241008 meters Centerline goodness [0,1] 0.8861335252094362 Centerline is valid? [False, False] Translation: X:-27.38, Y:-41.53, Z:-27.47 [[ 0.46473233 -0.77618307 -0.42610293 -27.37689331] [ 0.74496539 0.60285342 -0.28564721 -41.52976785] [ 0.47859213 -0.18468244 0.858395 -27.474763 ] [ 0. 0. 0. 1. ]] SLAMing on 172.308241008 meters Centerline goodness [0,1] 0.8850693191774468 Centerline is valid? [False, False] Translation: X:-27.50, Y:-41.72, Z:-27.60 [[ 0.46304324 -0.77850224 -0.42370416 -27.49990621] [ 0.74343831 0.60141859 -0.29256649 -41.72455172] [ 0.48258723 -0.17952697 0.85725121 -27.595813 ] [ 0. 0. 0. 1. ]] SLAMing on 172.338241008 meters Centerline goodness [0,1] 0.8863898648475368 Centerline is valid? [False, False] Translation: X:-27.60, Y:-41.89, Z:-27.70 [[ 0.46311077 -0.78047243 -0.41998951 -27.60220148] [ 0.74427051 0.59975912 -0.29385441 -41.88725023] [ 0.4812378 -0.17649867 0.85863752 -27.70014528] [ 0. 0. 0. 1. ]] SLAMing on 172.368241008 meters Centerline goodness [0,1] 0.8880026672137874 Centerline is valid? [False, False] Translation: X:-27.71, Y:-42.06, Z:-27.81 [[ 0.46301036 -0.78284947 -0.41565384 -27.71258512] [ 0.74382288 0.59821111 -0.29811237 -42.06194844] [ 0.48202586 -0.17114372 0.85927929 -27.81021911] [ 0. 0. 0. 1. ]] SLAMing on 172.398241008 meters Centerline goodness [0,1] 0.8847633211959588 Centerline is valid? [False, False] Translation: X:-27.82, Y:-42.23, Z:-27.92 [[ 0.46346045 -0.78419345 -0.41260762 -27.81814545] [ 0.7439087 0.59732527 -0.29967044 -42.23053559] [ 0.48146055 -0.168057 0.86020497 -27.91526332] [ 0. 0. 0. 1. ]] SLAMing on 172.42824100800001 meters Centerline goodness [0,1] 0.8854844887016469 Centerline is valid? [False, False] Translation: X:-27.93, Y:-42.41, Z:-28.03 [[ 0.46410675 -0.78689319 -0.40669895 -27.9331862 ] [ 0.7426663 0.59591673 -0.30549963 -42.4085835 ] [ 0.48275428 -0.16025716 0.86096803 -28.02836084] [ 0. 0. 0. 1. ]] SLAMing on 172.45824100800002 meters Centerline goodness [0,1] 0.8838935074208191 Centerline is valid? [False, False] Translation: X:-28.06, Y:-42.61, Z:-28.15 [[ 0.46438469 -0.78928325 -0.40171981 -28.0611832 ] [ 0.74164375 0.59449572 -0.31070787 -42.61177593] [ 0.48405723 -0.15364501 0.8614417 -28.1549232 ] [ 0. 0. 0. 1. ]] SLAMing on 172.48824100800002 meters Centerline goodness [0,1] 0.8821745335915996 Centerline is valid? [False, False] Translation: X:-28.19, Y:-42.81, Z:-28.28 [[ 0.46459285 -0.79295593 -0.39417556 -28.1855687 ] [ 0.74239304 0.59142775 -0.31474719 -42.80720369] [ 0.48270701 -0.1464039 0.86345807 -28.28048128] [ 0. 0. 0. 1. ]] SLAMing on 172.518241008 meters Centerline goodness [0,1] 0.8804521783310046 Centerline is valid? [False, False] Translation: X:-28.31, Y:-43.01, Z:-28.41 [[ 0.4649852 -0.79787826 -0.38363922 -28.31367568] [ 0.74217095 0.58755374 -0.32243274 -43.00588174] [ 0.48267074 -0.13479943 0.86536586 -28.40894218] [ 0. 0. 0. 1. ]] SLAMing on 172.548241008 meters Centerline goodness [0,1] 0.8801211257570359 Centerline is valid? [False, False] Translation: X:-28.44, Y:-43.21, Z:-28.54 [[ 0.46520142 -0.8024899 -0.37362761 -28.44388784] [ 0.74134739 0.58384422 -0.33095313 -43.21083025] [ 0.48372687 -0.12302799 0.86652896 -28.54105874] [ 0. 0. 0. 1. ]] SLAMing on 172.578241008 meters Centerline goodness [0,1] 0.8734961165541398 Centerline is valid? [False, False] Translation: X:-28.58, Y:-43.42, Z:-28.69 [[ 0.46479498 -0.81076295 -0.35584977 -28.58346425] [ 0.74055372 0.57626759 -0.34568172 -43.42286113] [ 0.48533062 -0.10285474 0.86825981 -28.68641287] [ 0. 0. 0. 1. ]] SLAMing on 172.608241008 meters Centerline goodness [0,1] 0.8754397954792822 Centerline is valid? [False, False] Translation: X:-28.74, Y:-43.65, Z:-28.85 [[ 0.46380201 -0.82043985 -0.33431446 -28.73761613] [ 0.73868746 0.56645441 -0.36533579 -43.65489061] [ 0.48910994 -0.07751042 0.86877132 -28.8483188 ] [ 0. 0. 0. 1. ]] SLAMing on 172.638241008 meters Centerline goodness [0,1] 0.8738834216502649 Centerline is valid? [False, False] Translation: X:-29.25, Y:-45.56, Z:-28.97 [[ 0.77537295 0.39888629 -0.48957789 -29.2506072 ] [ -0.42259079 0.90383178 0.06712033 -45.56295388] [ 0.46926944 0.15484782 0.86937239 -28.96926962] [ 0. 0. 0. 1. ]] SLAMing on 172.668241008 meters Centerline goodness [0,1] 0.8742796481649985 Centerline is valid? [False, False] Translation: X:-29.27, Y:-45.56, Z:-28.97 [[ 0.77407684 0.40448886 -0.48702547 -29.26580767] [ -0.42129202 0.90333251 0.08064371 -45.56139161] [ 0.47256542 0.14275552 0.8696567 -28.96859599] [ 0. 0. 0. 1. ]] SLAMing on 172.698241008 meters Centerline goodness [0,1] 0.8746087044330001 Centerline is valid? [False, False] Translation: X:-29.28, Y:-45.56, Z:-28.97 [[ 0.77283042 0.40946848 -0.48483884 -29.28104895] [ -0.41993788 0.90276994 0.09305168 -45.55912218] [ 0.47579966 0.13168903 0.8696394 -28.96918449] [ 0. 0. 0. 1. ]] SLAMing on 172.728241008 meters Centerline goodness [0,1] 0.8790945338918892 Centerline is valid? [False, False] Translation: X:-29.31, Y:-45.55, Z:-28.98 [[ 0.77663717 0.41291066 -0.4757515 -29.31382669] [ -0.41674291 0.90311154 0.10351275 -45.54564366] [ 0.47239819 0.11787421 0.87346758 -28.9828425 ] [ 0. 0. 0. 1. ]] SLAMing on 172.758241008 meters Centerline goodness [0,1] 0.8762132862725325 Centerline is valid? [False, False] Translation: X:-29.31, Y:-45.55, Z:-28.98 [[ 0.77640833 0.41313416 -0.47593095 -29.31326492] [ -0.41671523 0.90305725 0.10409624 -45.54582203] [ 0.47279861 0.11750649 0.87330046 -28.98172634] [ 0. 0. 0. 1. ]] SLAMing on 172.788241008 meters Centerline goodness [0,1] 0.8793641997077939 Centerline is valid? [False, False] Translation: X:-29.31, Y:-45.55, Z:-28.98 [[ 0.77633511 0.41379121 -0.47547938 -29.31376918] [ -0.41704544 0.90282713 0.10476776 -45.54578873] [ 0.47262766 0.11696162 0.87346613 -28.98119114] [ 0. 0. 0. 1. ]] SLAMing on 172.818241008 meters Centerline goodness [0,1] 0.8797796254643787 Centerline is valid? [False, False] Translation: X:-29.31, Y:-45.55, Z:-28.98 [[ 0.7761201 0.41407874 -0.47558005 -29.31347508] [ -0.41710312 0.90273763 0.10530793 -45.54630615] [ 0.47292979 0.11663432 0.87334635 -28.98038602] [ 0. 0. 0. 1. ]] SLAMing on 172.848241008 meters Centerline goodness [0,1] 0.8808389907792076 Centerline is valid? [False, False] Translation: X:-29.33, Y:-45.54, Z:-28.98 [[ 0.7757616 0.41527355 -0.47512295 -29.33168612] [ -0.41421852 0.90312981 0.11304675 -45.54191086] [ 0.47604302 0.10910739 0.87262742 -28.98460579] [ 0. 0. 0. 1. ]] SLAMing on 172.878241008 meters Centerline goodness [0,1] 0.8826246985658078 Centerline is valid? [False, False] Translation: X:-29.35, Y:-45.54, Z:-28.99 [[ 0.77441809 0.41787183 -0.47503658 -29.34607338] [ -0.41174957 0.90295169 0.12304685 -45.53850249] [ 0.4803529 0.10030641 0.87132067 -28.98707529] [ 0. 0. 0. 1. ]] SLAMing on 172.908241008 meters Centerline goodness [0,1] 0.8828746642339466 Centerline is valid? [False, False] Translation: X:-29.36, Y:-45.53, Z:-28.99 [[ 0.77312258 0.42072891 -0.47462477 -29.35904091] [ -0.40942394 0.90257347 0.13316595 -45.53486196] [ 0.48441049 0.09136914 0.87005641 -28.9899779 ] [ 0. 0. 0. 1. ]] SLAMing on 172.938241008 meters Centerline goodness [0,1] 0.8843035736835458 Centerline is valid? [False, False] Translation: X:-29.37, Y:-45.53, Z:-28.99 [[ 0.77158983 0.42334862 -0.4747895 -29.37113544] [ -0.40688763 0.90218466 0.14319666 -45.5309391 ] [ 0.48896992 0.08269689 0.86837183 -28.99284686] [ 0. 0. 0. 1. ]] SLAMing on 172.968241008 meters Centerline goodness [0,1] 0.8800719315130946 Centerline is valid? [False, False] Translation: X:-29.39, Y:-45.52, Z:-29.00 [[ 0.77051018 0.4241186 -0.47585447 -29.39059699] [ -0.40561389 0.90210558 0.14725116 -45.52285589] [ 0.49172293 0.07955467 0.86710992 -29.00352028] [ 0. 0. 0. 1. ]] SLAMing on 172.998241008 meters Centerline goodness [0,1] 0.8807346441091297 Centerline is valid? [False, False] Translation: X:-29.41, Y:-45.52, Z:-29.01 [[ 0.77111683 0.42367788 -0.47526401 -29.40905534] [ -0.40316606 0.90265906 0.15054484 -45.5154272 ] [ 0.49278389 0.07552266 0.86686814 -29.01350226] [ 0. 0. 0. 1. ]] SLAMing on 173.028241008 meters Centerline goodness [0,1] 0.8810607408914088 Centerline is valid? [False, False] Translation: X:-29.41, Y:-45.52, Z:-29.01 [[ 0.77130288 0.42371034 -0.47493307 -29.41001403] [ -0.40328523 0.90263954 0.15034254 -45.51576625] [ 0.49239506 0.07557386 0.8670846 -29.01392944] [ 0. 0. 0. 1. ]] SLAMing on 173.058241008 meters Centerline goodness [0,1] 0.8786359587733809 Centerline is valid? [False, False] Translation: X:-29.43, Y:-45.51, Z:-29.03 [[ 0.77280101 0.42296201 -0.47316142 -29.42952999] [ -0.40172375 0.90318581 0.15123963 -45.50559167] [ 0.4913213 0.07320204 0.86789679 -29.02693274] [ 0. 0. 0. 1. ]] SLAMing on 173.088241008 meters Centerline goodness [0,1] 0.8763901967271525 Centerline is valid? [False, False] Translation: X:-29.45, Y:-45.50, Z:-29.04 [[ 0.77387246 0.42281952 -0.4715348 -29.44592749] [ -0.39900982 0.90367129 0.15546499 -45.49828621] [ 0.49184609 0.06783694 0.86803547 -29.0353503 ] [ 0. 0. 0. 1. ]] SLAMing on 173.118241008 meters Centerline goodness [0,1] 0.872150189775072 Centerline is valid? [False, False] Translation: X:-29.46, Y:-45.49, Z:-29.05 [[ 0.77686175 0.41968617 -0.46941383 -29.46470286] [ -0.39654343 0.90517318 0.15301902 -45.48704224] [ 0.48912078 0.06726835 0.86961821 -29.05071818] [ 0. 0. 0. 1. ]] SLAMing on 173.148241008 meters Centerline goodness [0,1] 0.8742209341096207 Centerline is valid? [False, False] Translation: X:-29.49, Y:-45.47, Z:-29.07 [[ 0.77761631 0.41825631 -0.46944067 -29.49394699] [ -0.39685535 0.90562424 0.14950104 -45.47382643] [ 0.4876666 0.07004559 0.87021543 -29.07048531] [ 0. 0. 0. 1. ]] SLAMing on 173.17824100800001 meters Centerline goodness [0,1] 0.8739556102311754 Centerline is valid? [False, False] Translation: X:-29.51, Y:-45.47, Z:-29.08 [[ 0.77863804 0.41692409 -0.46893188 -29.51237638] [ -0.39421768 0.90646784 0.15135545 -45.46564243] [ 0.4881754 0.06701013 0.87016919 -29.08205662] [ 0. 0. 0. 1. ]] SLAMing on 173.20824100800002 meters Centerline goodness [0,1] 0.8753044325377496 Centerline is valid? [False, False] Translation: X:-29.53, Y:-45.46, Z:-29.09 [[ 0.77915751 0.415406 -0.46941605 -29.53146457] [ -0.39119956 0.90738796 0.15365544 -45.45803435] [ 0.48977186 0.06391356 0.86950479 -29.09271053] [ 0. 0. 0. 1. ]] SLAMing on 173.23824100800002 meters Centerline goodness [0,1] 0.8761564555921053 Centerline is valid? [False, False] Translation: X:-29.55, Y:-45.45, Z:-29.10 [[ 0.77931199 0.41376487 -0.47060754 -29.5467191 ] [ -0.38680015 0.90848785 0.15822602 -45.45292333] [ 0.4930096 0.05872363 0.86803979 -29.10002372] [ 0. 0. 0. 1. ]] SLAMing on 173.268241008 meters Centerline goodness [0,1] 0.8750386239571531 Centerline is valid? [False, False] Translation: X:-29.56, Y:-45.45, Z:-29.11 [[ 0.77975422 0.41104743 -0.47225349 -29.56185362] [ -0.38184625 0.90999295 0.16157433 -45.44750708] [ 0.49616207 0.05433996 0.86652777 -29.10824148] [ 0. 0. 0. 1. ]] SLAMing on 173.298241008 meters Centerline goodness [0,1] 0.8827691669690529 Centerline is valid? [False, False] Translation: X:-29.58, Y:-45.44, Z:-29.12 [[ 0.78135821 0.40411146 -0.47557677 -29.58077947] [ -0.37471769 0.91317569 0.16030224 -45.44236371] [ 0.49906512 0.05295355 0.86494504 -29.11974201] [ 0. 0. 0. 1. ]] SLAMing on 173.328241008 meters Centerline goodness [0,1] 0.8835343457761338 Centerline is valid? [False, False] Translation: X:-29.60, Y:-45.44, Z:-29.13 [[ 0.7821786 0.39986592 -0.47781156 -29.59762719] [ -0.369031 0.91522206 0.16181686 -45.43683264] [ 0.50200873 0.04975759 0.86343003 -29.12934281] [ 0. 0. 0. 1. ]] SLAMing on 173.358241008 meters Centerline goodness [0,1] 0.8812665599832105 Centerline is valid? [False, False] Translation: X:-29.62, Y:-45.43, Z:-29.14 [[ 0.78283033 0.39460086 -0.48111 -29.61743158] [ -0.36255605 0.91764724 0.16271645 -45.43314306] [ 0.50569732 0.04704997 0.86142703 -29.13887851] [ 0. 0. 0. 1. ]] SLAMing on 173.388241008 meters Centerline goodness [0,1] 0.8828914141414141 Centerline is valid? [False, False] Translation: X:-29.63, Y:-45.43, Z:-29.14 [[ 7.82622409e-01 3.92530288e-01 -4.83137805e-01 -2.96317312e+01] [-3.57210524e-01 9.18815521e-01 1.67865067e-01 -4.54297196e+01] [ 5.09806637e-01 4.12069450e-02 8.59301566e-01 -2.91445604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.418241008 meters Centerline goodness [0,1] 0.8825719566939529 Centerline is valid? [False, False] Translation: X:-29.65, Y:-45.43, Z:-29.15 [[ 7.82582367e-01 3.90280538e-01 -4.85021588e-01 -2.96459893e+01] [-3.51920226e-01 9.20003001e-01 1.72472122e-01 -4.54258369e+01] [ 5.13533829e-01 3.57152656e-02 8.57325741e-01 -2.91511949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.448241008 meters Centerline goodness [0,1] 0.8852858581041699 Centerline is valid? [False, False] Translation: X:-29.66, Y:-45.42, Z:-29.16 [[ 7.82598152e-01 3.88094582e-01 -4.86747089e-01 -2.96603242e+01] [-3.46830794e-01 9.21115886e-01 1.76787798e-01 -4.54215114e+01] [ 5.16960862e-01 3.04650759e-02 8.55466742e-01 -2.91583406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.478241008 meters Centerline goodness [0,1] 0.8893334400256061 Centerline is valid? [False, False] Translation: X:-29.68, Y:-45.42, Z:-29.17 [[ 7.83921846e-01 3.82430358e-01 -4.89094633e-01 -2.96789654e+01] [-3.40175466e-01 9.23569391e-01 1.76918714e-01 -4.54165705e+01] [ 5.19371920e-01 2.76875499e-02 8.54099648e-01 -2.91688627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.508241008 meters Centerline goodness [0,1] 0.8904299954568535 Centerline is valid? [False, False] Translation: X:-29.70, Y:-45.41, Z:-29.18 [[ 7.86267387e-01 3.77812566e-01 -4.88918461e-01 -2.96952898e+01] [-3.34834145e-01 9.25551655e-01 1.76749059e-01 -4.54090926e+01] [ 5.19297306e-01 2.47345745e-02 8.54235628e-01 -2.91808397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.538241008 meters Centerline goodness [0,1] 0.8897967960434362 Centerline is valid? [False, False] Translation: X:-29.71, Y:-45.40, Z:-29.20 [[ 7.88536049e-01 3.72552996e-01 -4.89300690e-01 -2.97120024e+01] [-3.30017714e-01 9.27703873e-01 1.74510265e-01 -4.54000836e+01] [ 5.18940467e-01 2.38702605e-02 8.54477035e-01 -2.91957004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.568241008 meters Centerline goodness [0,1] 0.8889128210651015 Centerline is valid? [False, False] Translation: X:-29.71, Y:-45.40, Z:-29.20 [[ 7.90001305e-01 3.66968623e-01 -4.91153711e-01 -2.97095510e+01] [-3.26137451e-01 9.29877198e-01 1.70184489e-01 -4.53993732e+01] [ 5.19165004e-01 2.57376505e-02 8.54286411e-01 -2.91966169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.598241008 meters Centerline goodness [0,1] 0.8905789060597039 Centerline is valid? [False, False] Translation: X:-29.71, Y:-45.40, Z:-29.20 [[ 7.91370493e-01 3.61070028e-01 -4.93316509e-01 -2.97058780e+01] [-3.21880668e-01 9.32132985e-01 1.65894348e-01 -4.54007422e+01] [ 5.19736067e-01 2.75051555e-02 8.53884001e-01 -2.91975329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.628241008 meters Centerline goodness [0,1] 0.8913887154992265 Centerline is valid? [False, False] Translation: X:-29.72, Y:-45.39, Z:-29.21 [[ 7.91502281e-01 3.59442231e-01 -4.94292851e-01 -2.97225113e+01] [-3.18588272e-01 9.32849809e-01 1.68204480e-01 -4.53937930e+01] [ 5.21560785e-01 2.43416755e-02 8.52866830e-01 -2.92088007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.658241008 meters Centerline goodness [0,1] 0.8922677344299551 Centerline is valid? [False, False] Translation: X:-29.72, Y:-45.39, Z:-29.21 [[ 7.91370319e-01 3.58917522e-01 -4.94885069e-01 -2.97201669e+01] [-3.18166977e-01 9.33045748e-01 1.67914877e-01 -4.53940393e+01] [ 5.22018001e-01 2.45732364e-02 8.52580414e-01 -2.92087938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.688241008 meters Centerline goodness [0,1] 0.8890241592944296 Centerline is valid? [False, False] Translation: X:-29.74, Y:-45.38, Z:-29.23 [[ 7.92427394e-01 3.56875261e-01 -4.94670468e-01 -2.97421229e+01] [-3.18440463e-01 9.33733816e-01 1.63514012e-01 -4.53794785e+01] [ 5.20244650e-01 2.79501105e-02 8.53559779e-01 -2.92301426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.718241008 meters Centerline goodness [0,1] 0.8917603806228374 Centerline is valid? [False, False] Translation: X:-29.74, Y:-45.38, Z:-29.23 [[ 7.92168393e-01 3.56897137e-01 -4.95069360e-01 -2.97405407e+01] [-3.18557044e-01 9.33715672e-01 1.63390496e-01 -4.53787824e+01] [ 5.20567620e-01 2.82750454e-02 8.53352140e-01 -2.92301335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.748241008 meters Centerline goodness [0,1] 0.8839819347161749 Centerline is valid? [False, False] Translation: X:-29.76, Y:-45.37, Z:-29.24 [[ 7.92323199e-01 3.57534299e-01 -4.94361379e-01 -2.97581757e+01] [-3.17266590e-01 9.33571452e-01 1.66692097e-01 -4.53701176e+01] [ 5.21119812e-01 2.47703332e-02 8.53124007e-01 -2.92418342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.778241008 meters Centerline goodness [0,1] 0.8850053937432578 Centerline is valid? [False, False] Translation: X:-29.76, Y:-45.37, Z:-29.24 [[ 7.92101870e-01 3.57390326e-01 -4.94819949e-01 -2.97561478e+01] [-3.17337379e-01 9.33612946e-01 1.66324547e-01 -4.53688807e+01] [ 5.21413095e-01 2.52788813e-02 8.52929870e-01 -2.92421209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.808241008 meters Centerline goodness [0,1] 0.8826523741549732 Centerline is valid? [False, False] Translation: X:-29.78, Y:-45.35, Z:-29.26 [[ 7.92801934e-01 3.56679591e-01 -4.94211254e-01 -2.97804492e+01] [-3.19068562e-01 9.33770492e-01 1.62073816e-01 -4.53537099e+01] [ 5.19288308e-01 2.91948398e-02 8.54100296e-01 -2.92645585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.838241008 meters Centerline goodness [0,1] 0.883870101986044 Centerline is valid? [False, False] Translation: X:-29.80, Y:-45.35, Z:-29.28 [[ 7.93987243e-01 3.57333529e-01 -4.91830262e-01 -2.97985450e+01] [-3.17654529e-01 9.33647318e-01 1.65524274e-01 -4.53455735e+01] [ 5.18343378e-01 2.48079476e-02 8.54812674e-01 -2.92753386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.868241008 meters Centerline goodness [0,1] 0.8822274433552081 Centerline is valid? [False, False] Translation: X:-29.82, Y:-45.33, Z:-29.30 [[ 7.95646271e-01 3.54765886e-01 -4.91007310e-01 -2.98216194e+01] [-3.17219857e-01 9.34550750e-01 1.61203156e-01 -4.53325715e+01] [ 5.16060630e-01 2.74965790e-02 8.56110603e-01 -2.92955745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.898241008 meters Centerline goodness [0,1] 0.8792462987886944 Centerline is valid? [False, False] Translation: X:-29.83, Y:-45.33, Z:-29.29 [[ 7.95269601e-01 3.56728317e-01 -4.90195032e-01 -2.98254590e+01] [-3.18886408e-01 9.33808774e-01 1.62211691e-01 -4.53315477e+01] [ 5.15613925e-01 2.73145064e-02 8.56385543e-01 -2.92948977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.92824100800001 meters Centerline goodness [0,1] 0.8785937331754065 Centerline is valid? [False, False] Translation: X:-29.85, Y:-45.32, Z:-29.31 [[ 7.97918323e-01 3.54672324e-01 -4.87374489e-01 -2.98467535e+01] [-3.17518180e-01 9.34605182e-01 1.60297719e-01 -4.53202888e+01] [ 5.12355888e-01 2.68457737e-02 8.58353510e-01 -2.93114042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.95824100800002 meters Centerline goodness [0,1] 0.8817334626158155 Centerline is valid? [False, False] Translation: X:-29.87, Y:-45.31, Z:-29.32 [[ 7.99048563e-01 3.55274016e-01 -4.85079136e-01 -2.98676284e+01] [-3.16683053e-01 9.34464939e-01 1.62748648e-01 -4.53119752e+01] [ 5.11109810e-01 2.35722681e-02 8.59192126e-01 -2.93239163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.98824100800002 meters Centerline goodness [0,1] 0.8841489705723833 Centerline is valid? [False, False] Translation: X:-29.89, Y:-45.30, Z:-29.34 [[ 8.01289093e-01 3.52651713e-01 -4.83293450e-01 -2.98889893e+01] [-3.15354017e-01 9.35435859e-01 1.59723504e-01 -4.53004046e+01] [ 5.08416791e-01 2.44238292e-02 8.60764685e-01 -2.93418263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.018241008 meters Centerline goodness [0,1] 0.8841489705723833 Centerline is valid? [False, False] Translation: X:-29.90, Y:-45.29, Z:-29.35 [[ 8.02703363e-01 3.49378991e-01 -4.83323527e-01 -2.99029350e+01] [-3.10871284e-01 9.36743000e-01 1.60846504e-01 -4.52924560e+01] [ 5.08946320e-01 2.11393756e-02 8.60538651e-01 -2.93528976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.048241008 meters Centerline goodness [0,1] 0.8814714997978709 Centerline is valid? [False, False] Translation: X:-29.93, Y:-45.28, Z:-29.37 [[ 8.03709010e-01 3.49711237e-01 -4.81408223e-01 -2.99308866e+01] [-3.13188534e-01 9.36544653e-01 1.57470808e-01 -4.52791365e+01] [ 5.05929608e-01 2.42108287e-02 8.62234926e-01 -2.93749417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.078241008 meters Centerline goodness [0,1] 0.8825033647375504 Centerline is valid? [False, False] Translation: X:-29.95, Y:-45.27, Z:-29.39 [[ 8.04874744e-01 3.48466836e-01 -4.80361855e-01 -2.99536142e+01] [-3.12824892e-01 9.36985912e-01 1.55557026e-01 -4.52679858e+01] [ 5.04298755e-01 2.50652241e-02 8.63165396e-01 -2.93930032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.108241008 meters Centerline goodness [0,1] 0.8834907056196701 Centerline is valid? [False, False] Translation: X:-29.98, Y:-45.26, Z:-29.41 [[ 8.06419551e-01 3.46993791e-01 -4.78834853e-01 -2.99763617e+01] [-3.12134785e-01 9.37520551e-01 1.53711069e-01 -4.52579612e+01] [ 5.02254302e-01 2.55054028e-02 8.64343734e-01 -2.94108501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.138241008 meters Centerline goodness [0,1] 0.8819802086984658 Centerline is valid? [False, False] Translation: X:-30.00, Y:-45.25, Z:-29.43 [[ 8.07936777e-01 3.44333462e-01 -4.78197272e-01 -3.00023474e+01] [-3.11388488e-01 9.38429269e-01 1.49625253e-01 -4.52468166e+01] [ 5.00275298e-01 2.80173809e-02 8.65412995e-01 -2.94304800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.168241008 meters Centerline goodness [0,1] 0.8842270100977374 Centerline is valid? [False, False] Translation: X:-30.03, Y:-45.24, Z:-29.45 [[ 8.09371767e-01 3.42193660e-01 -4.77305815e-01 -3.00322047e+01] [-3.11266301e-01 9.39123439e-01 1.45466341e-01 -4.52361094e+01] [ 4.98026738e-01 3.08328661e-02 8.66613352e-01 -2.94508838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.198241008 meters Centerline goodness [0,1] 0.8805313318394126 Centerline is valid? [False, False] Translation: X:-30.05, Y:-45.23, Z:-29.46 [[ 8.08639199e-01 3.43186041e-01 -4.77834686e-01 -3.00485701e+01] [-3.08625544e-01 9.38947929e-01 1.52075836e-01 -4.52316402e+01] [ 5.00852193e-01 2.44975074e-02 8.65186080e-01 -2.94574513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.228241008 meters Centerline goodness [0,1] 0.8789269135269351 Centerline is valid? [False, False] Translation: X:-30.07, Y:-45.23, Z:-29.47 [[ 8.08272065e-01 3.42598267e-01 -4.78876494e-01 -3.00660210e+01] [-3.05737520e-01 9.39260955e-01 1.55927634e-01 -4.52259070e+01] [ 5.03210530e-01 2.03785612e-02 8.63923536e-01 -2.94672116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.258241008 meters Centerline goodness [0,1] 0.8794519807598767 Centerline is valid? [False, False] Translation: X:-30.08, Y:-45.22, Z:-29.48 [[ 8.07894613e-01 3.41368415e-01 -4.80389321e-01 -3.00832109e+01] [-3.02448073e-01 9.39781259e-01 1.59173958e-01 -4.52203705e+01] [ 5.05797842e-01 1.66970415e-02 8.62490436e-01 -2.94772082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.288241008 meters Centerline goodness [0,1] 0.8769159941504631 Centerline is valid? [False, False] Translation: X:-30.10, Y:-45.22, Z:-29.49 [[ 8.07804032e-01 3.37889620e-01 -4.82994048e-01 -3.01022227e+01] [-2.98103896e-01 9.41067470e-01 1.59768844e-01 -4.52150373e+01] [ 5.08514221e-01 1.49204910e-02 8.60924309e-01 -2.94893920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.318241008 meters Centerline goodness [0,1] 0.8755836681507221 Centerline is valid? [False, False] Translation: X:-30.10, Y:-45.21, Z:-29.49 [[ 8.09118662e-01 3.32226866e-01 -4.84718786e-01 -3.00997954e+01] [-2.94262759e-01 9.43044703e-01 1.55164804e-01 -4.52142443e+01] [ 5.08661400e-01 1.70879486e-02 8.60797062e-01 -2.94906750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.348241008 meters Centerline goodness [0,1] 0.8764806796830324 Centerline is valid? [False, False] Translation: X:-30.11, Y:-45.21, Z:-29.50 [[ 8.08494026e-01 3.30427116e-01 -4.86985966e-01 -3.01148394e+01] [-2.89414004e-01 9.43759149e-01 1.59869330e-01 -4.52108885e+01] [ 5.12422623e-01 1.16871600e-02 8.58653868e-01 -2.94972645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.378241008 meters Centerline goodness [0,1] 0.8764237833124421 Centerline is valid? [False, False] Translation: X:-30.13, Y:-45.21, Z:-29.51 [[ 8.07881295e-01 3.28451667e-01 -4.89333543e-01 -3.01301114e+01] [-2.84829616e-01 9.44493996e-01 1.63716771e-01 -4.52068048e+01] [ 5.15945640e-01 7.11296834e-03 8.56591795e-01 -2.95055039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.408241008 meters Centerline goodness [0,1] 0.8761623454764249 Centerline is valid? [False, False] Translation: X:-30.14, Y:-45.20, Z:-29.51 [[ 8.07460753e-01 3.25697327e-01 -4.91862159e-01 -3.01441901e+01] [-2.79262821e-01 9.45471940e-01 1.67615894e-01 -4.52033726e+01] [ 5.19633918e-01 2.01555782e-03 8.54386639e-01 -2.95130046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.438241008 meters Centerline goodness [0,1] 0.8759687792007915 Centerline is valid? [False, False] Translation: X:-30.16, Y:-45.20, Z:-29.52 [[ 8.07675817e-01 3.22963868e-01 -4.93309349e-01 -3.01614533e+01] [-2.74520860e-01 9.46409192e-01 1.70140935e-01 -4.51987347e+01] [ 5.21821877e-01 -1.99501134e-03 8.53052137e-01 -2.95226072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.468241008 meters Centerline goodness [0,1] 0.8780990599747127 Centerline is valid? [False, False] Translation: X:-30.16, Y:-45.20, Z:-29.52 [[ 8.08900696e-01 3.17797195e-01 -4.94656049e-01 -3.01608123e+01] [-2.70987609e-01 9.48158680e-01 1.66014555e-01 -4.51985007e+01] [ 5.21771387e-01 -2.43629414e-04 8.53085319e-01 -2.95234400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.498241008 meters Centerline goodness [0,1] 0.8811221540071029 Centerline is valid? [False, False] Translation: X:-30.16, Y:-45.20, Z:-29.52 [[ 8.10135571e-01 3.12422835e-01 -4.96056779e-01 -3.01594816e+01] [-2.67413667e-01 9.49941496e-01 1.61558302e-01 -4.51978524e+01] [ 5.21699422e-01 1.76823528e-03 8.53127533e-01 -2.95247418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.528241008 meters Centerline goodness [0,1] 0.8784202089436737 Centerline is valid? [False, False] Translation: X:-30.18, Y:-45.19, Z:-29.54 [[ 8.10304212e-01 3.09866228e-01 -4.97383156e-01 -3.01771115e+01] [-2.63301724e-01 9.50779102e-01 1.63374729e-01 -4.51922547e+01] [ 5.23525821e-01 -1.42138875e-03 8.52008623e-01 -2.95360932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.558241008 meters Centerline goodness [0,1] 0.8784225695599157 Centerline is valid? [False, False] Translation: X:-30.20, Y:-45.18, Z:-29.55 [[ 8.12987860e-01 3.06149403e-01 -4.95301204e-01 -3.01967261e+01] [-2.59605943e-01 9.51977512e-01 1.62307030e-01 -4.51837815e+01] [ 5.21205808e-01 -3.37050847e-03 8.53424364e-01 -2.95504257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.588241008 meters Centerline goodness [0,1] 0.8785730113006869 Centerline is valid? [False, False] Translation: X:-30.20, Y:-45.18, Z:-29.55 [[ 8.13952567e-01 3.02008094e-01 -4.96258331e-01 -3.01978650e+01] [-2.57178044e-01 9.53304541e-01 1.58334790e-01 -4.51812400e+01] [ 5.20903708e-01 -1.25026222e-03 8.53614529e-01 -2.95514979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.618241008 meters Centerline goodness [0,1] 0.8757613683771381 Centerline is valid? [False, False] Translation: X:-30.20, Y:-45.18, Z:-29.55 [[ 8.14920359e-01 2.97706400e-01 -4.97268245e-01 -3.01986290e+01] [-2.54677898e-01 9.54656949e-01 1.54172883e-01 -4.51790082e+01] [ 5.20618839e-01 1.00461060e-03 8.53788624e-01 -2.95528639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.648241008 meters Centerline goodness [0,1] 0.8760381079354498 Centerline is valid? [False, False] Translation: X:-30.20, Y:-45.18, Z:-29.55 [[ 8.14744792e-01 2.98084802e-01 -4.97329242e-01 -3.01983489e+01] [-2.55276397e-01 9.54538130e-01 1.53918547e-01 -4.51788799e+01] [ 5.20600504e-01 1.55208299e-03 8.53798985e-01 -2.95537307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.67824100800001 meters Centerline goodness [0,1] 0.8754693888904342 Centerline is valid? [False, False] Translation: X:-30.22, Y:-45.17, Z:-29.57 [[ 8.15132340e-01 2.98000917e-01 -4.96744120e-01 -3.02173690e+01] [-2.53786898e-01 9.54564757e-01 1.56199665e-01 -4.51721544e+01] [ 5.20722074e-01 -1.25624892e-03 8.53725333e-01 -2.95673222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.70824100800002 meters Centerline goodness [0,1] 0.877959421577063 Centerline is valid? [False, False] Translation: X:-30.22, Y:-45.17, Z:-29.57 [[ 8.16019168e-01 2.93248886e-01 -4.98114252e-01 -3.02157354e+01] [-2.51057170e-01 9.56035127e-01 1.51549114e-01 -4.51689506e+01] [ 5.20656331e-01 1.38817280e-03 8.53765224e-01 -2.95693729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.73824100800002 meters Centerline goodness [0,1] 0.8765322041453086 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.16, Z:-29.58 [[ 8.17397297e-01 2.93128881e-01 -4.95920476e-01 -3.02367804e+01] [-2.49633199e-01 9.56071238e-01 1.53658890e-01 -4.51633890e+01] [ 5.19177162e-01 -1.80214674e-03 8.54664745e-01 -2.95827885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.768241008 meters Centerline goodness [0,1] 0.8742785445420327 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.16, Z:-29.58 [[ 8.18488403e-01 2.88245959e-01 -4.96981892e-01 -3.02362663e+01] [-2.46752072e-01 9.57556162e-01 1.48995339e-01 -4.51606249e+01] [ 5.18835377e-01 6.80354448e-04 8.54873902e-01 -2.95847961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.798241008 meters Centerline goodness [0,1] 0.8756437738370313 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.16, Z:-29.59 [[ 8.19613345e-01 2.83498108e-01 -4.97858201e-01 -3.02362054e+01] [-2.43955763e-01 9.58967909e-01 1.44451148e-01 -4.51579634e+01] [ 5.18381665e-01 3.06128857e-03 8.55143893e-01 -2.95867779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.828241008 meters Centerline goodness [0,1] 0.8792281308385154 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.16, Z:-29.59 [[ 8.20722464e-01 2.78710753e-01 -4.98733349e-01 -3.02363597e+01] [-2.41042580e-01 9.60360485e-01 1.40022187e-01 -4.51557078e+01] [ 5.17989490e-01 5.29661839e-03 8.55370583e-01 -2.95884352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.858241008 meters Centerline goodness [0,1] 0.8697937049253648 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.16, Z:-29.59 [[ 8.21839174e-01 2.73961841e-01 -4.99525056e-01 -3.02373708e+01] [-2.37779026e-01 9.61716483e-01 1.36244418e-01 -4.51552930e+01] [ 5.17727252e-01 6.80558127e-03 8.55518660e-01 -2.95889519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.888241008 meters Centerline goodness [0,1] 0.8737915618887957 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.15, Z:-29.59 [[ 8.23068934e-01 2.68640133e-01 -5.00389857e-01 -3.02369881e+01] [-2.34260976e-01 9.63200801e-01 1.31780167e-01 -4.51537533e+01] [ 5.17377352e-01 8.75765461e-03 8.55712556e-01 -2.95903768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.918241008 meters Centerline goodness [0,1] 0.8743969482777965 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.15, Z:-29.59 [[ 8.24266075e-01 2.62758818e-01 -5.01540868e-01 -3.02353510e+01] [-2.30201417e-01 9.64802628e-01 1.27134563e-01 -4.51528468e+01] [ 5.17293675e-01 1.06627114e-02 8.55741527e-01 -2.95915659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.948241008 meters Centerline goodness [0,1] 0.8746208291203236 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.15, Z:-29.59 [[ 8.25405735e-01 2.56959004e-01 -5.02670312e-01 -3.02337533e+01] [-2.26104029e-01 9.66343138e-01 1.22710666e-01 -4.51524417e+01] [ 5.17283617e-01 1.23696953e-02 8.55724635e-01 -2.95924850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.978241008 meters Centerline goodness [0,1] 0.8816061077336349 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.15, Z:-29.59 [[ 8.26563989e-01 2.49415250e-01 -5.04563182e-01 -3.02287166e+01] [-2.20210045e-01 9.68300385e-01 1.17906322e-01 -4.51544533e+01] [ 5.17976358e-01 1.36527614e-02 8.55285972e-01 -2.95925484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.008241008 meters Centerline goodness [0,1] 0.8868031692840712 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.15, Z:-29.59 [[ 8.27654265e-01 2.43277675e-01 -5.05771085e-01 -3.02265197e+01] [-2.15863539e-01 9.69833697e-01 1.13249868e-01 -4.51536695e+01] [ 5.18065005e-01 1.54458003e-02 8.55201776e-01 -2.95934708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.038241008 meters Centerline goodness [0,1] 0.8861811844699026 Centerline is valid? [False, False] Translation: X:-30.22, Y:-45.15, Z:-29.59 [[ 8.28745541e-01 2.37309966e-01 -5.06818319e-01 -3.02248293e+01] [-2.11640987e-01 9.71282284e-01 1.08714384e-01 -4.51531591e+01] [ 5.18062661e-01 1.71669682e-02 8.55170377e-01 -2.95944330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.068241008 meters Centerline goodness [0,1] 0.8896873568483739 Centerline is valid? [False, False] Translation: X:-30.22, Y:-45.16, Z:-29.59 [[ 8.29718882e-01 2.30987769e-01 -5.08144887e-01 -3.02227258e+01] [-2.06655639e-01 9.72788562e-01 1.04765737e-01 -4.51553033e+01] [ 5.18517138e-01 1.80848964e-02 8.54875964e-01 -2.95939702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.098241008 meters Centerline goodness [0,1] 0.8918608325911455 Centerline is valid? [False, False] Translation: X:-30.22, Y:-45.15, Z:-29.60 [[ 8.30751780e-01 2.25322348e-01 -5.09000314e-01 -3.02214697e+01] [-2.02791357e-01 9.74079752e-01 1.00221267e-01 -4.51536625e+01] [ 5.18388991e-01 1.99618686e-02 8.54911912e-01 -2.95951298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.128241008 meters Centerline goodness [0,1] 0.8920912677989363 Centerline is valid? [False, False] Translation: X:-30.22, Y:-45.15, Z:-29.59 [[ 8.30640059e-01 2.24769559e-01 -5.09426871e-01 -3.02196376e+01] [-2.02156592e-01 9.74212003e-01 1.00218190e-01 -4.51544114e+01] [ 5.18815771e-01 1.97387565e-02 8.54658164e-01 -2.95945249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.158241008 meters Centerline goodness [0,1] 0.8920249613556993 Centerline is valid? [False, False] Translation: X:-30.22, Y:-45.15, Z:-29.59 [[ 8.30550007e-01 2.24406453e-01 -5.09733685e-01 -3.02182696e+01] [-2.01777648e-01 9.74297108e-01 1.00154517e-01 -4.51542055e+01] [ 5.19107375e-01 1.96695291e-02 8.54482676e-01 -2.95941566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.188241008 meters Centerline goodness [0,1] 0.8931779697500215 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.15, Z:-29.61 [[ 8.34659533e-01 2.22614017e-01 -5.03772234e-01 -3.02353625e+01] [-1.99379838e-01 9.74764698e-01 1.00406491e-01 -4.51462318e+01] [ 5.13411282e-01 1.66367919e-02 8.57981394e-01 -2.96091874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.218241008 meters Centerline goodness [0,1] 0.8937307120813808 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.15, Z:-29.61 [[ 8.34560348e-01 2.23038727e-01 -5.03748699e-01 -3.02359665e+01] [-1.99744988e-01 9.74667479e-01 1.00624275e-01 -4.51456377e+01] [ 5.13430585e-01 1.66442477e-02 8.57969698e-01 -2.96088456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.248241008 meters Centerline goodness [0,1] 0.8939847694018995 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.14, Z:-29.61 [[ 8.34522310e-01 2.23321402e-01 -5.03686475e-01 -3.02364311e+01] [-2.00060547e-01 9.74600487e-01 1.00646255e-01 -4.51441477e+01] [ 5.13369546e-01 1.67762469e-02 8.58003652e-01 -2.96086813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.278241008 meters Centerline goodness [0,1] 0.894278889899909 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.14, Z:-29.61 [[ 8.34522388e-01 2.23383627e-01 -5.03658752e-01 -3.02361202e+01] [-2.00307509e-01 9.74579913e-01 1.00353851e-01 -4.51420358e+01] [ 5.13273110e-01 1.71390945e-02 8.58054174e-01 -2.96090426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.308241008 meters Centerline goodness [0,1] 0.8950191570881226 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.14, Z:-29.61 [[ 8.34564043e-01 2.23305079e-01 -5.03624563e-01 -3.02355157e+01] [-2.00500448e-01 9.74589273e-01 9.98765213e-02 -4.51396180e+01] [ 5.13130031e-01 1.76235973e-02 8.58129932e-01 -2.96096434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.338241008 meters Centerline goodness [0,1] 0.8920810520968562 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.14, Z:-29.61 [[ 8.34461296e-01 2.24512452e-01 -5.03257891e-01 -3.02369301e+01] [-2.01844449e-01 9.74302044e-01 9.99717282e-02 -4.51357909e+01] [ 5.12770089e-01 1.81572736e-02 8.58333938e-01 -2.96101633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.368241008 meters Centerline goodness [0,1] 0.8890862944162436 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.13, Z:-29.61 [[ 8.34445350e-01 2.24683297e-01 -5.03208082e-01 -3.02370683e+01] [-2.02177133e-01 9.74256135e-01 9.97466341e-02 -4.51339886e+01] [ 5.12664963e-01 1.85040522e-02 8.58389326e-01 -2.96103865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.398241008 meters Centerline goodness [0,1] 0.8897866111142391 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.13, Z:-29.61 [[ 8.34476453e-01 2.24819030e-01 -5.03095870e-01 -3.02371824e+01] [-2.02473747e-01 9.74218682e-01 9.95105065e-02 -4.51322068e+01] [ 5.12497251e-01 1.88245313e-02 8.58482501e-01 -2.96106852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.42824100800001 meters Centerline goodness [0,1] 0.8907667173680356 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.13, Z:-29.61 [[ 8.34449479e-01 2.24858105e-01 -5.03123145e-01 -3.02368466e+01] [-2.02717954e-01 9.74201701e-01 9.91790130e-02 -4.51306418e+01] [ 5.12444629e-01 1.92322190e-02 8.58504877e-01 -2.96110926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.45824100800002 meters Centerline goodness [0,1] 0.8921447434960948 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.13, Z:-29.61 [[ 8.34258326e-01 2.25336656e-01 -5.03226030e-01 -3.02366386e+01] [-2.03564533e-01 9.74073673e-01 9.87013686e-02 -4.51273472e+01] [ 5.12420264e-01 2.00965333e-02 8.58499623e-01 -2.96117945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.48824100800002 meters Centerline goodness [0,1] 0.8884718799014116 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.13, Z:-29.61 [[ 8.34187247e-01 2.25626393e-01 -5.03214038e-01 -3.02364301e+01] [-2.04066240e-01 9.73996455e-01 9.84270062e-02 -4.51250686e+01] [ 5.12336419e-01 2.05824435e-02 8.58538151e-01 -2.96122569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.518241008 meters Centerline goodness [0,1] 0.8902248070685606 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.12, Z:-29.61 [[ 8.34147888e-01 2.25948507e-01 -5.03134745e-01 -3.02362898e+01] [-2.04676299e-01 9.73908374e-01 9.80310774e-02 -4.51226500e+01] [ 5.12157117e-01 2.12073412e-02 8.58629918e-01 -2.96130548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.548241008 meters Centerline goodness [0,1] 0.8876583161301121 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.12, Z:-29.61 [[ 8.34099853e-01 2.26287305e-01 -5.03062114e-01 -3.02363061e+01] [-2.05214803e-01 9.73819503e-01 9.77878324e-02 -4.51204129e+01] [ 5.12019843e-01 2.16709761e-02 8.58700209e-01 -2.96135066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.578241008 meters Centerline goodness [0,1] 0.8848904845398124 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.12, Z:-29.61 [[ 8.33918570e-01 2.27537467e-01 -5.02798686e-01 -3.02376705e+01] [-2.06666351e-01 9.73512473e-01 9.77879526e-02 -4.51179900e+01] [ 5.11731216e-01 2.23643803e-02 8.58854468e-01 -2.96143833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.608241008 meters Centerline goodness [0,1] 0.8796527431075609 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.12, Z:-29.61 [[ 8.33908062e-01 2.27923461e-01 -5.02641264e-01 -3.02380022e+01] [-2.07090524e-01 9.73418684e-01 9.78242358e-02 -4.51168971e+01] [ 5.11576836e-01 2.25158240e-02 8.58942477e-01 -2.96145890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.638241008 meters Centerline goodness [0,1] 0.8815182984394958 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.12, Z:-29.61 [[ 8.33897898e-01 2.28392139e-01 -5.02445347e-01 -3.02387952e+01] [-2.07511244e-01 9.73308749e-01 9.80263373e-02 -4.51162903e+01] [ 5.11422897e-01 2.25191021e-02 8.59034057e-01 -2.96145425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.668241008 meters Centerline goodness [0,1] 0.8798833009169214 Centerline is valid? [False, False] Translation: X:-30.26, Y:-45.11, Z:-29.63 [[ 8.36470478e-01 2.27471053e-01 -4.98572020e-01 -3.02614277e+01] [-2.05753641e-01 9.73583973e-01 9.89933698e-02 -4.51106262e+01] [ 5.07919854e-01 1.97779773e-02 8.61177248e-01 -2.96287637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.698241008 meters Centerline goodness [0,1] 0.889277583430507 Centerline is valid? [False, False] Translation: X:-30.26, Y:-45.11, Z:-29.63 [[ 8.36380923e-01 2.27597143e-01 -4.98664710e-01 -3.02612184e+01] [-2.05758991e-01 9.73558011e-01 9.92372745e-02 -4.51112020e+01] [ 5.08065143e-01 1.96045845e-02 8.61095506e-01 -2.96284143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.728241008 meters Centerline goodness [0,1] 0.8822631666574172 Centerline is valid? [False, False] Translation: X:-30.26, Y:-45.11, Z:-29.63 [[ 8.36323079e-01 2.27703649e-01 -4.98713099e-01 -3.02607932e+01] [-2.05769896e-01 9.73535934e-01 9.94310590e-02 -4.51115746e+01] [ 5.08155937e-01 1.94636533e-02 8.61045126e-01 -2.96282591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.758241008 meters Centerline goodness [0,1] 0.8864518633540373 Centerline is valid? [False, False] Translation: X:-30.26, Y:-45.11, Z:-29.63 [[ 8.36236407e-01 2.27843948e-01 -4.98794353e-01 -3.02607138e+01] [-2.05800628e-01 9.73506100e-01 9.96592985e-02 -4.51119229e+01] [ 5.08286113e-01 1.93134571e-02 8.60971671e-01 -2.96278859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.788241008 meters Centerline goodness [0,1] 0.8848067142817442 Centerline is valid? [False, False] Translation: X:-30.26, Y:-45.11, Z:-29.63 [[ 8.36118219e-01 2.28047566e-01 -4.98899420e-01 -3.02607607e+01] [-2.05839974e-01 9.73462973e-01 9.99987311e-02 -4.51126609e+01] [ 5.08464580e-01 1.90826826e-02 8.60871432e-01 -2.96273301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.818241008 meters Centerline goodness [0,1] 0.8840402127600323 Centerline is valid? [False, False] Translation: X:-30.26, Y:-45.11, Z:-29.63 [[ 8.36019585e-01 2.28494568e-01 -4.98860186e-01 -3.02610709e+01] [-2.06130050e-01 9.73361623e-01 1.00387015e-01 -4.51139692e+01] [ 5.08509248e-01 1.89045648e-02 8.60848978e-01 -2.96272218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.848241008 meters Centerline goodness [0,1] 0.8821171033215469 Centerline is valid? [False, False] Translation: X:-30.26, Y:-45.11, Z:-29.63 [[ 8.35872487e-01 2.28287554e-01 -4.99201341e-01 -3.02597742e+01] [-2.05927991e-01 9.73409671e-01 1.00335809e-01 -4.51144271e+01] [ 5.08832829e-01 1.89315866e-02 8.60657160e-01 -2.96270617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.878241008 meters Centerline goodness [0,1] 0.8837254628985104 Centerline is valid? [False, False] Translation: X:-30.26, Y:-45.11, Z:-29.63 [[ 8.35820595e-01 2.28041361e-01 -4.99400711e-01 -3.02584038e+01] [-2.05776257e-01 9.73464369e-01 1.00116209e-01 -4.51145945e+01] [ 5.08979435e-01 1.90856199e-02 8.60567066e-01 -2.96273705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.908241008 meters Centerline goodness [0,1] 0.8890591480232914 Centerline is valid? [False, False] Translation: X:-30.26, Y:-45.11, Z:-29.63 [[ 8.35748629e-01 2.27856727e-01 -4.99605385e-01 -3.02571544e+01] [-2.05671110e-01 9.73504757e-01 9.99393941e-02 -4.51146191e+01] [ 5.09140082e-01 1.92301825e-02 8.60468812e-01 -2.96276108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.938241008 meters Centerline goodness [0,1] 0.8847053581374624 Centerline is valid? [False, False] Translation: X:-30.26, Y:-45.11, Z:-29.63 [[ 8.35725864e-01 2.27908882e-01 -4.99619678e-01 -3.02567125e+01] [-2.05701364e-01 9.73493008e-01 9.99915638e-02 -4.51149288e+01] [ 5.09165229e-01 1.92069132e-02 8.60454452e-01 -2.96277331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.968241008 meters Centerline goodness [0,1] 0.8847053581374624 Centerline is valid? [False, False] Translation: X:-30.26, Y:-45.11, Z:-29.63 [[ 8.35725864e-01 2.27908882e-01 -4.99619678e-01 -3.02567125e+01] [-2.05701364e-01 9.73493008e-01 9.99915638e-02 -4.51149288e+01] [ 5.09165229e-01 1.92069132e-02 8.60454452e-01 -2.96277331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.998241008 meters Centerline goodness [0,1] 0.8884045822855546 Centerline is valid? [False, False] Translation: X:-30.26, Y:-45.11, Z:-29.63 [[ 8.36680493e-01 2.23479839e-01 -5.00022514e-01 -3.02584881e+01] [-2.02722560e-01 9.74487162e-01 9.63241085e-02 -4.51142738e+01] [ 5.08792017e-01 2.07733417e-02 8.60638804e-01 -2.96283938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.028241008 meters Centerline goodness [0,1] 0.8870873217425278 Centerline is valid? [False, False] Translation: X:-30.26, Y:-45.12, Z:-29.63 [[ 8.36560397e-01 2.23396649e-01 -5.00260572e-01 -3.02579260e+01] [-2.02397690e-01 9.74515402e-01 9.67207606e-02 -4.51157858e+01] [ 5.09118727e-01 2.03388266e-02 8.60455957e-01 -2.96275918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.058241008 meters Centerline goodness [0,1] 0.880424733140952 Centerline is valid? [False, False] Translation: X:-30.26, Y:-45.12, Z:-29.63 [[ 8.36470279e-01 2.23163423e-01 -5.00515294e-01 -3.02569114e+01] [-2.02053043e-01 9.74573510e-01 9.68557731e-02 -4.51168340e+01] [ 5.09403613e-01 2.01136627e-02 8.60292624e-01 -2.96271918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.088241008 meters Centerline goodness [0,1] 0.8815682537903203 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.12, Z:-29.63 [[ 8.36390991e-01 2.22416531e-01 -5.00980036e-01 -3.02545299e+01] [-2.01309428e-01 9.74746498e-01 9.66632184e-02 -4.51182096e+01] [ 5.09828033e-01 2.00037596e-02 8.60043735e-01 -2.96270765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.118241008 meters Centerline goodness [0,1] 0.8826000504102837 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.12, Z:-29.63 [[ 8.36215968e-01 2.22060886e-01 -5.01429773e-01 -3.02533392e+01] [-2.00788409e-01 9.74834114e-01 9.68631234e-02 -4.51197596e+01] [ 5.10320360e-01 1.96827957e-02 8.59759105e-01 -2.96262202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.148241008 meters Centerline goodness [0,1] 0.8772963118777171 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.12, Z:-29.63 [[ 8.37025827e-01 2.17270584e-01 -5.02176521e-01 -3.02537075e+01] [-1.97641383e-01 9.75872787e-01 9.27910929e-02 -4.51180530e+01] [ 5.10221176e-01 2.15823210e-02 8.59772386e-01 -2.96269758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.17824100800001 meters Centerline goodness [0,1] 0.8797047554654045 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.12, Z:-29.63 [[ 8.37875459e-01 2.11925852e-01 -5.03042889e-01 -3.02531116e+01] [-1.94048916e-01 9.77001803e-01 8.83883175e-02 -4.51166427e+01] [ 5.10205579e-01 2.35565252e-02 8.59729817e-01 -2.96279022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.20824100800002 meters Centerline goodness [0,1] 0.8778201327121277 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.12, Z:-29.63 [[ 8.37716044e-01 2.11506668e-01 -5.03484617e-01 -3.02515698e+01] [-1.93548410e-01 9.77097161e-01 8.84316123e-02 -4.51175102e+01] [ 5.10657266e-01 2.33680667e-02 8.59466748e-01 -2.96273209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.23824100800002 meters Centerline goodness [0,1] 0.8799819479310637 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.12, Z:-29.63 [[ 8.37572896e-01 2.10926982e-01 -5.03965725e-01 -3.02495881e+01] [-1.92978959e-01 9.77223711e-01 8.82776344e-02 -4.51180340e+01] [ 5.11107391e-01 2.33158271e-02 8.59200563e-01 -2.96269775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.268241008 meters Centerline goodness [0,1] 0.8817365269461078 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.12, Z:-29.63 [[ 8.37454677e-01 2.10430337e-01 -5.04369643e-01 -3.02476981e+01] [-1.92475028e-01 9.77332619e-01 8.81720801e-02 -4.51185404e+01] [ 5.11490985e-01 2.32384402e-02 8.58974358e-01 -2.96267452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.298241008 meters Centerline goodness [0,1] 0.8866640307275192 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.12, Z:-29.63 [[ 8.37360969e-01 2.09067833e-01 -5.05091326e-01 -3.02434148e+01] [-1.91304111e-01 9.77622293e-01 8.75065095e-02 -4.51190306e+01] [ 5.12083337e-01 2.33515113e-02 8.58618287e-01 -2.96269693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.328241008 meters Centerline goodness [0,1] 0.8864131203166973 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.12, Z:-29.63 [[ 8.37229747e-01 2.08558471e-01 -5.05519253e-01 -3.02417472e+01] [-1.90729476e-01 9.77735553e-01 8.74954634e-02 -4.51197120e+01] [ 5.12512066e-01 2.31636172e-02 8.58367537e-01 -2.96264289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.358241008 meters Centerline goodness [0,1] 0.8874061481796288 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.12, Z:-29.63 [[ 8.37073655e-01 2.08175097e-01 -5.05935594e-01 -3.02406444e+01] [-1.90225678e-01 9.77823343e-01 8.76110847e-02 -4.51209907e+01] [ 5.12954080e-01 2.29050106e-02 8.58110408e-01 -2.96256609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.388241008 meters Centerline goodness [0,1] 0.8851829736415593 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.12, Z:-29.63 [[ 8.37894827e-01 2.03282599e-01 -5.06565341e-01 -3.02415357e+01] [-1.86936384e-01 9.78809542e-01 8.35862907e-02 -4.51193842e+01] [ 5.12822628e-01 2.46589728e-02 8.58140366e-01 -2.96261078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.418241008 meters Centerline goodness [0,1] 0.8885444513963938 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.12, Z:-29.63 [[ 8.38630740e-01 1.98693828e-01 -5.07167866e-01 -3.02427139e+01] [-1.83946044e-01 9.79703528e-01 7.96545670e-02 -4.51176103e+01] [ 5.12701018e-01 2.64907542e-02 8.58158439e-01 -2.96266143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.448241008 meters Centerline goodness [0,1] 0.8857224037505328 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.12, Z:-29.63 [[ 8.38526272e-01 1.98788196e-01 -5.07303601e-01 -3.02425894e+01] [-1.83989644e-01 9.79685600e-01 7.97742847e-02 -4.51168358e+01] [ 5.12856219e-01 2.64457756e-02 8.58067083e-01 -2.96260951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.478241008 meters Centerline goodness [0,1] 0.8854193328214316 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.12, Z:-29.63 [[ 8.38502608e-01 1.98888085e-01 -5.07303564e-01 -3.02425083e+01] [-1.84202972e-01 9.79658663e-01 7.96126148e-02 -4.51150840e+01] [ 5.12818332e-01 2.66914389e-02 8.58082121e-01 -2.96261713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.508241008 meters Centerline goodness [0,1] 0.8778090286655871 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.11, Z:-29.63 [[ 8.38527054e-01 1.99141796e-01 -5.07163608e-01 -3.02427667e+01] [-1.84598596e-01 9.79598368e-01 7.94379974e-02 -4.51130369e+01] [ 5.12636069e-01 2.70107801e-02 8.58181029e-01 -2.96264919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.538241008 meters Centerline goodness [0,1] 0.876030707989764 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.11, Z:-29.63 [[ 8.38469623e-01 1.99443505e-01 -5.07140001e-01 -3.02431349e+01] [-1.85008596e-01 9.79528943e-01 7.93402162e-02 -4.51110404e+01] [ 5.12582199e-01 2.73008985e-02 8.58204026e-01 -2.96264902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.568241008 meters Centerline goodness [0,1] 0.8712442709217451 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.11, Z:-29.63 [[ 8.38274753e-01 2.00755472e-01 -5.06944454e-01 -3.02445246e+01] [-1.86411991e-01 9.79246272e-01 7.95443792e-02 -4.51078453e+01] [ 5.12392436e-01 2.78204803e-02 8.58300654e-01 -2.96267420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.598241008 meters Centerline goodness [0,1] 0.8666477675407512 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.11, Z:-29.63 [[ 8.38204882e-01 2.01479688e-01 -5.06772643e-01 -3.02461524e+01] [-1.87038789e-01 9.79097734e-01 7.99006817e-02 -4.51067140e+01] [ 5.12278311e-01 2.78129999e-02 8.58369017e-01 -2.96262643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.628241008 meters Centerline goodness [0,1] 0.8662249030102229 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.11, Z:-29.63 [[ 8.38197191e-01 2.02425025e-01 -5.06408509e-01 -3.02484063e+01] [-1.87832307e-01 9.78905073e-01 8.03982767e-02 -4.51060386e+01] [ 5.12000481e-01 2.77302689e-02 8.58537442e-01 -2.96259228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.658241008 meters Centerline goodness [0,1] 0.8646867486918399 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.11, Z:-29.63 [[ 8.38185826e-01 2.03061818e-01 -5.06172322e-01 -3.02500729e+01] [-1.88347664e-01 9.78775751e-01 8.07662510e-02 -4.51051618e+01] [ 5.11829737e-01 2.76392476e-02 8.58642180e-01 -2.96254609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.688241008 meters Centerline goodness [0,1] 0.8624301281689346 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.10, Z:-29.63 [[ 8.38169020e-01 2.03428990e-01 -5.06052705e-01 -3.02508207e+01] [-1.88787226e-01 9.78693185e-01 8.07405273e-02 -4.51033433e+01] [ 5.11695297e-01 2.78620774e-02 8.58715103e-01 -2.96254600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.718241008 meters Centerline goodness [0,1] 0.8582007292049405 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.10, Z:-29.63 [[ 8.38108994e-01 2.03273793e-01 -5.06214459e-01 -3.02502107e+01] [-1.88669658e-01 9.78723814e-01 8.06440114e-02 -4.51029692e+01] [ 5.11836960e-01 2.79188376e-02 8.58628828e-01 -2.96253006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.748241008 meters Centerline goodness [0,1] 0.8581796616870464 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.10, Z:-29.63 [[ 8.38032416e-01 2.03017301e-01 -5.06444118e-01 -3.02492500e+01] [-1.88498090e-01 9.78773328e-01 8.04440372e-02 -4.51028209e+01] [ 5.12025526e-01 2.80490383e-02 8.58512150e-01 -2.96253038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.778241008 meters Centerline goodness [0,1] 0.8553375551283501 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.10, Z:-29.63 [[ 8.37980694e-01 2.02274138e-01 -5.06826922e-01 -3.02469120e+01] [-1.87977167e-01 9.78919139e-01 7.98868143e-02 -4.51015943e+01] [ 5.12301611e-01 2.83282810e-02 8.58338260e-01 -2.96255254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.808241008 meters Centerline goodness [0,1] 0.8577288672626457 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.10, Z:-29.63 [[ 8.37821178e-01 2.01615377e-01 -5.07352849e-01 -3.02444771e+01] [-1.87443113e-01 9.79050889e-01 7.95263182e-02 -4.51013966e+01] [ 5.12757987e-01 2.84709639e-02 8.58060983e-01 -2.96254332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.838241008 meters Centerline goodness [0,1] 0.8560201997276441 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.10, Z:-29.63 [[ 8.37704028e-01 2.00735730e-01 -5.07894800e-01 -3.02415991e+01] [-1.86777068e-01 9.79224314e-01 7.89561256e-02 -4.51011108e+01] [ 5.13192253e-01 2.87212371e-02 8.57792983e-01 -2.96255924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.868241008 meters Centerline goodness [0,1] 0.858078231292517 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.10, Z:-29.63 [[ 8.37546984e-01 1.99716385e-01 -5.08555223e-01 -3.02381639e+01] [-1.86029938e-01 9.79422649e-01 7.82568635e-02 -4.51010270e+01] [ 5.13719682e-01 2.90626969e-02 8.57465713e-01 -2.96258819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.898241008 meters Centerline goodness [0,1] 0.8585208091009674 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.10, Z:-29.63 [[ 8.37336231e-01 1.98858425e-01 -5.09238023e-01 -3.02348887e+01] [-1.85442661e-01 9.79585628e-01 7.76081017e-02 -4.51007945e+01] [ 5.14275273e-01 2.94503789e-02 8.57119373e-01 -2.96261656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.92824100800001 meters Centerline goodness [0,1] 0.8613557588499346 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.10, Z:-29.63 [[ 8.37243790e-01 1.98704162e-01 -5.09450186e-01 -3.02341685e+01] [-1.85276932e-01 9.79617809e-01 7.75977239e-02 -4.51011263e+01] [ 5.14485466e-01 2.94211549e-02 8.56994225e-01 -2.96259401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.95824100800002 meters Centerline goodness [0,1] 0.8538693353044863 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.10, Z:-29.63 [[ 8.37113116e-01 1.98440449e-01 -5.09767614e-01 -3.02331885e+01] [-1.84972450e-01 9.79674210e-01 7.76120831e-02 -4.51015551e+01] [ 5.14807561e-01 2.93228716e-02 8.56804146e-01 -2.96254898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.98824100800002 meters Centerline goodness [0,1] 0.8574140715763225 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.10, Z:-29.62 [[ 8.36989320e-01 1.98263886e-01 -5.10039517e-01 -3.02324504e+01] [-1.84645961e-01 9.79718552e-01 7.78294797e-02 -4.51022489e+01] [ 5.15125953e-01 2.90342933e-02 8.56622591e-01 -2.96247717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.018241008 meters Centerline goodness [0,1] 0.8544869604828607 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.10, Z:-29.62 [[ 8.37921457e-01 1.93636134e-01 -5.10286860e-01 -3.02346760e+01] [-1.81424125e-01 9.80602041e-01 7.41951718e-02 -4.51012077e+01] [ 5.14755203e-01 3.04086208e-02 8.56797757e-01 -2.96249795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.048241008 meters Centerline goodness [0,1] 0.8545822987127893 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.10, Z:-29.63 [[ 8.38725651e-01 1.88728657e-01 -5.10804050e-01 -3.02357239e+01] [-1.78113140e-01 9.81503962e-01 7.01832040e-02 -4.50993689e+01] [ 5.14601780e-01 3.21164599e-02 8.56827603e-01 -2.96254137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.078241008 meters Centerline goodness [0,1] 0.8522960932145305 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.10, Z:-29.62 [[ 8.38683555e-01 1.88829334e-01 -5.10835959e-01 -3.02360806e+01] [-1.77909435e-01 9.81502321e-01 7.07207691e-02 -4.51003105e+01] [ 5.14740835e-01 3.15701909e-02 8.56764376e-01 -2.96244542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.108241008 meters Centerline goodness [0,1] 0.8508636907815974 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.10, Z:-29.62 [[ 8.38701487e-01 1.87861509e-01 -5.11163251e-01 -3.02339764e+01] [-1.77009573e-01 9.81691162e-01 7.03567602e-02 -4.50998445e+01] [ 5.15021773e-01 3.14724695e-02 8.56599123e-01 -2.96242108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.138241008 meters Centerline goodness [0,1] 0.8508594395826801 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.10, Z:-29.62 [[ 8.38567317e-01 1.87562709e-01 -5.11492996e-01 -3.02328871e+01] [-1.76656148e-01 9.81752702e-01 7.03863482e-02 -4.50997263e+01] [ 5.15361485e-01 3.13346912e-02 8.56399835e-01 -2.96236191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.168241008 meters Centerline goodness [0,1] 0.8530729924923639 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.10, Z:-29.62 [[ 8.38425004e-01 1.87641149e-01 -5.11697480e-01 -3.02326683e+01] [-1.76602098e-01 9.81743977e-01 7.06432110e-02 -4.51004389e+01] [ 5.15611493e-01 3.11378142e-02 8.56256518e-01 -2.96230371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.198241008 meters Centerline goodness [0,1] 0.8548248871622007 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.10, Z:-29.62 [[ 8.38295504e-01 1.87813417e-01 -5.11846431e-01 -3.02327119e+01] [-1.76635321e-01 9.81717071e-01 7.09334687e-02 -4.51010986e+01] [ 5.15810636e-01 3.09469505e-02 8.56143489e-01 -2.96224925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.228241008 meters Centerline goodness [0,1] 0.8580983009363349 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.10, Z:-29.62 [[ 8.38231497e-01 1.87812351e-01 -5.11951637e-01 -3.02322727e+01] [-1.76637110e-01 9.81716579e-01 7.09358215e-02 -4.51005372e+01] [ 5.15914033e-01 3.09690178e-02 8.56080388e-01 -2.96222992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.258241008 meters Centerline goodness [0,1] 0.8588432475427532 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.10, Z:-29.62 [[ 8.38154296e-01 1.87317498e-01 -5.12259242e-01 -3.02305311e+01] [-1.76375543e-01 9.81800024e-01 7.04299740e-02 -4.50990976e+01] [ 5.16128903e-01 3.13188166e-02 8.55938133e-01 -2.96225143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.288241008 meters Centerline goodness [0,1] 0.8604973940629956 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.10, Z:-29.62 [[ 8.38102207e-01 1.86715982e-01 -5.12563979e-01 -3.02286009e+01] [-1.76047447e-01 9.81901942e-01 6.98274412e-02 -4.50976253e+01] [ 5.16325466e-01 3.17130476e-02 8.55805057e-01 -2.96228609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.318241008 meters Centerline goodness [0,1] 0.8650789144998297 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.10, Z:-29.62 [[ 8.38007833e-01 1.86418143e-01 -5.12826625e-01 -3.02273656e+01] [-1.75862801e-01 9.81953013e-01 6.95741016e-02 -4.50967953e+01] [ 5.16541525e-01 3.18834849e-02 8.55668333e-01 -2.96228182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.348241008 meters Centerline goodness [0,1] 0.8624481445700971 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.10, Z:-29.62 [[ 8.37766982e-01 1.86082358e-01 -5.13341836e-01 -3.02264111e+01] [-1.75489853e-01 9.82019511e-01 6.95772280e-02 -4.50969145e+01] [ 5.17058794e-01 3.17967789e-02 8.55359088e-01 -2.96218623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.378241008 meters Centerline goodness [0,1] 0.8679041473606413 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.10, Z:-29.62 [[ 8.37616787e-01 1.85903945e-01 -5.13651479e-01 -3.02259194e+01] [-1.75226463e-01 9.82058607e-01 6.96891644e-02 -4.50971335e+01] [ 5.17391346e-01 3.16325178e-02 8.55164065e-01 -2.96210917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.408241008 meters Centerline goodness [0,1] 0.8705138025931285 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.10, Z:-29.62 [[ 8.37523027e-01 1.85856312e-01 -5.13821574e-01 -3.02256468e+01] [-1.75075516e-01 9.82073500e-01 6.98584585e-02 -4.50970023e+01] [ 5.17594187e-01 3.14495096e-02 8.55048061e-01 -2.96204619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.438241008 meters Centerline goodness [0,1] 0.8694447585660975 Centerline is valid? [False, False] Translation: X:-30.22, Y:-45.10, Z:-29.62 [[ 8.37423653e-01 1.85420341e-01 -5.14140956e-01 -3.02244603e+01] [-1.74660736e-01 9.82157059e-01 6.97218633e-02 -4.50963868e+01] [ 5.17895021e-01 3.14135004e-02 8.54867206e-01 -2.96199705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.468241008 meters Centerline goodness [0,1] 0.8728250106097044 Centerline is valid? [False, False] Translation: X:-30.22, Y:-45.10, Z:-29.62 [[ 8.37423617e-01 1.85391432e-01 -5.14151440e-01 -3.02243803e+01] [-1.74633957e-01 9.82162603e-01 6.97108445e-02 -4.50953780e+01] [ 5.17904110e-01 3.14107931e-02 8.54861799e-01 -2.96197433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.498241008 meters Centerline goodness [0,1] 0.8717441104103623 Centerline is valid? [False, False] Translation: X:-30.22, Y:-45.09, Z:-29.62 [[ 8.37368102e-01 1.85464218e-01 -5.14215603e-01 -3.02246217e+01] [-1.74639434e-01 9.82151938e-01 6.98472570e-02 -4.50943818e+01] [ 5.17992017e-01 3.13144568e-02 8.54812070e-01 -2.96191598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.528241008 meters Centerline goodness [0,1] 0.8751832224602548 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.09, Z:-29.62 [[ 8.37282915e-01 1.86211160e-01 -5.14084355e-01 -3.02269042e+01] [-1.75039289e-01 9.82025209e-01 7.06239104e-02 -4.50937948e+01] [ 5.17994757e-01 3.08527666e-02 8.54827198e-01 -2.96176776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.558241008 meters Centerline goodness [0,1] 0.8750211828503643 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.09, Z:-29.62 [[ 8.37155928e-01 1.86621716e-01 -5.14142283e-01 -3.02278770e+01] [-1.75223985e-01 9.81956630e-01 7.11177329e-02 -4.50938436e+01] [ 5.18137537e-01 3.05534281e-02 8.54751415e-01 -2.96167069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.588241008 meters Centerline goodness [0,1] 0.8782765215434807 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.09, Z:-29.62 [[ 8.37069916e-01 1.86850933e-01 -5.14199071e-01 -3.02283437e+01] [-1.75515727e-01 9.81906972e-01 7.10839454e-02 -4.50915975e+01] [ 5.18177755e-01 3.07477919e-02 8.54720064e-01 -2.96162424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.618241008 meters Centerline goodness [0,1] 0.8754797321903801 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.09, Z:-29.62 [[ 8.37016353e-01 1.86796839e-01 -5.14305907e-01 -3.02279102e+01] [-1.75579271e-01 9.81910215e-01 7.08819442e-02 -4.50898096e+01] [ 5.18242747e-01 3.09721100e-02 8.54672559e-01 -2.96161734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.648241008 meters Centerline goodness [0,1] 0.8722848964472133 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.09, Z:-29.62 [[ 8.37006055e-01 1.87275503e-01 -5.14148568e-01 -3.02290014e+01] [-1.76022251e-01 9.81817566e-01 7.10664032e-02 -4.50885284e+01] [ 5.18109093e-01 3.10185784e-02 8.54751903e-01 -2.96159280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.67824100800001 meters Centerline goodness [0,1] 0.869129390741051 Centerline is valid? [False, False] Translation: X:-30.23, Y:-45.09, Z:-29.62 [[ 8.36937092e-01 1.87608703e-01 -5.14139357e-01 -3.02295881e+01] [-1.76354410e-01 9.81750991e-01 7.11625811e-02 -4.50874119e+01] [ 5.18107544e-01 3.11121393e-02 8.54749442e-01 -2.96156449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.70824100800002 meters Centerline goodness [0,1] 0.8699594235343501 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.08, Z:-29.63 [[ 8.40457112e-01 1.88024749e-01 -5.08211114e-01 -3.02460597e+01] [-1.74355200e-01 9.81829284e-01 7.49100833e-02 -4.50809035e+01] [ 5.13061504e-01 2.56505379e-02 8.57968498e-01 -2.96273273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.73824100800002 meters Centerline goodness [0,1] 0.8717404063836329 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.08, Z:-29.63 [[ 8.40374959e-01 1.87927782e-01 -5.08382805e-01 -3.02454688e+01] [-1.74327070e-01 9.81844366e-01 7.47777645e-02 -4.50796777e+01] [ 5.13205612e-01 2.57835240e-02 8.57878319e-01 -2.96271176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.768241008 meters Centerline goodness [0,1] 0.8718141975825586 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.08, Z:-29.63 [[ 8.40325875e-01 1.87995139e-01 -5.08439034e-01 -3.02454228e+01] [-1.74397174e-01 9.81830571e-01 7.47954319e-02 -4.50788659e+01] [ 5.13262164e-01 2.58177937e-02 8.57843454e-01 -2.96269039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.798241008 meters Centerline goodness [0,1] 0.8715422191207257 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.08, Z:-29.63 [[ 8.40280720e-01 1.88065789e-01 -5.08487532e-01 -3.02456369e+01] [-1.74393425e-01 9.81820022e-01 7.49424948e-02 -4.50783068e+01] [ 5.13337359e-01 2.57041488e-02 8.57801872e-01 -2.96264046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.828241008 meters Centerline goodness [0,1] 0.8715422191207257 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.08, Z:-29.63 [[ 8.40280720e-01 1.88065789e-01 -5.08487532e-01 -3.02456369e+01] [-1.74393425e-01 9.81820022e-01 7.49424948e-02 -4.50783068e+01] [ 5.13337359e-01 2.57041488e-02 8.57801872e-01 -2.96264046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.858241008 meters Centerline goodness [0,1] 0.8719461294451556 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.08, Z:-29.63 [[ 8.41064604e-01 1.83773447e-01 -5.08760898e-01 -3.02481777e+01] [-1.71494651e-01 9.82592783e-01 7.14213327e-02 -4.50757927e+01] [ 5.13030131e-01 2.71798179e-02 8.57940174e-01 -2.96263203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.888241008 meters Centerline goodness [0,1] 0.8691867763983819 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.07, Z:-29.63 [[ 8.41852259e-01 1.78863888e-01 -5.09207701e-01 -3.02492003e+01] [-1.68226716e-01 9.83446730e-01 6.73223609e-02 -4.50737014e+01] [ 5.12820188e-01 2.89868578e-02 8.58006536e-01 -2.96269193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.918241008 meters Centerline goodness [0,1] 0.8756732620768566 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.07, Z:-29.63 [[ 8.42604546e-01 1.73717529e-01 -5.09744836e-01 -3.02496175e+01] [-1.64768724e-01 9.84312700e-01 6.30854734e-02 -4.50711503e+01] [ 5.12707369e-01 3.08338996e-02 8.58009571e-01 -2.96274589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.948241008 meters Centerline goodness [0,1] 0.8781443700141758 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.07, Z:-29.63 [[ 8.42535059e-01 1.72807097e-01 -5.10168973e-01 -3.02479310e+01] [-1.63890252e-01 9.84477255e-01 6.28054144e-02 -4.50700748e+01] [ 5.13102972e-01 3.06959579e-02 8.57778001e-01 -2.96266634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.978241008 meters Centerline goodness [0,1] 0.8728933559152623 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.07, Z:-29.63 [[ 8.42483283e-01 1.72655700e-01 -5.10305720e-01 -3.02473661e+01] [-1.63664221e-01 9.84509007e-01 6.28970453e-02 -4.50702166e+01] [ 5.13260111e-01 3.05290790e-02 8.57689941e-01 -2.96263028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.008241008 meters Centerline goodness [0,1] 0.8744367176634215 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.07, Z:-29.63 [[ 8.42332017e-01 1.72720884e-01 -5.10533318e-01 -3.02474426e+01] [-1.63471558e-01 9.84511214e-01 6.33618187e-02 -4.50714139e+01] [ 5.13569686e-01 3.00859885e-02 8.57520269e-01 -2.96252703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.038241008 meters Centerline goodness [0,1] 0.8771787935410101 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.07, Z:-29.62 [[ 8.42226199e-01 1.72811474e-01 -5.10677221e-01 -3.02475431e+01] [-1.63373005e-01 9.84504916e-01 6.37128874e-02 -4.50724377e+01] [ 5.13774553e-01 2.97702092e-02 8.57408563e-01 -2.96246049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.068241008 meters Centerline goodness [0,1] 0.8776606104448959 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.07, Z:-29.62 [[ 8.42216518e-01 1.72147318e-01 -5.10917447e-01 -3.02459390e+01] [-1.62871469e-01 9.84616532e-01 6.32706008e-02 -4.50711417e+01] [ 5.13949629e-01 2.99263300e-02 8.57298194e-01 -2.96245884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.098241008 meters Centerline goodness [0,1] 0.8755092425796082 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.07, Z:-29.62 [[ 8.42162187e-01 1.72015604e-01 -5.11051351e-01 -3.02453703e+01] [-1.62799546e-01 9.84636627e-01 6.31428574e-02 -4.50699496e+01] [ 5.14061435e-01 3.00224011e-02 8.57227797e-01 -2.96244164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.128241008 meters Centerline goodness [0,1] 0.8702954381686159 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.07, Z:-29.62 [[ 8.42105238e-01 1.71941562e-01 -5.11170096e-01 -3.02448034e+01] [-1.62780672e-01 9.84646460e-01 6.30381035e-02 -4.50691452e+01] [ 5.14160696e-01 3.01238946e-02 8.57164704e-01 -2.96243364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.158241008 meters Centerline goodness [0,1] 0.8716947697760058 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.07, Z:-29.62 [[ 8.42053126e-01 1.72044070e-01 -5.11221450e-01 -3.02447693e+01] [-1.62878419e-01 9.84627709e-01 6.30784889e-02 -4.50687314e+01] [ 5.14215085e-01 3.01515027e-02 8.57131106e-01 -2.96241527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.188241008 meters Centerline goodness [0,1] 0.8722584222930819 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.07, Z:-29.62 [[ 8.41979493e-01 1.72313372e-01 -5.11252028e-01 -3.02450625e+01] [-1.63051332e-01 9.84583765e-01 6.33172474e-02 -4.50688372e+01] [ 5.14280854e-01 3.00485000e-02 8.57095263e-01 -2.96238257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.218241008 meters Centerline goodness [0,1] 0.8682464192888348 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.07, Z:-29.62 [[ 8.41906681e-01 1.72268764e-01 -5.11386951e-01 -3.02446952e+01] [-1.63059802e-01 9.84588261e-01 6.32254423e-02 -4.50675333e+01] [ 5.14397358e-01 3.01567329e-02 8.57021546e-01 -2.96235704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.248241008 meters Centerline goodness [0,1] 0.8723509524202193 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.07, Z:-29.62 [[ 8.41870205e-01 1.72146750e-01 -5.11488078e-01 -3.02441075e+01] [-1.62983565e-01 9.84607542e-01 6.31216689e-02 -4.50663204e+01] [ 5.14481209e-01 3.02238982e-02 8.56968845e-01 -2.96234202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.278241008 meters Centerline goodness [0,1] 0.870421914184143 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.07, Z:-29.62 [[ 8.41861297e-01 1.72039128e-01 -5.11538948e-01 -3.02435946e+01] [-1.62937847e-01 9.84623435e-01 6.29916645e-02 -4.50654682e+01] [ 5.14510267e-01 3.03188105e-02 8.56948047e-01 -2.96234554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.308241008 meters Centerline goodness [0,1] 0.8697524219590957 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.06, Z:-29.62 [[ 8.41769111e-01 1.71989005e-01 -5.11707481e-01 -3.02435602e+01] [-1.62823868e-01 9.84635646e-01 6.30954275e-02 -4.50649600e+01] [ 5.14697146e-01 3.02064094e-02 8.56839787e-01 -2.96227905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.338241008 meters Centerline goodness [0,1] 0.8660655195234943 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.07, Z:-29.62 [[ 8.41699192e-01 1.72301377e-01 -5.11717407e-01 -3.02443992e+01] [-1.62871483e-01 9.84593688e-01 6.36250631e-02 -4.50658423e+01] [ 5.14796416e-01 2.97910087e-02 8.56794693e-01 -2.96219347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.368241008 meters Centerline goodness [0,1] 0.8735708551338482 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.07, Z:-29.62 [[ 8.42432995e-01 1.67026670e-01 -5.12258470e-01 -3.02454306e+01] [-1.59041388e-01 9.85461132e-01 5.97678329e-02 -4.50656759e+01] [ 5.14793634e-01 3.11199038e-02 8.56749126e-01 -2.96217436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.398241008 meters Centerline goodness [0,1] 0.8793289893248302 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.07, Z:-29.62 [[ 8.42410568e-01 1.66412142e-01 -5.12495301e-01 -3.02442927e+01] [-1.58352116e-01 9.85574104e-01 5.97351845e-02 -4.50662743e+01] [ 5.15042757e-01 3.08331648e-02 8.56609756e-01 -2.96212360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.42824100800001 meters Centerline goodness [0,1] 0.883895960154953 Centerline is valid? [False, False] Translation: X:-30.24, Y:-45.07, Z:-29.62 [[ 8.42257208e-01 1.65731853e-01 -5.12967591e-01 -3.02423675e+01] [-1.57629476e-01 9.85695330e-01 5.96461693e-02 -4.50667346e+01] [ 5.15515029e-01 3.06213964e-02 8.56333221e-01 -2.96206910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.45824100800002 meters Centerline goodness [0,1] 0.889987262557457 Centerline is valid? [False, False] Translation: X:-30.26, Y:-45.07, Z:-29.62 [[ 8.40350981e-01 1.66408601e-01 -5.15866655e-01 -3.02569515e+01] [-1.53297441e-01 9.85818096e-01 6.82830637e-02 -4.50662476e+01] [ 5.19913573e-01 2.16992984e-02 8.53943217e-01 -2.96225878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.48824100800002 meters Centerline goodness [0,1] 0.8890059614584778 Centerline is valid? [False, False] Translation: X:-30.26, Y:-45.07, Z:-29.62 [[ 8.40229338e-01 1.66008406e-01 -5.16193635e-01 -3.02559111e+01] [-1.52820216e-01 9.85890208e-01 6.83116384e-02 -4.50669080e+01] [ 5.20250556e-01 2.14873799e-02 8.53743317e-01 -2.96219911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.518241008 meters Centerline goodness [0,1] 0.8969238023910571 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.07, Z:-29.62 [[ 8.40057365e-01 1.65655149e-01 -5.16586871e-01 -3.02547356e+01] [-1.52378824e-01 9.85954160e-01 6.83746175e-02 -4.50674591e+01] [ 5.20657582e-01 2.12782989e-02 8.53500390e-01 -2.96213485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.548241008 meters Centerline goodness [0,1] 0.8899847624324699 Centerline is valid? [False, False] Translation: X:-30.26, Y:-45.06, Z:-29.63 [[ 8.43981221e-01 1.61873246e-01 -5.11363619e-01 -3.02555823e+01] [-1.48181616e-01 9.86636429e-01 6.77551922e-02 -4.50639944e+01] [ 5.15497728e-01 1.85905774e-02 8.56689257e-01 -2.96287218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.578241008 meters Centerline goodness [0,1] 0.8939201150697057 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.06, Z:-29.63 [[ 8.43801705e-01 1.60991138e-01 -5.11938020e-01 -3.02534003e+01] [-1.47297340e-01 9.86783928e-01 6.75349742e-02 -4.50644167e+01] [ 5.16044743e-01 1.84209822e-02 8.56363527e-01 -2.96280623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.608241008 meters Centerline goodness [0,1] 0.8908217362491716 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.06, Z:-29.63 [[ 8.44491065e-01 1.55049631e-01 -5.12634815e-01 -3.02523246e+01] [-1.43215252e-01 9.87696535e-01 6.28088101e-02 -4.50622719e+01] [ 5.16066113e-01 2.03756452e-02 8.56306370e-01 -2.96288306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.638241008 meters Centerline goodness [0,1] 0.8875921716471697 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.06, Z:-29.63 [[ 8.45254673e-01 1.50008379e-01 -5.12876227e-01 -3.02528302e+01] [-1.39673023e-01 9.88443524e-01 5.89138949e-02 -4.50601646e+01] [ 5.15786763e-01 2.18377278e-02 8.56438631e-01 -2.96292771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.668241008 meters Centerline goodness [0,1] 0.8849784696919509 Centerline is valid? [False, False] Translation: X:-30.26, Y:-45.06, Z:-29.64 [[ 8.49231724e-01 1.44345008e-01 -5.07907470e-01 -3.02558894e+01] [-1.34250765e-01 9.89324419e-01 5.66914920e-02 -4.50553293e+01] [ 5.10668397e-01 2.00427531e-02 8.59544110e-01 -2.96357171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.698241008 meters Centerline goodness [0,1] 0.8474287441937168 Centerline is valid? [False, False] Translation: X:-30.26, Y:-45.05, Z:-29.64 [[ 8.49136562e-01 1.43861583e-01 -5.08203644e-01 -3.02550279e+01] [-1.33768009e-01 9.89396786e-01 5.65696085e-02 -4.50546141e+01] [ 5.10953245e-01 1.99460664e-02 8.59377063e-01 -2.96350853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.728241008 meters Centerline goodness [0,1] 0.8717442561824862 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.05, Z:-29.63 [[ 8.49028356e-01 1.43395119e-01 -5.08516165e-01 -3.02541073e+01] [-1.33332183e-01 9.89465142e-01 5.64026671e-02 -4.50538204e+01] [ 5.11246887e-01 1.99141067e-02 8.59203148e-01 -2.96344864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.758241008 meters Centerline goodness [0,1] 0.8668089998357694 Centerline is valid? [False, False] Translation: X:-30.25, Y:-45.05, Z:-29.63 [[ 8.48919899e-01 1.43058312e-01 -5.08792024e-01 -3.02534639e+01] [-1.33020541e-01 9.89514114e-01 5.62792518e-02 -4.50532141e+01] [ 5.11508104e-01 1.99032134e-02 8.59047916e-01 -2.96339461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.788241008 meters Centerline goodness [0,1] 0.8663750683433571 Centerline is valid? [False, False] Translation: X:-30.26, Y:-45.05, Z:-29.64 [[ 8.53026101e-01 1.41876363e-01 -5.02212673e-01 -3.02596120e+01] [-1.30552626e-01 9.89751655e-01 5.78590878e-02 -4.50477485e+01] [ 5.05274661e-01 1.62098714e-02 8.62806327e-01 -2.96415135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.818241008 meters Centerline goodness [0,1] 0.8553726851224208 Centerline is valid? [False, False] Translation: X:-30.26, Y:-45.05, Z:-29.64 [[ 8.52979793e-01 1.41634315e-01 -5.02359626e-01 -3.02588590e+01] [-1.30499585e-01 9.89780990e-01 5.74756452e-02 -4.50452880e+01] [ 5.05366531e-01 1.65321587e-02 8.62746404e-01 -2.96415015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.848241008 meters Centerline goodness [0,1] 0.8489066145748548 Centerline is valid? [False, False] Translation: X:-30.26, Y:-45.04, Z:-29.64 [[ 8.52901801e-01 1.41315898e-01 -5.02581671e-01 -3.02579007e+01] [-1.30434652e-01 9.89819108e-01 5.69643269e-02 -4.50426485e+01] [ 5.05514906e-01 1.69690884e-02 8.62650990e-01 -2.96415829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.878241008 meters Centerline goodness [0,1] 0.856366438633967 Centerline is valid? [False, False] Translation: X:-30.28, Y:-45.04, Z:-29.65 [[ 8.51401802e-01 1.46328975e-01 -5.03689192e-01 -3.02776049e+01] [-1.31544088e-01 9.89175909e-01 6.50167275e-02 -4.50374225e+01] [ 5.07751045e-01 1.09019765e-02 8.61434863e-01 -2.96491926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.908241008 meters Centerline goodness [0,1] 0.8722958265029158 Centerline is valid? [False, False] Translation: X:-30.28, Y:-45.04, Z:-29.65 [[ 8.51358278e-01 1.46628698e-01 -5.03675597e-01 -3.02778665e+01] [-1.32015880e-01 9.89126835e-01 6.48067288e-02 -4.50350205e+01] [ 5.07701576e-01 1.13194320e-02 8.61458635e-01 -2.96493170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.938241008 meters Centerline goodness [0,1] 0.8729604980678403 Centerline is valid? [False, False] Translation: X:-30.28, Y:-45.03, Z:-29.65 [[ 8.51312169e-01 1.46802954e-01 -5.03702773e-01 -3.02781076e+01] [-1.32396957e-01 9.89095664e-01 6.45043588e-02 -4.50321547e+01] [ 5.07679660e-01 1.17753689e-02 8.61465440e-01 -2.96493356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.968241008 meters Centerline goodness [0,1] 0.8852244505567869 Centerline is valid? [False, False] Translation: X:-30.28, Y:-45.03, Z:-29.65 [[ 8.51256387e-01 1.47302916e-01 -5.03651084e-01 -3.02788146e+01] [-1.33031556e-01 9.89016546e-01 6.44117729e-02 -4.50293252e+01] [ 5.07607298e-01 1.21705542e-02 8.61502588e-01 -2.96493155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.998241008 meters Centerline goodness [0,1] 0.8863419546321815 Centerline is valid? [False, False] Translation: X:-30.30, Y:-45.02, Z:-29.66 [[ 8.54546039e-01 1.51164493e-01 -4.96890696e-01 -3.02969281e+01] [-1.33764591e-01 9.88489965e-01 7.06726518e-02 -4.50207738e+01] [ 5.01854662e-01 6.07334613e-03 8.64930641e-01 -2.96597165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.028241008 meters Centerline goodness [0,1] 0.8915716698332278 Centerline is valid? [False, False] Translation: X:-30.30, Y:-45.02, Z:-29.66 [[ 8.54545088e-01 1.51677986e-01 -4.96735826e-01 -3.02980985e+01] [-1.34376116e-01 9.88409343e-01 7.06401407e-02 -4.50178209e+01] [ 5.01692885e-01 6.38424569e-03 8.65022248e-01 -2.96595547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.058241008 meters Centerline goodness [0,1] 0.8918641660309862 Centerline is valid? [False, False] Translation: X:-30.30, Y:-45.02, Z:-29.66 [[ 8.54579407e-01 1.52242536e-01 -4.96504026e-01 -3.02994091e+01] [-1.35054076e-01 9.88320270e-01 7.05934892e-02 -4.50151268e+01] [ 5.01452325e-01 6.72715062e-03 8.65159125e-01 -2.96595698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.088241008 meters Centerline goodness [0,1] 0.8894334084595629 Centerline is valid? [False, False] Translation: X:-30.30, Y:-45.01, Z:-29.66 [[ 8.54624485e-01 1.52922046e-01 -4.96217531e-01 -3.03008434e+01] [-1.35813907e-01 9.88213265e-01 7.06337482e-02 -4.50123192e+01] [ 5.01170203e-01 7.02791098e-03 8.65320193e-01 -2.96595979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.118241008 meters Centerline goodness [0,1] 0.8923735225819918 Centerline is valid? [False, False] Translation: X:-30.30, Y:-45.01, Z:-29.66 [[ 8.54416786e-01 1.55770304e-01 -4.95688983e-01 -3.03043286e+01] [-1.38091657e-01 9.87771198e-01 7.23792370e-02 -4.50084191e+01] [ 5.00901836e-01 6.60847805e-03 8.65478872e-01 -2.96584981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.148241008 meters Centerline goodness [0,1] 0.8916664501208326 Centerline is valid? [False, False] Translation: X:-30.31, Y:-45.01, Z:-29.66 [[ 8.54453216e-01 1.56084890e-01 -4.95527203e-01 -3.03052594e+01] [-1.38469310e-01 9.87720283e-01 7.23525657e-02 -4.50064897e+01] [ 5.00735411e-01 6.79342727e-03 8.65573739e-01 -2.96583872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.17824100800001 meters Centerline goodness [0,1] 0.895624288817627 Centerline is valid? [False, False] Translation: X:-30.31, Y:-45.00, Z:-29.66 [[ 8.54437037e-01 1.56416056e-01 -4.95450670e-01 -3.03061487e+01] [-1.38779496e-01 9.87667631e-01 7.24769110e-02 -4.50047542e+01] [ 5.00677142e-01 6.83143723e-03 8.65607146e-01 -2.96579537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.20824100800002 meters Centerline goodness [0,1] 0.8918243852195185 Centerline is valid? [False, False] Translation: X:-30.31, Y:-45.00, Z:-29.66 [[ 8.54531910e-01 1.56442655e-01 -4.95278619e-01 -3.03067712e+01] [-1.38993680e-01 9.87660944e-01 7.21568921e-02 -4.49998814e+01] [ 5.00455764e-01 7.18023095e-03 8.65732333e-01 -2.96577840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.23824100800002 meters Centerline goodness [0,1] 0.8877081028227363 Centerline is valid? [False, False] Translation: X:-30.31, Y:-45.00, Z:-29.66 [[ 8.54438052e-01 1.56151821e-01 -4.95532264e-01 -3.03062351e+01] [-1.38795368e-01 9.87705911e-01 7.19227288e-02 -4.49984034e+01] [ 5.00671011e-01 7.32406675e-03 8.65606664e-01 -2.96573658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.268241008 meters Centerline goodness [0,1] 0.8892223248178927 Centerline is valid? [False, False] Translation: X:-30.31, Y:-45.00, Z:-29.66 [[ 8.54292605e-01 1.55980049e-01 -4.95837040e-01 -3.03059696e+01] [-1.38511809e-01 9.87734642e-01 7.20746560e-02 -4.49984595e+01] [ 5.00997629e-01 7.10643973e-03 8.65419479e-01 -2.96564579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.298241008 meters Centerline goodness [0,1] 0.891726277465836 Centerline is valid? [False, False] Translation: X:-30.31, Y:-45.00, Z:-29.66 [[ 8.54132130e-01 1.55513317e-01 -4.96259924e-01 -3.03050781e+01] [-1.37958820e-01 9.87809860e-01 7.21044060e-02 -4.49994398e+01] [ 5.01423641e-01 6.87674373e-03 8.65174573e-01 -2.96556574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.328241008 meters Centerline goodness [0,1] 0.8828457242404057 Centerline is valid? [False, False] Translation: X:-30.31, Y:-45.00, Z:-29.65 [[ 8.52487378e-01 1.53560464e-01 -4.99684354e-01 -3.03091380e+01] [-1.30411418e-01 9.88130997e-01 8.11787810e-02 -4.49975923e+01] [ 5.06219450e-01 -4.03934104e-03 8.62395241e-01 -2.96544363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.358241008 meters Centerline goodness [0,1] 0.8861160828432626 Centerline is valid? [False, False] Translation: X:-30.31, Y:-45.00, Z:-29.65 [[ 8.52317524e-01 1.51971909e-01 -5.00459167e-01 -3.03050309e+01] [-1.29173802e-01 9.88378031e-01 8.01436038e-02 -4.49961349e+01] [ 5.06822422e-01 -3.66158456e-03 8.62042705e-01 -2.96546279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.388241008 meters Centerline goodness [0,1] 0.8645337137325827 Centerline is valid? [False, False] Translation: X:-30.30, Y:-44.99, Z:-29.65 [[ 8.52099655e-01 1.50448639e-01 -5.01289721e-01 -3.03011137e+01] [-1.27986908e-01 9.88612364e-01 7.91514014e-02 -4.49942708e+01] [ 5.07489437e-01 -3.28636026e-03 8.61651711e-01 -2.96545773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.418241008 meters Centerline goodness [0,1] 0.8738091003785473 Centerline is valid? [False, False] Translation: X:-30.30, Y:-44.99, Z:-29.65 [[ 8.51944206e-01 1.49228203e-01 -5.01918334e-01 -3.02981868e+01] [-1.27064861e-01 9.88798417e-01 7.83084348e-02 -4.49924486e+01] [ 5.07981881e-01 -2.93823385e-03 8.61362743e-01 -2.96545035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.448241008 meters Centerline goodness [0,1] 0.8534445599533457 Centerline is valid? [False, False] Translation: X:-30.30, Y:-44.99, Z:-29.65 [[ 8.52513408e-01 1.42442097e-01 -5.02922597e-01 -3.02963884e+01] [-1.22248329e-01 9.89802771e-01 7.31151128e-02 -4.49875409e+01] [ 5.08208850e-01 -8.50166834e-04 8.61233442e-01 -2.96544194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.478241008 meters Centerline goodness [0,1] 0.8343056292143345 Centerline is valid? [False, False] Translation: X:-30.30, Y:-44.98, Z:-29.65 [[ 8.53091197e-01 1.36549089e-01 -5.03576961e-01 -3.02963197e+01] [-1.18081414e-01 9.90632843e-01 6.85809711e-02 -4.49839200e+01] [ 5.08224545e-01 9.57256827e-04 8.61224068e-01 -2.96541947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.508241008 meters Centerline goodness [0,1] 0.8146747352496218 Centerline is valid? [False, False] Translation: X:-30.30, Y:-44.98, Z:-29.65 [[ 8.53703446e-01 1.30185151e-01 -5.04224408e-01 -3.02954174e+01] [-1.13604067e-01 9.91485324e-01 6.36472233e-02 -4.49800446e+01] [ 5.08217023e-01 2.94608940e-03 8.61224000e-01 -2.96544353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.538241008 meters Centerline goodness [0,1] 0.7928822937625755 Centerline is valid? [False, False] Translation: X:-30.30, Y:-44.98, Z:-29.65 [[ 8.54492568e-01 1.25555620e-01 -5.04061741e-01 -3.02956327e+01] [-1.10069923e-01 9.92079435e-01 6.05227794e-02 -4.49761525e+01] [ 5.07668262e-01 3.76577160e-03 8.61544401e-01 -2.96543695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.568241008 meters Centerline goodness [0,1] 0.7663933410954493 Centerline is valid? [False, False] Translation: X:-30.31, Y:-44.97, Z:-29.66 [[ 8.59012792e-01 1.20658723e-01 -4.97532408e-01 -3.03091440e+01] [-9.84775634e-02 9.92624671e-01 7.06995927e-02 -4.49667545e+01] [ 5.02393465e-01 -1.17360753e-02 8.64559466e-01 -2.96615232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.598241008 meters Centerline goodness [0,1] 0.7374083009206833 Centerline is valid? [False, False] Translation: X:-30.31, Y:-44.96, Z:-29.66 [[ 8.58863053e-01 1.19264736e-01 -4.98126669e-01 -3.03075171e+01] [-9.74568684e-02 9.92798299e-01 6.96684721e-02 -4.49629073e+01] [ 5.02848302e-01 -1.12898114e-02 8.64300946e-01 -2.96608172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.628241008 meters Centerline goodness [0,1] 0.7656066822977725 Centerline is valid? [False, False] Translation: X:-30.31, Y:-44.96, Z:-29.66 [[ 8.58748653e-01 1.18467805e-01 -4.98513922e-01 -3.03074065e+01] [-9.69671590e-02 9.92898691e-01 6.89170543e-02 -4.49584568e+01] [ 5.03138272e-01 -1.08429488e-02 8.64137899e-01 -2.96598827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.658241008 meters Centerline goodness [0,1] 0.7686088451017888 Centerline is valid? [False, False] Translation: X:-30.31, Y:-44.95, Z:-29.66 [[ 8.58660757e-01 1.17633068e-01 -4.98862872e-01 -3.03071653e+01] [-9.65922991e-02 9.93005639e-01 6.78949765e-02 -4.49527850e+01] [ 5.03360340e-01 -1.01124402e-02 8.64017423e-01 -2.96592797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.688241008 meters Centerline goodness [0,1] 0.7642370911505894 Centerline is valid? [False, False] Translation: X:-30.31, Y:-44.94, Z:-29.66 [[ 8.60351871e-01 1.19359444e-01 -4.95527982e-01 -3.03102617e+01] [-9.78011295e-02 9.92788098e-01 6.93305968e-02 -4.49387946e+01] [ 5.00229544e-01 -1.11855123e-02 8.65820586e-01 -2.96625828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.718241008 meters Centerline goodness [0,1] 0.76628469450054 Centerline is valid? [False, False] Translation: X:-30.31, Y:-44.93, Z:-29.66 [[ 8.59660625e-01 1.23292733e-01 -4.95764573e-01 -3.03087324e+01] [-1.00794398e-01 9.92298707e-01 7.19983761e-02 -4.49334579e+01] [ 5.00823421e-01 -1.19238775e-02 8.65467343e-01 -2.96616843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.748241008 meters Centerline goodness [0,1] 0.7598184512782512 Centerline is valid? [False, False] Translation: X:-30.31, Y:-44.93, Z:-29.66 [[ 8.58987046e-01 1.27088089e-01 -4.95973661e-01 -3.03070628e+01] [-1.03727755e-01 9.91812131e-01 7.44932918e-02 -4.49276141e+01] [ 5.01379904e-01 -1.25425385e-02 8.65136334e-01 -2.96609204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.778241008 meters Centerline goodness [0,1] 0.7598184512782512 Centerline is valid? [False, False] Translation: X:-30.31, Y:-44.93, Z:-29.66 [[ 8.58987046e-01 1.27088089e-01 -4.95973661e-01 -3.03070628e+01] [-1.03727755e-01 9.91812131e-01 7.44932918e-02 -4.49276141e+01] [ 5.01379904e-01 -1.25425385e-02 8.65136334e-01 -2.96609204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.808241008 meters Centerline goodness [0,1] 0.7782167816196958 Centerline is valid? [False, False] Translation: X:-30.31, Y:-44.92, Z:-29.66 [[ 8.58347510e-01 1.30741542e-01 -4.96131234e-01 -3.03053993e+01] [-1.06574110e-01 9.91330015e-01 7.68554563e-02 -4.49214071e+01] [ 5.01877984e-01 -1.30939448e-02 8.64839313e-01 -2.96602275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.838241008 meters Centerline goodness [0,1] 0.754379334874622 Centerline is valid? [False, False] Translation: X:-30.33, Y:-44.90, Z:-29.67 [[ 8.60330724e-01 1.34748630e-01 -4.91603348e-01 -3.03287331e+01] [-1.04846396e-01 9.90584386e-01 8.80329919e-02 -4.48998829e+01] [ 4.98836926e-01 -2.41946486e-02 8.66358090e-01 -2.96715681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.868241008 meters Centerline goodness [0,1] 0.7608642981432128 Centerline is valid? [False, False] Translation: X:-30.35, Y:-44.89, Z:-29.69 [[ 8.61871760e-01 1.34140261e-01 -4.89063861e-01 -3.03504989e+01] [-1.04793665e-01 9.90677193e-01 8.70458853e-02 -4.48854810e+01] [ 4.96180771e-01 -2.37715961e-02 8.67893746e-01 -2.96855708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.898241008 meters Centerline goodness [0,1] 0.7522135502065981 Centerline is valid? [False, False] Translation: X:-30.37, Y:-44.87, Z:-29.70 [[ 8.63218554e-01 1.32235333e-01 -4.87203802e-01 -3.03724835e+01] [-1.04302044e-01 9.90977742e-01 8.41676754e-02 -4.48711807e+01] [ 4.93938065e-01 -2.18387464e-02 8.69222789e-01 -2.97004380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.92824100800001 meters Centerline goodness [0,1] 0.7552291268876932 Centerline is valid? [False, False] Translation: X:-30.39, Y:-44.86, Z:-29.71 [[ 8.64769359e-01 1.30044471e-01 -4.85038546e-01 -3.03925009e+01] [-1.03139320e-01 9.91290177e-01 8.18905700e-02 -4.48568556e+01] [ 4.91463362e-01 -2.07899098e-02 8.70650069e-01 -2.97144739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.95824100800002 meters Centerline goodness [0,1] 0.7438805970149254 Centerline is valid? [False, False] Translation: X:-30.41, Y:-44.83, Z:-29.72 [[ 8.64718023e-01 1.32231005e-01 -4.84538648e-01 -3.04104544e+01] [-1.04920128e-01 9.90994174e-01 8.32004415e-02 -4.48336066e+01] [ 4.91176656e-01 -2.11070640e-02 8.70804217e-01 -2.97239757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.98824100800002 meters Centerline goodness [0,1] 0.7373023098257574 Centerline is valid? [False, False] Translation: X:-30.43, Y:-44.82, Z:-29.74 [[ 8.64851930e-01 1.32263477e-01 -4.84290731e-01 -3.04294081e+01] [-1.06135618e-01 9.91037095e-01 8.11215561e-02 -4.48176051e+01] [ 4.90679498e-01 -1.87576382e-02 8.71138210e-01 -2.97391501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.018241008 meters Centerline goodness [0,1] 0.7304110738255034 Centerline is valid? [False, False] Translation: X:-30.43, Y:-44.81, Z:-29.75 [[ 8.67373736e-01 1.33987568e-01 -4.79280850e-01 -3.04340217e+01] [-1.08017601e-01 9.90802306e-01 8.15045310e-02 -4.48064145e+01] [ 4.85793165e-01 -1.89241221e-02 8.73868914e-01 -2.97467784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.048241008 meters Centerline goodness [0,1] 0.7247943351036135 Centerline is valid? [False, False] Translation: X:-30.45, Y:-44.78, Z:-29.76 [[ 8.67955116e-01 1.35352882e-01 -4.77842562e-01 -3.04533298e+01] [-1.11230058e-01 9.90683086e-01 7.85805125e-02 -4.47817584e+01] [ 4.84026643e-01 -1.50539019e-02 8.74923762e-01 -2.97616650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.078241008 meters Centerline goodness [0,1] 0.7247498387734299 Centerline is valid? [False, False] Translation: X:-30.46, Y:-44.77, Z:-29.77 [[ 8.70765329e-01 1.35373882e-01 -4.72696154e-01 -3.04594122e+01] [-1.11689629e-01 9.90679525e-01 7.79711798e-02 -4.47709559e+01] [ 4.78845663e-01 -1.50993420e-02 8.77769241e-01 -2.97690365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.108241008 meters Centerline goodness [0,1] 0.7473465140478668 Centerline is valid? [False, False] Translation: X:-30.47, Y:-44.76, Z:-29.78 [[ 8.74189209e-01 1.34873787e-01 -4.66478605e-01 -3.04668134e+01] [-1.11442344e-01 9.90735867e-01 7.76082839e-02 -4.47596270e+01] [ 4.72624408e-01 -1.58588552e-02 8.81121255e-01 -2.97780182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.138241008 meters Centerline goodness [0,1] 0.7281654608760919 Centerline is valid? [False, False] Translation: X:-30.48, Y:-44.74, Z:-29.79 [[ 8.75939849e-01 1.36916189e-01 -4.62583331e-01 -3.04841172e+01] [-1.14122450e-01 9.90473405e-01 7.70616669e-02 -4.47357919e+01] [ 4.68727476e-01 -1.47102419e-02 8.83220336e-01 -2.97903640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.168241008 meters Centerline goodness [0,1] 0.7660259071659885 Centerline is valid? [False, False] Translation: X:-30.48, Y:-44.73, Z:-29.79 [[ 8.75708244e-01 1.39701521e-01 -4.62188875e-01 -3.04847888e+01] [-1.16702340e-01 9.90087531e-01 7.81488577e-02 -4.47272225e+01] [ 4.68524957e-01 -1.44970756e-02 8.83331308e-01 -2.97902028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.198241008 meters Centerline goodness [0,1] 0.8001998209936931 Centerline is valid? [False, False] Translation: X:-30.49, Y:-44.72, Z:-29.80 [[ 8.77491559e-01 1.41510613e-01 -4.58239359e-01 -3.04902399e+01] [-1.19756442e-01 9.89862451e-01 7.63591651e-02 -4.47164512e+01] [ 4.64399568e-01 -1.21274075e-02 8.85542753e-01 -2.97969445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.228241008 meters Centerline goodness [0,1] 0.8017042980655595 Centerline is valid? [False, False] Translation: X:-30.49, Y:-44.71, Z:-29.80 [[ 8.76911985e-01 1.45241282e-01 -4.58181558e-01 -3.04891669e+01] [-1.23057390e-01 9.89322316e-01 7.80911859e-02 -4.47082231e+01] [ 4.64631304e-01 -1.20964701e-02 8.85421610e-01 -2.97967298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.258241008 meters Centerline goodness [0,1] 0.8109879137109692 Centerline is valid? [False, False] Translation: X:-30.49, Y:-44.70, Z:-29.80 [[ 8.77027395e-01 1.48830792e-01 -4.56806680e-01 -3.04899643e+01] [-1.26984844e-01 9.88804609e-01 7.83600318e-02 -4.46980458e+01] [ 4.63354936e-01 -1.07163695e-02 8.86107986e-01 -2.97993913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.288241008 meters Centerline goodness [0,1] 0.7890070185638939 Centerline is valid? [False, False] Translation: X:-30.50, Y:-44.67, Z:-29.81 [[ 8.79804011e-01 1.53286576e-01 -4.49942361e-01 -3.04975352e+01] [-1.32935784e-01 9.88151993e-01 7.67053810e-02 -4.46748074e+01] [ 4.56369346e-01 -7.67226132e-03 8.89757358e-01 -2.98106808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.318241008 meters Centerline goodness [0,1] 0.8372532723872844 Centerline is valid? [False, False] Translation: X:-30.50, Y:-44.67, Z:-29.81 [[ 8.80366598e-01 1.54754396e-01 -4.48336626e-01 -3.05003066e+01] [-1.35101162e-01 9.87934193e-01 7.57212481e-02 -4.46651820e+01] [ 4.54645279e-01 -6.09165858e-03 8.90651763e-01 -2.98127535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.348241008 meters Centerline goodness [0,1] 0.836824696802646 Centerline is valid? [False, False] Translation: X:-30.51, Y:-44.65, Z:-29.82 [[ 8.83268599e-01 1.53590204e-01 -4.42997326e-01 -3.05079384e+01] [-1.35338931e-01 9.88125282e-01 7.27447629e-02 -4.46541238e+01] [ 4.48909740e-01 -4.29838011e-03 8.93566768e-01 -2.98211070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.378241008 meters Centerline goodness [0,1] 0.8361746533589569 Centerline is valid? [False, False] Translation: X:-30.51, Y:-44.65, Z:-29.82 [[ 8.83321580e-01 1.52913189e-01 -4.43125877e-01 -3.05081501e+01] [-1.35268429e-01 9.88234740e-01 7.13761163e-02 -4.46463121e+01] [ 4.48826735e-01 -3.10712283e-03 8.93613399e-01 -2.98206853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.408241008 meters Centerline goodness [0,1] 0.7468088644962787 Centerline is valid? [False, False] Translation: X:-30.52, Y:-44.62, Z:-29.83 [[ 8.83826833e-01 1.47727099e-01 -4.43877048e-01 -3.05243560e+01] [-1.32665741e-01 9.89027117e-01 6.50012559e-02 -4.46241808e+01] [ 4.48608884e-01 1.43742317e-03 8.93727029e-01 -2.98317000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.438241008 meters Centerline goodness [0,1] 0.7372391353905456 Centerline is valid? [False, False] Translation: X:-30.52, Y:-44.62, Z:-29.83 [[ 8.83974068e-01 1.45460943e-01 -4.44332040e-01 -3.05222215e+01] [-1.31401950e-01 9.89358933e-01 6.24694249e-02 -4.46163316e+01] [ 4.48690734e-01 3.16474497e-03 8.93681492e-01 -2.98320410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.468241008 meters Centerline goodness [0,1] 0.7274517934895293 Centerline is valid? [False, False] Translation: X:-30.52, Y:-44.61, Z:-29.83 [[ 8.84086967e-01 1.43961564e-01 -4.44595662e-01 -3.05210921e+01] [-1.30666183e-01 9.89572946e-01 6.05948338e-02 -4.46087489e+01] [ 4.48683166e-01 4.52251523e-03 8.93679452e-01 -2.98320907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.498241008 meters Centerline goodness [0,1] 0.7144834996797058 Centerline is valid? [False, False] Translation: X:-30.52, Y:-44.60, Z:-29.83 [[ 8.84199662e-01 1.42298215e-01 -4.44906930e-01 -3.05201041e+01] [-1.29819907e-01 9.89805859e-01 5.85760456e-02 -4.46009614e+01] [ 4.48706752e-01 5.96485649e-03 8.93659147e-01 -2.98319921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.528241008 meters Centerline goodness [0,1] 0.7192113119920385 Centerline is valid? [False, False] Translation: X:-30.52, Y:-44.59, Z:-29.83 [[ 8.84386652e-01 1.40670947e-01 -4.45052731e-01 -3.05196048e+01] [-1.28999981e-01 9.90028970e-01 5.65830732e-02 -4.45927147e+01] [ 4.48574692e-01 7.37047914e-03 8.93714956e-01 -2.98319165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.558241008 meters Centerline goodness [0,1] 0.7088350500507761 Centerline is valid? [False, False] Translation: X:-30.52, Y:-44.57, Z:-29.84 [[ 8.86662484e-01 1.37326341e-01 -4.41555337e-01 -3.05203978e+01] [-1.26109758e-01 9.90500557e-01 5.48176508e-02 -4.45744627e+01] [ 4.44888715e-01 7.07968219e-03 8.95557876e-01 -2.98379497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.588241008 meters Centerline goodness [0,1] 0.6980776791441637 Centerline is valid? [False, False] Translation: X:-30.52, Y:-44.57, Z:-29.84 [[ 8.86852091e-01 1.35506704e-01 -4.41736689e-01 -3.05193481e+01] [-1.25048338e-01 9.90741206e-01 5.28656458e-02 -4.45659459e+01] [ 4.44810389e-01 8.35442999e-03 8.95585798e-01 -2.98379497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.618241008 meters Centerline goodness [0,1] 0.6960939123207979 Centerline is valid? [False, False] Translation: X:-30.52, Y:-44.56, Z:-29.84 [[ 8.87012181e-01 1.33636602e-01 -4.41984897e-01 -3.05183499e+01] [-1.23968464e-01 9.90982956e-01 5.08389705e-02 -4.45575766e+01] [ 4.44793447e-01 9.69740253e-03 8.95580678e-01 -2.98378254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.648241008 meters Centerline goodness [0,1] 0.6762019430374491 Centerline is valid? [False, False] Translation: X:-30.52, Y:-44.54, Z:-29.84 [[ 8.87667507e-01 1.29825983e-01 -4.41804946e-01 -3.05160936e+01] [-1.21627304e-01 9.91463708e-01 4.69735461e-02 -4.45420997e+01] [ 4.44131957e-01 1.20386540e-02 8.95880503e-01 -2.98389083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.67824100800001 meters Centerline goodness [0,1] 0.6709012911114335 Centerline is valid? [False, False] Translation: X:-30.52, Y:-44.53, Z:-29.84 [[ 8.87844082e-01 1.27773221e-01 -4.42048515e-01 -3.05156671e+01] [-1.20549561e-01 9.91708053e-01 4.45302196e-02 -4.45337101e+01] [ 4.44072842e-01 1.37528626e-02 8.95885132e-01 -2.98386344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.70824100800002 meters Centerline goodness [0,1] 0.6704637410519764 Centerline is valid? [False, False] Translation: X:-30.51, Y:-44.53, Z:-29.84 [[ 8.87667248e-01 1.29327599e-01 -4.41951614e-01 -3.05146579e+01] [-1.22031405e-01 9.91503772e-01 4.50400449e-02 -4.45255790e+01] [ 4.44021614e-01 1.39514038e-02 8.95907453e-01 -2.98384398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.73824100800002 meters Centerline goodness [0,1] 0.6676202914774965 Centerline is valid? [False, False] Translation: X:-30.51, Y:-44.52, Z:-29.84 [[ 8.87389860e-01 1.31277422e-01 -4.41933789e-01 -3.05127139e+01] [-1.23919442e-01 9.91242851e-01 4.56243686e-02 -4.45162446e+01] [ 4.44053158e-01 1.42775863e-02 8.95886680e-01 -2.98384541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.76824100800002 meters Centerline goodness [0,1] 0.6695481908888288 Centerline is valid? [False, False] Translation: X:-30.51, Y:-44.49, Z:-29.84 [[ 8.88903043e-01 1.34657481e-01 -4.37856989e-01 -3.05139820e+01] [-1.26525744e-01 9.90808651e-01 4.78482226e-02 -4.44926694e+01] [ 4.40275614e-01 1.28677506e-02 8.97770463e-01 -2.98445523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.798241008 meters Centerline goodness [0,1] 0.6706540733960222 Centerline is valid? [False, False] Translation: X:-30.51, Y:-44.48, Z:-29.84 [[ 8.88586545e-01 1.36470806e-01 -4.37937977e-01 -3.05118654e+01] [-1.28438856e-01 9.90551659e-01 4.80715202e-02 -4.44824220e+01] [ 4.40360548e-01 1.35325467e-02 8.97719030e-01 -2.98444973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.828241008 meters Centerline goodness [0,1] 0.6832872037125673 Centerline is valid? [False, False] Translation: X:-30.51, Y:-44.47, Z:-29.84 [[ 8.88263800e-01 1.38256374e-01 -4.38032643e-01 -3.05101308e+01] [-1.30316338e-01 9.90295030e-01 4.83053361e-02 -4.44724263e+01] [ 4.40460070e-01 1.41749284e-02 8.97660291e-01 -2.98442032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.858241008 meters Centerline goodness [0,1] 0.6753362855776628 Centerline is valid? [False, False] Translation: X:-30.51, Y:-44.46, Z:-29.84 [[ 8.88010275e-01 1.39901501e-01 -4.38024339e-01 -3.05089588e+01] [-1.32127460e-01 9.90052739e-01 4.83519305e-02 -4.44617974e+01] [ 4.40431704e-01 1.49380323e-02 8.97661834e-01 -2.98438385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.888241008 meters Centerline goodness [0,1] 0.6782628657289536 Centerline is valid? [False, False] Translation: X:-30.51, Y:-44.45, Z:-29.84 [[ 8.87829215e-01 1.41591414e-01 -4.37848325e-01 -3.05084997e+01] [-1.33997214e-01 9.89800322e-01 4.83742535e-02 -4.44502260e+01] [ 4.40231793e-01 1.57223801e-02 8.97746498e-01 -2.98433714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.918241008 meters Centerline goodness [0,1] 0.6844507135745104 Centerline is valid? [False, False] Translation: X:-30.51, Y:-44.42, Z:-29.85 [[ 8.89275459e-01 1.42932697e-01 -4.34464500e-01 -3.05120316e+01] [-1.36917468e-01 9.89546126e-01 4.52997943e-02 -4.44212131e+01] [ 4.36397484e-01 1.92017839e-02 8.99549069e-01 -2.98466332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.948241008 meters Centerline goodness [0,1] 0.6989193785908365 Centerline is valid? [False, False] Translation: X:-30.51, Y:-44.41, Z:-29.85 [[ 8.89087994e-01 1.44361124e-01 -4.34375881e-01 -3.05112285e+01] [-1.38581609e-01 9.89321682e-01 4.51414221e-02 -4.44091727e+01] [ 4.36254143e-01 2.00618121e-02 8.99599826e-01 -2.98460051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.978241008 meters Centerline goodness [0,1] 0.7154389297216945 Centerline is valid? [False, False] Translation: X:-30.50, Y:-44.40, Z:-29.84 [[ 8.91511802e-01 1.41914535e-01 -4.30194108e-01 -3.04960855e+01] [-1.39928732e-01 9.89490923e-01 3.64371063e-02 -4.43967557e+01] [ 4.30844120e-01 2.77124056e-02 9.02000757e-01 -2.98429512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.008241008 meters Centerline goodness [0,1] 0.6995771015987622 Centerline is valid? [False, False] Translation: X:-30.50, Y:-44.39, Z:-29.84 [[ 8.91359178e-01 1.43087016e-01 -4.30121985e-01 -3.04953212e+01] [-1.41345316e-01 9.89298614e-01 3.61905281e-02 -4.43853723e+01] [ 4.30697478e-01 2.85369687e-02 9.02045078e-01 -2.98423038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.038241008 meters Centerline goodness [0,1] 0.6958908633108374 Centerline is valid? [False, False] Translation: X:-30.50, Y:-44.36, Z:-29.85 [[ 8.92897284e-01 1.43363183e-01 -4.26827176e-01 -3.04975186e+01] [-1.42860167e-01 9.89179443e-01 3.33916365e-02 -4.43592064e+01] [ 4.26995799e-01 3.11613002e-02 9.03716527e-01 -2.98468074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.068241008 meters Centerline goodness [0,1] 0.7206049932663421 Centerline is valid? [False, False] Translation: X:-30.49, Y:-44.35, Z:-29.85 [[ 8.92619802e-01 1.44892016e-01 -4.26891313e-01 -3.04949068e+01] [-1.44544065e-01 9.88933906e-01 3.34177166e-02 -4.43474204e+01] [ 4.27009254e-01 3.18752900e-02 9.03685268e-01 -2.98466499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.098241008 meters Centerline goodness [0,1] 0.7018129079042785 Centerline is valid? [False, False] Translation: X:-30.49, Y:-44.34, Z:-29.85 [[ 8.92293719e-01 1.46647726e-01 -4.26973492e-01 -3.04916981e+01] [-1.46418356e-01 9.88652823e-01 3.35747054e-02 -4.43350904e+01] [ 4.27052203e-01 3.25582581e-02 9.03640623e-01 -2.98465956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.128241008 meters Centerline goodness [0,1] 0.7377674572897661 Centerline is valid? [False, False] Translation: X:-30.49, Y:-44.31, Z:-29.85 [[ 8.92467973e-01 1.50346053e-01 -4.25319858e-01 -3.04884729e+01] [-1.50253941e-01 9.88063137e-01 3.39851565e-02 -4.43101280e+01] [ 4.25352407e-01 3.35753213e-02 9.04404792e-01 -2.98495875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.158241008 meters Centerline goodness [0,1] 0.7450798366134422 Centerline is valid? [False, False] Translation: X:-30.48, Y:-44.30, Z:-29.85 [[ 8.94240190e-01 1.48637891e-01 -4.22186285e-01 -3.04755440e+01] [-1.52667403e-01 9.87974739e-01 2.44658685e-02 -4.42993389e+01] [ 4.20745940e-01 4.25757210e-02 9.06178880e-01 -2.98470496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.188241008 meters Centerline goodness [0,1] 0.8292713203955807 Centerline is valid? [False, False] Translation: X:-30.47, Y:-44.29, Z:-29.85 [[ 8.93949226e-01 1.50164126e-01 -4.22262380e-01 -3.04732829e+01] [-1.54240782e-01 9.87724063e-01 2.47175527e-02 -4.42900843e+01] [ 4.20790403e-01 4.30338426e-02 9.06136593e-01 -2.98467557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.218241008 meters Centerline goodness [0,1] 0.8304572103333264 Centerline is valid? [False, False] Translation: X:-30.47, Y:-44.28, Z:-29.85 [[ 8.94597155e-01 1.50631607e-01 -4.20720869e-01 -3.04741104e+01] [-1.54758151e-01 9.87647546e-01 2.45405825e-02 -4.42792169e+01] [ 4.19220521e-01 4.31560483e-02 9.06858154e-01 -2.98482976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.248241008 meters Centerline goodness [0,1] 0.8441708906589428 Centerline is valid? [False, False] Translation: X:-30.48, Y:-44.25, Z:-29.85 [[ 8.96500359e-01 1.50730554e-01 -4.16614218e-01 -3.04789801e+01] [-1.54919180e-01 9.87636566e-01 2.39595915e-02 -4.42544725e+01] [ 4.15074878e-01 4.30617506e-02 9.08767589e-01 -2.98531906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.278241008 meters Centerline goodness [0,1] 0.8380764437058579 Centerline is valid? [False, False] Translation: X:-30.50, Y:-44.24, Z:-29.86 [[ 8.95748707e-01 1.50632619e-01 -4.18263157e-01 -3.04983284e+01] [-1.56335976e-01 9.87484407e-01 2.08232872e-02 -4.42379786e+01] [ 4.16165012e-01 4.67371464e-02 9.08087178e-01 -2.98595105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.308241008 meters Centerline goodness [0,1] 0.8481480712104531 Centerline is valid? [False, False] Translation: X:-30.50, Y:-44.23, Z:-29.86 [[ 8.95606646e-01 1.52144376e-01 -4.18020124e-01 -3.04985123e+01] [-1.57944364e-01 9.87226386e-01 2.09198559e-02 -4.42286013e+01] [ 4.15863334e-01 4.72879604e-02 9.08196860e-01 -2.98584750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.338241008 meters Centerline goodness [0,1] 0.8405383022774326 Centerline is valid? [False, False] Translation: X:-30.50, Y:-44.22, Z:-29.86 [[ 8.95442817e-01 1.53712089e-01 -4.17797504e-01 -3.04982931e+01] [-1.59579780e-01 9.86959641e-01 2.10940963e-02 -4.42192161e+01] [ 4.15591692e-01 4.77834767e-02 9.08295263e-01 -2.98576155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.368241008 meters Centerline goodness [0,1] 0.8460934594884931 Centerline is valid? [False, False] Translation: X:-30.50, Y:-44.20, Z:-29.86 [[ 8.96898566e-01 1.54964683e-01 -4.14196703e-01 -3.05039707e+01] [-1.60849211e-01 9.86758165e-01 2.08771315e-02 -4.41957194e+01] [ 4.11947197e-01 4.78985435e-02 9.09947931e-01 -2.98599491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.398241008 meters Centerline goodness [0,1] 0.8420020639834881 Centerline is valid? [False, False] Translation: X:-30.50, Y:-44.19, Z:-29.86 [[ 8.96673138e-01 1.56893923e-01 -4.13958428e-01 -3.05031972e+01] [-1.62798421e-01 9.86430936e-01 2.12293015e-02 -4.41858140e+01] [ 4.11672148e-01 4.83560340e-02 9.10048206e-01 -2.98592144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.42824100800001 meters Centerline goodness [0,1] 0.8498184369068251 Centerline is valid? [False, False] Translation: X:-30.50, Y:-44.18, Z:-29.86 [[ 8.96430130e-01 1.59186461e-01 -4.13609347e-01 -3.05021200e+01] [-1.64974349e-01 9.86053597e-01 2.19492259e-02 -4.41770322e+01] [ 4.11335004e-01 4.85589855e-02 9.10189837e-01 -2.98589505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.45824100800002 meters Centerline goodness [0,1] 0.8443285366758752 Centerline is valid? [False, False] Translation: X:-30.50, Y:-44.16, Z:-29.86 [[ 8.97608104e-01 1.63106355e-01 -4.09507032e-01 -3.05039710e+01] [-1.69654889e-01 9.85288853e-01 2.05692940e-02 -4.41569306e+01] [ 4.06837696e-01 5.10117048e-02 9.12075049e-01 -2.98640407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.48824100800002 meters Centerline goodness [0,1] 0.8457104033270881 Centerline is valid? [False, False] Translation: X:-30.50, Y:-44.15, Z:-29.86 [[ 8.97163153e-01 1.66246860e-01 -4.09219084e-01 -3.05018850e+01] [-1.72535209e-01 9.84762063e-01 2.18009582e-02 -4.41483554e+01] [ 4.06607770e-01 5.10456838e-02 9.12175674e-01 -2.98638740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.51824100800002 meters Centerline goodness [0,1] 0.8501989239553915 Centerline is valid? [False, False] Translation: X:-30.50, Y:-44.14, Z:-29.86 [[ 8.96812123e-01 1.69298166e-01 -4.08737260e-01 -3.05000473e+01] [-1.75289591e-01 9.84246597e-01 2.30693769e-02 -4.41396927e+01] [ 4.06203860e-01 5.09584903e-02 9.12360486e-01 -2.98639499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.548241008 meters Centerline goodness [0,1] 0.8524228165758626 Centerline is valid? [False, False] Translation: X:-30.51, Y:-44.13, Z:-29.87 [[ 8.94571716e-01 1.70169775e-01 -4.13259838e-01 -3.05116060e+01] [-1.78178225e-01 9.83806795e-01 1.94090479e-02 -4.41265278e+01] [ 4.09870670e-01 5.62711191e-02 9.10406280e-01 -2.98694239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.578241008 meters Centerline goodness [0,1] 0.8529399628636269 Centerline is valid? [False, False] Translation: X:-30.53, Y:-44.11, Z:-29.88 [[ 8.92523195e-01 1.70568212e-01 -4.17503093e-01 -3.05256155e+01] [-1.80402064e-01 9.83460693e-01 1.61294746e-02 -4.41142672e+01] [ 4.13349057e-01 6.09224893e-02 9.08532337e-01 -2.98752902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.608241008 meters Centerline goodness [0,1] 0.8580795480319182 Centerline is valid? [False, False] Translation: X:-30.54, Y:-44.10, Z:-29.88 [[ 8.90268991e-01 1.70766063e-01 -4.22208568e-01 -3.05388275e+01] [-1.82624706e-01 9.83102694e-01 1.25422933e-02 -4.40967126e+01] [ 4.17216179e-01 6.59397010e-02 9.06411946e-01 -2.98801823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.638241008 meters Centerline goodness [0,1] 0.8580795480319182 Centerline is valid? [False, False] Translation: X:-30.54, Y:-44.10, Z:-29.88 [[ 8.90268991e-01 1.70766063e-01 -4.22208568e-01 -3.05388275e+01] [-1.82624706e-01 9.83102694e-01 1.25422933e-02 -4.40967126e+01] [ 4.17216179e-01 6.59397010e-02 9.06411946e-01 -2.98801823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.668241008 meters Centerline goodness [0,1] 0.8413794525065963 Centerline is valid? [False, False] Translation: X:-30.55, Y:-44.09, Z:-29.89 [[ 8.88355703e-01 1.70170687e-01 -4.26457597e-01 -3.05539214e+01] [-1.83765894e-01 9.82924939e-01 9.41601796e-03 -4.40864990e+01] [ 4.20778137e-01 7.00035882e-02 9.04458544e-01 -2.98862895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.698241008 meters Centerline goodness [0,1] 0.8331476667904444 Centerline is valid? [False, False] Translation: X:-30.57, Y:-44.08, Z:-29.90 [[ 8.88091031e-01 1.68842775e-01 -4.27535306e-01 -3.05749503e+01] [-1.82699894e-01 9.83129806e-01 8.74834629e-03 -4.40751238e+01] [ 4.21799798e-01 7.03413274e-02 9.03956320e-01 -2.98978163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.728241008 meters Centerline goodness [0,1] 0.8479644554660054 Centerline is valid? [False, False] Translation: X:-30.60, Y:-44.06, Z:-29.91 [[ 8.88723530e-01 1.67704334e-01 -4.26668189e-01 -3.05974660e+01] [-1.81775246e-01 9.83308623e-01 7.86836050e-03 -4.40639459e+01] [ 4.20866068e-01 7.05649181e-02 9.04374007e-01 -2.99101117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.758241008 meters Centerline goodness [0,1] 0.833443326183798 Centerline is valid? [False, False] Translation: X:-30.62, Y:-44.05, Z:-29.92 [[ 8.89318361e-01 1.66136506e-01 -4.26041680e-01 -3.06197354e+01] [-1.80821717e-01 9.83497150e-01 6.07148897e-03 -4.40495815e+01] [ 4.20019474e-01 7.16381014e-02 9.04683162e-01 -2.99214840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.788241008 meters Centerline goodness [0,1] 0.8398596346372175 Centerline is valid? [False, False] Translation: X:-30.64, Y:-44.04, Z:-29.93 [[ 8.89164352e-01 1.65068561e-01 -4.26777607e-01 -3.06394585e+01] [-1.81100101e-01 9.83459874e-01 3.07080946e-03 -4.40407338e+01] [ 4.20225546e-01 7.45590133e-02 9.04351394e-01 -2.99304731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.818241008 meters Centerline goodness [0,1] 0.822043509640169 Centerline is valid? [False, False] Translation: X:-30.66, Y:-44.03, Z:-29.94 [[ 8.90198250e-01 1.63452885e-01 -4.25241378e-01 -3.06619708e+01] [-1.80091522e-01 9.83649255e-01 1.08914986e-03 -4.40314795e+01] [ 4.18466390e-01 7.56128076e-02 9.05079325e-01 -2.99429143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.848241008 meters Centerline goodness [0,1] 0.7878557015195816 Centerline is valid? [False, False] Translation: X:-30.68, Y:-44.02, Z:-29.95 [[ 8.90379352e-01 1.60476294e-01 -4.25995268e-01 -3.06826934e+01] [-1.78093536e-01 9.84012343e-01 -1.54967183e-03 -4.40185807e+01] [ 4.18935916e-01 7.72467994e-02 9.04724063e-01 -2.99542222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.878241008 meters Centerline goodness [0,1] 0.8017612968424526 Centerline is valid? [False, False] Translation: X:-30.70, Y:-44.01, Z:-29.96 [[ 8.88805374e-01 1.57714091e-01 -4.30292078e-01 -3.06978146e+01] [-1.77157201e-01 9.84168788e-01 -5.20805833e-03 -4.40099125e+01] [ 4.22658648e-01 8.08582902e-02 9.02674694e-01 -2.99617705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.908241008 meters Centerline goodness [0,1] 0.7818658302552568 Centerline is valid? [False, False] Translation: X:-30.72, Y:-44.00, Z:-29.97 [[ 8.88102934e-01 1.54619767e-01 -4.32857835e-01 -3.07157280e+01] [-1.75105245e-01 9.84520469e-01 -7.58945841e-03 -4.40012305e+01] [ 4.24983919e-01 8.25358977e-02 9.01430249e-01 -2.99729414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.938241008 meters Centerline goodness [0,1] 0.7663586104464064 Centerline is valid? [False, False] Translation: X:-30.73, Y:-43.99, Z:-29.98 [[ 8.87794976e-01 1.51349774e-01 -4.34641608e-01 -3.07341075e+01] [-1.73269268e-01 9.84813180e-01 -1.09891311e-02 -4.39924969e+01] [ 4.26377581e-01 8.50661285e-02 9.00536458e-01 -2.99833931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.968241008 meters Centerline goodness [0,1] 0.6925309239096877 Centerline is valid? [False, False] Translation: X:-30.75, Y:-43.98, Z:-29.99 [[ 8.87702514e-01 1.46070919e-01 -4.36632034e-01 -3.07523499e+01] [-1.69258806e-01 9.85465898e-01 -1.44367750e-02 -4.39817926e+01] [ 4.28177186e-01 8.67193783e-02 8.99524345e-01 -2.99948911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 15624.95 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%| | 0/6066 [00:00